docs: audit links, glossary T0-T4, readability pass

Extend glossary with storage floors, source of truth, and linkable anchors.
Fix broken links, pose frame drift, rsync/offload wording, and README tone.
Add docs/improvement audit records and live demo links in design journey.

docs/adr/README.md

@@ -27,14 +27,14 @@ decisions specific to the platform are ADRs and belong here.
 | [ADR-0005](ADR-0005-wireguard-beneath-ssh.md) | WireGuard beneath SSH for the mesh transport | Accepted |
 | [ADR-0006](ADR-0006-iac-boundaries.md) | IaC split: Ansible hosts, Terraform ground, Flux ground-only, fleet manifest for drones | Accepted |
 | [ADR-0007](ADR-0007-non-root-image.md) | Run the simulator image as a non-root user | Accepted |
-| [ADR-0008](ADR-0008-runtime-data-paths.md) | Shared `var/t1` / `var/t3` runtime paths; state out of Git | Accepted |
+| [ADR-0008](ADR-0008-runtime-data-paths.md) | Shared [`var/t1`](../00-glossary.md#t1--warm) / [`var/t3`](../00-glossary.md#t3--warehouse) runtime paths; state out of Git | Accepted |
 | [ADR-0009](ADR-0009-bounded-lake-scans.md) | Bound observability lake scans to a flight window and cache | Accepted |
 
 ## Writing a new ADR
 
 1. Copy [`TEMPLATE.md`](TEMPLATE.md) to `ADR-NNNN-short-slug.md` (next free number).
-2. Fill in Context, Options (if more than one was real), Decision, Consequences.
+2. Context, Options, Decision, Consequences.
 3. Add a row to the index above.
 4. Cross-link the ADR from the design doc it affects (and vice versa).
 
-Keep the tone laconic: state the decision and why, skip the narrative.
+Accepted = immutable. Reversal → new ADR supersedes. Never edit Accepted.