diff --git a/doc/OPENCLAW_ONBOARDING.md b/doc/OPENCLAW_ONBOARDING.md
index 877fc360..b55e755a 100644
--- a/doc/OPENCLAW_ONBOARDING.md
+++ b/doc/OPENCLAW_ONBOARDING.md
@@ -30,14 +30,22 @@ Open the printed `Dashboard URL` (includes `#token=...`) in your browser.
 - Confirm gateway URL is `ws://...` or `wss://...`.
 - Confirm gateway token is non-trivial (not empty / not 1-char placeholder).
 - Confirm pairing mode is explicit:
-  - smoke/dev default: set `adapterConfig.disableDeviceAuth=true` to avoid interactive pairing prompts on each run
-  - if keeping device auth enabled: set a stable `adapterConfig.devicePrivateKeyPem` so pairing is approved once and reused
+  - recommended default: `adapterConfig.disableDeviceAuth` is false/absent and `adapterConfig.devicePrivateKeyPem` is present
+  - fallback only: `adapterConfig.disableDeviceAuth=true` when pairing cannot be supported in that environment
 - If you can run API checks with board auth:
 ```bash
 AGENT_ID="<newly-created-agent-id>"
 curl -sS -H "Cookie: $PAPERCLIP_COOKIE" "http://127.0.0.1:3100/api/agents/$AGENT_ID" | jq '{adapterType,adapterConfig:{url:.adapterConfig.url,tokenLen:(.adapterConfig.headers["x-openclaw-token"] // .adapterConfig.headers["x-openclaw-auth"] // "" | length),disableDeviceAuth:(.adapterConfig.disableDeviceAuth // false),hasDeviceKey:(.adapterConfig.devicePrivateKeyPem // "" | length > 0)}}'
 ```
-- Expected: `adapterType=openclaw_gateway`, `tokenLen >= 16`, and (`disableDeviceAuth=true` OR `hasDeviceKey=true`).
+- Expected: `adapterType=openclaw_gateway`, `tokenLen >= 16`, `hasDeviceKey=true`, and `disableDeviceAuth=false`.
+
+Pairing handshake note:
+- The first gateway run may return `pairing required` once for a new device key.
+- Approve it in OpenClaw, then retry the task.
+- For local docker smoke, you can approve from host:
+```bash
+docker exec openclaw-docker-openclaw-gateway-1 sh -lc 'openclaw devices approve --latest --json --url "ws://127.0.0.1:18789" --token "$(node -p \"require(process.env.HOME+\\\"/.openclaw/openclaw.json\\\").gateway.auth.token\")"'
+```
 
 7. Case A (manual issue test).
 - Create an issue assigned to the OpenClaw agent.
@@ -63,7 +71,7 @@ docker compose -f /tmp/openclaw-docker/docker-compose.yml -f /tmp/openclaw-docke
 
 11. Expected pass criteria.
 - Preflight: `openclaw_gateway` + non-placeholder token (`tokenLen >= 16`).
-- Pairing mode: either `disableDeviceAuth=true` (smoke/dev) or stable `devicePrivateKeyPem` configured.
+- Pairing mode: stable `devicePrivateKeyPem` configured with device auth enabled (default path).
 - Case A: `done` + marker comment.
 - Case B: `done` + marker comment + main-chat message visible.
 - Case C: original task done and new issue created from `/new` session.
diff --git a/packages/adapters/openclaw-gateway/doc/ONBOARDING_AND_TEST_PLAN.md b/packages/adapters/openclaw-gateway/doc/ONBOARDING_AND_TEST_PLAN.md
index 0f2e81f6..042b8656 100644
--- a/packages/adapters/openclaw-gateway/doc/ONBOARDING_AND_TEST_PLAN.md
+++ b/packages/adapters/openclaw-gateway/doc/ONBOARDING_AND_TEST_PLAN.md
@@ -250,7 +250,6 @@ POST /api/companies/$CLA_COMPANY_ID/invites
     "headers": { "x-openclaw-token": "<gateway-token>" },
     "role": "operator",
     "scopes": ["operator.admin"],
-    "disableDeviceAuth": true,
     "sessionKeyStrategy": "fixed",
     "sessionKey": "paperclip",
     "waitTimeoutMs": 120000
@@ -265,13 +264,17 @@ POST /api/companies/$CLA_COMPANY_ID/invites
 - `adapterConfig.headers.x-openclaw-token` exists and is not placeholder/too-short (`len >= 16`)
 - token hash matches the OpenClaw `gateway.auth.token` used for join
 - pairing mode is explicit:
-  - smoke/dev: `adapterConfig.disableDeviceAuth == true` (no interactive pairing gate)
-  - otherwise: stable `adapterConfig.devicePrivateKeyPem` is set so approvals persist across runs
-5. Claim API key with `claimSecret`.
-6. Save claimed token to OpenClaw expected file path (`~/.openclaw/workspace/paperclip-claimed-api-key.json`) and ensure `PAPERCLIP_API_KEY` + `PAPERCLIP_API_URL` are available for OpenClaw skill execution context.
+  - default path: `adapterConfig.disableDeviceAuth` is false/absent and stable `adapterConfig.devicePrivateKeyPem` is set so approvals persist across runs
+  - fallback path: `disableDeviceAuth=true` only for environments that cannot support pairing
+5. Trigger one connectivity run. If it returns `pairing required`, approve the pending device request in OpenClaw and retry once.
+  - Local docker automation path:
+    - `openclaw devices approve --latest --json --url ws://127.0.0.1:18789 --token <gateway-token>`
+  - After approval, retries should succeed using the persisted `devicePrivateKeyPem`.
+6. Claim API key with `claimSecret`.
+7. Save claimed token to OpenClaw expected file path (`~/.openclaw/workspace/paperclip-claimed-api-key.json`) and ensure `PAPERCLIP_API_KEY` + `PAPERCLIP_API_URL` are available for OpenClaw skill execution context.
   - Write compatibility JSON keys (`token` and `apiKey`) to avoid runtime parser mismatch.
-7. Ensure Paperclip skill is installed for OpenClaw runtime.
-8. Send one bootstrap prompt to OpenClaw containing all setup instructions needed for this run (auth file usage, heartbeat procedure, required tools). If needed, send one follow-up nudge only.
+8. Ensure Paperclip skill is installed for OpenClaw runtime.
+9. Send one bootstrap prompt to OpenClaw containing all setup instructions needed for this run (auth file usage, heartbeat procedure, required tools). If needed, send one follow-up nudge only.
 
 ## 6) E2E Validation Cases
 
@@ -322,7 +325,7 @@ Responsibilities:
 - Old OpenClaw agent cleanup.
 - Invite/join/approve/claim orchestration.
 - Gateway agent config/token preflight validation before connectivity or case execution.
-- Pairing-mode preflight (`disableDeviceAuth=true` for smoke/dev or stable `devicePrivateKeyPem`).
+- Pairing-mode preflight (`disableDeviceAuth=false` + stable `devicePrivateKeyPem` by default).
 - E2E case execution + assertions.
 - Final summary with run IDs, issue IDs, agent ID.
 
diff --git a/scripts/smoke/openclaw-gateway-e2e.sh b/scripts/smoke/openclaw-gateway-e2e.sh
index eca90d60..b1a17e50 100755
--- a/scripts/smoke/openclaw-gateway-e2e.sh
+++ b/scripts/smoke/openclaw-gateway-e2e.sh
@@ -53,6 +53,7 @@ AUTO_INSTALL_SKILL="${AUTO_INSTALL_SKILL:-1}"
 OPENCLAW_DIAG_DIR="${OPENCLAW_DIAG_DIR:-/tmp/openclaw-gateway-e2e-diag-$(date +%Y%m%d-%H%M%S)}"
 OPENCLAW_ADAPTER_TIMEOUT_SEC="${OPENCLAW_ADAPTER_TIMEOUT_SEC:-120}"
 OPENCLAW_ADAPTER_WAIT_TIMEOUT_MS="${OPENCLAW_ADAPTER_WAIT_TIMEOUT_MS:-120000}"
+PAIRING_AUTO_APPROVE="${PAIRING_AUTO_APPROVE:-1}"
 PAYLOAD_TEMPLATE_MESSAGE_APPEND="${PAYLOAD_TEMPLATE_MESSAGE_APPEND:-}"
 
 AUTH_HEADERS=()
@@ -418,7 +419,6 @@ create_and_approve_gateway_join() {
         headers: { "x-openclaw-token": $token },
         role: "operator",
         scopes: ["operator.admin"],
-        disableDeviceAuth: true,
         sessionKeyStrategy: "fixed",
         sessionKey: "paperclip",
         timeoutSec: $timeoutSec,
@@ -530,10 +530,12 @@ validate_joined_gateway_agent() {
   api_request "GET" "/agents/${AGENT_ID}"
   assert_status "200"
 
-  local adapter_type gateway_url configured_token
+  local adapter_type gateway_url configured_token disable_device_auth device_key_len
   adapter_type="$(jq -r '.adapterType // empty' <<<"$RESPONSE_BODY")"
   gateway_url="$(jq -r '.adapterConfig.url // empty' <<<"$RESPONSE_BODY")"
   configured_token="$(jq -r '.adapterConfig.headers["x-openclaw-token"] // .adapterConfig.headers["x-openclaw-auth"] // empty' <<<"$RESPONSE_BODY")"
+  disable_device_auth="$(jq -r 'if .adapterConfig.disableDeviceAuth == true then "true" else "false" end' <<<"$RESPONSE_BODY")"
+  device_key_len="$(jq -r '(.adapterConfig.devicePrivateKeyPem // "" | length)' <<<"$RESPONSE_BODY")"
 
   [[ "$adapter_type" == "openclaw_gateway" ]] || fail "joined agent adapterType is '${adapter_type}', expected 'openclaw_gateway'"
   [[ "$gateway_url" =~ ^wss?:// ]] || fail "joined agent gateway url is invalid: '${gateway_url}'"
@@ -549,9 +551,46 @@ validate_joined_gateway_agent() {
     fail "joined agent gateway token hash mismatch (expected ${expected_hash}, got ${configured_hash})"
   fi
 
+  [[ "$disable_device_auth" == "false" ]] || fail "joined agent has disableDeviceAuth=true; smoke requires device auth enabled with persistent key"
+  if (( device_key_len < 32 )); then
+    fail "joined agent missing persistent devicePrivateKeyPem (length=${device_key_len})"
+  fi
+
   log "validated joined gateway agent config (token sha256 prefix ${configured_hash})"
 }
 
+run_log_contains_pairing_required() {
+  local run_id="$1"
+  api_request "GET" "/heartbeat-runs/${run_id}/log?limitBytes=262144"
+  if [[ "$RESPONSE_CODE" != "200" ]]; then
+    return 1
+  fi
+  local content
+  content="$(jq -r '.content // ""' <<<"$RESPONSE_BODY")"
+  grep -qi "pairing required" <<<"$content"
+}
+
+approve_latest_pairing_request() {
+  local gateway_token="$1"
+  local container
+  container="$(detect_openclaw_container || true)"
+  [[ -n "$container" ]] || return 1
+
+  log "approving latest gateway pairing request in ${container}"
+  local output
+  if output="$(docker exec \
+    -e OPENCLAW_GATEWAY_URL="$OPENCLAW_GATEWAY_URL" \
+    -e OPENCLAW_GATEWAY_TOKEN="$gateway_token" \
+    "$container" \
+    sh -lc 'openclaw devices approve --latest --json --url "$OPENCLAW_GATEWAY_URL" --token "$OPENCLAW_GATEWAY_TOKEN"' 2>&1)"; then
+    log "pairing approval response: $(printf "%s" "$output" | tr '\n' ' ' | cut -c1-400)"
+    return 0
+  fi
+
+  warn "pairing auto-approve failed: $(printf "%s" "$output" | tr '\n' ' ' | cut -c1-400)"
+  return 1
+}
+
 trigger_wakeup() {
   local reason="$1"
   local issue_id="${2:-}"
@@ -871,13 +910,30 @@ main() {
   log "joined/approved agent ${AGENT_ID} invite=${INVITE_ID} joinRequest=${JOIN_REQUEST_ID}"
   validate_joined_gateway_agent "$gateway_token"
 
-  trigger_wakeup "openclaw_gateway_smoke_connectivity"
-  if [[ -n "$RUN_ID" ]]; then
-    local connect_status
+  local connect_status="unknown"
+  local connect_attempt
+  for connect_attempt in 1 2; do
+    trigger_wakeup "openclaw_gateway_smoke_connectivity_attempt_${connect_attempt}"
+    if [[ -z "$RUN_ID" ]]; then
+      connect_status="unknown"
+      break
+    fi
     connect_status="$(wait_for_run_terminal "$RUN_ID" "$RUN_TIMEOUT_SEC")"
-    [[ "$connect_status" == "succeeded" ]] || fail "connectivity wake run failed: ${connect_status}"
-    log "connectivity wake run ${RUN_ID} succeeded"
-  fi
+    if [[ "$connect_status" == "succeeded" ]]; then
+      log "connectivity wake run ${RUN_ID} succeeded (attempt=${connect_attempt})"
+      break
+    fi
+
+    if [[ "$PAIRING_AUTO_APPROVE" == "1" && "$connect_attempt" -eq 1 ]] && run_log_contains_pairing_required "$RUN_ID"; then
+      log "connectivity run hit pairing gate; attempting one-time pairing approval"
+      approve_latest_pairing_request "$gateway_token" || fail "pairing approval failed after pairing-required run ${RUN_ID}"
+      sleep 2
+      continue
+    fi
+
+    fail "connectivity wake run failed: ${connect_status} (attempt=${connect_attempt}, runId=${RUN_ID})"
+  done
+  [[ "$connect_status" == "succeeded" ]] || fail "connectivity wake run did not succeed after retries"
 
   run_case_a
   run_case_b
diff --git a/server/src/__tests__/invite-accept-openclaw-defaults.test.ts b/server/src/__tests__/invite-accept-openclaw-defaults.test.ts
index 3cb34f8b..dc7b58e1 100644
--- a/server/src/__tests__/invite-accept-openclaw-defaults.test.ts
+++ b/server/src/__tests__/invite-accept-openclaw-defaults.test.ts
@@ -1,5 +1,8 @@
 import { describe, expect, it } from "vitest";
-import { buildJoinDefaultsPayloadForAccept } from "../routes/access.js";
+import {
+  buildJoinDefaultsPayloadForAccept,
+  normalizeAgentDefaultsForJoin,
+} from "../routes/access.js";
 
 describe("buildJoinDefaultsPayloadForAccept", () => {
   it("maps OpenClaw compatibility fields into agent defaults", () => {
@@ -245,4 +248,47 @@ describe("buildJoinDefaultsPayloadForAccept", () => {
       },
     });
   });
+
+  it("generates persistent device key for openclaw_gateway when device auth is enabled", () => {
+    const normalized = normalizeAgentDefaultsForJoin({
+      adapterType: "openclaw_gateway",
+      defaultsPayload: {
+        url: "ws://127.0.0.1:18789",
+        headers: {
+          "x-openclaw-token": "gateway-token-1234567890",
+        },
+        disableDeviceAuth: false,
+      },
+      deploymentMode: "authenticated",
+      deploymentExposure: "private",
+      bindHost: "127.0.0.1",
+      allowedHostnames: [],
+    });
+
+    expect(normalized.fatalErrors).toEqual([]);
+    expect(normalized.normalized?.disableDeviceAuth).toBe(false);
+    expect(typeof normalized.normalized?.devicePrivateKeyPem).toBe("string");
+    expect((normalized.normalized?.devicePrivateKeyPem as string).length).toBeGreaterThan(64);
+  });
+
+  it("does not generate device key when openclaw_gateway has disableDeviceAuth=true", () => {
+    const normalized = normalizeAgentDefaultsForJoin({
+      adapterType: "openclaw_gateway",
+      defaultsPayload: {
+        url: "ws://127.0.0.1:18789",
+        headers: {
+          "x-openclaw-token": "gateway-token-1234567890",
+        },
+        disableDeviceAuth: true,
+      },
+      deploymentMode: "authenticated",
+      deploymentExposure: "private",
+      bindHost: "127.0.0.1",
+      allowedHostnames: [],
+    });
+
+    expect(normalized.fatalErrors).toEqual([]);
+    expect(normalized.normalized?.disableDeviceAuth).toBe(true);
+    expect(normalized.normalized?.devicePrivateKeyPem).toBeUndefined();
+  });
 });
diff --git a/server/src/routes/access.ts b/server/src/routes/access.ts
index 56ca7a92..406e4bd3 100644
--- a/server/src/routes/access.ts
+++ b/server/src/routes/access.ts
@@ -1,4 +1,9 @@
-import { createHash, randomBytes, timingSafeEqual } from "node:crypto";
+import {
+  createHash,
+  generateKeyPairSync,
+  randomBytes,
+  timingSafeEqual
+} from "node:crypto";
 import fs from "node:fs";
 import path from "node:path";
 import { fileURLToPath } from "node:url";
@@ -330,6 +335,13 @@ function parseBooleanLike(value: unknown): boolean | null {
   return null;
 }
 
+function generateEd25519PrivateKeyPem(): string {
+  const generated = generateKeyPairSync("ed25519");
+  return generated.privateKey
+    .export({ type: "pkcs8", format: "pem" })
+    .toString();
+}
+
 export function buildJoinDefaultsPayloadForAccept(input: {
   adapterType: string | null;
   defaultsPayload: unknown;
@@ -611,10 +623,16 @@ function summarizeOpenClawGatewayDefaultsForLog(defaultsPayload: unknown) {
     sessionKeyStrategy: defaults
       ? nonEmptyTrimmedString(defaults.sessionKeyStrategy)
       : null,
+    disableDeviceAuth: defaults
+      ? parseBooleanLike(defaults.disableDeviceAuth)
+      : null,
     waitTimeoutMs:
       defaults && typeof defaults.waitTimeoutMs === "number"
         ? defaults.waitTimeoutMs
         : null,
+    devicePrivateKeyPem: defaults
+      ? summarizeSecretForLog(defaults.devicePrivateKeyPem)
+      : null,
     gatewayToken: summarizeSecretForLog(gatewayTokenValue)
   };
 }
@@ -692,7 +710,7 @@ function buildJoinConnectivityDiagnostics(input: {
   return diagnostics;
 }
 
-function normalizeAgentDefaultsForJoin(input: {
+export function normalizeAgentDefaultsForJoin(input: {
   adapterType: string | null;
   defaultsPayload: unknown;
   deploymentMode: DeploymentMode;
@@ -828,10 +846,47 @@ function normalizeAgentDefaultsForJoin(input: {
     }
 
     const parsedDisableDeviceAuth = parseBooleanLike(defaults.disableDeviceAuth);
+    const disableDeviceAuth = parsedDisableDeviceAuth === true;
     if (parsedDisableDeviceAuth !== null) {
       normalized.disableDeviceAuth = parsedDisableDeviceAuth;
     }
 
+    const configuredDevicePrivateKeyPem = nonEmptyTrimmedString(
+      defaults.devicePrivateKeyPem
+    );
+    if (configuredDevicePrivateKeyPem) {
+      normalized.devicePrivateKeyPem = configuredDevicePrivateKeyPem;
+      diagnostics.push({
+        code: "openclaw_gateway_device_key_configured",
+        level: "info",
+        message:
+          "Gateway device key configured. Pairing approvals should persist for this agent."
+      });
+    } else if (!disableDeviceAuth) {
+      try {
+        normalized.devicePrivateKeyPem = generateEd25519PrivateKeyPem();
+        diagnostics.push({
+          code: "openclaw_gateway_device_key_generated",
+          level: "info",
+          message:
+            "Generated persistent gateway device key for this join. Pairing approvals should persist for this agent."
+        });
+      } catch (err) {
+        diagnostics.push({
+          code: "openclaw_gateway_device_key_generate_failed",
+          level: "warn",
+          message: `Failed to generate gateway device key: ${
+            err instanceof Error ? err.message : String(err)
+          }`,
+          hint:
+            "Set agentDefaultsPayload.devicePrivateKeyPem explicitly or set disableDeviceAuth=true."
+        });
+        fatalErrors.push(
+          "Failed to generate gateway device key. Set devicePrivateKeyPem or disableDeviceAuth=true."
+        );
+      }
+    }
+
     const waitTimeoutMs =
       typeof defaults.waitTimeoutMs === "number" &&
       Number.isFinite(defaults.waitTimeoutMs)
@@ -1293,7 +1348,7 @@ function buildInviteOnboardingManifest(
         adapterType: "Use 'openclaw_gateway' for OpenClaw Gateway agents",
         capabilities: "Optional capability summary",
         agentDefaultsPayload:
-          "Adapter config for OpenClaw gateway. MUST include url (ws:// or wss://) and headers.x-openclaw-token (or legacy x-openclaw-auth). Optional fields: paperclipApiUrl, waitTimeoutMs, sessionKeyStrategy, sessionKey, role, scopes, disableDeviceAuth."
+          "Adapter config for OpenClaw gateway. MUST include url (ws:// or wss://) and headers.x-openclaw-token (or legacy x-openclaw-auth). Optional fields: paperclipApiUrl, waitTimeoutMs, sessionKeyStrategy, sessionKey, role, scopes, disableDeviceAuth, devicePrivateKeyPem."
       },
       registrationEndpoint: {
         method: "POST",
@@ -1430,7 +1485,6 @@ export function buildInviteOnboardingTextDocument(
           waitTimeoutMs: 120000,
           sessionKeyStrategy: "fixed",
           sessionKey: "paperclip",
-          disableDeviceAuth: true,
           role: "operator",
           scopes: ["operator.admin"]
         }
@@ -1447,8 +1501,9 @@ export function buildInviteOnboardingTextDocument(
     Legacy x-openclaw-auth is also accepted, but x-openclaw-token is preferred.
     Use adapterType "openclaw_gateway" and a ws:// or wss:// gateway URL.
     Pairing mode requirement:
-    - For smoke/dev, set "disableDeviceAuth": true to avoid interactive pairing blocks.
-    - If device auth remains enabled, set a stable "devicePrivateKeyPem"; otherwise each run may generate a new device identity and trigger pairing again.
+    - Keep device auth enabled (recommended). If devicePrivateKeyPem is omitted, Paperclip generates and persists one during join so pairing approvals are stable.
+    - You may set disableDeviceAuth=true only for special environments that cannot support pairing.
+    - First run may return "pairing required" once; approve the pending pairing request in OpenClaw, then retry.
     Do NOT use /v1/responses or /hooks/* in this gateway join flow.
 
     Body (JSON):
@@ -1464,7 +1519,6 @@ export function buildInviteOnboardingTextDocument(
         "waitTimeoutMs": 120000,
         "sessionKeyStrategy": "fixed",
         "sessionKey": "paperclip",
-        "disableDeviceAuth": true,
         "role": "operator",
         "scopes": ["operator.admin"]
       }
diff --git a/ui/src/pages/CompanySettings.tsx b/ui/src/pages/CompanySettings.tsx
index 129556b5..c11bd8b9 100644
--- a/ui/src/pages/CompanySettings.tsx
+++ b/ui/src/pages/CompanySettings.tsx
@@ -486,8 +486,8 @@ When you submit the join request, use:
 - \`agentDefaultsPayload.url\` as your \`ws://\` or \`wss://\` gateway URL
 - \`agentDefaultsPayload.headers["x-openclaw-token"]\` with your gateway token
 - (legacy accepted) \`agentDefaultsPayload.headers["x-openclaw-auth"]\`
-- For stock smoke/dev onboarding: set \`agentDefaultsPayload.disableDeviceAuth = true\` to avoid repeated pairing prompts.
-- If keeping device auth enabled, provide a stable \`agentDefaultsPayload.devicePrivateKeyPem\`; otherwise a new ephemeral device ID may require pairing every run.
+- Keep device auth enabled (recommended). If \`devicePrivateKeyPem\` is omitted, Paperclip will generate and persist one during join so pairing approvals remain stable.
+- Only use \`disableDeviceAuth=true\` for special environments where pairing cannot be completed.
 
 Do NOT use \`/v1/responses\` or \`/hooks/*\` in this join flow.