diff --git a/CHANGELOG.md b/CHANGELOG.md
index cb4570fc5..668a91823 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -37,6 +37,7 @@ Status: unreleased.
 ### Fixes
 - Security: harden Tailscale Serve auth by validating identity via local tailscaled before trusting headers.
 - Web UI: improve WebChat image paste previews and allow image-only sends. (#1925) Thanks @smartprogrammer93.
+- Gateway: default auth now fail-closed (token/password required; Tailscale Serve identity remains allowed).
 
 ## 2026.1.24-3
 
diff --git a/docs/gateway/configuration.md b/docs/gateway/configuration.md
index 89fe7f784..97427debe 100644
--- a/docs/gateway/configuration.md
+++ b/docs/gateway/configuration.md
@@ -2867,12 +2867,12 @@ Notes:
 - `gateway.port` controls the single multiplexed port used for WebSocket + HTTP (control UI, hooks, A2UI).
 - OpenAI Chat Completions endpoint: **disabled by default**; enable with `gateway.http.endpoints.chatCompletions.enabled: true`.
 - Precedence: `--port` > `CLAWDBOT_GATEWAY_PORT` > `gateway.port` > default `18789`.
-- Non-loopback binds (`lan`/`tailnet`/`auto`) require auth. Use `gateway.auth.token` (or `CLAWDBOT_GATEWAY_TOKEN`).
+- Gateway auth is required by default (token/password or Tailscale Serve identity). Non-loopback binds require a shared token/password.
 - The onboarding wizard generates a gateway token by default (even on loopback).
 - `gateway.remote.token` is **only** for remote CLI calls; it does not enable local gateway auth. `gateway.token` is ignored.
 
 Auth and Tailscale:
-- `gateway.auth.mode` sets the handshake requirements (`token` or `password`).
+- `gateway.auth.mode` sets the handshake requirements (`token` or `password`). When unset, token auth is assumed.
 - `gateway.auth.token` stores the shared token for token auth (used by the CLI on the same machine).
 - When `gateway.auth.mode` is set, only that method is accepted (plus optional Tailscale headers).
 - `gateway.auth.password` can be set here, or via `CLAWDBOT_GATEWAY_PASSWORD` (recommended).
diff --git a/docs/gateway/index.md b/docs/gateway/index.md
index d37320d1b..824984bde 100644
--- a/docs/gateway/index.md
+++ b/docs/gateway/index.md
@@ -37,7 +37,7 @@ pnpm gateway:watch
 - `--force` uses `lsof` to find listeners on the chosen port, sends SIGTERM, logs what it killed, then starts the gateway (fails fast if `lsof` is missing).
 - If you run under a supervisor (launchd/systemd/mac app child-process mode), a stop/restart typically sends **SIGTERM**; older builds may surface this as `pnpm` `ELIFECYCLE` exit code **143** (SIGTERM), which is a normal shutdown, not a crash.
 - **SIGUSR1** triggers an in-process restart when authorized (gateway tool/config apply/update, or enable `commands.restart` for manual restarts).
-- Gateway auth: set `gateway.auth.mode=token` + `gateway.auth.token` (or pass `--token <value>` / `CLAWDBOT_GATEWAY_TOKEN`) to require clients to send `connect.params.auth.token`.
+- Gateway auth is required by default: set `gateway.auth.token` (or `CLAWDBOT_GATEWAY_TOKEN`) or `gateway.auth.password`. Clients must send `connect.params.auth.token/password` unless using Tailscale Serve identity.
 - The wizard now generates a token by default, even on loopback.
 - Port precedence: `--port` > `CLAWDBOT_GATEWAY_PORT` > `gateway.port` > default `18789`.
 
diff --git a/docs/gateway/security.md b/docs/gateway/security.md
index 1bdd014ba..d13d830cf 100644
--- a/docs/gateway/security.md
+++ b/docs/gateway/security.md
@@ -280,7 +280,7 @@ The Gateway multiplexes **WebSocket + HTTP** on a single port:
 
 Bind mode controls where the Gateway listens:
 - `gateway.bind: "loopback"` (default): only local clients can connect.
-- Non-loopback binds (`"lan"`, `"tailnet"`, `"custom"`) expand the attack surface. Only use them with `gateway.auth` enabled and a real firewall.
+- Non-loopback binds (`"lan"`, `"tailnet"`, `"custom"`) expand the attack surface. Only use them with a shared token/password and a real firewall.
 
 Rules of thumb:
 - Prefer Tailscale Serve over LAN binds (Serve keeps the Gateway on loopback, and Tailscale handles access).
@@ -289,13 +289,11 @@ Rules of thumb:
 
 ### 0.5) Lock down the Gateway WebSocket (local auth)
 
-Gateway auth is **only** enforced when you set `gateway.auth`. If it’s unset,
-loopback WS clients are unauthenticated — any local process can connect and call
-`config.apply`.
+Gateway auth is **required by default**. If no token/password is configured,
+the Gateway refuses WebSocket connections (fail‑closed).
 
-The onboarding wizard now generates a token by default (even for loopback) so
-local clients must authenticate. If you skip the wizard or remove auth, you’re
-back to open loopback.
+The onboarding wizard generates a token by default (even for loopback) so
+local clients must authenticate.
 
 Set a token so **all** WS clients must authenticate:
 
diff --git a/docs/web/index.md b/docs/web/index.md
index 82ca62205..0e1fadfa4 100644
--- a/docs/web/index.md
+++ b/docs/web/index.md
@@ -91,7 +91,8 @@ Open:
 
 ## Security notes
 
-- Binding the Gateway to a non-loopback address **requires** auth (`gateway.auth` or `CLAWDBOT_GATEWAY_TOKEN`).
+- Gateway auth is required by default (token/password or Tailscale identity headers).
+- Non-loopback binds still **require** a shared token/password (`gateway.auth` or env).
 - The wizard generates a gateway token by default (even on loopback).
 - The UI sends `connect.params.auth.token` or `connect.params.auth.password`.
 - With Serve, Tailscale identity headers can satisfy auth when
diff --git a/docs/web/webchat.md b/docs/web/webchat.md
index 2abfa67ea..3c968e0fc 100644
--- a/docs/web/webchat.md
+++ b/docs/web/webchat.md
@@ -16,7 +16,7 @@ Status: the macOS/iOS SwiftUI chat UI talks directly to the Gateway WebSocket.
 ## Quick start
 1) Start the gateway.
 2) Open the WebChat UI (macOS/iOS app) or the Control UI chat tab.
-3) Ensure gateway auth is configured if you are not on loopback.
+3) Ensure gateway auth is configured (required by default, even on loopback).
 
 ## How it works (behavior)
 - The UI connects to the Gateway WebSocket and uses `chat.history`, `chat.send`, and `chat.inject`.
diff --git a/src/cli/gateway-cli.coverage.test.ts b/src/cli/gateway-cli.coverage.test.ts
index 96437d566..002743170 100644
--- a/src/cli/gateway-cli.coverage.test.ts
+++ b/src/cli/gateway-cli.coverage.test.ts
@@ -249,7 +249,7 @@ describe("gateway-cli coverage", () => {
     programInvalidPort.exitOverride();
     registerGatewayCli(programInvalidPort);
     await expect(
-      programInvalidPort.parseAsync(["gateway", "--port", "0"], {
+      programInvalidPort.parseAsync(["gateway", "--port", "0", "--token", "test-token"], {
         from: "user",
       }),
     ).rejects.toThrow("__exit__:1");
@@ -263,7 +263,7 @@ describe("gateway-cli coverage", () => {
     registerGatewayCli(programForceFail);
     await expect(
       programForceFail.parseAsync(
-        ["gateway", "--port", "18789", "--force", "--allow-unconfigured"],
+        ["gateway", "--port", "18789", "--token", "test-token", "--force", "--allow-unconfigured"],
         { from: "user" },
       ),
     ).rejects.toThrow("__exit__:1");
@@ -276,9 +276,12 @@ describe("gateway-cli coverage", () => {
     const beforeSigterm = new Set(process.listeners("SIGTERM"));
     const beforeSigint = new Set(process.listeners("SIGINT"));
     await expect(
-      programStartFail.parseAsync(["gateway", "--port", "18789", "--allow-unconfigured"], {
-        from: "user",
-      }),
+      programStartFail.parseAsync(
+        ["gateway", "--port", "18789", "--token", "test-token", "--allow-unconfigured"],
+        {
+          from: "user",
+        },
+      ),
     ).rejects.toThrow("__exit__:1");
     for (const listener of process.listeners("SIGTERM")) {
       if (!beforeSigterm.has(listener)) process.removeListener("SIGTERM", listener);
@@ -304,7 +307,7 @@ describe("gateway-cli coverage", () => {
     registerGatewayCli(program);
 
     await expect(
-      program.parseAsync(["gateway", "--allow-unconfigured"], {
+      program.parseAsync(["gateway", "--token", "test-token", "--allow-unconfigured"], {
         from: "user",
       }),
     ).rejects.toThrow("__exit__:1");
@@ -327,7 +330,7 @@ describe("gateway-cli coverage", () => {
 
       startGatewayServer.mockRejectedValueOnce(new Error("nope"));
       await expect(
-        program.parseAsync(["gateway", "--allow-unconfigured"], {
+        program.parseAsync(["gateway", "--token", "test-token", "--allow-unconfigured"], {
           from: "user",
         }),
       ).rejects.toThrow("__exit__:1");
diff --git a/src/cli/gateway-cli/run.ts b/src/cli/gateway-cli/run.ts
index 1c2e8273c..0de667c3c 100644
--- a/src/cli/gateway-cli/run.ts
+++ b/src/cli/gateway-cli/run.ts
@@ -203,6 +203,10 @@ async function runGatewayCommand(opts: GatewayRunOpts) {
   const resolvedAuthMode = resolvedAuth.mode;
   const tokenValue = resolvedAuth.token;
   const passwordValue = resolvedAuth.password;
+  const hasToken = typeof tokenValue === "string" && tokenValue.trim().length > 0;
+  const hasPassword = typeof passwordValue === "string" && passwordValue.trim().length > 0;
+  const hasSharedSecret =
+    (resolvedAuthMode === "token" && hasToken) || (resolvedAuthMode === "password" && hasPassword);
   const authHints: string[] = [];
   if (miskeys.hasGatewayToken) {
     authHints.push('Found "gateway.token" in config. Use "gateway.auth.token" instead.');
@@ -212,7 +216,7 @@ async function runGatewayCommand(opts: GatewayRunOpts) {
       '"gateway.remote.token" is for remote CLI calls; it does not enable local gateway auth.',
     );
   }
-  if (resolvedAuthMode === "token" && !tokenValue) {
+  if (resolvedAuthMode === "token" && !hasToken && !resolvedAuth.allowTailscale) {
     defaultRuntime.error(
       [
         "Gateway auth is set to token, but no token is configured.",
@@ -225,7 +229,7 @@ async function runGatewayCommand(opts: GatewayRunOpts) {
     defaultRuntime.exit(1);
     return;
   }
-  if (resolvedAuthMode === "password" && !passwordValue) {
+  if (resolvedAuthMode === "password" && !hasPassword) {
     defaultRuntime.error(
       [
         "Gateway auth is set to password, but no password is configured.",
@@ -238,11 +242,11 @@ async function runGatewayCommand(opts: GatewayRunOpts) {
     defaultRuntime.exit(1);
     return;
   }
-  if (bind !== "loopback" && resolvedAuthMode === "none") {
+  if (bind !== "loopback" && !hasSharedSecret) {
     defaultRuntime.error(
       [
         `Refusing to bind gateway to ${bind} without auth.`,
-        "Set gateway.auth.token (or CLAWDBOT_GATEWAY_TOKEN) or pass --token.",
+        "Set gateway.auth.token/password (or CLAWDBOT_GATEWAY_TOKEN/CLAWDBOT_GATEWAY_PASSWORD) or pass --token/--password.",
         ...authHints,
       ]
         .filter(Boolean)
diff --git a/src/config/schema.ts b/src/config/schema.ts
index bb8d8c0bb..6cd6381ae 100644
--- a/src/config/schema.ts
+++ b/src/config/schema.ts
@@ -369,7 +369,8 @@ const FIELD_HELP: Record<string, string> = {
   "gateway.remote.sshIdentity": "Optional SSH identity file path (passed to ssh -i).",
   "agents.list[].identity.avatar":
     "Avatar image path (relative to the agent workspace only) or a remote URL/data URL.",
-  "gateway.auth.token": "Recommended for all gateways; required for non-loopback binds.",
+  "gateway.auth.token":
+    "Required by default for gateway access (unless using Tailscale Serve identity); required for non-loopback binds.",
   "gateway.auth.password": "Required for Tailscale funnel.",
   "gateway.controlUi.basePath":
     "Optional URL prefix where the Control UI is served (e.g. /clawdbot).",
diff --git a/src/gateway/auth.ts b/src/gateway/auth.ts
index 0e0d1a7d5..f716be5dd 100644
--- a/src/gateway/auth.ts
+++ b/src/gateway/auth.ts
@@ -173,8 +173,7 @@ export function resolveGatewayAuth(params: {
   const env = params.env ?? process.env;
   const token = authConfig.token ?? env.CLAWDBOT_GATEWAY_TOKEN ?? undefined;
   const password = authConfig.password ?? env.CLAWDBOT_GATEWAY_PASSWORD ?? undefined;
-  const mode: ResolvedGatewayAuth["mode"] =
-    authConfig.mode ?? (password ? "password" : token ? "token" : "none");
+  const mode: ResolvedGatewayAuth["mode"] = authConfig.mode ?? (password ? "password" : "token");
   const allowTailscale =
     authConfig.allowTailscale ?? (params.tailscaleMode === "serve" && mode !== "password");
   return {
@@ -187,6 +186,7 @@ export function resolveGatewayAuth(params: {
 
 export function assertGatewayAuthConfigured(auth: ResolvedGatewayAuth): void {
   if (auth.mode === "token" && !auth.token) {
+    if (auth.allowTailscale) return;
     throw new Error(
       "gateway auth mode is token, but no token was configured (set gateway.auth.token or CLAWDBOT_GATEWAY_TOKEN)",
     );
diff --git a/src/gateway/server-runtime-config.ts b/src/gateway/server-runtime-config.ts
index a155c5d0a..2d699988a 100644
--- a/src/gateway/server-runtime-config.ts
+++ b/src/gateway/server-runtime-config.ts
@@ -70,6 +70,11 @@ export async function resolveGatewayRuntimeConfig(params: {
     tailscaleMode,
   });
   const authMode: ResolvedGatewayAuth["mode"] = resolvedAuth.mode;
+  const hasToken = typeof resolvedAuth.token === "string" && resolvedAuth.token.trim().length > 0;
+  const hasPassword =
+    typeof resolvedAuth.password === "string" && resolvedAuth.password.trim().length > 0;
+  const hasSharedSecret =
+    (authMode === "token" && hasToken) || (authMode === "password" && hasPassword);
   const hooksConfig = resolveHooksConfig(params.cfg);
   const canvasHostEnabled =
     process.env.CLAWDBOT_SKIP_CANVAS_HOST !== "1" && params.cfg.canvasHost?.enabled !== false;
@@ -83,9 +88,9 @@ export async function resolveGatewayRuntimeConfig(params: {
   if (tailscaleMode !== "off" && !isLoopbackHost(bindHost)) {
     throw new Error("tailscale serve/funnel requires gateway bind=loopback (127.0.0.1)");
   }
-  if (!isLoopbackHost(bindHost) && authMode === "none") {
+  if (!isLoopbackHost(bindHost) && !hasSharedSecret) {
     throw new Error(
-      `refusing to bind gateway to ${bindHost}:${params.port} without auth (set gateway.auth.token or CLAWDBOT_GATEWAY_TOKEN, or pass --token)`,
+      `refusing to bind gateway to ${bindHost}:${params.port} without auth (set gateway.auth.token/password, or set CLAWDBOT_GATEWAY_TOKEN/CLAWDBOT_GATEWAY_PASSWORD)`,
     );
   }
 
diff --git a/src/gateway/server.auth.e2e.test.ts b/src/gateway/server.auth.e2e.test.ts
index 17a8802b2..6474f285b 100644
--- a/src/gateway/server.auth.e2e.test.ts
+++ b/src/gateway/server.auth.e2e.test.ts
@@ -34,7 +34,7 @@ const openWs = async (port: number) => {
 };
 
 describe("gateway server auth/connect", () => {
-  describe("default auth", () => {
+  describe("default auth (token)", () => {
     let server: Awaited<ReturnType<typeof startGatewayServer>>;
     let port: number;
 
@@ -234,6 +234,7 @@ describe("gateway server auth/connect", () => {
     test("returns control ui hint when token is missing", async () => {
       const ws = await openWs(port);
       const res = await connectReq(ws, {
+        skipDefaultAuth: true,
         client: {
           id: GATEWAY_CLIENT_NAMES.CONTROL_UI,
           version: "1.0.0",
@@ -352,6 +353,7 @@ describe("gateway server auth/connect", () => {
   });
 
   test("rejects proxied connections without auth when proxy headers are untrusted", async () => {
+    testState.gatewayAuth = { mode: "none" };
     const prevToken = process.env.CLAWDBOT_GATEWAY_TOKEN;
     delete process.env.CLAWDBOT_GATEWAY_TOKEN;
     const port = await getFreePort();
@@ -360,7 +362,7 @@ describe("gateway server auth/connect", () => {
       headers: { "x-forwarded-for": "203.0.113.10" },
     });
     await new Promise<void>((resolve) => ws.once("open", resolve));
-    const res = await connectReq(ws);
+    const res = await connectReq(ws, { skipDefaultAuth: true });
     expect(res.ok).toBe(false);
     expect(res.error?.message ?? "").toContain("gateway auth required");
     ws.close();
diff --git a/src/gateway/server.nodes.late-invoke.test.ts b/src/gateway/server.nodes.late-invoke.test.ts
index 50801583d..52f73e898 100644
--- a/src/gateway/server.nodes.late-invoke.test.ts
+++ b/src/gateway/server.nodes.late-invoke.test.ts
@@ -28,11 +28,12 @@ let ws: WebSocket;
 let port: number;
 
 beforeAll(async () => {
-  const started = await startServerWithClient();
+  const token = "test-gateway-token-1234567890";
+  const started = await startServerWithClient(token);
   server = started.server;
   ws = started.ws;
   port = started.port;
-  await connectOk(ws);
+  await connectOk(ws, { token });
 });
 
 afterAll(async () => {
@@ -60,6 +61,7 @@ describe("late-arriving invoke results", () => {
           mode: GATEWAY_CLIENT_MODES.NODE,
         },
         commands: ["canvas.snapshot"],
+        token: "test-gateway-token-1234567890",
       });
 
       // Send an invoke result with an unknown ID (simulating late arrival after timeout)
diff --git a/src/gateway/test-helpers.server.ts b/src/gateway/test-helpers.server.ts
index b6e89486d..254365564 100644
--- a/src/gateway/test-helpers.server.ts
+++ b/src/gateway/test-helpers.server.ts
@@ -111,7 +111,7 @@ async function resetGatewayTestState(options: { uniqueConfigRoot: boolean }) {
   sessionStoreSaveDelayMs.value = 0;
   testTailnetIPv4.value = undefined;
   testState.gatewayBind = undefined;
-  testState.gatewayAuth = undefined;
+  testState.gatewayAuth = { mode: "token", token: "test-gateway-token-1234567890" };
   testState.gatewayControlUi = undefined;
   testState.hooksConfig = undefined;
   testState.canvasHostPort = undefined;
@@ -260,10 +260,15 @@ export async function startGatewayServer(port: number, opts?: GatewayServerOptio
 export async function startServerWithClient(token?: string, opts?: GatewayServerOptions) {
   let port = await getFreePort();
   const prev = process.env.CLAWDBOT_GATEWAY_TOKEN;
-  if (token === undefined) {
+  const fallbackToken =
+    token ??
+    (typeof (testState.gatewayAuth as { token?: unknown } | undefined)?.token === "string"
+      ? (testState.gatewayAuth as { token?: string }).token
+      : undefined);
+  if (fallbackToken === undefined) {
     delete process.env.CLAWDBOT_GATEWAY_TOKEN;
   } else {
-    process.env.CLAWDBOT_GATEWAY_TOKEN = token;
+    process.env.CLAWDBOT_GATEWAY_TOKEN = fallbackToken;
   }
 
   let server: Awaited<ReturnType<typeof startGatewayServer>> | null = null;
@@ -299,6 +304,7 @@ export async function connectReq(
   opts?: {
     token?: string;
     password?: string;
+    skipDefaultAuth?: boolean;
     minProtocol?: number;
     maxProtocol?: number;
     client?: {
@@ -334,6 +340,20 @@ export async function connectReq(
     mode: GATEWAY_CLIENT_MODES.TEST,
   };
   const role = opts?.role ?? "operator";
+  const defaultToken =
+    opts?.skipDefaultAuth === true
+      ? undefined
+      : typeof (testState.gatewayAuth as { token?: unknown } | undefined)?.token === "string"
+        ? ((testState.gatewayAuth as { token?: string }).token ?? undefined)
+        : process.env.CLAWDBOT_GATEWAY_TOKEN;
+  const defaultPassword =
+    opts?.skipDefaultAuth === true
+      ? undefined
+      : typeof (testState.gatewayAuth as { password?: unknown } | undefined)?.password === "string"
+        ? ((testState.gatewayAuth as { password?: string }).password ?? undefined)
+        : process.env.CLAWDBOT_GATEWAY_PASSWORD;
+  const token = opts?.token ?? defaultToken;
+  const password = opts?.password ?? defaultPassword;
   const requestedScopes = Array.isArray(opts?.scopes) ? opts?.scopes : [];
   const device = (() => {
     if (opts?.device === null) return undefined;
@@ -347,7 +367,7 @@ export async function connectReq(
       role,
       scopes: requestedScopes,
       signedAtMs,
-      token: opts?.token ?? null,
+      token: token ?? null,
     });
     return {
       id: identity.deviceId,
@@ -372,10 +392,10 @@ export async function connectReq(
         role,
         scopes: opts?.scopes,
         auth:
-          opts?.token || opts?.password
+          token || password
             ? {
-                token: opts?.token,
-                password: opts?.password,
+                token,
+                password,
               }
             : undefined,
         device,
diff --git a/src/gateway/tools-invoke-http.test.ts b/src/gateway/tools-invoke-http.test.ts
index f23220d9d..18c23692d 100644
--- a/src/gateway/tools-invoke-http.test.ts
+++ b/src/gateway/tools-invoke-http.test.ts
@@ -7,6 +7,12 @@ import { createTestRegistry } from "../test-utils/channel-plugins.js";
 
 installGatewayTestHooks({ scope: "suite" });
 
+const resolveGatewayToken = (): string => {
+  const token = (testState.gatewayAuth as { token?: string } | undefined)?.token;
+  if (!token) throw new Error("test gateway token missing");
+  return token;
+};
+
 describe("POST /tools/invoke", () => {
   it("invokes a tool and returns {ok:true,result}", async () => {
     // Allow the sessions_list tool for main agent.
@@ -25,10 +31,11 @@ describe("POST /tools/invoke", () => {
     const server = await startGatewayServer(port, {
       bind: "loopback",
     });
+    const token = resolveGatewayToken();
 
     const res = await fetch(`http://127.0.0.1:${port}/tools/invoke`, {
       method: "POST",
-      headers: { "content-type": "application/json" },
+      headers: { "content-type": "application/json", authorization: `Bearer ${token}` },
       body: JSON.stringify({ tool: "sessions_list", action: "json", args: {}, sessionKey: "main" }),
     });
 
@@ -105,9 +112,10 @@ describe("POST /tools/invoke", () => {
     const port = await getFreePort();
     const server = await startGatewayServer(port, { bind: "loopback" });
     try {
+      const token = resolveGatewayToken();
       const res = await fetch(`http://127.0.0.1:${port}/tools/invoke`, {
         method: "POST",
-        headers: { "content-type": "application/json" },
+        headers: { "content-type": "application/json", authorization: `Bearer ${token}` },
         body: JSON.stringify({
           tool: "sessions_list",
           action: "json",
@@ -167,10 +175,11 @@ describe("POST /tools/invoke", () => {
 
     const port = await getFreePort();
     const server = await startGatewayServer(port, { bind: "loopback" });
+    const token = resolveGatewayToken();
 
     const res = await fetch(`http://127.0.0.1:${port}/tools/invoke`, {
       method: "POST",
-      headers: { "content-type": "application/json" },
+      headers: { "content-type": "application/json", authorization: `Bearer ${token}` },
       body: JSON.stringify({ tool: "sessions_list", action: "json", args: {}, sessionKey: "main" }),
     });
 
@@ -198,10 +207,11 @@ describe("POST /tools/invoke", () => {
 
     const port = await getFreePort();
     const server = await startGatewayServer(port, { bind: "loopback" });
+    const token = resolveGatewayToken();
 
     const res = await fetch(`http://127.0.0.1:${port}/tools/invoke`, {
       method: "POST",
-      headers: { "content-type": "application/json" },
+      headers: { "content-type": "application/json", authorization: `Bearer ${token}` },
       body: JSON.stringify({ tool: "sessions_list", action: "json", args: {}, sessionKey: "main" }),
     });
 
@@ -234,17 +244,18 @@ describe("POST /tools/invoke", () => {
     const server = await startGatewayServer(port, { bind: "loopback" });
 
     const payload = { tool: "sessions_list", action: "json", args: {} };
+    const token = resolveGatewayToken();
 
     const resDefault = await fetch(`http://127.0.0.1:${port}/tools/invoke`, {
       method: "POST",
-      headers: { "content-type": "application/json" },
+      headers: { "content-type": "application/json", authorization: `Bearer ${token}` },
       body: JSON.stringify(payload),
     });
     expect(resDefault.status).toBe(200);
 
     const resMain = await fetch(`http://127.0.0.1:${port}/tools/invoke`, {
       method: "POST",
-      headers: { "content-type": "application/json" },
+      headers: { "content-type": "application/json", authorization: `Bearer ${token}` },
       body: JSON.stringify({ ...payload, sessionKey: "main" }),
     });
     expect(resMain.status).toBe(200);
diff --git a/src/security/audit.ts b/src/security/audit.ts
index 3695cf049..b2f9691c7 100644
--- a/src/security/audit.ts
+++ b/src/security/audit.ts
@@ -211,8 +211,14 @@ function collectGatewayConfigFindings(cfg: ClawdbotConfig): SecurityAuditFinding
   const trustedProxies = Array.isArray(cfg.gateway?.trustedProxies)
     ? cfg.gateway.trustedProxies
     : [];
+  const hasToken = typeof auth.token === "string" && auth.token.trim().length > 0;
+  const hasPassword = typeof auth.password === "string" && auth.password.trim().length > 0;
+  const hasSharedSecret =
+    (auth.mode === "token" && hasToken) || (auth.mode === "password" && hasPassword);
+  const hasTailscaleAuth = auth.allowTailscale === true && tailscaleMode === "serve";
+  const hasGatewayAuth = hasSharedSecret || hasTailscaleAuth;
 
-  if (bind !== "loopback" && auth.mode === "none") {
+  if (bind !== "loopback" && !hasSharedSecret) {
     findings.push({
       checkId: "gateway.bind_no_auth",
       severity: "critical",
@@ -236,13 +242,13 @@ function collectGatewayConfigFindings(cfg: ClawdbotConfig): SecurityAuditFinding
     });
   }
 
-  if (bind === "loopback" && controlUiEnabled && auth.mode === "none") {
+  if (bind === "loopback" && controlUiEnabled && !hasGatewayAuth) {
     findings.push({
       checkId: "gateway.loopback_no_auth",
       severity: "critical",
-      title: "Gateway auth disabled on loopback",
+      title: "Gateway auth missing on loopback",
       detail:
-        "gateway.bind is loopback and gateway.auth is disabled. " +
+        "gateway.bind is loopback but no gateway auth secret is configured. " +
         "If the Control UI is exposed through a reverse proxy, unauthenticated access is possible.",
       remediation: "Set gateway.auth (token recommended) or keep the Control UI local-only.",
     });