diff --git a/CHANGELOG.md b/CHANGELOG.md
index 79eb41cb..c1a2a41e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -46,7 +46,9 @@ All notable changes to this project are documented here. The format is based on
 - `OptionSlot` / `OPTION_SLOTS` (plan 0032): embodiment plugins can declare
   boolean behavior toggles that `inspect-robots setup` interviews as yes/no
   questions and writes into `[embodiment.args]`. First consumer:
-  inspect-robots-yam's `auto_start` (yam#87).
+  inspect-robots-yam's `auto_start` (yam#87). A slot can dynamically compute
+  its suggested default from existing `[embodiment.args]` by declaring a
+  `suggest: Callable[[Mapping[str, str]], bool]` callback (#303).
 
 - Policy connection failures now include an actionable action-server
   remediation hint in the recorded error message (#219).
diff --git a/src/inspect_robots/_setup.py b/src/inspect_robots/_setup.py
index 07935473..682f994e 100644
--- a/src/inspect_robots/_setup.py
+++ b/src/inspect_robots/_setup.py
@@ -3,6 +3,7 @@
 from __future__ import annotations
 
 import configparser
+import contextlib
 import os
 import re
 import struct
@@ -944,14 +945,17 @@ def _options_section(
     """Interview plugin-declared behavior toggles as yes/no questions.
 
     The carried config value (parsed as a bool) is the suggested answer when
-    present and boolean; otherwise the slot's declared default. Answers are
-    written explicitly (``true``/``false``) so declining a previously enabled
-    toggle turns it off rather than silently carrying it forward.
+    present and boolean; otherwise the slot's context-aware or static default.
+    Answers are written explicitly (``true``/``false``) so declining a previously
+    enabled toggle turns it off rather than silently carrying it forward.
     """
     existing_args = carried.get("embodiment.args", {})
     answers: dict[str, str] = {}
     for option in options:
         suggested = option.default
+        if option.suggest is not None:
+            with contextlib.suppress(Exception):
+                suggested = option.suggest(existing_args)
         if option.arg in existing_args:
             parsed = _parse_value(existing_args[option.arg])
             if isinstance(parsed, bool):
diff --git a/src/inspect_robots/conformance.py b/src/inspect_robots/conformance.py
index bfc0069d..225dd6f5 100644
--- a/src/inspect_robots/conformance.py
+++ b/src/inspect_robots/conformance.py
@@ -20,7 +20,7 @@
 from __future__ import annotations
 
 import importlib.util
-from collections.abc import Iterable, Mapping
+from collections.abc import Callable, Iterable, Mapping
 from dataclasses import dataclass, field
 
 import numpy as np
@@ -85,6 +85,7 @@ class OptionSlot:
     arg: str
     label: str
     default: bool = False
+    suggest: Callable[[Mapping[str, str]], bool] | None = None
 
 
 def option_slots(factory: object) -> tuple[OptionSlot, ...]:
diff --git a/tests/test_conformance.py b/tests/test_conformance.py
index 97985cb0..8d6b08ed 100644
--- a/tests/test_conformance.py
+++ b/tests/test_conformance.py
@@ -141,6 +141,7 @@ class _Factory:
 
 def test_option_slots_default_is_false() -> None:
     assert OptionSlot(arg="a", label="A").default is False
+    assert OptionSlot(arg="a", label="A").suggest is None
 
 
 def test_option_slots_accepts_lists_and_ignores_offending_entries() -> None:
diff --git a/tests/test_setup.py b/tests/test_setup.py
index c806eaf8..abdbbeae 100644
--- a/tests/test_setup.py
+++ b/tests/test_setup.py
@@ -3250,6 +3250,85 @@ class _Factory:
     assert text.count("auto_start = true") == 1
 
 
+def test_run_setup_options_suggest_context_aware(
+    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    # A slot with suggest callback. It should suggest True if geom is in args.
+    geom_slot = OptionSlot(
+        arg="collision_guardrail",
+        label="Collision guardrail",
+        default=False,
+        suggest=lambda args: "geom" in args,
+    )
+
+    class _Factory:
+        OPTION_SLOTS: ClassVar[tuple[OptionSlot, ...]] = (geom_slot,)
+
+    monkeypatch.setattr(
+        "inspect_robots.registry.registered",
+        lambda kind: {"option-body": _Factory} if kind == "embodiment" else {},
+    )
+    path = _config_path(tmp_path)
+    path.parent.mkdir()
+
+    # 1. Without geom key: suggest default (False) -> [y/N], we accept with "" (means No)
+    path.write_text(
+        "[defaults]\nembodiment = option-body\n\n[embodiment.args]\nother = arg\n",
+        encoding="utf-8",
+    )
+    input_fn, prompts = _scripted_input([*_slot_defaults("option-body"), "n", ""])
+    result = run_setup(
+        {"XDG_CONFIG_HOME": str(tmp_path), "DISPLAY": ":0"},
+        input_fn=input_fn,
+        out=io.StringIO(),
+        interactive=True,
+    )
+    assert result == 0
+    # Confirm it asked and default was [y/N]
+    prompt = next(p for p in prompts if "Collision guardrail" in p)
+    assert "[y/N]" in prompt
+    assert path.read_text(encoding="utf-8").count("collision_guardrail = false") == 1
+
+    # 2. With geom key: suggest True -> [Y/n], we accept with "" (means Yes)
+    path.write_text(
+        "[defaults]\nembodiment = option-body\n\n[embodiment.args]\ngeom = measured\n",
+        encoding="utf-8",
+    )
+    input_fn, prompts = _scripted_input([*_slot_defaults("option-body"), "n", ""])
+    result = run_setup(
+        {"XDG_CONFIG_HOME": str(tmp_path), "DISPLAY": ":0"},
+        input_fn=input_fn,
+        out=io.StringIO(),
+        interactive=True,
+    )
+    assert result == 0
+    prompt = next(p for p in prompts if "Collision guardrail" in p)
+    assert "[Y/n]" in prompt
+    assert path.read_text(encoding="utf-8").count("collision_guardrail = true") == 1
+
+    # 3. Explicit config overrides suggest callback: if it already sets collision_guardrail = false,
+    # and geom is present, it should suggest False -> [y/N], we accept with "" (means No)
+    path.write_text(
+        "[defaults]\n"
+        "embodiment = option-body\n\n"
+        "[embodiment.args]\n"
+        "geom = measured\n"
+        "collision_guardrail = false\n",
+        encoding="utf-8",
+    )
+    input_fn, prompts = _scripted_input([*_slot_defaults("option-body"), "n", ""])
+    result = run_setup(
+        {"XDG_CONFIG_HOME": str(tmp_path), "DISPLAY": ":0"},
+        input_fn=input_fn,
+        out=io.StringIO(),
+        interactive=True,
+    )
+    assert result == 0
+    prompt = next(p for p in prompts if "Collision guardrail" in p)
+    assert "[y/N]" in prompt
+    assert path.read_text(encoding="utf-8").count("collision_guardrail = false") == 1
+
+
 def test_run_setup_option_colliding_with_managed_key_is_skipped(
     tmp_path: Path, monkeypatch: pytest.MonkeyPatch
 ) -> None: