diff --git a/docs/worktrees.md b/docs/worktrees.md
index 38b4c895..2c1cf2f5 100644
--- a/docs/worktrees.md
+++ b/docs/worktrees.md
@@ -67,6 +67,42 @@ whichever worktree it already pointed at — `PYTHONPATH` from `.envrc` does
 the per-worktree routing. (Running `pip install -e` again rewrites that
 record and will pin "default" Python to the new worktree.)
 
+## TOGSim binary is shared
+
+`TOGSim/build/bin/Simulator` is a standalone C++ binary whose source rarely
+changes alongside Python frontend work, so `setup_worktree.sh` symlinks it
+from the worktree the script was invoked in. If you do modify TOGSim C++ in
+a particular worktree, delete the symlink and run `cd TOGSim/build && make`
+locally — `Simulator/simulator.py` resolves the binary path relative to
+`TORCHSIM_DIR`, so each worktree has its own resolution.
+
+If neither worktree has the binary yet, build it once (any worktree) per
+the CLAUDE.md "Build" section.
+
+## Iterating on codegen inside a worktree
+
+`.envrc` gives each worktree its own `$TORCHSIM_DUMP_PATH=$_self/outputs`,
+so parallel worktrees do not share caches. But within a worktree, after
+editing anything that affects emitted MLIR or wrapper code
+(`PyTorchSimFrontend/mlir/*`, lowering rules, codegen backend), the next
+`torch.compile` will replay the previously cached compile from
+`outputs/<hash>/` and your change silently does not take. Run:
+
+```bash
+scripts/clear_codegen_cache.sh
+```
+
+between iterations. It wipes `outputs/.torchinductor` (Inductor's compile
+cache, set via `TORCHINDUCTOR_CACHE_DIR` in `extension_config.py:139`) and
+the per-source-hash dirs (`outputs/<11-char-hash>/`, keyed by
+`extension_codecache.hash_prefix`). `togsim_results/` (run logs) is left
+alone.
+
+Diagnostic for the other common gotcha: if a traceback mentions a path
+under `/workspace/PyTorchSim/...` while you are editing in a different
+worktree, you forgot to `source .envrc` in that shell — Python imported the
+canonical worktree's `PyTorchSimFrontend` instead of yours.
+
 ## What the env looks like
 
 Worktree-scoped (auto-set by `.envrc`):
diff --git a/scripts/clear_codegen_cache.sh b/scripts/clear_codegen_cache.sh
new file mode 100755
index 00000000..a7a2b550
--- /dev/null
+++ b/scripts/clear_codegen_cache.sh
@@ -0,0 +1,41 @@
+#!/usr/bin/env bash
+# Clear PyTorchSim's codegen caches so the next torch.compile run regenerates
+# the wrapper Python and the per-kernel MLIR. Run this whenever you edit
+# anything that affects emitted MLIR (PyTorchSimFrontend/mlir/*, lowering
+# rules, codegen backend, etc.) -- otherwise the previous compile is replayed
+# byte-for-byte from $TORCHSIM_DUMP_PATH and your change appears not to take.
+#
+# Wipes:
+#   $TORCHSIM_DUMP_PATH/.torchinductor      (Inductor compile cache, points
+#                                            here via TORCHINDUCTOR_CACHE_DIR
+#                                            set in extension_config.py)
+#   $TORCHSIM_DUMP_PATH/<11-char-hash>/     (per-source MLIR/wrapper dirs,
+#                                            keyed by hash_prefix(src) in
+#                                            extension_codecache.py)
+#
+# Does NOT touch:
+#   $TORCHSIM_LOG_PATH (togsim_results/, just simulation logs)
+#   Anything outside $TORCHSIM_DUMP_PATH
+#
+# Usage:
+#   scripts/clear_codegen_cache.sh
+set -euo pipefail
+
+DUMP_PATH="${TORCHSIM_DUMP_PATH:-${TORCHSIM_DIR:-/workspace/PyTorchSim}/outputs}"
+
+if [[ ! -d "$DUMP_PATH" ]]; then
+    echo "No cache at $DUMP_PATH; nothing to clear."
+    exit 0
+fi
+
+echo "Clearing $DUMP_PATH/.torchinductor and per-source-hash dirs"
+rm -rf "$DUMP_PATH/.torchinductor"
+
+# Per-source-hash dirs are an 11-char alphanumeric prefix
+# (extension_codecache.hash_prefix). Match by length+charset so we don't
+# touch anything else a developer may have parked under outputs/.
+find "$DUMP_PATH" -mindepth 1 -maxdepth 1 -type d \
+    -regextype posix-egrep -regex '.*/[a-z0-9]{11}$' \
+    -exec rm -rf {} +
+
+echo "Done."
diff --git a/scripts/setup_worktree.sh b/scripts/setup_worktree.sh
index 3c4c5f95..1323a49c 100755
--- a/scripts/setup_worktree.sh
+++ b/scripts/setup_worktree.sh
@@ -61,6 +61,24 @@ git -C "$REPO_ROOT" worktree add "$WT_DIR" -b "$BRANCH" "$BASE_REF"
 # pushes to its own name on first `git push -u origin <branch>`.
 git -C "$WT_DIR" branch --unset-upstream || true
 
+# Share the TOGSim binary from the worktree this script was run from. TOGSim
+# is a standalone C++ simulator that rarely changes alongside Python frontend
+# work, so symlinking saves a ~10-minute rebuild per worktree. If you do
+# modify TOGSim C++ in the new worktree, run `cd TOGSim/build && make` after
+# wiping the link target -- the symlink will be replaced by the local build
+# output.
+TOGSIM_BIN_SRC="$REPO_ROOT/TOGSim/build/bin/Simulator"
+TOGSIM_BIN_DST="$WT_DIR/TOGSim/build/bin/Simulator"
+if [[ -x "$TOGSIM_BIN_SRC" ]]; then
+    # Resolve so we point at the real binary, not a chain of worktree symlinks.
+    TOGSIM_BIN_REAL="$(readlink -f "$TOGSIM_BIN_SRC")"
+    mkdir -p "$(dirname "$TOGSIM_BIN_DST")"
+    ln -sfn "$TOGSIM_BIN_REAL" "$TOGSIM_BIN_DST"
+    TOGSIM_LINK_MSG="Symlinked TOGSim binary from $TOGSIM_BIN_REAL"
+else
+    TOGSIM_LINK_MSG="TOGSim binary not found at $TOGSIM_BIN_SRC; build it once with 'cd TOGSim/build && conan install .. --build=missing && cmake .. && make -j' or symlink from another worktree."
+fi
+
 # Per-worktree env. Container-dedicated paths for shared binaries.
 cat > "$WT_DIR/.envrc" <<'ENVRC'
 #!/usr/bin/env bash
@@ -92,8 +110,13 @@ ENVRC
 echo
 echo "Created worktree: $WT_DIR"
 echo "Branch:           $BRANCH (base: $BASE_REF)"
+echo "$TOGSIM_LINK_MSG"
 echo
 echo "Next:"
 echo "  cd $WT_DIR"
 echo "  source .envrc"
 echo "  (cd PyTorchSimDevice && python setup.py build_ext --inplace)   # build the .so once"
+echo
+echo "When iterating on PyTorchSimFrontend/mlir/* (or any codegen) in this worktree,"
+echo "run scripts/clear_codegen_cache.sh between runs so the cached compile does not"
+echo "shadow your changes."