diff --git a/config/packages/README.md b/config/packages/README.md
index a8705a37..0d1475ce 100755
--- a/config/packages/README.md
+++ b/config/packages/README.md
@@ -80,6 +80,7 @@ Live collection of plug-and-play Home Assistant packages. Each YAML file in this
 ### Dreame vacuum automations
 - Logic lives in [vacuum.yaml](vacuum.yaml): continuous four-phase loop (sweep main, sweep baths, mop main, mop baths) driven by `input_select.l10s_vacuum_phase` and `input_text.l10s_vacuum_room_queue`, with per-room notifications and automatic reseeding between phases.
 - Uses the Dreame HACS integration with segment IDs to enforce bathrooms last in each sweep/mop pass, dock on arrival, and auto-run if idle for 3+ days.
+- Family-return docking now ignores away windows shorter than 20 minutes so brief walks do not interrupt an active run, but still docks if the family stays home for 10 minutes.
 - Room queue advances on a 2-minute dwell in `sensor.l10s_vacuum_current_room` (queue = remaining rooms); phase changes happen when an empty queue is reseeded and the vacuum is not actively cleaning.
 - One-off room cleaning for Alexa uses `input_boolean.l10s_vacuum_clean_*` (example: "Kitchen Clean") and runs a segment job without touching or checking the phased queue.
 - Formal Dining (room 17/dock) is excluded from phased queues; clean it via the one-off toggle.
diff --git a/config/packages/vacuum.yaml b/config/packages/vacuum.yaml
index fa228cc3..fe741baf 100755
--- a/config/packages/vacuum.yaml
+++ b/config/packages/vacuum.yaml
@@ -17,6 +17,7 @@
 # - If docked+completed still has queue entries, treat queue as stale and clear it before phase advance.
 # - Mop phases use `sweeping_and_mopping` instead of mop-only.
 # - One-off room clean booleans ignore the queue; they only run when the vacuum is docked/idle.
+# - Family-return docking ignores away windows under 20 minutes to avoid short-walk false stops, but docks after 10 minutes home if the family stays put.
 # - Formal Dining (room 17/dock) is excluded from phased queues; clean via one-off toggle.
 # - Phase advancement no longer depends on a separate "ready" latch.
 ######################################################################
@@ -378,28 +379,79 @@ automation:
       - platform: state
         entity_id: group.family
         to: 'home'
+        id: family_home
+      - platform: state
+        entity_id: group.family
+        to: 'home'
+        for: '00:10:00'
+        id: family_home_stable
       - platform: state
         entity_id: input_boolean.l10s_vacuum_on_demand
         to: 'off'
+        id: on_demand_off
+    variables:
+      family_away_seconds: >
+        {% if trigger.id == 'family_home'
+              and trigger.from_state is not none
+              and trigger.from_state.state == 'not_home'
+              and trigger.from_state.last_changed is not none %}
+          {{ (as_timestamp(now()) - as_timestamp(trigger.from_state.last_changed)) | int(0) }}
+        {% else %}
+          999999
+        {% endif %}
     condition:
       - condition: template
         value_template: >
           {{ is_state('vacuum.l10s_vacuum', 'cleaning') or is_state('vacuum.l10s_vacuum', 'returning') or is_state('vacuum.l10s_vacuum', 'paused') }}
     action:
-      - service: vacuum.pause
-        target:
-          entity_id: vacuum.l10s_vacuum
-      - delay: 00:00:10
-      - service: vacuum.return_to_base
-        target:
-          entity_id: vacuum.l10s_vacuum
-      - service: input_boolean.turn_off
-        target:
-          entity_id: input_boolean.l10s_vacuum_on_demand
-      - service: script.send_to_logbook
-        data:
-          topic: "VACUUM"
-          message: "Family home; docking vacuum and disabling On-Demand."
+      - choose:
+          - conditions:
+              - condition: template
+                value_template: "{{ trigger.id == 'family_home' and family_away_seconds < 1200 }}"
+            sequence:
+              - service: script.send_to_logbook
+                data:
+                  topic: "VACUUM"
+                  message: >
+                    Family returned after {{ ((family_away_seconds | int(0)) / 60) | round(1) }}
+                    minutes; leaving vacuum running unless we stay home for 10 minutes.
+          - conditions:
+              - condition: template
+                value_template: >
+                  {{ trigger.id == 'family_home_stable' and is_state('input_boolean.l10s_vacuum_on_demand', 'on') }}
+            sequence:
+              - service: vacuum.pause
+                target:
+                  entity_id: vacuum.l10s_vacuum
+              - delay: 00:00:10
+              - service: vacuum.return_to_base
+                target:
+                  entity_id: vacuum.l10s_vacuum
+              - service: input_boolean.turn_off
+                target:
+                  entity_id: input_boolean.l10s_vacuum_on_demand
+              - service: script.send_to_logbook
+                data:
+                  topic: "VACUUM"
+                  message: "Family stayed home for 10 minutes; docking vacuum and disabling On-Demand."
+          - conditions:
+              - condition: template
+                value_template: "{{ trigger.id in ['family_home', 'on_demand_off'] }}"
+            sequence:
+              - service: vacuum.pause
+                target:
+                  entity_id: vacuum.l10s_vacuum
+              - delay: 00:00:10
+              - service: vacuum.return_to_base
+                target:
+                  entity_id: vacuum.l10s_vacuum
+              - service: input_boolean.turn_off
+                target:
+                  entity_id: input_boolean.l10s_vacuum_on_demand
+              - service: script.send_to_logbook
+                data:
+                  topic: "VACUUM"
+                  message: "Family home; docking vacuum and disabling On-Demand."
 
   - alias: 'Away Vacuum: Confirm Room Cleaned'
     id: c581c570-55b0-4acd-8b5d-53cfb486cc2a