diff --git a/agent/kanban_stop.py b/agent/kanban_stop.py
index dbea5572f0..439c7b125b 100644
--- a/agent/kanban_stop.py
+++ b/agent/kanban_stop.py
@@ -22,6 +22,7 @@ from agent.delegation_context import owned_kanban_task
 _TERMINAL_KANBAN_TOOLS = frozenset({
     "kanban_complete",
     "kanban_block",
+    "kanban_schedule",
     "kanban_request_review",
     "kanban_request_changes",
 })
diff --git a/agent/transports/hermes_tools_mcp_server.py b/agent/transports/hermes_tools_mcp_server.py
index d528778696..048417b379 100644
--- a/agent/transports/hermes_tools_mcp_server.py
+++ b/agent/transports/hermes_tools_mcp_server.py
@@ -60,7 +60,8 @@ EXPOSED_TOOLS: tuple[str, ...] = (
     "vision_analyze", "image_generate", "skill_view", "skills_list", "text_to_speech",
     # Kanban handoff tools: stateless (read HERMES_KANBAN_TASK, write kanban.db).
     # Without them a codex-runtime worker can't report completion and hangs.
-    "kanban_complete", "kanban_block", "kanban_request_review", "kanban_request_changes", "kanban_comment",
+    "kanban_complete", "kanban_block", "kanban_schedule", "kanban_request_review",
+    "kanban_request_changes", "kanban_comment",
     "kanban_heartbeat", "kanban_show", "kanban_list",
     # Orchestrator-only (the kanban tool gates them on HERMES_KANBAN_TASK unset).
     "kanban_create", "kanban_unblock", "kanban_link",
diff --git a/cron/AGENTS.md b/cron/AGENTS.md
index 522e712141..f9ec35d457 100644
--- a/cron/AGENTS.md
+++ b/cron/AGENTS.md
@@ -102,7 +102,8 @@ zero outside a kanban task (footprint ladder rung 3).
   reopen-review, block, unblock, archive, tail`, plus `watch, stats, runs, log, assignees, heartbeat,
   notify-*, dispatch, daemon, gc`. Argparse alias dispatch must accept both `list` and `ls` (root).
 - **Toolset:** `tools/kanban_tools.py` — `kanban_show, kanban_complete, kanban_request_review,
-  kanban_request_changes, kanban_block, kanban_heartbeat, kanban_comment, kanban_create, kanban_link,
+  kanban_request_changes, kanban_block, kanban_schedule, kanban_heartbeat, kanban_comment,
+  kanban_create, kanban_link,
   kanban_attach, kanban_attach_url, kanban_attachments`; platforms whose saved selection enables
   `kanban` (`hermes tools enable kanban --platform <p>`; default-off, in `CONFIGURABLE_TOOLSETS`) get
   the full set plus `kanban_list`/`kanban_unblock` for board routing. The check_fn reads the schema
diff --git a/tests/agent/test_kanban_stop.py b/tests/agent/test_kanban_stop.py
index 6b1cc9fe22..9bb95a4804 100644
--- a/tests/agent/test_kanban_stop.py
+++ b/tests/agent/test_kanban_stop.py
@@ -106,6 +106,7 @@ def test_no_nudge_after_kanban_complete(clear_kanban_env):
     [
         ("kanban_request_review", "build worker handing off for same-card review"),
         ("kanban_request_changes", "review agent sending the card back"),
+        ("kanban_schedule", "worker parking the card on a timed wait"),
     ],
 )
 def test_no_nudge_after_handoff_tool(clear_kanban_env, tool_name, who):
diff --git a/tests/tools/test_kanban_tools.py b/tests/tools/test_kanban_tools.py
index 9fb0f172ee..ec2ecbaa47 100644
--- a/tests/tools/test_kanban_tools.py
+++ b/tests/tools/test_kanban_tools.py
@@ -254,6 +254,7 @@ def test_unbound_worker_cannot_mutate_card(monkeypatch, worker_env):
     for handler, args in [
         (kt._handle_complete, {"summary": "stale worker says done"}),
         (kt._handle_block, {"reason": "stale worker blocks"}),
+        (kt._handle_schedule, {"reason": "stale worker parks"}),
         (kt._handle_request_review, {"summary": "stale worker hands off"}),
         (kt._handle_request_changes, {"reason": "stale worker requests changes"}),
     ]:
@@ -290,6 +291,8 @@ def test_malformed_run_id_refused_but_nonlifecycle_allowed(monkeypatch, worker_e
     # Run-lifecycle mutations are refused on a malformed run id.
     out = json.loads(kt._handle_complete({"summary": "stale worker says done"}))
     assert "refused" in out.get("error", "")
+    out = json.loads(kt._handle_schedule({"reason": "stale worker parks"}))
+    assert "refused" in out.get("error", "")
 
     # Non-lifecycle tools are NOT gated: heartbeat still extends the claim.
     out = json.loads(kt._handle_heartbeat({}))
@@ -491,6 +494,31 @@ def test_block_goal_mode_rejects_disallowed_kind(monkeypatch, tmp_path):
         conn.close()
 
 
+def test_schedule_goal_mode_refused(monkeypatch, tmp_path):
+    """``scheduled`` ends the goal loop like ``blocked``, so a goal_mode worker
+    must not use kanban_schedule to exit without the completion judge."""
+    from tools import kanban_tools as kt
+    from hermes_cli import kanban_db as kb
+    from hermes_cli import kanban_db_connect as kbc
+
+    tid = _make_goal_mode_worker_env(monkeypatch, tmp_path)
+    d = json.loads(kt._handle_schedule({"reason": "waiting for CI"}))
+    assert "goal_mode" in d.get("error", "")
+
+    conn = kbc.connect()
+    try:
+        assert kb.get_task(conn, tid).status == "running"
+    finally:
+        conn.close()
+
+
+def test_schedule_exposed_to_codex_runtime_workers():
+    """Codex app-server workers only reach Hermes tools named in EXPOSED_TOOLS."""
+    from agent.transports.hermes_tools_mcp_server import EXPOSED_TOOLS
+
+    assert "kanban_schedule" in EXPOSED_TOOLS
+
+
 def test_block_dependency_without_open_parent_is_rekinded(worker_env):
     """kind=dependency with no incomplete parent must not park in todo; the
     tool reports the landed kind and tells the worker why."""
diff --git a/tools/kanban_tools.py b/tools/kanban_tools.py
index 4b04e12b20..5e81997a4a 100644
--- a/tools/kanban_tools.py
+++ b/tools/kanban_tools.py
@@ -109,7 +109,7 @@ def _check_kanban_orchestrator_mode() -> bool:
 # would silently skip the run-ownership CAS in kanban_db. Non-lifecycle tools
 # (heartbeat / attach / attach_url) do not terminate a run and are not gated.
 _RUN_LIFECYCLE_TOOLS = frozenset({
-    "kanban_complete", "kanban_block",
+    "kanban_complete", "kanban_block", "kanban_schedule",
     "kanban_request_review", "kanban_request_changes",
 })
 
@@ -821,6 +821,13 @@ def _handle_schedule(args: dict, **kw) -> str:
     _check(raw_reason is None or isinstance(raw_reason, str), "reason must be a string")
     reason = _redact(raw_reason.strip()) if raw_reason and raw_reason.strip() else None
     with _board(args.get("board")) as (kb, conn):
+        # The goal loop treats ``scheduled`` as terminal like ``blocked``, so
+        # parking would bypass the completion judge (see kanban_block, #38696).
+        task = kb.get_task(conn, tid)
+        _check(not (task and task.goal_mode),
+               "goal_mode tasks cannot be scheduled: use kanban_block with kind "
+               f"in {sorted(_GOAL_MODE_BLOCK_ALLOWED_KINDS)} for a genuine external "
+               "blocker, or kanban_complete so the completion judge can evaluate it.")
         ok = kb.schedule_task(
             conn, tid, reason=reason, expected_run_id=_worker_run_id(tid))
         _check(ok, f"could not schedule {tid} (unknown id or not in todo/ready/running/blocked)")