diff --git a/hermes_cli/mcp_config.py b/hermes_cli/mcp_config.py
index cad7ed43873..56e98b72294 100644
--- a/hermes_cli/mcp_config.py
+++ b/hermes_cli/mcp_config.py
@@ -665,44 +665,28 @@ def cmd_mcp_test(args):
 
 # ─── hermes mcp login ────────────────────────────────────────────────────────
 
-def cmd_mcp_login(args):
-    """Force re-authentication for an OAuth-based MCP server.
+def _reauth_oauth_server(name: str, server_config: dict) -> bool:
+    """Force a fresh OAuth flow for one server. Returns True on success.
 
-    Deletes cached tokens (both on disk and in the running process's
-    MCPOAuthManager cache) and triggers a fresh OAuth flow via the
-    existing probe path.
-
-    Use this when:
-      - Tokens are stuck in a bad state (server revoked, refresh token
-        consumed by an external process, etc.)
-      - You want to re-authenticate to change scopes or account
-      - A tool call returned ``needs_reauth: true``
+    Wipes cached OAuth state (disk + in-process MCPOAuthManager cache),
+    re-probes to trigger the browser flow, and verifies a token actually
+    landed before reporting success. Shared by ``hermes mcp login`` and
+    ``hermes mcp reauth`` so both behave identically for a single server.
     """
-    name = args.name
-    servers = _get_mcp_servers()
-
-    if name not in servers:
-        _error(f"Server '{name}' not found in config.")
-        if servers:
-            _info(f"Available servers: {', '.join(servers)}")
-        return
-
-    server_config = servers[name]
     url = server_config.get("url")
     if not url:
         _error(f"Server '{name}' has no URL — not an OAuth-capable server")
-        return
+        return False
     if server_config.get("auth") != "oauth":
         _error(f"Server '{name}' is not configured for OAuth (auth={server_config.get('auth')})")
         _info("Use `hermes mcp remove` + `hermes mcp add` to reconfigure auth.")
-        return
+        return False
 
     # Wipe both disk and in-memory cache so the next probe forces a fresh
     # OAuth flow.
     try:
         from tools.mcp_oauth_manager import get_manager
-        mgr = get_manager()
-        mgr.remove(name)
+        get_manager().remove(name)
     except Exception as exc:
         _warning(f"Could not clear existing OAuth state: {exc}")
 
@@ -741,13 +725,90 @@ def cmd_mcp_login(args):
             print(color(f"          client_secret: \"<your-oauth-client-secret>\"", Colors.DIM))
             print()
             _info("Then re-run `hermes mcp login " + name + "`.")
-            return
+            return False
         if tools:
             _success(f"Authenticated — {len(tools)} tool(s) available")
         else:
             _success("Authenticated (server reported no tools)")
+        return True
     except Exception as exc:
         _error(f"Authentication failed: {exc}")
+        return False
+
+
+def cmd_mcp_login(args):
+    """Force re-authentication for an OAuth-based MCP server.
+
+    Deletes cached tokens (both on disk and in the running process's
+    MCPOAuthManager cache) and triggers a fresh OAuth flow via the
+    existing probe path.
+
+    Use this when:
+      - Tokens are stuck in a bad state (server revoked, refresh token
+        consumed by an external process, etc.)
+      - You want to re-authenticate to change scopes or account
+      - A tool call returned ``needs_reauth: true``
+    """
+    name = args.name
+    servers = _get_mcp_servers()
+
+    if name not in servers:
+        _error(f"Server '{name}' not found in config.")
+        if servers:
+            _info(f"Available servers: {', '.join(servers)}")
+        return
+
+    _reauth_oauth_server(name, servers[name])
+
+
+def cmd_mcp_reauth(args):
+    """Re-authenticate one OAuth MCP server, or all of them sequentially.
+
+    ``hermes mcp reauth <name>`` re-auths a single server (same as ``login``).
+    ``hermes mcp reauth --all`` discovers every ``auth: oauth`` server in
+    config and re-auths them ONE AT A TIME.
+
+    Serial-by-design: a human can only complete one browser OAuth flow at a
+    time, so re-authing all servers concurrently would open N tabs at once
+    and N-1 would time out. This is the self-service fix for the recurring
+    stale-client ritual in GH#36767 (and avoids the startup popup storm when
+    several servers go stale at once).
+    """
+    servers = _get_mcp_servers()
+    do_all = getattr(args, "all", False)
+    name = getattr(args, "name", None)
+
+    if do_all:
+        oauth_servers = [
+            (n, c) for n, c in servers.items()
+            if c.get("auth") == "oauth" and c.get("url")
+        ]
+        if not oauth_servers:
+            _info("No OAuth-based MCP servers found in config.")
+            return
+        print()
+        _info(f"Re-authenticating {len(oauth_servers)} OAuth server(s) one at a time...")
+        succeeded = 0
+        for n, c in oauth_servers:
+            print()
+            print(color(f"  ── {n} ──", Colors.CYAN + Colors.BOLD))
+            if _reauth_oauth_server(n, c):
+                succeeded += 1
+        print()
+        _success(f"Re-authenticated {succeeded}/{len(oauth_servers)} server(s)")
+        return
+
+    if not name:
+        _error("Specify a server name, or use --all to re-auth every OAuth server.")
+        _info("Usage: hermes mcp reauth <name>   |   hermes mcp reauth --all")
+        return
+    if name not in servers:
+        _error(f"Server '{name}' not found in config.")
+        if servers:
+            _info(f"Available servers: {', '.join(servers)}")
+        return
+
+    _reauth_oauth_server(name, servers[name])
 
 
 # ─── hermes mcp configure ────────────────────────────────────────────────────
@@ -888,6 +949,7 @@ def mcp_command(args):
         "configure": cmd_mcp_configure,
         "config": cmd_mcp_configure,
         "login": cmd_mcp_login,
+        "reauth": cmd_mcp_reauth,
     }
 
     handler = handlers.get(action)
@@ -911,4 +973,5 @@ def mcp_command(args):
         _info("hermes mcp test <name>                        Test connection")
         _info("hermes mcp configure <name>                   Toggle tools")
         _info("hermes mcp login <name>                       Re-authenticate OAuth")
+        _info("hermes mcp reauth <name> | --all              Re-auth one or all OAuth servers")
         print()
diff --git a/hermes_cli/subcommands/mcp.py b/hermes_cli/subcommands/mcp.py
index 405a984578b..c21a635b86e 100644
--- a/hermes_cli/subcommands/mcp.py
+++ b/hermes_cli/subcommands/mcp.py
@@ -86,6 +86,19 @@ def build_mcp_parser(subparsers, *, cmd_mcp: Callable) -> None:
     )
     mcp_login_p.add_argument("name", help="Server name to re-authenticate")
 
+    mcp_reauth_p = mcp_sub.add_parser(
+        "reauth",
+        help="Re-authenticate one OAuth MCP server, or all of them (--all)",
+    )
+    mcp_reauth_p.add_argument(
+        "name", nargs="?", help="Server name to re-authenticate (omit with --all)"
+    )
+    mcp_reauth_p.add_argument(
+        "--all",
+        action="store_true",
+        help="Re-authenticate every OAuth server in config, one at a time",
+    )
+
     # ── Catalog (Nous-approved MCPs shipped with the repo) ─────────────────
     mcp_sub.add_parser(
         "picker",
diff --git a/tests/hermes_cli/test_mcp_config.py b/tests/hermes_cli/test_mcp_config.py
index ec5f5eefe96..d052499bf72 100644
--- a/tests/hermes_cli/test_mcp_config.py
+++ b/tests/hermes_cli/test_mcp_config.py
@@ -754,3 +754,98 @@ class TestMcpLogin:
 
         assert "Authenticated — 3 tool(s) available" in out
         assert "no OAuth token" not in out
+
+
+# ---------------------------------------------------------------------------
+# Tests: cmd_mcp_reauth (GH#36767)
+# ---------------------------------------------------------------------------
+
+class TestMcpReauth:
+    def test_reauth_all_visits_only_oauth_servers_in_order(
+        self, tmp_path, capsys, monkeypatch
+    ):
+        """--all re-auths every oauth server (skipping non-oauth), serially."""
+        _seed_config(tmp_path, {
+            "gh": {"url": "https://gh.example.com/mcp", "auth": "oauth"},
+            "jira": {"url": "https://jira.example.com/mcp", "auth": "oauth"},
+            "localstdio": {"command": "foo"},  # no url / no oauth → skipped
+            "apikey": {"url": "https://k.example.com/mcp", "headers": {"x": "y"}},
+        })
+        visited = []
+        monkeypatch.setattr(
+            "hermes_cli.mcp_config._reauth_oauth_server",
+            lambda name, cfg: visited.append(name) or True,
+        )
+        from hermes_cli.mcp_config import cmd_mcp_reauth
+
+        cmd_mcp_reauth(_make_args(name=None, all=True))
+        out = capsys.readouterr().out
+
+        assert visited == ["gh", "jira"]
+        assert "Re-authenticated 2/2 server(s)" in out
+
+    def test_reauth_all_reports_partial_failures(self, tmp_path, capsys, monkeypatch):
+        """A server that fails to re-auth is counted but doesn't abort the rest."""
+        _seed_config(tmp_path, {
+            "a": {"url": "https://a.example.com/mcp", "auth": "oauth"},
+            "b": {"url": "https://b.example.com/mcp", "auth": "oauth"},
+        })
+        monkeypatch.setattr(
+            "hermes_cli.mcp_config._reauth_oauth_server",
+            lambda name, cfg: name == "a",  # only 'a' succeeds
+        )
+        from hermes_cli.mcp_config import cmd_mcp_reauth
+
+        cmd_mcp_reauth(_make_args(name=None, all=True))
+        out = capsys.readouterr().out
+
+        assert "Re-authenticated 1/2 server(s)" in out
+
+    def test_reauth_all_no_oauth_servers(self, tmp_path, capsys, monkeypatch):
+        _seed_config(tmp_path, {"localstdio": {"command": "foo"}})
+        called = []
+        monkeypatch.setattr(
+            "hermes_cli.mcp_config._reauth_oauth_server",
+            lambda name, cfg: called.append(name) or True,
+        )
+        from hermes_cli.mcp_config import cmd_mcp_reauth
+
+        cmd_mcp_reauth(_make_args(name=None, all=True))
+        out = capsys.readouterr().out
+
+        assert "No OAuth-based MCP servers found" in out
+        assert called == []
+
+    def test_reauth_single_server(self, tmp_path, capsys, monkeypatch):
+        _seed_config(tmp_path, {
+            "gh": {"url": "https://gh.example.com/mcp", "auth": "oauth"},
+        })
+        visited = []
+        monkeypatch.setattr(
+            "hermes_cli.mcp_config._reauth_oauth_server",
+            lambda name, cfg: visited.append(name) or True,
+        )
+        from hermes_cli.mcp_config import cmd_mcp_reauth
+
+        cmd_mcp_reauth(_make_args(name="gh", all=False))
+        assert visited == ["gh"]
+
+    def test_reauth_requires_name_or_all(self, tmp_path, capsys):
+        _seed_config(tmp_path, {
+            "gh": {"url": "https://gh.example.com/mcp", "auth": "oauth"},
+        })
+        from hermes_cli.mcp_config import cmd_mcp_reauth
+
+        cmd_mcp_reauth(_make_args(name=None, all=False))
+        out = capsys.readouterr().out
+        assert "Specify a server name" in out
+
+    def test_reauth_unknown_server(self, tmp_path, capsys):
+        _seed_config(tmp_path, {
+            "gh": {"url": "https://gh.example.com/mcp", "auth": "oauth"},
+        })
+        from hermes_cli.mcp_config import cmd_mcp_reauth
+
+        cmd_mcp_reauth(_make_args(name="ghost", all=False))
+        out = capsys.readouterr().out
+        assert "not found" in out
diff --git a/tests/tools/test_mcp_oauth.py b/tests/tools/test_mcp_oauth.py
index 0f9987b7ce8..0430e89998d 100644
--- a/tests/tools/test_mcp_oauth.py
+++ b/tests/tools/test_mcp_oauth.py
@@ -827,3 +827,34 @@ class TestWaitForCallbackSkipIntegration:
                 asyncio.run(_wait_for_callback())
         err = capsys.readouterr().err
         assert "skip" in err.lower()
+
+
+# ---------------------------------------------------------------------------
+# poison_client_registration (GH#36767)
+# ---------------------------------------------------------------------------
+
+class TestPoisonClientRegistration:
+    def test_poison_backs_up_and_removes_client_and_meta(self, tmp_path, monkeypatch):
+        monkeypatch.setenv("HERMES_HOME", str(tmp_path))
+        storage = HermesTokenStorage("srv")
+        d = tmp_path / "mcp-tokens"
+        d.mkdir(parents=True)
+        (d / "srv.json").write_text('{"access_token": "keep-me"}')
+        (d / "srv.client.json").write_text('{"client_id": "dead"}')
+        (d / "srv.meta.json").write_text('{"token_endpoint": "https://idp/token"}')
+
+        removed = storage.poison_client_registration()
+
+        assert removed is True
+        # Client + metadata gone, forcing re-registration on the next flow.
+        assert not (d / "srv.client.json").exists()
+        assert not (d / "srv.meta.json").exists()
+        # Backup of the client file kept for recovery.
+        assert (d / "srv.client.json.bak").read_text() == '{"client_id": "dead"}'
+        # Tokens are intentionally preserved.
+        assert (d / "srv.json").read_text() == '{"access_token": "keep-me"}'
+
+    def test_poison_noop_when_no_client_file(self, tmp_path, monkeypatch):
+        monkeypatch.setenv("HERMES_HOME", str(tmp_path))
+        storage = HermesTokenStorage("srv")
+        assert storage.poison_client_registration() is False
diff --git a/tests/tools/test_mcp_oauth_manager.py b/tests/tools/test_mcp_oauth_manager.py
index 7896fe64472..dd11646051e 100644
--- a/tests/tools/test_mcp_oauth_manager.py
+++ b/tests/tools/test_mcp_oauth_manager.py
@@ -164,3 +164,192 @@ def test_manager_fails_fast_noninteractive_without_cached_tokens(tmp_path, monke
         mgr.get_or_build_provider("linear", "https://mcp.linear.app/mcp", None)
 
     assert mgr._entries["linear"].provider is None
+
+
+# ---------------------------------------------------------------------------
+# invalid_client auto-heal (GH#36767) — _maybe_flag_poisoned_client
+# ---------------------------------------------------------------------------
+
+import asyncio
+from types import SimpleNamespace
+from unittest.mock import MagicMock
+
+
+def _fake_response(status, url, body):
+    """A minimal stand-in for the httpx.Response the SDK feeds our bridge."""
+    resp = MagicMock()
+    resp.status_code = status
+    resp.request = SimpleNamespace(url=url)
+
+    async def _aread():
+        return body
+
+    resp.aread = _aread
+    return resp
+
+
+def _provider_with_token_endpoint(tmp_path, oauth_config, token_endpoint):
+    from tools.mcp_oauth_manager import MCPOAuthManager, reset_manager_for_tests
+    reset_manager_for_tests()
+    mgr = MCPOAuthManager()
+    provider = mgr.get_or_build_provider("srv", "https://mcp.example.com", oauth_config)
+    provider.context.oauth_metadata = SimpleNamespace(token_endpoint=token_endpoint)
+    provider._initialized = True
+    return provider
+
+
+def test_invalid_client_at_token_endpoint_poisons(tmp_path, monkeypatch):
+    """400 invalid_client on the token endpoint deletes the dead client.json."""
+    monkeypatch.setenv("HERMES_HOME", str(tmp_path))
+    d = tmp_path / "mcp-tokens"
+    d.mkdir(parents=True)
+    (d / "srv.client.json").write_text('{"client_id": "dead"}')
+    (d / "srv.meta.json").write_text("{}")
+    provider = _provider_with_token_endpoint(
+        tmp_path, {}, "https://idp.example.com/oauth/token"
+    )
+    resp = _fake_response(
+        400, "https://idp.example.com/oauth/token", b'{"error":"invalid_client"}'
+    )
+
+    asyncio.run(provider._maybe_flag_poisoned_client(resp))
+
+    assert not (d / "srv.client.json").exists()
+    assert (d / "srv.client.json.bak").exists()
+    assert provider._initialized is False
+    assert provider.context.client_info is None
+
+
+def test_invalid_client_at_other_endpoint_is_ignored(tmp_path, monkeypatch):
+    """An invalid_client body from a non-token endpoint must not poison."""
+    monkeypatch.setenv("HERMES_HOME", str(tmp_path))
+    d = tmp_path / "mcp-tokens"
+    d.mkdir(parents=True)
+    (d / "srv.client.json").write_text('{"client_id": "live"}')
+    provider = _provider_with_token_endpoint(
+        tmp_path, {}, "https://idp.example.com/oauth/token"
+    )
+    resp = _fake_response(
+        400, "https://mcp.example.com/messages", b'{"error":"invalid_client"}'
+    )
+
+    asyncio.run(provider._maybe_flag_poisoned_client(resp))
+
+    assert (d / "srv.client.json").exists()
+    assert provider._initialized is True
+
+
+def test_success_response_is_ignored(tmp_path, monkeypatch):
+    monkeypatch.setenv("HERMES_HOME", str(tmp_path))
+    d = tmp_path / "mcp-tokens"
+    d.mkdir(parents=True)
+    (d / "srv.client.json").write_text('{"client_id": "live"}')
+    provider = _provider_with_token_endpoint(
+        tmp_path, {}, "https://idp.example.com/oauth/token"
+    )
+    resp = _fake_response(
+        200, "https://idp.example.com/oauth/token", b'{"access_token":"x"}'
+    )
+
+    asyncio.run(provider._maybe_flag_poisoned_client(resp))
+
+    assert (d / "srv.client.json").exists()
+    assert provider._initialized is True
+
+
+def test_preregistered_client_is_never_poisoned(tmp_path, monkeypatch):
+    """A config-supplied client_id is never auto-deleted (re-reg can't help)."""
+    monkeypatch.setenv("HERMES_HOME", str(tmp_path))
+    provider = _provider_with_token_endpoint(
+        tmp_path, {"client_id": "from-config"}, "https://idp.example.com/oauth/token"
+    )
+    d = tmp_path / "mcp-tokens"
+    # _maybe_preregister_client wrote client.json from config during build.
+    assert (d / "srv.client.json").exists()
+    resp = _fake_response(
+        400, "https://idp.example.com/oauth/token", b'{"error":"invalid_client"}'
+    )
+
+    asyncio.run(provider._maybe_flag_poisoned_client(resp))
+
+    assert (d / "srv.client.json").exists()
+    assert provider._initialized is True
+
+
+def test_invalid_client_metadata_does_not_trip(tmp_path, monkeypatch):
+    """RFC 7591 `invalid_client_metadata` must NOT be mistaken for invalid_client."""
+    monkeypatch.setenv("HERMES_HOME", str(tmp_path))
+    d = tmp_path / "mcp-tokens"
+    d.mkdir(parents=True)
+    (d / "srv.client.json").write_text('{"client_id": "live"}')
+    provider = _provider_with_token_endpoint(
+        tmp_path, {}, "https://idp.example.com/oauth/token"
+    )
+    resp = _fake_response(
+        400, "https://idp.example.com/oauth/token", b'{"error":"invalid_client_metadata"}'
+    )
+
+    asyncio.run(provider._maybe_flag_poisoned_client(resp))
+
+    assert (d / "srv.client.json").exists()
+    assert provider._initialized is True
+
+
+class _FakeMeta:
+    """Metadata stub usable by both detection and the post-flow persist hook."""
+
+    def __init__(self, token_endpoint):
+        self.token_endpoint = token_endpoint
+
+    def model_dump(self, **kwargs):
+        return {"token_endpoint": self.token_endpoint}
+
+
+def test_bridge_forwards_requests_and_poisons_on_token_endpoint_400(
+    tmp_path, monkeypatch
+):
+    """Drive the REAL async_auth_flow bridge to prove the inserted detection
+    hook does not break the bidirectional asend() forwarding contract — the
+    genuinely fragile part. A patched SDK base generator stands in for the
+    real OAuth flow so we control exactly which response the bridge sees.
+    """
+    monkeypatch.setenv("HERMES_HOME", str(tmp_path))
+    token_ep = "https://idp.example.com/oauth/token"
+    d = tmp_path / "mcp-tokens"
+    d.mkdir(parents=True)
+    (d / "srv.client.json").write_text('{"client_id": "dead"}')
+
+    forwarded = []
+
+    async def fake_base_flow(self, request):
+        # Mimic the SDK: yield the request, receive the response, then finish.
+        forwarded.append(("out", request))
+        response = yield request
+        forwarded.append(("in", response))
+
+    from mcp.client.auth.oauth2 import OAuthClientProvider
+    monkeypatch.setattr(OAuthClientProvider, "async_auth_flow", fake_base_flow)
+
+    provider = _provider_with_token_endpoint(tmp_path, {}, token_ep)
+    provider.context.oauth_metadata = _FakeMeta(token_ep)
+
+    sentinel_request = object()
+    poison_resp = _fake_response(400, token_ep, b'{"error":"invalid_client"}')
+
+    async def drive():
+        gen = provider.async_auth_flow(sentinel_request)
+        out0 = await gen.__anext__()
+        assert out0 is sentinel_request  # request forwarded unchanged
+        try:
+            await gen.asend(poison_resp)
+        except StopAsyncIteration:
+            pass
+
+    asyncio.run(drive())
+
+    # The poison response reached the inner generator (forwarding intact)...
+    assert ("in", poison_resp) in forwarded
+    # ...and the detection hook fired.
+    assert not (d / "srv.client.json").exists()
+    assert provider._initialized is False
+    assert provider.context.client_info is None
diff --git a/tools/mcp_oauth.py b/tools/mcp_oauth.py
index 3f85f4859e5..3fd24a88058 100644
--- a/tools/mcp_oauth.py
+++ b/tools/mcp_oauth.py
@@ -343,6 +343,41 @@ class HermesTokenStorage:
         for p in (self._tokens_path(), self._client_info_path(), self._meta_path()):
             p.unlink(missing_ok=True)
 
+    def poison_client_registration(self) -> bool:
+        """Discard a dead dynamically-registered client so it gets re-created.
+
+        Called when the IdP rejects our cached ``client_id`` with
+        ``invalid_client`` on the token endpoint — proof the server-side
+        registration is gone (IdP redeploy / DB wipe / rebrand). Deleting
+        ``client.json`` makes the MCP SDK's ``async_auth_flow`` take the
+        ``if not client_info`` branch and re-run RFC 7591 dynamic client
+        registration on the next flow. The stale ``meta.json`` is dropped
+        too so discovery re-runs against a freshly fetched document.
+
+        Tokens are intentionally left in place — the subsequent
+        re-authorization overwrites them, and keeping them avoids losing a
+        still-valid refresh token if the re-registration never completes.
+
+        A single ``.bak`` copy of the client file is kept for recovery.
+        Returns True if a client file was present and removed.
+        """
+        client_path = self._client_info_path()
+        if not client_path.exists():
+            return False
+        backup = client_path.with_name(client_path.name + ".bak")
+        try:
+            backup.write_bytes(client_path.read_bytes())
+        except OSError as exc:  # non-fatal — proceed with the removal anyway
+            logger.warning("Could not back up client info at %s: %s", client_path, exc)
+        client_path.unlink(missing_ok=True)
+        self._meta_path().unlink(missing_ok=True)
+        logger.warning(
+            "MCP OAuth '%s': cached client registration rejected as invalid_client; "
+            "removed client.json + meta.json (backup at %s) to force re-registration",
+            self._server_name, backup.name,
+        )
+        return True
+
     def has_cached_tokens(self) -> bool:
         """Return True if we have tokens on disk (may be expired)."""
         return self._tokens_path().exists()
diff --git a/tools/mcp_oauth_manager.py b/tools/mcp_oauth_manager.py
index da9125d53cd..1011c16bd28 100644
--- a/tools/mcp_oauth_manager.py
+++ b/tools/mcp_oauth_manager.py
@@ -36,6 +36,7 @@ from __future__ import annotations
 
 import asyncio
 import logging
+import re
 import threading
 from dataclasses import dataclass, field
 from typing import Any, Optional
@@ -43,6 +44,26 @@ from typing import Any, Optional
 logger = logging.getLogger(__name__)
 
 
+def _same_endpoint(a: str, b: str) -> bool:
+    """Return True if two URLs target the same endpoint (ignoring query/fragment).
+
+    Compares scheme, host (case-insensitive), and path. Used to confirm a
+    rejected response actually came from the OAuth token endpoint before we
+    act on an ``invalid_client`` body.
+    """
+    from urllib.parse import urlsplit
+
+    try:
+        pa, pb = urlsplit(a), urlsplit(b)
+    except ValueError:  # pragma: no cover — malformed URL
+        return False
+    return (
+        pa.scheme == pb.scheme
+        and pa.netloc.lower() == pb.netloc.lower()
+        and pa.path.rstrip("/") == pb.path.rstrip("/")
+    )
+
+
 # ---------------------------------------------------------------------------
 # Per-server entry
 # ---------------------------------------------------------------------------
@@ -107,9 +128,21 @@ def _make_hermes_provider_class() -> Optional[type]:
         (``src/utils/auth.ts:1320``, CC-1096 / GH#24317).
         """
 
-        def __init__(self, *args: Any, server_name: str = "", **kwargs: Any):
+        def __init__(
+            self,
+            *args: Any,
+            server_name: str = "",
+            preregistered: bool = False,
+            **kwargs: Any,
+        ):
             super().__init__(*args, **kwargs)
             self._hermes_server_name = server_name
+            # When the client_id comes from config.yaml (pre-registered), an
+            # invalid_client rejection means the *config* is wrong — deleting
+            # client.json would just be re-seeded from config and re-running
+            # registration can't help. Only auto-heal dynamically-registered
+            # clients. See _maybe_flag_poisoned_client.
+            self._hermes_preregistered = preregistered
 
         async def _initialize(self) -> None:
             """Load stored tokens + client info AND seed token_expiry_time.
@@ -284,6 +317,74 @@ def _make_hermes_provider_class() -> Optional[type]:
             ):
                 storage.save_oauth_metadata(meta)
 
+        async def _maybe_flag_poisoned_client(self, response: Any) -> None:
+            """Detect a dead client registration and force re-registration.
+
+            When the IdP rejects our ``client_id`` with ``invalid_client`` on
+            the token endpoint (token exchange or refresh), the cached client
+            registration is provably dead server-side. We delete ``client.json``
+            (+ stale metadata) so the SDK's next ``async_auth_flow`` takes the
+            ``if not client_info`` branch and re-runs RFC 7591 dynamic client
+            registration. This addresses the recurring manual-reset ritual in
+            GH#36767 for the auto-detectable subset (token-endpoint rejection);
+            the browser-side "Redirect URI Mismatch" case has no HTTP signal
+            and is handled by ``hermes mcp reauth``.
+
+            Conservative by construction — acts ONLY when all hold:
+              * status is 400/401,
+              * the request hit the discovered ``token_endpoint`` (the only
+                request carrying our ``client_id``), and
+              * the body carries the ``invalid_client`` error code
+                (word-boundary match, so RFC 7591's ``invalid_client_metadata``
+                registration error does not trip it).
+            Pre-registered (config-supplied) clients are never poisoned.
+            Fully best-effort: any failure here is swallowed so a detection
+            miss never breaks the live auth flow.
+
+            Covers both the authorization-code token exchange and the
+            preemptive refresh — but only when ``token_endpoint`` was
+            discovered (``_initialize`` prefetches it on cold-load). If that
+            discovery was skipped, the guard returns early and the user falls
+            back to ``hermes mcp reauth``.
+            """
+            try:
+                if self._hermes_preregistered:
+                    return
+                status = getattr(response, "status_code", None)
+                if status not in (400, 401):
+                    return
+                meta = getattr(self.context, "oauth_metadata", None)
+                token_endpoint = (
+                    str(meta.token_endpoint)
+                    if meta is not None and getattr(meta, "token_endpoint", None)
+                    else None
+                )
+                req = getattr(response, "request", None)
+                req_url = str(req.url) if req is not None else None
+                if not token_endpoint or not req_url:
+                    return
+                if not _same_endpoint(req_url, token_endpoint):
+                    return
+                body = await response.aread()
+                # Word-boundary match: matches `"error":"invalid_client"` but
+                # not the RFC 7591 registration error `invalid_client_metadata`
+                # (the trailing `_metadata` removes the right-hand boundary).
+                if not re.search(rb"\binvalid_client\b", body.lower()):
+                    return
+
+                storage = self.context.storage
+                from tools.mcp_oauth import HermesTokenStorage
+                if isinstance(storage, HermesTokenStorage):
+                    storage.poison_client_registration()
+                # Drop the in-memory client so the SDK re-registers next flow.
+                self.context.client_info = None
+                self._initialized = False
+            except Exception as exc:  # pragma: no cover — defensive, must not throw
+                logger.debug(
+                    "MCP OAuth '%s': invalid_client detection failed (non-fatal): %s",
+                    self._hermes_server_name, exc,
+                )
+
         async def async_auth_flow(self, request):  # type: ignore[override]
             # Pre-flow hook: ask the manager to refresh from disk if needed.
             # Any failure here is non-fatal — we just log and proceed with
@@ -317,6 +418,9 @@ def _make_hermes_provider_class() -> Optional[type]:
                 outgoing = await inner.__anext__()
                 while True:
                     incoming = yield outgoing
+                    # Sniff the response for a dead-client-registration signal
+                    # before handing it back to the SDK (best-effort, GH#36767).
+                    await self._maybe_flag_poisoned_client(incoming)
                     outgoing = await inner.asend(incoming)
             except StopAsyncIteration:
                 # Persist any metadata the SDK discovered lazily during the
@@ -439,6 +543,7 @@ class MCPOAuthManager:
 
         return _HERMES_PROVIDER_CLS(
             server_name=server_name,
+            preregistered=bool(cfg.get("client_id")),
             server_url=entry.server_url,
             client_metadata=client_metadata,
             storage=storage,