diff --git a/src/tests/tools/session/session.test.ts b/src/tests/tools/session/session.test.ts
index 3466fc60..df5631f1 100644
--- a/src/tests/tools/session/session.test.ts
+++ b/src/tests/tools/session/session.test.ts
@@ -10,22 +10,26 @@ const mockAttachToSession = jest.fn<
 }));
 
 let mockSelectedDevicePlatform: 'android' | 'ios' | null = 'ios';
+let mockSelectedDevice: string | null = 'device-udid';
 
 jest.unstable_mockModule('../../../tools/session/select-device', () => ({
-  getSelectedLocalDevice: () => ({
-    get udid() {
-      return 'device-udid';
-    },
-    get platform() {
-      return mockSelectedDevicePlatform;
-    },
-    get type() {
-      return mockSelectedDevicePlatform === 'ios' ? 'simulator' : null;
-    },
-    get info() {
-      return { name: 'iPhone 12', platform: '16.0' };
-    },
-  }),
+  getSelectedLocalDevice: () =>
+    mockSelectedDevice
+      ? {
+          get udid() {
+            return mockSelectedDevice;
+          },
+          get platform() {
+            return mockSelectedDevicePlatform;
+          },
+          get type() {
+            return mockSelectedDevicePlatform === 'ios' ? 'simulator' : null;
+          },
+          get info() {
+            return { name: 'iPhone 12', platform: '16.0' };
+          },
+        }
+      : null,
   clearSelectedDevice: () => {},
 }));
 
@@ -134,6 +138,7 @@ let mockFetch: jest.MockedFunction<typeof fetch>;
 beforeEach(() => {
   jest.clearAllMocks();
   mockSelectedDevicePlatform = 'ios';
+  mockSelectedDevice = 'device-udid';
   mockGetSessionOwnership.mockReturnValue(null);
   mockAttachToSession.mockResolvedValue({
     sessionId: 'attached-session-id',
@@ -589,6 +594,30 @@ describe('buildAndroidCapabilities', () => {
     expect(caps['appium:settings[waitForSelectorTimeout]']).toBe(0);
   });
 
+  test('does not override explicit appium:udid from capabilities', () => {
+    mockSelectedDevicePlatform = 'android';
+
+    const caps = buildAndroidCapabilities(
+      {},
+      { 'appium:udid': 'explicit-udid' },
+      false
+    );
+
+    expect(caps['appium:udid']).toBe('explicit-udid');
+  });
+
+  test('does not override appium:udid from config capabilities', () => {
+    mockSelectedDevicePlatform = 'android';
+
+    const caps = buildAndroidCapabilities(
+      { 'appium:udid': 'config-udid' },
+      undefined,
+      false
+    );
+
+    expect(caps['appium:udid']).toBe('config-udid');
+  });
+
   test('ignores selected iOS device for local server', () => {
     mockSelectedDevicePlatform = 'ios';
 
@@ -623,6 +652,18 @@ describe('buildIOSCapabilities', () => {
     expect(caps['appium:bundleId']).toBe('com.example.app');
   });
 
+  test('does not override explicit appium:udid from capabilities', async () => {
+    mockSelectedDevicePlatform = 'ios';
+
+    const caps = await buildIOSCapabilities(
+      {},
+      { 'appium:udid': 'explicit-udid' },
+      false
+    );
+
+    expect(caps['appium:udid']).toBe('explicit-udid');
+  });
+
   test('ignores selected Android device for local server', async () => {
     mockSelectedDevicePlatform = 'android';
 
diff --git a/src/tools/session/create-session.ts b/src/tools/session/create-session.ts
index 2e2c057c..eb0ad88c 100644
--- a/src/tools/session/create-session.ts
+++ b/src/tools/session/create-session.ts
@@ -67,18 +67,21 @@ export function buildAndroidCapabilities(
   customCaps: Record<string, any> | undefined,
   isRemoteServer: boolean
 ): Capabilities {
+  const givenCaps = { ...configCaps, ...customCaps };
+  const selectedLocalDevice = getSelectedLocalDevice();
+  const selectedDeviceUdid =
+    !isRemoteServer &&
+    !givenCaps['appium:udid'] &&
+    selectedLocalDevice?.platform === 'android'
+      ? selectedLocalDevice.udid
+      : undefined;
+
   const defaultCaps: Capabilities = {
     platformName: 'Android',
     'appium:automationName': 'UiAutomator2',
     'appium:deviceName': 'Android Device',
   };
 
-  const selectedLocalDevice = getSelectedLocalDevice();
-  const selectedDeviceUdid =
-    !isRemoteServer && selectedLocalDevice?.platform === 'android'
-      ? selectedLocalDevice?.udid
-      : undefined;
-
   const additionalCaps = {
     'appium:settings[actionAcknowledgmentTimeout]': 0,
     'appium:settings[waitForIdleTimeout]': 0,
@@ -146,8 +149,13 @@ export async function buildIOSCapabilities(
   const deviceType = selectedIOSDevice?.type || null;
   await validateIOSDeviceSelection(deviceType);
 
-  // Get selected device info BEFORE constructing defaultCaps so we can use the actual device name
-  const selectedDeviceUdid = selectedIOSDevice?.udid;
+  const givenCaps = { ...configCaps, ...customCaps };
+  const selectedDeviceUdid =
+    !isRemoteServer &&
+    !givenCaps['appium:udid'] &&
+    selectedIOSDevice?.platform === 'ios'
+      ? selectedIOSDevice.udid
+      : undefined;
   const selectedDeviceInfo = selectedIOSDevice?.info;
 
   log.debug('Selected device info:', selectedDeviceInfo);