Cleanup

TODO:

• [ ] Add page-specific notes for runtime-code/hardware/cleanup.md after inspecting the real project files.
• [ ] Cross-link Cleanup to the most relevant code, data, testing, and safety pages.
• [ ] Name the exact source file that owns this runtime behavior.
• [ ] List the important classes, functions, constants, and module-level variables.
• [ ] Document the command or script used to run this behavior on the car.
• [ ] Document required hardware connections and environment assumptions.
• [ ] List expected logs, dashboard fields, or console output.
• [ ] Add common exceptions and what they usually mean.
• [ ] Add a bench-test procedure that does not require driving outdoors.
• [ ] Add a field-test procedure and pass/fail criteria.
• [ ] Trace one loop iteration from sensor input to actuator command.
• [ ] List timing expectations and what can block the loop.
• [ ] Add the exact source path, artifact path, or hardware component name.
• [ ] Add the command or procedure needed to reproduce the result.
• [ ] Add expected inputs and outputs.