diff --git a/CHANGELOG.md b/CHANGELOG.md
index 075348c91..a9585be95 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,6 +15,8 @@ Docs: https://docs.clawd.bot
 - macOS: exec approvals now respect wildcard agent allowlists (`*`).
 - UI: remove the chat stop button and keep the composer aligned to the bottom edge.
 - Configure: restrict the model allowlist picker to OAuth-compatible Anthropic models and preselect Opus 4.5.
+- Configure: seed model fallbacks from the allowlist selection when multiple models are chosen.
+- Model picker: list the full catalog when no model allowlist is configured.
 
 ## 2026.1.20
 
diff --git a/src/auto-reply/reply.directive.directive-behavior.lists-allowlisted-models-model-list.test.ts b/src/auto-reply/reply.directive.directive-behavior.lists-allowlisted-models-model-list.test.ts
index 0118ecfcc..ffac7deab 100644
--- a/src/auto-reply/reply.directive.directive-behavior.lists-allowlisted-models-model-list.test.ts
+++ b/src/auto-reply/reply.directive.directive-behavior.lists-allowlisted-models-model-list.test.ts
@@ -121,7 +121,7 @@ describe("directive behavior", () => {
       expect(runEmbeddedPiAgent).not.toHaveBeenCalled();
     });
   });
-  it("uses configured models when no allowlist is set", async () => {
+  it("includes catalog models when no allowlist is set", async () => {
     await withTempHome(async (home) => {
       vi.mocked(runEmbeddedPiAgent).mockReset();
       vi.mocked(loadModelCatalog).mockResolvedValueOnce([
@@ -153,7 +153,7 @@ describe("directive behavior", () => {
       expect(text).toContain("anthropic/claude-opus-4-5");
       expect(text).toContain("openai/gpt-4.1-mini");
       expect(text).toContain("minimax/MiniMax-M2.1");
-      expect(text).not.toContain("xai/grok-4");
+      expect(text).toContain("xai/grok-4");
       expect(runEmbeddedPiAgent).not.toHaveBeenCalled();
     });
   });
diff --git a/src/auto-reply/reply/directive-handling.model.ts b/src/auto-reply/reply/directive-handling.model.ts
index f163c3ff4..3f4200222 100644
--- a/src/auto-reply/reply/directive-handling.model.ts
+++ b/src/auto-reply/reply/directive-handling.model.ts
@@ -101,6 +101,13 @@ function buildModelPickerCatalog(params: {
 
   const hasAllowlist = Object.keys(params.cfg.agents?.defaults?.models ?? {}).length > 0;
   if (!hasAllowlist) {
+    for (const entry of params.allowedModelCatalog) {
+      push({
+        provider: entry.provider,
+        id: entry.id ?? "",
+        name: entry.name,
+      });
+    }
     for (const entry of buildConfiguredCatalog()) {
       push(entry);
     }
diff --git a/src/commands/configure.gateway-auth.ts b/src/commands/configure.gateway-auth.ts
index ba09ac40e..ad9406195 100644
--- a/src/commands/configure.gateway-auth.ts
+++ b/src/commands/configure.gateway-auth.ts
@@ -6,6 +6,7 @@ import { applyAuthChoice, resolvePreferredProviderForAuthChoice } from "./auth-c
 import { promptAuthChoiceGrouped } from "./auth-choice-prompt.js";
 import {
   applyModelAllowlist,
+  applyModelFallbacksFromSelection,
   applyPrimaryModel,
   promptDefaultModel,
   promptModelAllowlist,
@@ -90,6 +91,7 @@ export async function promptAuthConfig(
   });
   if (allowlistSelection.models) {
     next = applyModelAllowlist(next, allowlistSelection.models);
+    next = applyModelFallbacksFromSelection(next, allowlistSelection.models);
   }
 
   return next;
diff --git a/src/commands/model-picker.test.ts b/src/commands/model-picker.test.ts
index 9c4b2627a..84acd9f99 100644
--- a/src/commands/model-picker.test.ts
+++ b/src/commands/model-picker.test.ts
@@ -2,7 +2,12 @@ import { describe, expect, it, vi } from "vitest";
 
 import type { ClawdbotConfig } from "../config/config.js";
 import { makePrompter } from "./onboarding/__tests__/test-utils.js";
-import { applyModelAllowlist, promptDefaultModel, promptModelAllowlist } from "./model-picker.js";
+import {
+  applyModelAllowlist,
+  applyModelFallbacksFromSelection,
+  promptDefaultModel,
+  promptModelAllowlist,
+} from "./model-picker.js";
 
 const loadModelCatalog = vi.hoisted(() => vi.fn());
 vi.mock("../agents/model-catalog.js", () => ({
@@ -170,3 +175,40 @@ describe("applyModelAllowlist", () => {
     expect(next.agents?.defaults?.models).toBeUndefined();
   });
 });
+
+describe("applyModelFallbacksFromSelection", () => {
+  it("sets fallbacks from selection when the primary is included", () => {
+    const config = {
+      agents: {
+        defaults: {
+          model: { primary: "anthropic/claude-opus-4-5" },
+        },
+      },
+    } as ClawdbotConfig;
+
+    const next = applyModelFallbacksFromSelection(config, [
+      "anthropic/claude-opus-4-5",
+      "anthropic/claude-sonnet-4-5",
+    ]);
+    expect(next.agents?.defaults?.model).toEqual({
+      primary: "anthropic/claude-opus-4-5",
+      fallbacks: ["anthropic/claude-sonnet-4-5"],
+    });
+  });
+
+  it("keeps existing fallbacks when the primary is not selected", () => {
+    const config = {
+      agents: {
+        defaults: {
+          model: { primary: "anthropic/claude-opus-4-5", fallbacks: ["openai/gpt-5.2"] },
+        },
+      },
+    } as ClawdbotConfig;
+
+    const next = applyModelFallbacksFromSelection(config, ["openai/gpt-5.2"]);
+    expect(next.agents?.defaults?.model).toEqual({
+      primary: "anthropic/claude-opus-4-5",
+      fallbacks: ["openai/gpt-5.2"],
+    });
+  });
+});
diff --git a/src/commands/model-picker.ts b/src/commands/model-picker.ts
index cd826b884..5cceb1e94 100644
--- a/src/commands/model-picker.ts
+++ b/src/commands/model-picker.ts
@@ -446,3 +446,44 @@ export function applyModelAllowlist(cfg: ClawdbotConfig, models: string[]): Claw
     },
   };
 }
+
+export function applyModelFallbacksFromSelection(
+  cfg: ClawdbotConfig,
+  selection: string[],
+): ClawdbotConfig {
+  const normalized = normalizeModelKeys(selection);
+  if (normalized.length <= 1) return cfg;
+
+  const resolved = resolveConfiguredModelRef({
+    cfg,
+    defaultProvider: DEFAULT_PROVIDER,
+    defaultModel: DEFAULT_MODEL,
+  });
+  const resolvedKey = modelKey(resolved.provider, resolved.model);
+  if (!normalized.includes(resolvedKey)) return cfg;
+
+  const defaults = cfg.agents?.defaults;
+  const existingModel = defaults?.model;
+  const existingPrimary =
+    typeof existingModel === "string"
+      ? existingModel
+      : existingModel && typeof existingModel === "object"
+        ? existingModel.primary
+        : undefined;
+
+  const fallbacks = normalized.filter((key) => key !== resolvedKey);
+  return {
+    ...cfg,
+    agents: {
+      ...cfg.agents,
+      defaults: {
+        ...defaults,
+        model: {
+          ...(typeof existingModel === "object" ? existingModel : undefined),
+          primary: existingPrimary ?? resolvedKey,
+          fallbacks,
+        },
+      },
+    },
+  };
+}