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invoke_acp_agent had no timeout anywhere in its call path, and ACPAgentConfig had no timeout field. If the ACP agent subprocess answers initialize/new_session correctly but then hangs inside prompt(), the tool call - and therefore the whole agent turn - blocks indefinitely, with the child process left running. MCP stdio servers already guard against this class of hang via tool_call_timeout; ACP agent invocations had no equivalent. Add ACPAgentConfig.timeout_seconds (default 1800, ge=1), mirroring the shape/default of subagents.timeout_seconds, and wrap the conn.prompt() call in asyncio.wait_for(). On TimeoutError, return a clear error instead of hanging; exiting the spawn_agent_process context block triggers the ACP library's own graceful-then-forceful subprocess cleanup, so the hung process is actually terminated.