diff --git a/binaries/daemon/src/lib.rs b/binaries/daemon/src/lib.rs
index 103f65e2..53de02a8 100644
--- a/binaries/daemon/src/lib.rs
+++ b/binaries/daemon/src/lib.rs
@@ -47,6 +47,7 @@ use tokio::{
     io::AsyncReadExt,
     net::TcpStream,
     sync::{
+        broadcast,
         mpsc::{self, UnboundedSender},
         oneshot::{self, Sender},
     },
@@ -90,6 +91,7 @@ pub struct Daemon {
     clock: Arc<uhlc::HLC>,
 
     zenoh_session: zenoh::Session,
+    remote_daemon_events_tx: Option<flume::Sender<eyre::Result<Timestamped<InterDaemonEvent>>>>,
 }
 
 type DaemonRunResult = BTreeMap<Uuid, BTreeMap<NodeId, Result<(), NodeError>>>;
@@ -129,6 +131,7 @@ impl Daemon {
             daemon_id,
             None,
             clock,
+            Some(remote_daemon_events_tx),
         )
         .await
         .map(|_| ())
@@ -182,6 +185,7 @@ impl Daemon {
             DaemonId::new(None),
             Some(exit_when_done),
             clock.clone(),
+            None,
         );
 
         let spawn_result = reply_rx
@@ -212,6 +216,7 @@ impl Daemon {
         daemon_id: DaemonId,
         exit_when_done: Option<BTreeSet<(Uuid, NodeId)>>,
         clock: Arc<HLC>,
+        remote_daemon_events_tx: Option<flume::Sender<eyre::Result<Timestamped<InterDaemonEvent>>>>,
     ) -> eyre::Result<DaemonRunResult> {
         let coordinator_connection = match coordinator_addr {
             Some(addr) => {
@@ -244,6 +249,7 @@ impl Daemon {
             dataflow_node_results: BTreeMap::new(),
             clock,
             zenoh_session,
+            remote_daemon_events_tx,
         };
 
         let dora_events = ReceiverStream::new(dora_events_rx);
@@ -324,6 +330,9 @@ impl Daemon {
                     tracing::warn!("received second ctrlc signal -> exit immediately");
                     bail!("received second ctrl-c signal");
                 }
+                Event::DaemonError(err) => {
+                    tracing::error!("Daemon error: {err:?}");
+                }
             }
         }
 
@@ -730,7 +739,56 @@ impl Daemon {
                     }
                 }
             } else {
+                // wait until node is ready before starting
                 dataflow.pending_nodes.set_external_nodes(true);
+
+                // subscribe to all node outputs that are mapped to some local inputs
+                for output_id in dataflow.mappings.keys().filter(|o| o.0 == node.id) {
+                    let tx = self
+                        .remote_daemon_events_tx
+                        .clone()
+                        .wrap_err("no remote_daemon_events_tx channel")?;
+                    let mut finished_rx = dataflow.finished_tx.subscribe();
+                    let subscriber = self
+                        .zenoh_session
+                        .declare_subscriber(dataflow.output_publish_topic(output_id))
+                        .await
+                        .map_err(|e| eyre!(e))
+                        .wrap_err_with(|| format!("failed to subscribe to {output_id:?}"))?;
+                    tokio::spawn(async move {
+                        let mut finished = pin!(finished_rx.recv());
+                        loop {
+                            let finished_or_next =
+                                futures::future::select(finished, subscriber.recv_async());
+                            match finished_or_next.await {
+                                future::Either::Left((finished, _)) => {
+                                    match finished {
+                                        Err(broadcast::error::RecvError::Closed) => {
+                                            tracing::debug!("dataflow finished, breaking from zenoh subscribe task");
+                                            break;
+                                        }
+                                        other => {
+                                            tracing::warn!("unexpected return value of dataflow finished_rx channel: {other:?}");
+                                            break;
+                                        }
+                                    }
+                                }
+                                future::Either::Right((sample, f)) => {
+                                    finished = f;
+                                    let event = sample.map_err(|e| eyre!(e)).and_then(|s| {
+                                        Timestamped::deserialize_inter_daemon_event(
+                                            &s.payload().to_bytes(),
+                                        )
+                                    });
+                                    if tx.send_async(event).await.is_err() {
+                                        // daemon finished
+                                        break;
+                                    }
+                                }
+                            }
+                        }
+                    });
+                }
             }
         }
 
@@ -1393,13 +1451,20 @@ async fn set_up_event_stream(
     coordinator_addr: SocketAddr,
     machine_id: &Option<String>,
     clock: &Arc<HLC>,
-    remote_daemon_events_rx: flume::Receiver<Timestamped<InterDaemonEvent>>,
+    remote_daemon_events_rx: flume::Receiver<eyre::Result<Timestamped<InterDaemonEvent>>>,
     // used for dynamic nodes
     local_listen_port: u16,
 ) -> eyre::Result<(DaemonId, impl Stream<Item = Timestamped<Event>> + Unpin)> {
-    let remote_daemon_events = remote_daemon_events_rx.into_stream().map(|e| Timestamped {
-        inner: Event::Daemon(e.inner),
-        timestamp: e.timestamp,
+    let clock_cloned = clock.clone();
+    let remote_daemon_events = remote_daemon_events_rx.into_stream().map(move |e| match e {
+        Ok(e) => Timestamped {
+            inner: Event::Daemon(e.inner),
+            timestamp: e.timestamp,
+        },
+        Err(err) => Timestamped {
+            inner: Event::DaemonError(err),
+            timestamp: clock_cloned.new_timestamp(),
+        },
     });
     let (daemon_id, coordinator_events) =
         coordinator::register(coordinator_addr, machine_id.clone(), clock)
@@ -1625,10 +1690,13 @@ pub struct RunningDataflow {
     node_stderr_most_recent: BTreeMap<NodeId, Arc<ArrayQueue<String>>>,
 
     publishers: BTreeMap<OutputId, zenoh::pubsub::Publisher<'static>>,
+
+    finished_tx: broadcast::Sender<()>,
 }
 
 impl RunningDataflow {
     fn new(dataflow_id: Uuid, daemon_id: DaemonId) -> RunningDataflow {
+        let (finished_tx, _) = broadcast::channel(1);
         Self {
             id: dataflow_id,
             pending_nodes: PendingNodes::new(dataflow_id, daemon_id),
@@ -1648,6 +1716,7 @@ impl RunningDataflow {
             grace_duration_kills: Default::default(),
             node_stderr_most_recent: BTreeMap::new(),
             publishers: Default::default(),
+            finished_tx,
         }
     }
 
@@ -1833,6 +1902,7 @@ pub enum Event {
     HeartbeatInterval,
     CtrlC,
     SecondCtrlC,
+    DaemonError(eyre::Report),
 }
 
 impl From<DoraEvent> for Event {
diff --git a/libraries/message/src/common.rs b/libraries/message/src/common.rs
index a9d5d049..037ac8f2 100644
--- a/libraries/message/src/common.rs
+++ b/libraries/message/src/common.rs
@@ -2,9 +2,10 @@ use core::fmt;
 use std::borrow::Cow;
 
 use aligned_vec::{AVec, ConstAlign};
+use eyre::Context as _;
 use uuid::Uuid;
 
-use crate::{id::NodeId, DataflowId};
+use crate::{daemon_to_daemon::InterDaemonEvent, id::NodeId, DataflowId};
 
 pub use log::Level as LogLevel;
 
@@ -138,6 +139,12 @@ where
     }
 }
 
+impl Timestamped<InterDaemonEvent> {
+    pub fn deserialize_inter_daemon_event(bytes: &[u8]) -> eyre::Result<Self> {
+        bincode::deserialize(bytes).wrap_err("failed to deserialize InterDaemonEvent")
+    }
+}
+
 pub type SharedMemoryId = String;
 
 #[derive(serde::Serialize, serde::Deserialize, Clone)]