diff --git a/.github/workflows/ci-typescript.yaml b/.github/workflows/ci-typescript.yaml
index f60672ff..7aadefe9 100644
--- a/.github/workflows/ci-typescript.yaml
+++ b/.github/workflows/ci-typescript.yaml
@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - master
+  pull_request:
 
 permissions:
   id-token: write # Required for OIDC
@@ -37,20 +38,39 @@ jobs:
           pnpm install
 
       - name: Generate
-        run: |
-          mkdir -p ./out/ &&
-          protoc protobuf_definitions/*.proto \
-            --plugin=./node_modules/.bin/protoc-gen-ts_proto \
-            --proto_path=protobuf_definitions \
-            --ts_proto_out=./out \
-            --ts_proto_opt=outputIndex=true \
-            --ts_proto_opt=globalThisPolyfill=true \
-            --ts_proto_opt=useExactTypes=false
+        run: pnpm run generate
 
       - name: Compile
         run: pnpm run build
 
+      - name: Verify package entrypoints
+        run: |
+          SMOKE=$(mktemp -d)
+          TARBALL=$(pnpm pack --pack-destination "$SMOKE" | tail -1)
+          cd "$SMOKE"
+          npm init -y > /dev/null
+          npm install "$TARBALL" > /dev/null
+          node --input-type=module -e "
+            import { blueye } from '@blueyerobotics/protocol-definitions';
+            if (!blueye.protocol.GetBatteryReq) throw new Error('missing expected export');
+            console.log('ESM import OK');
+          "
+          node --input-type=commonjs -e "
+            const { blueye } = require('@blueyerobotics/protocol-definitions');
+            if (!blueye.protocol.GetBatteryReq) throw new Error('missing expected export');
+            console.log('CJS require OK');
+          "
+          node --input-type=module -e "
+            for (const spec of ['dist/mission_planning', 'dist/mission_planning.js']) {
+              const { Mission } = await import('@blueyerobotics/protocol-definitions/' + spec);
+              if (!Mission) throw new Error('missing expected export from ' + spec);
+            }
+            await import('@blueyerobotics/protocol-definitions/package.json', { with: { type: 'json' } });
+            console.log('Deep imports OK');
+          "
+
       - name: Publish to npm
+        if: github.event_name == 'push'
         run: |
           cp README.npm.md README.md
           VERSION=$(pnpm pkg get version | tr -d '"')
@@ -60,6 +80,7 @@ jobs:
           echo "PROTOCOL_VERSION=${VERSION}-${SHORT_SHA}" >> "$GITHUB_ENV"
 
       - name: Trigger protocol bump in blueye-ts
+        if: github.event_name == 'push'
         env:
           GH_TOKEN: ${{ secrets.BLUEYE_PROTOCOL_BUMP_PAT }}
         run: |
diff --git a/.gitignore b/.gitignore
index a4b51f5d..afc52765 100644
--- a/.gitignore
+++ b/.gitignore
@@ -27,6 +27,9 @@ bin
 obj
 out
 
+# typescript outputs
+dist
+
 # Other
 build
 build_imx
diff --git a/CLAUDE.md b/CLAUDE.md
index 50b698a4..ca10cfa4 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -22,17 +22,22 @@ cmake --install build --prefix /usr/local
 ### TypeScript
 ```
 pnpm install
-# Generate TypeScript from proto files:
-mkdir -p ./out/ && protoc protobuf_definitions/*.proto \
-  --plugin=./node_modules/.bin/protoc-gen-ts_proto \
-  --proto_path=protobuf_definitions \
-  --ts_proto_out=./out \
-  --ts_proto_opt=outputIndex=true \
-  --ts_proto_opt=globalThisPolyfill=true \
-  --ts_proto_opt=useExactTypes=false
-# Compile TypeScript:
-pnpm run build
+pnpm run generate   # generate TypeScript from proto files into ./out (requires protoc)
+pnpm run build      # compile ./out into ./dist
 ```
+The protoc flags live in the `generate` script in `package.json`; CI runs the same
+script, so keep changes in one place. `--ts_proto_opt=importSuffix=.js` is required —
+the package compiles as ESM with `moduleResolution: NodeNext`, which needs explicit
+file extensions on relative imports.
+
+The npm package ships ES modules only — `"type": "module"` plus an `exports` map,
+with no separate CommonJS build. The `.` entry uses a `default` condition rather
+than `import`, so `require()` still resolves on Node.js 22.12+ via `require(esm)`;
+an `import` condition would match ESM callers only and fail everything else with
+`ERR_PACKAGE_PATH_NOT_EXPORTED`. Deep imports resolve through two `./dist/*` entries:
+`exports` targets never get an extension appended, so `./dist/*` maps to `./dist/*.js`
+to keep extensionless specifiers like `…/dist/mission_planning` working, and
+`./dist/*.js` takes precedence for specifiers that already end in `.js`.
 
 ### C#/.NET
 ```
@@ -71,7 +76,7 @@ All proto definitions are in `protobuf_definitions/`:
 ## CI/CD Pipeline
 
 - **ci-build.yaml** — Protolint validation (all pushes and PRs)
-- **ci-typescript.yaml** — Generate TS, compile, publish to npm (master only)
+- **ci-typescript.yaml** — Generate TS, compile, smoke-test the packed tarball (PRs and master); publish to npm and trigger the blueye-ts bump (master only)
 - **ci-dotnet.yaml** — Build and publish NuGet package (all pushes)
 - **ci-python.yaml** — Triggers `blueye.protocol` repo update via repository dispatch (master, when proto files change)
 - **gen-docs.yaml** — Generate HTML docs, upload to Azure (master only)
diff --git a/README.npm.md b/README.npm.md
index 95bd9896..cbfdc491 100644
--- a/README.npm.md
+++ b/README.npm.md
@@ -8,6 +8,30 @@ TypeScript protobuf definitions for Blueye Robotics protocols generated using [t
 npm install @blueyerobotics/protocol-definitions
 ```
 
+## Module format
+
+This package ships ES modules only — there is no separate CommonJS build. Both
+`import` and `require()` work on current Node.js releases.
+
+```ts
+import { blueye } from "@blueyerobotics/protocol-definitions";
+```
+
+`require()` is supported on Node.js 22.12+ (or 20.19+), which can load an ES
+module from CommonJS:
+
+```js
+const { blueye } = require("@blueyerobotics/protocol-definitions");
+```
+
+On older Node.js versions `require()` fails with `ERR_REQUIRE_ESM` — use `import`
+or a dynamic `await import()` instead.
+
+The package root is the supported entry point. Individual generated modules stay
+reachable under `./dist/`, with or without the `.js` extension (for example
+`@blueyerobotics/protocol-definitions/dist/telemetry`) if you want to import a
+single protocol file to keep bundles small.
+
 ## Usage
 
 ```ts
diff --git a/package.json b/package.json
index 00d313b8..070f8f71 100644
--- a/package.json
+++ b/package.json
@@ -1,18 +1,28 @@
 {
   "name": "@blueyerobotics/protocol-definitions",
-  "version": "3.3.0",
+  "version": "3.4.0",
   "license": "LGPL-3.0-only",
   "description": "TypeScript definitions for Blueye Robotics protocols",
   "repository": {
     "type": "git",
     "url": "https://github.com/BluEye-Robotics/ProtocolDefinitions.git"
   },
-  "main": "dist/index.js",
-  "types": "dist/index.d.ts",
+  "type": "module",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "default": "./dist/index.js"
+    },
+    "./dist/*.js": "./dist/*.js",
+    "./dist/*": "./dist/*.js",
+    "./package.json": "./package.json"
+  },
+  "types": "./dist/index.d.ts",
   "files": [
     "dist"
   ],
   "scripts": {
+    "generate": "rm -rf out && mkdir -p out && protoc protobuf_definitions/*.proto --plugin=./node_modules/.bin/protoc-gen-ts_proto --proto_path=protobuf_definitions --ts_proto_out=./out --ts_proto_opt=outputIndex=true --ts_proto_opt=globalThisPolyfill=true --ts_proto_opt=useExactTypes=false --ts_proto_opt=esModuleInterop=true --ts_proto_opt=importSuffix=.js",
     "build": "tsc"
   },
   "dependencies": {
diff --git a/tsconfig.json b/tsconfig.json
index fc30754e..54339cbc 100644
--- a/tsconfig.json
+++ b/tsconfig.json
@@ -1,7 +1,8 @@
 {
   "compilerOptions": {
-    "target": "ES2020",
-    "module": "CommonJS",
+    "target": "ES2022",
+    "module": "NodeNext",
+    "moduleResolution": "NodeNext",
     "declaration": true,
     "outDir": "dist",
     "strict": true,