I might not be the best person to ask. I use Pi harness in tmux and just ask my current agent to spawn interactive pi instances in new tmux windows, create a sentinel file for each of them, and monitor the sentinel files for signals every 2 seconds.

Currently have auto compaction turned off. When the orchestrator's context is getting close to full, I have it write a handoff markdown file and point a fresh agent at it.

I do feel like I'm getting close to the point where I might be ready for something more sophisticated, especially wrt to subagents communicating with the orchestrator.