Worked on stabilizing route-relative motion and options handling in the esmini/esmini repository, focusing on improving simulation reliability and reducing crash risk. Addressed a critical bug by implementing defensive programming techniques in C++, such as clearing stale arguments in SE_Options and adding null checks with error logging for route waypoint handling. Enhanced error handling across core subsystems, ensuring that invalid routes are skipped and null dereferences are avoided, which improves runtime predictability. These targeted changes in simulation programming and software engineering laid the foundation for safer route alignment features and contributed to increased maintainability and business value through greater system stability.