diff --git a/conanfile.py b/conanfile.py
index 574ad5450..1fef0b57d 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -65,6 +65,15 @@ def generate(self):
         tc.cache_variables["VIAMCPPSDK_OFFLINE_PROTO_GENERATION"] = self.options.offline_proto_generation
         tc.cache_variables["VIAMCPPSDK_USE_DYNAMIC_PROTOS"] = True
 
+        # We don't want to constrain these for conan builds because we
+        # don't know the context where we might be being built. We
+        # should permit the build if it works. Also, even the C++ SDK
+        # is warnings clean on the modern compilers we use in CI, it,
+        # or headers from its dependencies, might throw warnings with
+        # older compilers, and we should still allow a build there.
+        tc.cache_variables["VIAMCPPSDK_ENFORCE_COMPILER_MINIMA"] = False
+        tc.cache_variables["VIAMCPPSDK_USE_WALL_WERROR"] = False
+
         tc.cache_variables["VIAMCPPSDK_BUILD_TESTS"] = False
         tc.cache_variables["VIAMCPPSDK_BUILD_EXAMPLES"] = False
 
diff --git a/src/viam/sdk/services/motion.cpp b/src/viam/sdk/services/motion.cpp
index 286d8a64d..072e31065 100644
--- a/src/viam/sdk/services/motion.cpp
+++ b/src/viam/sdk/services/motion.cpp
@@ -22,10 +22,6 @@ bool operator==(const obstacle_detector& lhs, const obstacle_detector& rhs) {
     return lhs.vision_service == rhs.vision_service && lhs.camera == rhs.camera;
 }
 
-bool operator==(const Motion::steps& lhs, const Motion::steps& rhs) {
-    return lhs.steps == rhs.steps;
-}
-
 bool operator==(const Motion::plan_status& lhs, const Motion::plan_status& rhs) {
     return std::tie(lhs.reason, lhs.state, lhs.timestamp) ==
            std::tie(rhs.reason, rhs.state, rhs.timestamp);
diff --git a/src/viam/sdk/services/motion.hpp b/src/viam/sdk/services/motion.hpp
index 32055cdb5..8da6ee637 100644
--- a/src/viam/sdk/services/motion.hpp
+++ b/src/viam/sdk/services/motion.hpp
@@ -113,19 +113,10 @@ class Motion : public Service {
         friend bool operator==(const plan_status_with_id& lhs, const plan_status_with_id& rhs);
     };
 
-    /// @struct steps
-    /// @brief An ordered list of plan steps.
+    /// @brief An individual "step", representing the state each component (keyed as a fully
+    /// qualified component name) should reach while executing that step of the plan.
     /// @ingroup Motion
-    struct steps {
-        /// @brief An individual "step", representing the state each component (keyed as a fully
-        /// qualified component name) should reach while executing that step of the plan.
-        typedef std::unordered_map<std::string, pose> step;
-
-        /// @brief The ordered list of steps.
-        std::vector<step> steps;
-
-        friend bool operator==(const struct steps& lhs, const struct steps& rhs);
-    };
+    using step = std::unordered_map<std::string, pose>;
 
     /// @struct plan
     /// @brief Describes a motion plan.
@@ -142,7 +133,7 @@ class Motion : public Service {
         std::string execution_id;
 
         /// @brief An ordered list of plan steps.
-        struct steps steps;
+        std::vector<step> steps;
 
         friend bool operator==(const plan& lhs, const plan& rhs);
     };
diff --git a/src/viam/sdk/services/private/motion_client.cpp b/src/viam/sdk/services/private/motion_client.cpp
index 8dbccc13a..eddcd959e 100644
--- a/src/viam/sdk/services/private/motion_client.cpp
+++ b/src/viam/sdk/services/private/motion_client.cpp
@@ -137,19 +137,18 @@ Motion::plan_status_with_id from_proto(const service::motion::v1::PlanStatusWith
     return pswi;
 }
 
-Motion::steps steps_from_proto(
+std::vector<Motion::step> steps_from_proto(
     const google::protobuf::RepeatedPtrField<service::motion::v1::PlanStep>& proto) {
-    using step = Motion::steps::step;
-    std::vector<step> steps;
+    std::vector<Motion::step> steps;
     for (const auto& ps : proto) {
-        step step;
+        Motion::step step;
         for (const auto& component : ps.step()) {
             step.emplace(component.first, from_proto(component.second.pose()));
         }
         steps.push_back(std::move(step));
     }
 
-    return {steps};
+    return steps;
 }
 
 Motion::plan plan_from_proto(const service::motion::v1::Plan& proto) {
diff --git a/src/viam/sdk/services/private/motion_server.cpp b/src/viam/sdk/services/private/motion_server.cpp
index e393cfca3..9874dc604 100644
--- a/src/viam/sdk/services/private/motion_server.cpp
+++ b/src/viam/sdk/services/private/motion_server.cpp
@@ -51,7 +51,7 @@ service::motion::v1::PlanStatus to_proto(const Motion::plan_status& ps) {
     return proto;
 }
 
-service::motion::v1::PlanStep to_proto(const Motion::steps::step& step) {
+service::motion::v1::PlanStep to_proto(const Motion::step& step) {
     service::motion::v1::PlanStep proto;
     for (const auto& kv : step) {
         service::motion::v1::ComponentState cs;
@@ -67,7 +67,7 @@ service::motion::v1::Plan to_proto(const Motion::plan& plan) {
     *proto.mutable_id() = plan.id;
     *proto.mutable_component_name() = to_proto(plan.component_name);
     *proto.mutable_execution_id() = plan.execution_id;
-    for (const auto& step : plan.steps.steps) {
+    for (const auto& step : plan.steps) {
         *proto.mutable_steps()->Add() = to_proto(step);
     }