diff --git a/src/viam/examples/dial/example_dial.cpp b/src/viam/examples/dial/example_dial.cpp
index b54aac9d2..c0d347c20 100644
--- a/src/viam/examples/dial/example_dial.cpp
+++ b/src/viam/examples/dial/example_dial.cpp
@@ -63,7 +63,11 @@ int main() {
 
     // ensure we can create clients to the robot
     auto gc = robot->resource_by_name<GenericClient>("generic1");
-    std::cout << "got generic client named " << gc->name() << std::endl;
+    if (gc) {
+        std::cout << "got generic client named " << gc->name() << std::endl;
+    }
+
+    robot->close();
 
     return EXIT_SUCCESS;
 }
diff --git a/src/viam/examples/modules/complex/gizmo/api.cpp b/src/viam/examples/modules/complex/gizmo/api.cpp
index f96ce87b1..9dd1a59f6 100644
--- a/src/viam/examples/modules/complex/gizmo/api.cpp
+++ b/src/viam/examples/modules/complex/gizmo/api.cpp
@@ -4,6 +4,7 @@
 
 #include <google/protobuf/descriptor.h>
 
+#include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/registry/registry.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/rpc/server.hpp>
@@ -206,6 +207,7 @@ bool GizmoClient::do_one(std::string arg1) {
     DoOneResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_arg1(arg1);
@@ -221,6 +223,7 @@ bool GizmoClient::do_one(std::string arg1) {
 bool GizmoClient::do_one_client_stream(std::vector<std::string> arg1) {
     DoOneClientStreamResponse response;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     auto writer(stub_->DoOneClientStream(&ctx, &response));
     for (std::string arg : arg1) {
@@ -244,6 +247,7 @@ bool GizmoClient::do_one_client_stream(std::vector<std::string> arg1) {
 std::vector<bool> GizmoClient::do_one_server_stream(std::string arg1) {
     DoOneServerStreamRequest request;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_arg1(arg1);
@@ -264,6 +268,7 @@ std::vector<bool> GizmoClient::do_one_server_stream(std::string arg1) {
 
 std::vector<bool> GizmoClient::do_one_bidi_stream(std::vector<std::string> arg1) {
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     auto stream(stub_->DoOneBiDiStream(&ctx));
     for (std::string arg : arg1) {
@@ -296,6 +301,7 @@ std::string GizmoClient::do_two(bool arg1) {
     DoTwoResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_arg1(arg1);
diff --git a/src/viam/examples/modules/complex/summation/api.cpp b/src/viam/examples/modules/complex/summation/api.cpp
index 1c0d37ac5..469fb9775 100644
--- a/src/viam/examples/modules/complex/summation/api.cpp
+++ b/src/viam/examples/modules/complex/summation/api.cpp
@@ -4,6 +4,7 @@
 
 #include <google/protobuf/descriptor.h>
 
+#include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/registry/registry.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/rpc/server.hpp>
@@ -96,6 +97,7 @@ double SummationClient::sum(std::vector<double> numbers) {
     SumResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     for (double number : numbers) {
diff --git a/src/viam/sdk/common/utils.cpp b/src/viam/sdk/common/utils.cpp
index 0a54ae43e..64a707ecb 100644
--- a/src/viam/sdk/common/utils.cpp
+++ b/src/viam/sdk/common/utils.cpp
@@ -11,6 +11,7 @@
 #include <boost/optional/optional.hpp>
 #include <boost/variant/get.hpp>
 #include <boost/variant/variant.hpp>
+#include <grpcpp/client_context.h>
 
 #include <viam/api/common/v1/common.pb.h>
 
@@ -130,6 +131,10 @@ bool operator==(const response_metadata& lhs, const response_metadata& rhs) {
     return lhs.captured_at == rhs.captured_at;
 }
 
+void set_client_ctx_authority(grpc::ClientContext& ctx) {
+    ctx.set_authority("viam-placeholder");
+}
+
 bool from_dm_from_extra(const AttributeMap& extra) {
     if (!extra) {
         return false;
diff --git a/src/viam/sdk/common/utils.hpp b/src/viam/sdk/common/utils.hpp
index 6d0ece3da..1a2d6cbaa 100644
--- a/src/viam/sdk/common/utils.hpp
+++ b/src/viam/sdk/common/utils.hpp
@@ -6,6 +6,7 @@
 #include <boost/optional/optional.hpp>
 #include <boost/variant/get.hpp>
 #include <boost/variant/variant.hpp>
+#include <grpcpp/client_context.h>
 
 #include <viam/api/common/v1/common.pb.h>
 
@@ -66,6 +67,13 @@ std::string bytes_to_string(std::vector<unsigned char> const& b);
 std::chrono::microseconds from_proto(const google::protobuf::Duration& proto);
 google::protobuf::Duration to_proto(const std::chrono::microseconds& duration);
 
+// the authority is sometimes set to an invalid uri on mac, causing `rust-utils` to fail
+// to process gRPC requests. Fortunately we don't particularly care what the authority is
+// set to within the ctx once a channel is built, so we can just set a placeholder value
+// to appease rust and continue to rely on the gRPC channel to process requests correctly.
+// For more details, see https://viam.atlassian.net/browse/RSDK-5194.
+void set_client_ctx_authority(grpc::ClientContext& ctx);
+
 /// @brief Set the boost trivial logger's severity depending on args.
 /// @param argc The number of args.
 /// @param argv The commandline arguments to parse.
diff --git a/src/viam/sdk/components/base/client.cpp b/src/viam/sdk/components/base/client.cpp
index 85ed7f52e..bf89ca4bc 100644
--- a/src/viam/sdk/components/base/client.cpp
+++ b/src/viam/sdk/components/base/client.cpp
@@ -30,6 +30,7 @@ void BaseClient::move_straight(int64_t distance_mm, double mm_per_sec, const Att
     viam::component::base::v1::MoveStraightResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_distance_mm(distance_mm);
@@ -47,6 +48,7 @@ void BaseClient::spin(double angle_deg, double degs_per_sec, const AttributeMap&
     viam::component::base::v1::SpinResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_angle_deg(angle_deg);
@@ -66,6 +68,7 @@ void BaseClient::set_power(const Vector3& linear,
     viam::component::base::v1::SetPowerResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_linear() = Vector3::to_proto(linear);
@@ -85,6 +88,7 @@ void BaseClient::set_velocity(const Vector3& linear,
     viam::component::base::v1::SetVelocityResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_linear() = Vector3::to_proto(linear);
@@ -102,6 +106,7 @@ grpc::StatusCode BaseClient::stop(const AttributeMap& extra) {
     viam::component::base::v1::StopResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -118,6 +123,7 @@ bool BaseClient::is_moving() {
     viam::component::base::v1::IsMovingResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
 
@@ -132,6 +138,7 @@ std::vector<GeometryConfig> BaseClient::get_geometries(const AttributeMap& extra
     viam::common::v1::GetGeometriesRequest req;
     viam::common::v1::GetGeometriesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_extra() = map_to_struct(extra);
@@ -144,6 +151,7 @@ Base::properties BaseClient::get_properties(const AttributeMap& extra) {
     component::base::v1::GetPropertiesRequest req;
     component::base::v1::GetPropertiesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_extra() = map_to_struct(extra);
@@ -157,6 +165,7 @@ AttributeMap BaseClient::do_command(const AttributeMap& command) {
     viam::common::v1::DoCommandResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     const google::protobuf::Struct proto_command = map_to_struct(command);
     *request.mutable_command() = proto_command;
diff --git a/src/viam/sdk/components/board/client.cpp b/src/viam/sdk/components/board/client.cpp
index 059ac0951..e6d16cc1a 100644
--- a/src/viam/sdk/components/board/client.cpp
+++ b/src/viam/sdk/components/board/client.cpp
@@ -27,6 +27,7 @@ Board::status BoardClient::get_status(const AttributeMap& extra) {
     viam::component::board::v1::StatusResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -43,6 +44,7 @@ void BoardClient::set_gpio(const std::string& pin, bool high, const AttributeMap
     viam::component::board::v1::SetGPIOResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -59,6 +61,7 @@ bool BoardClient::get_gpio(const std::string& pin, const AttributeMap& extra) {
     viam::component::board::v1::GetGPIOResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -76,6 +79,7 @@ double BoardClient::get_pwm_duty_cycle(const std::string& pin, const AttributeMa
     viam::component::board::v1::PWMResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -95,6 +99,7 @@ void BoardClient::set_pwm_duty_cycle(const std::string& pin,
     viam::component::board::v1::SetPWMResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -112,6 +117,7 @@ uint64_t BoardClient::get_pwm_frequency(const std::string& pin, const AttributeM
     viam::component::board::v1::PWMFrequencyResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -131,6 +137,7 @@ void BoardClient::set_pwm_frequency(const std::string& pin,
     viam::component::board::v1::SetPWMFrequencyResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -148,6 +155,7 @@ AttributeMap BoardClient::do_command(const AttributeMap& command) {
     viam::common::v1::DoCommandResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     const google::protobuf::Struct proto_command = map_to_struct(command);
     *request.mutable_command() = proto_command;
@@ -166,6 +174,7 @@ Board::analog_value BoardClient::read_analog(const std::string& analog_reader_na
     viam::component::board::v1::ReadAnalogReaderResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     request.set_board_name(this->name());
     request.set_analog_reader_name(analog_reader_name);
@@ -184,6 +193,7 @@ Board::digital_value BoardClient::read_digital_interrupt(const std::string& digi
     viam::component::board::v1::GetDigitalInterruptValueResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     request.set_board_name(this->name());
     request.set_digital_interrupt_name(digital_interrupt_name);
@@ -203,6 +213,7 @@ void BoardClient::set_power_mode(power_mode power_mode,
     viam::component::board::v1::SetPowerModeResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -221,6 +232,7 @@ std::vector<GeometryConfig> BoardClient::get_geometries(const AttributeMap& extr
     viam::common::v1::GetGeometriesRequest req;
     viam::common::v1::GetGeometriesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_extra() = map_to_struct(extra);
diff --git a/src/viam/sdk/components/camera/client.cpp b/src/viam/sdk/components/camera/client.cpp
index bf02d66de..c9ffd2fc3 100644
--- a/src/viam/sdk/components/camera/client.cpp
+++ b/src/viam/sdk/components/camera/client.cpp
@@ -25,6 +25,7 @@ AttributeMap CameraClient::do_command(AttributeMap command) {
     viam::common::v1::DoCommandRequest req;
     viam::common::v1::DoCommandResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     const google::protobuf::Struct proto_command = map_to_struct(command);
     *req.mutable_command() = proto_command;
@@ -37,6 +38,7 @@ Camera::raw_image CameraClient::get_image(std::string mime_type, const Attribute
     viam::component::camera::v1::GetImageRequest req;
     viam::component::camera::v1::GetImageResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     Camera::normalize_mime_type(mime_type);
 
@@ -52,6 +54,7 @@ Camera::image_collection CameraClient::get_images() {
     viam::component::camera::v1::GetImagesRequest req;
     viam::component::camera::v1::GetImagesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
 
@@ -64,6 +67,7 @@ Camera::point_cloud CameraClient::get_point_cloud(std::string mime_type,
     viam::component::camera::v1::GetPointCloudRequest req;
     viam::component::camera::v1::GetPointCloudResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_mime_type() = mime_type;
@@ -77,6 +81,7 @@ std::vector<GeometryConfig> CameraClient::get_geometries(const AttributeMap& ext
     viam::common::v1::GetGeometriesRequest req;
     viam::common::v1::GetGeometriesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_extra() = map_to_struct(extra);
@@ -89,6 +94,7 @@ Camera::properties CameraClient::get_properties() {
     viam::component::camera::v1::GetPropertiesRequest req;
     viam::component::camera::v1::GetPropertiesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
 
diff --git a/src/viam/sdk/components/encoder/client.cpp b/src/viam/sdk/components/encoder/client.cpp
index 5db8cf29d..36ceaa026 100644
--- a/src/viam/sdk/components/encoder/client.cpp
+++ b/src/viam/sdk/components/encoder/client.cpp
@@ -28,6 +28,7 @@ Encoder::position EncoderClient::get_position(const AttributeMap& extra,
     viam::component::encoder::v1::GetPositionResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_position_type(to_proto(position_type));
@@ -45,6 +46,7 @@ void EncoderClient::reset_position(const AttributeMap& extra) {
     viam::component::encoder::v1::ResetPositionResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -60,6 +62,7 @@ Encoder::properties EncoderClient::get_properties(const AttributeMap& extra) {
     viam::component::encoder::v1::GetPropertiesResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -75,6 +78,7 @@ std::vector<GeometryConfig> EncoderClient::get_geometries(const AttributeMap& ex
     viam::common::v1::GetGeometriesRequest req;
     viam::common::v1::GetGeometriesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_extra() = map_to_struct(extra);
@@ -88,6 +92,7 @@ AttributeMap EncoderClient::do_command(AttributeMap command) {
     viam::common::v1::DoCommandResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     const google::protobuf::Struct proto_command = map_to_struct(command);
     *request.mutable_command() = proto_command;
diff --git a/src/viam/sdk/components/generic/client.cpp b/src/viam/sdk/components/generic/client.cpp
index 866af69f9..ae53d3e74 100644
--- a/src/viam/sdk/components/generic/client.cpp
+++ b/src/viam/sdk/components/generic/client.cpp
@@ -6,6 +6,7 @@
 #include <viam/api/component/generic/v1/generic.grpc.pb.h>
 
 #include <viam/sdk/common/proto_type.hpp>
+#include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/config/resource.hpp>
 #include <viam/sdk/robot/client.hpp>
 
@@ -21,6 +22,7 @@ AttributeMap GenericClient::do_command(AttributeMap command) {
     viam::common::v1::DoCommandRequest req;
     viam::common::v1::DoCommandResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     const google::protobuf::Struct proto_command = map_to_struct(command);
     *req.mutable_command() = proto_command;
@@ -32,6 +34,7 @@ std::vector<GeometryConfig> GenericClient::get_geometries() {
     viam::common::v1::GetGeometriesRequest req;
     viam::common::v1::GetGeometriesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
 
diff --git a/src/viam/sdk/components/motor/client.cpp b/src/viam/sdk/components/motor/client.cpp
index b0bee5839..7c4965f2d 100644
--- a/src/viam/sdk/components/motor/client.cpp
+++ b/src/viam/sdk/components/motor/client.cpp
@@ -27,6 +27,7 @@ void MotorClient::set_power(double power_pct, const AttributeMap& extra) {
     viam::component::motor::v1::SetPowerResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -43,6 +44,7 @@ void MotorClient::go_for(double rpm, double revolutions, const AttributeMap& ext
     viam::component::motor::v1::GoForResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -60,6 +62,7 @@ void MotorClient::go_to(double rpm, double position_revolutions, const Attribute
     viam::component::motor::v1::GoToResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -77,6 +80,7 @@ void MotorClient::reset_zero_position(double offset, const AttributeMap& extra)
     viam::component::motor::v1::ResetZeroPositionResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -93,6 +97,7 @@ Motor::position MotorClient::get_position(const AttributeMap& extra) {
     viam::component::motor::v1::GetPositionResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -109,6 +114,7 @@ Motor::properties MotorClient::get_properties(const AttributeMap& extra) {
     viam::component::motor::v1::GetPropertiesResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -125,6 +131,7 @@ grpc::StatusCode MotorClient::stop(const AttributeMap& extra) {
     viam::component::motor::v1::StopResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -138,6 +145,7 @@ Motor::power_status MotorClient::get_power_status(const AttributeMap& extra) {
     viam::component::motor::v1::IsPoweredResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -153,6 +161,7 @@ std::vector<GeometryConfig> MotorClient::get_geometries(const AttributeMap& extr
     viam::common::v1::GetGeometriesRequest req;
     viam::common::v1::GetGeometriesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_extra() = map_to_struct(extra);
@@ -166,6 +175,7 @@ bool MotorClient::is_moving() {
     viam::component::motor::v1::IsMovingResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
 
@@ -181,6 +191,7 @@ AttributeMap MotorClient::do_command(const AttributeMap& command) {
     viam::common::v1::DoCommandResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_command() = map_to_struct(command);
     *request.mutable_name() = this->name();
diff --git a/src/viam/sdk/robot/client.cpp b/src/viam/sdk/robot/client.cpp
index b45a8ef5d..2b48f94f9 100644
--- a/src/viam/sdk/robot/client.cpp
+++ b/src/viam/sdk/robot/client.cpp
@@ -90,6 +90,7 @@ std::vector<Status> RobotClient::get_status(std::vector<ResourceName>& component
     viam::robot::v1::GetStatusRequest req;
     viam::robot::v1::GetStatusResponse resp;
     ClientContext ctx;
+    set_client_ctx_authority(ctx);
     for (const ResourceName& name : components) {
         *req.mutable_resource_names()->Add() = name;
     }
@@ -115,6 +116,7 @@ std::vector<Operation> RobotClient::get_operations() {
     const viam::robot::v1::GetOperationsRequest req;
     viam::robot::v1::GetOperationsResponse resp;
     ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     std::vector<Operation> operations;
 
@@ -134,6 +136,7 @@ void RobotClient::cancel_operation(std::string id) {
     viam::robot::v1::CancelOperationRequest req;
     viam::robot::v1::CancelOperationResponse resp;
     ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     req.set_id(id);
     const grpc::Status response = stub_->CancelOperation(&ctx, req, &resp);
@@ -146,6 +149,7 @@ void RobotClient::block_for_operation(std::string id) {
     viam::robot::v1::BlockForOperationRequest req;
     viam::robot::v1::BlockForOperationResponse resp;
     ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     req.set_id(id);
 
@@ -159,6 +163,7 @@ void RobotClient::refresh() {
     const viam::robot::v1::ResourceNamesRequest req;
     viam::robot::v1::ResourceNamesResponse resp;
     ClientContext ctx;
+    set_client_ctx_authority(ctx);
     const grpc::Status response = stub_->ResourceNames(&ctx, req, &resp);
     if (is_error_response(response)) {
         BOOST_LOG_TRIVIAL(error) << "Error getting resource names: " << response.error_message();
@@ -278,6 +283,7 @@ std::vector<FrameSystemConfig> RobotClient::get_frame_system_config(
     viam::robot::v1::FrameSystemConfigRequest req;
     viam::robot::v1::FrameSystemConfigResponse resp;
     ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     RepeatedPtrField<Transform>* req_transforms = req.mutable_supplemental_transforms();
     for (const Transform& transform : additional_transforms) {
@@ -307,6 +313,7 @@ PoseInFrame RobotClient::transform_pose(PoseInFrame query,
     viam::robot::v1::TransformPoseRequest req;
     viam::robot::v1::TransformPoseResponse resp;
     ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_source() = query;
     *req.mutable_destination() = destination;
@@ -328,6 +335,7 @@ std::vector<Discovery> RobotClient::discover_components(std::vector<DiscoveryQue
     viam::robot::v1::DiscoverComponentsRequest req;
     viam::robot::v1::DiscoverComponentsResponse resp;
     ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     RepeatedPtrField<DiscoveryQuery>* req_queries = req.mutable_queries();
 
@@ -374,6 +382,7 @@ void RobotClient::stop_all(
     viam::robot::v1::StopAllRequest req;
     viam::robot::v1::StopAllResponse resp;
     ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     RepeatedPtrField<viam::robot::v1::StopExtraParameters>* ep = req.mutable_extra();
     for (auto& xtra : extra) {
diff --git a/src/viam/sdk/services/mlmodel/client.cpp b/src/viam/sdk/services/mlmodel/client.cpp
index 78c8066f0..ac2495ed3 100644
--- a/src/viam/sdk/services/mlmodel/client.cpp
+++ b/src/viam/sdk/services/mlmodel/client.cpp
@@ -16,6 +16,7 @@
 
 #include <grpcpp/channel.h>
 
+#include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/services/mlmodel/private/proto.hpp>
 
 namespace viam {
@@ -38,6 +39,7 @@ std::shared_ptr<MLModelService::named_tensor_views> MLModelServiceClient::infer(
     *req->mutable_extra() = map_to_struct(extra);
     auto* const resp = pb::Arena::CreateMessage<mlpb::InferResponse>(arena.get());
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     struct arena_and_views {
         // NOTE: It is not necessary to capture the `resp` pointer
@@ -79,6 +81,7 @@ struct MLModelService::metadata MLModelServiceClient::metadata(const AttributeMa
 
     // Invoke the stub
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
     viam::service::mlmodel::v1::MetadataResponse resp;
     const auto stub_result = stub_->Metadata(&ctx, req, &resp);
 
diff --git a/src/viam/sdk/services/motion/client.cpp b/src/viam/sdk/services/motion/client.cpp
index ae4250b00..3d183cc9f 100644
--- a/src/viam/sdk/services/motion/client.cpp
+++ b/src/viam/sdk/services/motion/client.cpp
@@ -8,6 +8,7 @@
 #include <viam/api/service/motion/v1/motion.pb.h>
 
 #include <viam/sdk/common/proto_type.hpp>
+#include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/services/motion/motion.hpp>
 
 namespace viam {
@@ -26,6 +27,7 @@ bool MotionClient::move(const pose_in_frame& destination,
     service::motion::v1::MoveRequest request;
     service::motion::v1::MoveResponse response;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_component_name() = component_name.to_proto();
@@ -53,6 +55,7 @@ bool MotionClient::move_on_map(const pose& destination,
     service::motion::v1::MoveOnMapRequest request;
     service::motion::v1::MoveOnMapResponse response;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_destination() = destination.to_proto();
@@ -78,6 +81,7 @@ bool MotionClient::move_on_globe(const geo_point& destination,
     service::motion::v1::MoveOnGlobeRequest request;
     service::motion::v1::MoveOnGlobeResponse response;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_destination() = destination.to_proto();
@@ -113,6 +117,7 @@ pose_in_frame MotionClient::get_pose(
     service::motion::v1::GetPoseRequest request;
     service::motion::v1::GetPoseResponse response;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_component_name() = component_name.to_proto();
@@ -134,6 +139,7 @@ AttributeMap MotionClient::do_command(const AttributeMap& command) {
     viam::common::v1::DoCommandRequest request;
     viam::common::v1::DoCommandResponse response;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_command() = map_to_struct(command);
     *request.mutable_name() = this->name();