diff --git a/internal/ios/ios.go b/internal/ios/ios.go
index 36522ab..6353975 100644
--- a/internal/ios/ios.go
+++ b/internal/ios/ios.go
@@ -69,6 +69,15 @@ func LaunchApp(ctx context.Context, bundleID string, env map[string]string) erro
 	return nil
 }
 
+// BootedUDID returns the UDID of the currently booted iOS simulator, or "" if none is booted.
+func BootedUDID(ctx context.Context) string {
+	d, _ := bootedSimulator(ctx)
+	if d == nil {
+		return ""
+	}
+	return d.UDID
+}
+
 func bootedSimulator(ctx context.Context) (*simDevice, error) {
 	out, err := exec.CommandContext(ctx, "xcrun", "simctl", "list", "devices", "booted", "--json").Output()
 	if err != nil {
diff --git a/internal/testrun/driver.go b/internal/testrun/driver.go
index ec2e1d7..e7336d3 100644
--- a/internal/testrun/driver.go
+++ b/internal/testrun/driver.go
@@ -12,6 +12,7 @@ import (
 	"github.com/priyanshujain/sanderling/internal/driver"
 	"github.com/priyanshujain/sanderling/internal/driver/chrome"
 	driverSidecar "github.com/priyanshujain/sanderling/internal/driver/sidecar"
+	"github.com/priyanshujain/sanderling/internal/ios"
 	"github.com/priyanshujain/sanderling/internal/sidecar"
 )
 
@@ -35,10 +36,16 @@ func buildDriver(ctx context.Context, options Options, stdout io.Writer) (driver
 	if err != nil {
 		return nil, nil, err
 	}
-	sidecarCommand := exec.CommandContext(ctx, "java", "-jar", jarPath,
+	sidecarArgs := []string{"-jar", jarPath,
 		"--port", strconv.Itoa(sidecarPort),
 		"--platform", options.Platform,
-	)
+	}
+	if options.Platform == "ios" {
+		if udid := ios.BootedUDID(ctx); udid != "" {
+			sidecarArgs = append(sidecarArgs, "--udid", udid)
+		}
+	}
+	sidecarCommand := exec.CommandContext(ctx, "java", sidecarArgs...)
 	sidecarCommand.Stdout = stdout
 	sidecarCommand.Stderr = stdout
 	sidecarCommand.Env = android.EnvWithAndroidPlatformTools(os.Environ())
diff --git a/internal/testrun/testrun.go b/internal/testrun/testrun.go
index 3308b32..7e6a16a 100644
--- a/internal/testrun/testrun.go
+++ b/internal/testrun/testrun.go
@@ -110,7 +110,7 @@ func Execute(ctx context.Context, options Options, stdout io.Writer) error {
 			acceptChannel <- acceptResult{conn: conn, err: acceptErr}
 		}()
 
-		if err := activeDriver.Launch(ctx, options.BundleID, false); err != nil {
+		if err := activeDriver.Launch(ctx, options.BundleID, false, nil); err != nil {
 			return fmt.Errorf("launch app: %w", err)
 		}
 		fmt.Fprintf(stdout, "launched %s; waiting for SDK to connect (%.0fs timeout)\n", options.BundleID, sdkAcceptTimeout.Seconds())
@@ -133,35 +133,40 @@ func Execute(ctx context.Context, options Options, stdout io.Writer) error {
 		defer listener.Close()
 		agentPort := listener.Addr().(*net.TCPAddr).Port
 
-		// Launch app via simctl with SANDERLING_PORT so the SDK can connect.
-		if err := ios.LaunchApp(ctx, options.BundleID, map[string]string{
+		agentServer := agent.NewServer(listener)
+
+		type acceptResult struct {
+			conn *agent.Conn
+			err  error
+		}
+		acceptChannel := make(chan acceptResult, 1)
+		go func() {
+			acceptCtx, cancel := context.WithTimeout(ctx, sdkAcceptTimeout)
+			defer cancel()
+			conn, acceptErr := agentServer.Accept(acceptCtx)
+			acceptChannel <- acceptResult{conn: conn, err: acceptErr}
+		}()
+
+		// Launch app via XCTest with SANDERLING_PORT so the SDK can connect.
+		if err := activeDriver.Launch(ctx, options.BundleID, false, map[string]string{
 			"SANDERLING_PORT": strconv.Itoa(agentPort),
 		}); err != nil {
 			return fmt.Errorf("launch app: %w", err)
 		}
 		fmt.Fprintf(stdout, "iOS app launched with SANDERLING_PORT=%d; waiting for SDK (%.0fs timeout)\n", agentPort, sdkAcceptTimeout.Seconds())
 
-		agentServer := agent.NewServer(listener)
-		acceptCtx, acceptCancel := context.WithTimeout(ctx, sdkAcceptTimeout)
-		conn, acceptErr := agentServer.Accept(acceptCtx)
-		acceptCancel()
-		if acceptErr != nil {
-			return fmt.Errorf("accept SDK: %w", acceptErr)
+		result := <-acceptChannel
+		if result.err != nil {
+			return fmt.Errorf("accept SDK: %w", result.err)
 		}
-		connection = conn
+		connection = result.conn
 		defer connection.Close()
 		hello := connection.Hello()
 		fmt.Fprintf(stdout, "SDK connected: platform=%s app=%s sdk=%s\n", hello.Platform, hello.AppPackage, hello.Version)
 
-		// Initialize Maestro XCTest session after the app is running.
-		// clearState=false avoids relaunching the already-connected app.
-		if err := activeDriver.Launch(ctx, options.BundleID, false); err != nil {
-			fmt.Fprintf(stdout, "warn: maestro launch: %v\n", err)
-		}
-
 	case "web":
 		fmt.Fprintln(stdout, "web mode: skipping SDK")
-		if err := activeDriver.Launch(ctx, options.BundleID, false); err != nil {
+		if err := activeDriver.Launch(ctx, options.BundleID, false, nil); err != nil {
 			return fmt.Errorf("launch app: %w", err)
 		}
 	}