Developed and integrated advanced diagnostics and latency monitoring features for multi-object tracking and object merging within the technolojin/autoware.universe and tier4/autoware_launch repositories. Focused on enhancing observability and system monitoring, the work introduced unified timing diagnostics and configurable latency thresholds using C++ and YAML. By surfacing extrapolation delays and inter-node timeouts proactively, these features enabled earlier detection of performance issues in latency-sensitive robotics deployments. The implementation included new diagnostics parameters to configure warning and error thresholds, supporting faster troubleshooting and improved operator visibility. This approach strengthened reliability and reduced risk by aligning system behavior with strict latency guarantees.