diff --git a/apps/web/public/app.js b/apps/web/public/app.js
index 736a630..a6e5294 100644
--- a/apps/web/public/app.js
+++ b/apps/web/public/app.js
@@ -6,6 +6,11 @@ const state = {
   routeOverlay: null,
   routeDestinationOverlay: null,
   markerAnimationMs: 4800,
+  hasFittedInitialLocations: false,
+  isProgrammaticMapChange: false,
+  programmaticMapChangeTimer: 0,
+  pendingLocationUpdates: new Map(),
+  locationUpdateBatchTimer: 0,
   drivers: new Map(),
   locations: new Map(),
   selectedDriverId: "",
@@ -123,8 +128,9 @@ async function initializeMap() {
 
       state.map.addControl(new kakao.maps.ZoomControl(), kakao.maps.ControlPosition.RIGHT);
       state.map.addControl(new kakao.maps.MapTypeControl(), kakao.maps.ControlPosition.TOPRIGHT);
+      bindMapInteractionTracking();
       hideMapMessage();
-      updateMarkers({ fitBounds: state.locations.size > 0 });
+      updateInitialMapFit();
       return;
     } catch (error) {
       console.warn("Kakao map unavailable. Falling back to OpenStreetMap.", error);
@@ -174,9 +180,10 @@ async function initializeLeafletMap() {
     attribution: '&copy; <a href="https://www.openstreetmap.org/copyright">OpenStreetMap</a> contributors'
   }).addTo(state.map);
 
+  bindMapInteractionTracking();
   showMapMessage("카카오맵 권한 전까지 OpenStreetMap으로 표시 중");
   window.setTimeout(hideMapMessage, 4500);
-  updateMarkers({ fitBounds: state.locations.size > 0 });
+  updateInitialMapFit();
 }
 
 function loadLeafletAssets() {
@@ -316,7 +323,7 @@ function connectEvents() {
   });
   state.eventSource.addEventListener("location.updated", (event) => {
     const location = JSON.parse(event.data);
-    upsertLocation(location, { focus: state.selectedDriverId === location.driverId });
+    queueLocationUpdate(location);
   });
   state.eventSource.addEventListener("drivers.updated", (event) => {
     const payload = JSON.parse(event.data);
@@ -377,7 +384,8 @@ function replaceLocations(locations) {
     state.locations.set(location.driverId, location);
   }
   render();
-  updateMarkers({ fitBounds: locations.length > 0 });
+  updateMarkers();
+  updateInitialMapFit();
 
   if (state.selectedDriverId) {
     const selectedLocation = state.locations.get(state.selectedDriverId);
@@ -387,6 +395,7 @@ function replaceLocations(locations) {
       renderRouteFocusPanel(selectedLocation);
     } else {
       clearRouteOverlay();
+      clearInfoOverlay();
       renderRouteFocusPanel(null);
     }
   }
@@ -400,24 +409,48 @@ function replaceDrivers(drivers) {
   renderDrivers();
 }
 
-function upsertLocation(location, options = {}) {
-  state.locations.set(location.driverId, location);
-  render();
-  updateMarker(location);
+function queueLocationUpdate(location) {
+  state.pendingLocationUpdates.set(location.driverId, location);
 
-  if (state.selectedDriverId === location.driverId && !elements.historyDrawer.classList.contains("is-hidden")) {
-    loadLocationHistory(location);
-    renderRoutePreview(location, { fit: false });
-    showInfoOverlay(location);
-    renderRouteFocusPanel(location);
+  if (state.locationUpdateBatchTimer) return;
+
+  state.locationUpdateBatchTimer = window.setTimeout(() => {
+    state.locationUpdateBatchTimer = 0;
+    flushLocationUpdates();
+  }, 180);
+}
+
+function flushLocationUpdates() {
+  if (!state.pendingLocationUpdates.size) return;
+
+  const locations = [...state.pendingLocationUpdates.values()];
+  state.pendingLocationUpdates.clear();
+  applyLocationUpdates(locations);
+}
+
+function applyLocationUpdates(locations) {
+  if (!locations.length) return;
+
+  for (const location of locations) {
+    state.locations.set(location.driverId, location);
   }
 
-  if (options.focus) {
-    fitMapToRoute(location) || centerMapOnLocation(location);
+  render();
+  updateMarkers();
+
+  const selectedLocation = state.selectedDriverId
+    ? state.locations.get(state.selectedDriverId)
+    : null;
+
+  if (selectedLocation && !elements.historyDrawer.classList.contains("is-hidden")) {
+    renderRoutePreview(selectedLocation, { fit: false });
+    showInfoOverlay(selectedLocation);
+    renderRouteFocusPanel(selectedLocation);
   }
 }
 
 function render() {
+  const vehicleListScrollTop = elements.vehicleList.scrollTop;
   const locations = [...state.locations.values()].sort((left, right) => {
     return new Date(right.receivedAt).getTime() - new Date(left.receivedAt).getTime();
   });
@@ -450,12 +483,15 @@ function render() {
     empty.className = "empty-state";
     empty.textContent = locations.length ? "조건에 맞는 차량이 없습니다." : "수신 위치가 없습니다.";
     elements.vehicleList.append(empty);
+    elements.vehicleList.scrollTop = vehicleListScrollTop;
     return;
   }
 
   for (const location of visibleLocations) {
     elements.vehicleList.append(createVehicleItem(location));
   }
+
+  elements.vehicleList.scrollTop = vehicleListScrollTop;
 }
 
 function renderOperationsSummary(locations, counts) {
@@ -769,6 +805,46 @@ function updateMarkers({ fitBounds = false } = {}) {
   }
 }
 
+function updateInitialMapFit() {
+  if (state.hasFittedInitialLocations || !state.map || !state.locations.size) return;
+
+  updateMarkers({ fitBounds: true });
+  state.hasFittedInitialLocations = true;
+}
+
+function bindMapInteractionTracking() {
+  if (!state.map || !state.mapProvider) return;
+
+  const markUserInteraction = () => {
+    if (!state.isProgrammaticMapChange) {
+      state.hasFittedInitialLocations = true;
+    }
+  };
+
+  if (state.mapProvider === "kakao") {
+    kakao.maps.event.addListener(state.map, "dragstart", markUserInteraction);
+    kakao.maps.event.addListener(state.map, "zoom_changed", markUserInteraction);
+    return;
+  }
+
+  if (state.mapProvider === "leaflet") {
+    state.map.on("dragstart", markUserInteraction);
+    state.map.on("zoomstart", markUserInteraction);
+  }
+}
+
+function runProgrammaticMapChange(callback) {
+  state.isProgrammaticMapChange = true;
+  window.clearTimeout(state.programmaticMapChangeTimer);
+  try {
+    return callback();
+  } finally {
+    state.programmaticMapChangeTimer = window.setTimeout(() => {
+      state.isProgrammaticMapChange = false;
+    }, 350);
+  }
+}
+
 function updateMarker(location) {
   if (!state.map || !state.mapProvider) return;
 
@@ -784,9 +860,9 @@ function updateKakaoMarker(location) {
   const targetPosition = createPosition(location.latitude, location.longitude);
   const kakaoPosition = new kakao.maps.LatLng(targetPosition.latitude, targetPosition.longitude);
   const status = getLocationStatus(location);
-  const markerElement = createTruckMarkerElement(location, status);
-
   let marker = state.markers.get(location.driverId);
+  const markerHeading = resolveMarkerHeading(location, marker?.currentPosition, targetPosition);
+  const markerElement = createTruckMarkerElement(location, status, markerHeading);
 
   if (!marker) {
     marker = {
@@ -811,15 +887,17 @@ function updateLeafletMarker(location) {
   const vehicleType = getVehicleType(location);
   const targetPosition = createPosition(location.latitude, location.longitude);
   const leafletPosition = [targetPosition.latitude, targetPosition.longitude];
+  const existingMarker = state.markers.get(location.driverId);
+  const markerHeading = resolveMarkerHeading(location, existingMarker?.currentPosition, targetPosition);
   const icon = L.divIcon({
     className: `leaflet-truck-marker truck-marker ${status.key} ${vehicleType.className}`,
-    html: createTruckMarkerHtml(location, vehicleType),
-    iconSize: [74, 38],
-    iconAnchor: [37, 38],
-    popupAnchor: [0, -30]
+    html: createTruckMarkerHtml(location, vehicleType, markerHeading),
+    iconSize: [86, 56],
+    iconAnchor: [43, 56],
+    popupAnchor: [0, -44]
   });
 
-  let marker = state.markers.get(location.driverId);
+  let marker = existingMarker;
 
   if (!marker) {
     marker = {
@@ -838,29 +916,69 @@ function updateLeafletMarker(location) {
   }
 }
 
-function createTruckMarkerElement(location, status) {
+function createTruckMarkerElement(location, status, heading) {
   const vehicleType = getVehicleType(location);
   const markerElement = document.createElement("button");
   markerElement.className = `truck-marker ${status.key} ${vehicleType.className}`;
   markerElement.type = "button";
   markerElement.title = `${vehicleType.label} ${location.vehicleNo || location.driverId}`;
   markerElement.setAttribute("aria-label", `${vehicleType.label} ${location.vehicleNo || location.driverId} 위치 보기`);
-  markerElement.innerHTML = createTruckMarkerHtml(location, vehicleType);
+  markerElement.innerHTML = createTruckMarkerHtml(location, vehicleType, heading);
   markerElement.addEventListener("click", () => focusLocation(location));
   return markerElement;
 }
 
-function createTruckMarkerHtml(location, vehicleType = getVehicleType(location)) {
+function createTruckMarkerHtml(location, vehicleType = getVehicleType(location), heading = getLocationHeading(location)) {
   const label = location.vehicleNo ? location.vehicleNo.slice(-4) : location.driverId.slice(0, 4);
+  const rotation = normalizeMarkerRotation(heading);
   return `
-    <span class="truck-marker__body">
+    <span class="truck-marker__vehicle" style="--truck-heading: ${rotation}deg">
+      <span class="truck-marker__body"></span>
+      <span class="truck-marker__cab"></span>
+    </span>
+    <span class="truck-marker__label">
       <span class="truck-marker__type">${escapeHtml(vehicleType.shortLabel)}</span>
       <span class="truck-marker__plate">${escapeHtml(label)}</span>
     </span>
-    <span class="truck-marker__cab"></span>
   `;
 }
 
+function resolveMarkerHeading(location, fromPosition, targetPosition) {
+  const routeHeading = getRouteStartHeading(location);
+  if (routeHeading !== null) return routeHeading;
+
+  if (fromPosition && targetPosition && calculateDistanceKm(fromPosition, targetPosition) >= 0.003) {
+    return calculateBearing(fromPosition, targetPosition);
+  }
+
+  return getLocationHeading(location);
+}
+
+function getRouteStartHeading(location) {
+  const routePath = getRoutePath(location);
+  if (routePath.length < 2) return null;
+
+  const from = routePath[0];
+  for (let index = 1; index < routePath.length; index += 1) {
+    const to = routePath[index];
+    if (calculateDistanceKm(from, to) >= 0.003) {
+      return calculateBearing(from, to);
+    }
+  }
+
+  return null;
+}
+
+function getLocationHeading(location) {
+  const heading = parseFiniteNumber(location.heading);
+  return heading === null ? 90 : heading;
+}
+
+function normalizeMarkerRotation(heading) {
+  const normalizedHeading = ((Number(heading) % 360) + 360) % 360;
+  return Math.round(normalizedHeading - 90);
+}
+
 function animateMarkerPosition(marker, targetPosition) {
   const fromPosition = marker.currentPosition || getMarkerPosition(marker) || targetPosition;
 
@@ -956,19 +1074,24 @@ function fitMapToLocations() {
     for (const location of state.locations.values()) {
       bounds.extend(new kakao.maps.LatLng(location.latitude, location.longitude));
     }
-    state.map.setBounds(bounds);
-    return;
+    runProgrammaticMapChange(() => state.map.setBounds(bounds));
+    return true;
   }
 
   if (state.mapProvider === "leaflet") {
     const bounds = L.latLngBounds([...state.locations.values()].map((location) => {
       return [location.latitude, location.longitude];
     }));
-    state.map.fitBounds(bounds, {
-      maxZoom: 14,
-      padding: [40, 40]
+    runProgrammaticMapChange(() => {
+      state.map.fitBounds(bounds, {
+        maxZoom: 14,
+        padding: [40, 40]
+      });
     });
+    return true;
   }
+
+  return false;
 }
 
 function centerMapOnLocation(location, options = {}) {
@@ -976,16 +1099,20 @@ function centerMapOnLocation(location, options = {}) {
 
   if (state.mapProvider === "kakao") {
     const position = new kakao.maps.LatLng(location.latitude, location.longitude);
-    state.map.setCenter(position);
-    if (options.zoom && state.map.getLevel() > 4) {
-      state.map.setLevel(4);
-    }
+    runProgrammaticMapChange(() => {
+      state.map.setCenter(position);
+      if (options.zoom && state.map.getLevel() > 4) {
+        state.map.setLevel(4);
+      }
+    });
     return;
   }
 
   if (state.mapProvider === "leaflet") {
     const nextZoom = options.zoom ? Math.max(state.map.getZoom(), 14) : state.map.getZoom();
-    state.map.setView([location.latitude, location.longitude], nextZoom, { animate: true });
+    runProgrammaticMapChange(() => {
+      state.map.setView([location.latitude, location.longitude], nextZoom, { animate: true });
+    });
   }
 }
 
@@ -1070,18 +1197,20 @@ function fitMapToRoute(location) {
     for (const point of routePath) {
       bounds.extend(new kakao.maps.LatLng(point.latitude, point.longitude));
     }
-    state.map.setBounds(bounds);
+    runProgrammaticMapChange(() => state.map.setBounds(bounds));
     return true;
   }
 
   if (state.mapProvider === "leaflet") {
-    state.map.fitBounds(
-      L.latLngBounds(routePath.map((point) => [point.latitude, point.longitude])),
-      {
-        maxZoom: 13,
-        padding: [48, 48]
-      }
-    );
+    runProgrammaticMapChange(() => {
+      state.map.fitBounds(
+        L.latLngBounds(routePath.map((point) => [point.latitude, point.longitude])),
+        {
+          maxZoom: 13,
+          padding: [48, 48]
+        }
+      );
+    });
     return true;
   }
 
@@ -1194,15 +1323,28 @@ function closeHistoryDrawer() {
   state.selectedDriverId = "";
   elements.historyDrawer.classList.add("is-hidden");
   clearRouteOverlay();
+  clearInfoOverlay();
   renderRouteFocusPanel(null);
   render();
 }
 
 function showInfoOverlay(location) {
+  if (shouldSuppressMapPopup()) {
+    clearInfoOverlay();
+    return;
+  }
+
   const status = getLocationStatus(location);
   const content = createPopupElement(location, status);
 
   if (state.mapProvider === "leaflet") {
+    if (state.infoOverlay) {
+      state.infoOverlay
+        .setLatLng([location.latitude, location.longitude])
+        .setContent(content);
+      return;
+    }
+
     state.infoOverlay = L.popup({
       closeButton: true,
       offset: [0, -24]
@@ -1223,6 +1365,22 @@ function showInfoOverlay(location) {
   state.infoOverlay.setMap(state.map);
 }
 
+function clearInfoOverlay() {
+  if (!state.infoOverlay) return;
+
+  if (typeof state.infoOverlay.setMap === "function") {
+    state.infoOverlay.setMap(null);
+  } else if (state.mapProvider === "leaflet" && state.map?.closePopup) {
+    state.map.closePopup(state.infoOverlay);
+  }
+
+  state.infoOverlay = null;
+}
+
+function shouldSuppressMapPopup() {
+  return window.matchMedia("(max-width: 560px)").matches;
+}
+
 function createPopupElement(location, status) {
   const vehicleType = getVehicleType(location);
   const container = document.createElement("div");
@@ -1560,6 +1718,16 @@ function calculateDistanceKm(from, to) {
   return earthRadiusKm * 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
 }
 
+function calculateBearing(from, to) {
+  const fromLatitude = toRadians(from.latitude);
+  const toLatitude = toRadians(to.latitude);
+  const deltaLongitude = toRadians(to.longitude - from.longitude);
+  const y = Math.sin(deltaLongitude) * Math.cos(toLatitude);
+  const x = Math.cos(fromLatitude) * Math.sin(toLatitude) -
+    Math.sin(fromLatitude) * Math.cos(toLatitude) * Math.cos(deltaLongitude);
+  return (Math.atan2(y, x) * 180 / Math.PI + 360) % 360;
+}
+
 function interpolateNumber(from, to, progress) {
   return from + (to - from) * progress;
 }
diff --git a/apps/web/public/styles.css b/apps/web/public/styles.css
index cf96348..a694005 100644
--- a/apps/web/public/styles.css
+++ b/apps/web/public/styles.css
@@ -932,17 +932,19 @@ button:hover {
   --truck-color: var(--blue);
   --truck-cab: #1556b8;
   --truck-accent: rgba(255, 255, 255, 0.2);
+  --truck-heading: 0deg;
   --body-width: 42px;
   --body-height: 24px;
   --cab-width: 19px;
   position: relative;
-  display: inline-flex;
-  align-items: flex-end;
-  width: max-content;
-  min-width: calc(var(--body-width) + var(--cab-width));
-  min-height: 38px;
+  display: grid;
+  place-items: center;
+  width: 86px;
+  min-width: 86px;
+  height: 56px;
+  min-height: 56px;
   border: 0;
-  padding: 0 0 8px;
+  padding: 0;
   background: transparent;
   color: #ffffff;
   filter: drop-shadow(0 8px 13px rgba(16, 32, 48, 0.28));
@@ -1017,8 +1019,19 @@ button:hover {
   --truck-cab: #8f1d15;
 }
 
-.truck-marker::before,
-.truck-marker::after {
+.truck-marker__vehicle {
+  position: relative;
+  display: inline-flex;
+  align-items: flex-end;
+  justify-content: center;
+  padding-bottom: 8px;
+  transform: rotate(var(--truck-heading));
+  transform-origin: 50% 44%;
+  transition: transform 0.35s ease;
+}
+
+.truck-marker__vehicle::before,
+.truck-marker__vehicle::after {
   content: "";
   position: absolute;
   bottom: 1px;
@@ -1029,19 +1042,17 @@ button:hover {
   background: #17212b;
 }
 
-.truck-marker::before {
+.truck-marker__vehicle::before {
   left: 11px;
 }
 
-.truck-marker::after {
+.truck-marker__vehicle::after {
   right: 12px;
 }
 
 .truck-marker__body {
   position: relative;
-  display: grid;
-  grid-template-rows: 1fr 1fr;
-  place-items: center;
+  display: block;
   width: var(--body-width);
   height: var(--body-height);
   border: 2px solid #ffffff;
@@ -1050,31 +1061,43 @@ button:hover {
   background:
     var(--truck-accent),
     var(--truck-color);
-  font-size: 10px;
-  font-weight: 900;
-  line-height: 1;
-  white-space: nowrap;
-  overflow: hidden;
 }
 
 .truck-marker.type-van .truck-marker__body {
-  grid-template-rows: 1fr;
   border-radius: 9px 0 0 7px;
 }
 
-.truck-marker.type-van .truck-marker__type {
-  display: none;
+.truck-marker__label {
+  position: absolute;
+  left: 50%;
+  bottom: 0;
+  display: inline-flex;
+  align-items: center;
+  gap: 4px;
+  max-width: 82px;
+  min-height: 18px;
+  padding: 2px 6px;
+  border: 1px solid rgba(255, 255, 255, 0.7);
+  border-radius: 999px;
+  background: rgba(15, 23, 42, 0.88);
+  box-shadow: 0 4px 10px rgba(15, 23, 42, 0.22);
+  color: #ffffff;
+  font-size: 10px;
+  font-weight: 900;
+  line-height: 1.1;
+  transform: translateX(-50%);
+  white-space: nowrap;
 }
 
-.truck-marker__type {
-  align-self: end;
-  font-size: 9px;
-  opacity: 0.88;
+.truck-marker__type,
+.truck-marker__plate {
+  display: inline-block;
+  min-width: 0;
 }
 
 .truck-marker__plate {
-  align-self: start;
-  font-size: 11px;
+  overflow: hidden;
+  text-overflow: ellipsis;
 }
 
 .truck-marker__cab {
@@ -1319,6 +1342,35 @@ button:hover {
     overflow: auto;
   }
 
+  .history-drawer {
+    right: 8px;
+    bottom: 8px;
+    left: 8px;
+    max-height: min(178px, calc(100% - 86px));
+  }
+
+  .history-heading {
+    gap: 8px;
+    padding: 8px 10px;
+  }
+
+  .history-heading strong {
+    font-size: 14px;
+  }
+
+  .history-heading span {
+    font-size: 11px;
+  }
+
+  .history-list {
+    max-height: 122px;
+  }
+
+  .history-row {
+    padding: 7px 10px;
+    font-size: 12px;
+  }
+
   .vehicle-item {
     grid-template-columns: minmax(0, 1fr);
   }