diff --git a/web/js/motion-effects.js b/web/js/motion-effects.js
index c615eaf..043f47b 100644
--- a/web/js/motion-effects.js
+++ b/web/js/motion-effects.js
@@ -58,10 +58,14 @@ export const MotionEffects = {
   },
 
   // Called to determine blending behaviour during queue checks
-  getQueueAction(mode, maxDist, blendThreshold) {
-    if (mode === 'jumpy') {
+  getQueueAction(targetMode, nextTargetMode, maxDist, blendThreshold) {
+    if (nextTargetMode === 'overshoot_settle') {
+      // Must physically reach the overshoot point before popping the settle command
+      if (maxDist <= 10) return { action: 'blend' };
+      return { action: 'continue' };
+    } else if (targetMode === 'jumpy') {
       if (maxDist <= 5) return { action: 'wait', delay: 100 };
-    } else if (mode === 'hesitant') {
+    } else if (targetMode === 'hesitant') {
       // Lower blend threshold prevents blasting all speed-change waypoints instantly
       if (maxDist <= 30) return { action: 'blend' };
     } else {
@@ -95,7 +99,7 @@ export const MotionEffects = {
     } else if (mode === 'erratic') {
       count = Math.max(count, Math.ceil(distance / 20)); // fewer, larger jumps
     } else if (mode === 'hesitant') {
-      count = Math.max(count, Math.ceil(distance / 15)); // ensure we get middle waypoints for speed changes
+      count = Math.max(count, Math.ceil(distance / 15)); // ensure enough waypoints for speed changes
     }
     return Math.max(1, count);
   },
diff --git a/web/js/motion.js b/web/js/motion.js
index 1053c7a..68994d9 100644
--- a/web/js/motion.js
+++ b/web/js/motion.js
@@ -95,7 +95,8 @@ async function executeQueue() {
         const maxDist = Math.max(dist1, dist2);
 
         if (motionQueue.length > 0) {
-          const queueAction = MotionEffects.getQueueAction(target.mode, maxDist, CONFIG.BLEND_THRESHOLD_STEPS);
+          const nextTarget = motionQueue[0];
+          const queueAction = MotionEffects.getQueueAction(target.mode, nextTarget.mode, maxDist, CONFIG.BLEND_THRESHOLD_STEPS);
           if (queueAction.action === 'wait') {
             clearInterval(queueCheckInterval);
             setTimeout(executeQueue, queueAction.delay);