diff --git a/src/AcDream.App/Input/PlayerMovementController.cs b/src/AcDream.App/Input/PlayerMovementController.cs
index 71f3239..74c6a44 100644
--- a/src/AcDream.App/Input/PlayerMovementController.cs
+++ b/src/AcDream.App/Input/PlayerMovementController.cs
@@ -445,15 +445,24 @@ public sealed class PlayerMovementController
         float dy = _autoWalkDestination.Y - pos.Y;
         float dist = MathF.Sqrt(dx * dx + dy * dy);
 
-        // Arrival predicate (RemoteMoveToDriver convention; matches retail).
+        // Arrival predicate. CRITICAL: ACE's server-side WithinUseRadius
+        // is strict (dist <= radius), so arriving exactly at the radius
+        // boundary fails — ACE rejects the action and replies with
+        // another MoveToObject. To ensure the re-sent action lands
+        // INSIDE ACE's radius, we apply a safety margin that walks
+        // 0.3–0.5 m past the boundary (capped to 40 % of the threshold
+        // so tight pickup radii like 0.6 m stay reachable without
+        // collapsing to zero).
         float arrivalThreshold = _autoWalkMoveTowards
             ? _autoWalkDistanceToObject
             : _autoWalkMinDistance;
+        float safetyMargin    = MathF.Min(0.5f, arrivalThreshold * 0.4f);
+        float effectiveArrival = MathF.Max(arrivalThreshold - safetyMargin, 0.1f);
         bool arrived =
             (_autoWalkMoveTowards
-                && dist <= arrivalThreshold + RemoteMoveToDriver.ArrivalEpsilon)
+                && dist <= effectiveArrival)
          || (!_autoWalkMoveTowards
-                && dist >= arrivalThreshold - RemoteMoveToDriver.ArrivalEpsilon);
+                && dist >= arrivalThreshold + RemoteMoveToDriver.ArrivalEpsilon);
         if (arrived)
         {
             EndServerAutoWalk("arrived");