diff --git a/crates/hiroz/src/config.rs b/crates/hiroz/src/config.rs
index b6cf922f2..d1d86a4b9 100644
--- a/crates/hiroz/src/config.rs
+++ b/crates/hiroz/src/config.rs
@@ -7,7 +7,7 @@
 //! # Architecture
 //! - Common overrides: 10 settings shared between router and session
 //! - Router-specific: 5 settings unique to router mode
-//! - Session-specific: 6 settings unique to peer mode
+//! - Session-specific: 8 settings unique to peer mode
 //!
 //! # Example
 //! ```no_run
@@ -230,7 +230,7 @@ fn router_specific_overrides() -> &'static [ConfigOverride] {
     &ROUTER_SPECIFIC
 }
 
-/// Session-specific overrides (6 settings)
+/// Session-specific overrides (8 settings)
 fn session_specific_overrides() -> &'static [ConfigOverride] {
     static SESSION_SPECIFIC: LazyLock<Vec<ConfigOverride>> = LazyLock::new(|| {
         vec![
@@ -244,6 +244,16 @@ fn session_specific_overrides() -> &'static [ConfigOverride] {
                 value: serde_json::json!(["tcp/localhost:7447"]),
                 reason: "Connect to Zenoh router on localhost at standard ROS 2 port 7447",
             },
+            ConfigOverride {
+                key: "connect/timeout_ms",
+                value: serde_json::json!({"router": -1, "peer": -1, "client": 0}),
+                reason: "Matches rmw_zenoh_cpp's default: -1 for peer and router means the connect does not block session start, not that it waits forever",
+            },
+            ConfigOverride {
+                key: "connect/exit_on_failure",
+                value: serde_json::json!({"router": false, "peer": false, "client": true}),
+                reason: "Matches rmw_zenoh_cpp's default: a peer with no reachable router must not fail session creation; only a client, which needs one, does",
+            },
             ConfigOverride {
                 key: "listen/endpoints",
                 value: serde_json::json!(["tcp/localhost:0"]),