fix: 2026-07-30 audit pass — diagnostic-frame routing, E2E gap re-sync, spec/doc drift, HARA ASIL correction - #39

Node.js 20 is deprecated. The following actions target Node.js 20 but are being forced to run on Node.js 24: actions/checkout@v4. For more information see: https://github.blog/changelog/2025-09-19-deprecation-of-node-20-on-github-actions-runners/