diff --git a/dist/hornverifier b/dist/hornverifier
index b180ee7b..52827032 100755
Binary files a/dist/hornverifier and b/dist/hornverifier differ
diff --git a/dist/roverd b/dist/roverd
index b5dcd369..090cfac0 100755
Binary files a/dist/roverd and b/dist/roverd differ
diff --git a/dist/roverd-debian-laptop b/dist/roverd-debian-laptop
index ef4aaf12..851006be 100755
Binary files a/dist/roverd-debian-laptop and b/dist/roverd-debian-laptop differ
diff --git a/dist/servoverifier b/dist/servoverifier
index 14ae5739..9f495f1f 100755
Binary files a/dist/servoverifier and b/dist/servoverifier differ
diff --git a/pi/bin/audio-only-publisher.sh b/pi/bin/audio-only-publisher.sh
index 5cd0bf08..74fe5422 100644
--- a/pi/bin/audio-only-publisher.sh
+++ b/pi/bin/audio-only-publisher.sh
@@ -87,6 +87,7 @@ else
 fi
 
 run_pipeline() {
+	local -a pipeline_statuses=()
 	local ffmpeg_args=(
 		-hide_banner
 		-loglevel warning
@@ -146,6 +147,17 @@ run_pipeline() {
 	# latency compared with the old 65,536-byte buffer.
 	arecord -D "${CAPTURE_DEVICE}" -f S32_LE -c "${ROVERD_AUDIO_CAPTURE_CHANNELS}" -r "${ROVERD_AUDIO_CAPTURE_SAMPLE_RATE}" -B "${AUDIO_ALSA_BUFFER_BYTES}" -F "${AUDIO_ALSA_PERIOD_BYTES}" -q -t raw \
 		| "${FFMPEG_BIN_PATH}" "${ffmpeg_args[@]}"
+	pipeline_statuses=("${PIPESTATUS[@]}")
+
+	# PIPESTATUS belongs to the pipeline that just finished and is replaced by the next shell
+	# command. Capture it immediately, then return the publisher failure first because that is
+	# normally the reason arecord receives a secondary broken pipe.
+	LAST_ARECORD_STATUS="${pipeline_statuses[0]:-unknown}"
+	LAST_FFMPEG_STATUS="${pipeline_statuses[1]:-unknown}"
+	if [[ "${LAST_FFMPEG_STATUS}" != "0" ]]; then
+		return "${LAST_FFMPEG_STATUS}"
+	fi
+	return "${LAST_ARECORD_STATUS}"
 }
 
 trap 'kill 0 2>/dev/null' EXIT INT TERM
@@ -154,6 +166,6 @@ while true; do
 	if run_pipeline; then
 		exit 0
 	fi
-	echo "Audio-only publisher exited arecord=${PIPESTATUS[0]} ffmpeg=${PIPESTATUS[1]}, restarting in 2s..." >&2
+	echo "Audio-only publisher exited arecord=${LAST_ARECORD_STATUS:-unknown} ffmpeg=${LAST_FFMPEG_STATUS:-unknown}, restarting in 2s..." >&2
 	sleep 2
 done
diff --git a/pi/systemd/audio-forward-listener.service b/pi/systemd/audio-forward-listener.service
index 44cf488e..b578c062 100644
--- a/pi/systemd/audio-forward-listener.service
+++ b/pi/systemd/audio-forward-listener.service
@@ -1,5 +1,5 @@
 [Unit]
-Description=Rover Audio Forward Listener (SRT -> ALSA)
+Description=Rover Audio Forward Listener (RTSP/TCP -> ALSA)
 After=network-online.target roverd.service
 Wants=network-online.target
 
diff --git a/pi/systemd/audio-only-publisher.service b/pi/systemd/audio-only-publisher.service
index 20e0da4d..1af0b999 100644
--- a/pi/systemd/audio-only-publisher.service
+++ b/pi/systemd/audio-only-publisher.service
@@ -1,5 +1,5 @@
 [Unit]
-Description=Rover Audio Publisher (ALSA -> SRT)
+Description=Rover Audio Publisher (ALSA -> RTSP/TCP)
 After=network-online.target roverd.service
 Wants=network-online.target
 
diff --git a/pi/systemd/debian-laptop-video-publisher.service b/pi/systemd/debian-laptop-video-publisher.service
index 6a9d61a1..a6d76fd6 100644
--- a/pi/systemd/debian-laptop-video-publisher.service
+++ b/pi/systemd/debian-laptop-video-publisher.service
@@ -1,5 +1,5 @@
 [Unit]
-Description=Rover Debian Laptop Video Publisher (V4L2 -> SRT)
+Description=Rover Debian Laptop Video Publisher (V4L2 -> RTSP/TCP)
 After=network-online.target roverd.service
 Wants=network-online.target
 
diff --git a/pi/systemd/video-publisher.service b/pi/systemd/video-publisher.service
index d5ad04e8..42f52c3b 100644
--- a/pi/systemd/video-publisher.service
+++ b/pi/systemd/video-publisher.service
@@ -1,5 +1,5 @@
 [Unit]
-Description=Rover Video Publisher (libcamera -> SRT)
+Description=Rover Video Publisher (libcamera -> RTSP/TCP)
 After=network-online.target roverd.service
 Wants=network-online.target