diff --git a/src/logid/Configuration.h b/src/logid/Configuration.h
index 0687b5c..a064469 100644
--- a/src/logid/Configuration.h
+++ b/src/logid/Configuration.h
@@ -29,6 +29,7 @@
 namespace logid {
     namespace defaults {
         static constexpr double io_timeout = 500;
+        static constexpr int workers = 4;
         static constexpr int gesture_threshold = 50;
     }
 
diff --git a/src/logid/Device.cpp b/src/logid/Device.cpp
index a556e33..db68230 100644
--- a/src/logid/Device.cpp
+++ b/src/logid/Device.cpp
@@ -178,7 +178,6 @@ void Device::sleep() {
 void Device::wakeup() {
     std::lock_guard<std::mutex> lock(_state_lock);
     logPrintf(INFO, "%s:%d woke up.", _path.c_str(), _index);
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
     reset();
 
diff --git a/src/logid/Receiver.cpp b/src/logid/Receiver.cpp
index afb870d..56c94a2 100644
--- a/src/logid/Receiver.cpp
+++ b/src/logid/Receiver.cpp
@@ -93,8 +93,7 @@ void Receiver::addDevice(hidpp::DeviceConnectionEvent event) {
 
     try {
         // Check if device is ignored before continuing
-        if (manager->config()->ignore.value_or(
-                std::set<uint16_t>()).contains(event.pid)) {
+        if (manager->config()->ignore.value_or(std::set<uint16_t>()).contains(event.pid)) {
             logPrintf(DEBUG, "%s:%d: Device 0x%04x ignored.",
                       _path.c_str(), event.index, event.pid);
             return;
diff --git a/src/logid/actions/ChangeDPI.cpp b/src/logid/actions/ChangeDPI.cpp
index 88b418d..c2c3c79 100644
--- a/src/logid/actions/ChangeDPI.cpp
+++ b/src/logid/actions/ChangeDPI.cpp
@@ -48,21 +48,20 @@ void ChangeDPI::press() {
     _pressed = true;
     std::shared_lock lock(_config_mutex);
     if (_dpi && _config.inc.has_value()) {
-        spawn_task(
-                [this, sensor = _config.sensor.value_or(0),
-                 inc = _config.inc.value()] {
-                    try {
-                        uint16_t last_dpi = _dpi->getDPI(sensor);
-                        _dpi->setDPI(last_dpi + inc,sensor);
-                    } catch (backend::hidpp20::Error& e) {
-                        if (e.code() == backend::hidpp20::Error::InvalidArgument)
-                            logPrintf(WARN, "%s:%d: Could not get/set DPI for sensor %d",
-                                      _device->hidpp20().devicePath().c_str(),
-                                      _device->hidpp20().deviceIndex(), sensor);
-                        else
-                            throw e;
-                    }
-                });
+        run_task([this, sensor = _config.sensor.value_or(0),
+                         inc = _config.inc.value()] {
+            try {
+                uint16_t last_dpi = _dpi->getDPI(sensor);
+                _dpi->setDPI(last_dpi + inc, sensor);
+            } catch (backend::hidpp20::Error& e) {
+                if (e.code() == backend::hidpp20::Error::InvalidArgument)
+                    logPrintf(WARN, "%s:%d: Could not get/set DPI for sensor %d",
+                              _device->hidpp20().devicePath().c_str(),
+                              _device->hidpp20().deviceIndex(), sensor);
+                else
+                    throw e;
+            }
+        });
     }
 }
 
diff --git a/src/logid/actions/ChangeHostAction.cpp b/src/logid/actions/ChangeHostAction.cpp
index 30840cb..fd5f9ad 100644
--- a/src/logid/actions/ChangeHostAction.cpp
+++ b/src/logid/actions/ChangeHostAction.cpp
@@ -84,25 +84,24 @@ void ChangeHostAction::press() {
 void ChangeHostAction::release() {
     std::shared_lock lock(_config_mutex);
     if (_change_host && _config.host.has_value()) {
-        spawn_task(
-                [this, host=_config.host.value()] {
-                    auto host_info = _change_host->getHostInfo();
-                    int next_host;
-                    if (std::holds_alternative<std::string>(host)) {
-                        const auto& host_str = std::get<std::string>(host);
-                        if (host_str == "next")
-                            next_host = host_info.currentHost + 1;
-                        else if (host_str == "prev" || host_str == "previous")
-                            next_host = host_info.currentHost - 1;
-                        else
-                            next_host = host_info.currentHost;
-                    } else {
-                        next_host = std::get<int>(host) - 1;
-                    }
-                    next_host %= host_info.hostCount;
-                    if (next_host != host_info.currentHost)
-                        _change_host->setHost(next_host);
-                });
+        run_task([this, host = _config.host.value()] {
+            auto host_info = _change_host->getHostInfo();
+            int next_host;
+            if (std::holds_alternative<std::string>(host)) {
+                const auto& host_str = std::get<std::string>(host);
+                if (host_str == "next")
+                    next_host = host_info.currentHost + 1;
+                else if (host_str == "prev" || host_str == "previous")
+                    next_host = host_info.currentHost - 1;
+                else
+                    next_host = host_info.currentHost;
+            } else {
+                next_host = std::get<int>(host) - 1;
+            }
+            next_host %= host_info.hostCount;
+            if (next_host != host_info.currentHost)
+                _change_host->setHost(next_host);
+        });
     }
 }
 
diff --git a/src/logid/actions/CycleDPI.cpp b/src/logid/actions/CycleDPI.cpp
index f6ab5ae..41b43c6 100644
--- a/src/logid/actions/CycleDPI.cpp
+++ b/src/logid/actions/CycleDPI.cpp
@@ -71,7 +71,7 @@ void CycleDPI::press() {
         if (_current_dpi == _config.dpis.value().end())
             _current_dpi = _config.dpis.value().begin();
 
-        spawn_task([this, dpi = *_current_dpi] {
+        run_task([this, dpi = *_current_dpi] {
             try {
                 _dpi->setDPI(dpi, _config.sensor.value_or(0));
             } catch (backend::hidpp20::Error& e) {
diff --git a/src/logid/actions/ToggleHiresScroll.cpp b/src/logid/actions/ToggleHiresScroll.cpp
index 1345184..0b4dded 100644
--- a/src/logid/actions/ToggleHiresScroll.cpp
+++ b/src/logid/actions/ToggleHiresScroll.cpp
@@ -41,12 +41,11 @@ ToggleHiresScroll::ToggleHiresScroll(
 void ToggleHiresScroll::press() {
     _pressed = true;
     if (_hires_scroll) {
-        spawn_task(
-                [hires = this->_hires_scroll]() {
-                    auto mode = hires->getMode();
-                    mode ^= backend::hidpp20::HiresScroll::HiRes;
-                    hires->setMode(mode);
-                });
+        run_task([hires = this->_hires_scroll]() {
+            auto mode = hires->getMode();
+            mode ^= backend::hidpp20::HiresScroll::HiRes;
+            hires->setMode(mode);
+        });
     }
 }
 
diff --git a/src/logid/actions/ToggleSmartShift.cpp b/src/logid/actions/ToggleSmartShift.cpp
index f6445fe..ceb3167 100644
--- a/src/logid/actions/ToggleSmartShift.cpp
+++ b/src/logid/actions/ToggleSmartShift.cpp
@@ -42,13 +42,12 @@ ToggleSmartShift::ToggleSmartShift(
 void ToggleSmartShift::press() {
     _pressed = true;
     if (_smartshift) {
-        spawn_task(
-                [ss = this->_smartshift]() {
-                    auto status = ss->getStatus();
-                    status.setActive = true;
-                    status.active = !status.active;
-                    ss->setStatus(status);
-                });
+        run_task([ss = this->_smartshift]() {
+            auto status = ss->getStatus();
+            status.setActive = true;
+            status.active = !status.active;
+            ss->setStatus(status);
+        });
     }
 }
 
diff --git a/src/logid/backend/Error.h b/src/logid/backend/Error.h
index 26b309d..520923e 100644
--- a/src/logid/backend/Error.h
+++ b/src/logid/backend/Error.h
@@ -22,7 +22,7 @@
 #include <stdexcept>
 
 namespace logid::backend {
-    class DeviceNotReady : std::exception {
+    class DeviceNotReady : public std::exception {
     public:
         [[nodiscard]] const char* what() const noexcept override;
     };
diff --git a/src/logid/backend/hidpp10/Device.cpp b/src/logid/backend/hidpp10/Device.cpp
index 8d40a8b..023abe0 100644
--- a/src/logid/backend/hidpp10/Device.cpp
+++ b/src/logid/backend/hidpp10/Device.cpp
@@ -57,10 +57,9 @@ hidpp::Report Device::sendReport(const hidpp::Report& report) {
     response_slot.sub_id = report.subId();
 
     _sendReport(report);
-    bool valid = _response_cv.wait_for(lock, io_timeout,
-                                       [&response_slot]() {
-                                           return response_slot.response.has_value();
-                                       });
+    bool valid = _response_cv.wait_for(lock, io_timeout, [&response_slot]() {
+        return response_slot.response.has_value();
+    });
 
     if (!valid) {
         response_slot.reset();
diff --git a/src/logid/backend/hidpp10/ReceiverMonitor.cpp b/src/logid/backend/hidpp10/ReceiverMonitor.cpp
index db65f89..4f50052 100644
--- a/src/logid/backend/hidpp10/ReceiverMonitor.cpp
+++ b/src/logid/backend/hidpp10/ReceiverMonitor.cpp
@@ -49,7 +49,7 @@ void ReceiverMonitor::ready() {
                      */
                     hidpp::Report report(raw);
 
-                    spawn_task([this, report, path = this->_receiver->rawDevice()->rawPath()]() {
+                    run_task([this, report, path = this->_receiver->rawDevice()->rawPath()]() {
                         if (report.subId() == Receiver::DeviceConnection) {
                             try {
                                 this->addDevice(this->_receiver->deviceConnectionEvent(report));
@@ -85,7 +85,7 @@ void ReceiverMonitor::ready() {
 
                          if (filled) {
                              _pair_state = FindingPasskey;
-                             spawn_task([this, event = _discovery_event]() {
+                             run_task([this, event = _discovery_event]() {
                                  receiver()->startBoltPairing(event);
                              });
                          }
@@ -165,7 +165,7 @@ void ReceiverMonitor::waitForDevice(hidpp::DeviceIndex index) {
                  event.index = index;
                  event.fromTimeoutCheck = true;
 
-                 spawn_task([this, event, handler_id]() {
+                 run_task([this, event, handler_id]() {
                      *handler_id = {};
                      try {
                          addDevice(event);
diff --git a/src/logid/backend/raw/DeviceMonitor.cpp b/src/logid/backend/raw/DeviceMonitor.cpp
index 71c744e..3c5f20b 100644
--- a/src/logid/backend/raw/DeviceMonitor.cpp
+++ b/src/logid/backend/raw/DeviceMonitor.cpp
@@ -96,9 +96,9 @@ void DeviceMonitor::ready() {
                 std::string dev_node = udev_device_get_devnode(device);
 
                 if (action == "add")
-                    spawn_task([this, dev_node]() { _addHandler(dev_node); });
+                    run_task([this, dev_node]() { _addHandler(dev_node); });
                 else if (action == "remove")
-                    spawn_task([this, dev_node]() { _removeHandler(dev_node); });
+                    run_task([this, dev_node]() { _removeHandler(dev_node); });
 
                 udev_device_unref(device);
             },
@@ -129,45 +129,40 @@ void DeviceMonitor::enumerate() {
                             udev_enumerate_get_list_entry(udev_enum)) {
         const char* name = udev_list_entry_get_name(udev_enum_entry);
 
-        struct udev_device* device = udev_device_new_from_syspath(_udev_context,
-                                                                  name);
+        struct udev_device* device = udev_device_new_from_syspath(_udev_context, name);
         if (!device)
             throw std::runtime_error("udev_device_new_from_syspath failed");
 
         std::string dev_node = udev_device_get_devnode(device);
         udev_device_unref(device);
 
-        spawn_task([this, dev_node]() { _addHandler(dev_node); });
+        _addHandler(dev_node);
     }
 
     udev_enumerate_unref(udev_enum);
 }
 
-void DeviceMonitor::_addHandler(const std::string& device) {
-    int tries;
-    for (tries = 0; tries < max_tries; ++tries) {
-        try {
-            auto supported_reports = backend::hidpp::getSupportedReports(
-                    RawDevice::getReportDescriptor(device));
-            if (supported_reports)
-                this->addDevice(device);
-            else
-                logPrintf(DEBUG, "Unsupported device %s ignored", device.c_str());
-            break;
-        } catch (backend::DeviceNotReady& e) {
+void DeviceMonitor::_addHandler(const std::string& device, int tries) {
+    try {
+        auto supported_reports = backend::hidpp::getSupportedReports(
+                RawDevice::getReportDescriptor(device));
+        if (supported_reports)
+            this->addDevice(device);
+        else
+            logPrintf(DEBUG, "Unsupported device %s ignored", device.c_str());
+    } catch (backend::DeviceNotReady& e) {
+        if (tries == max_tries) {
+            logPrintf(WARN, "Failed to add device %s after %d tries. Treating as failure.",
+                      device.c_str(), max_tries);
+        } else {
             /* Do exponential backoff for 2^tries * backoff ms. */
-            std::chrono::milliseconds timeout((1 << tries) * ready_backoff);
+            std::chrono::milliseconds wait((1 << tries) * ready_backoff);
             logPrintf(DEBUG, "Failed to add device %s on try %d, backing off for %dms",
-                      device.c_str(), tries + 1, timeout.count());
-            std::this_thread::sleep_for(timeout);
-        } catch (std::exception& e) {
-            logPrintf(WARN, "Error adding device %s: %s", device.c_str(), e.what());
-            break;
+                      device.c_str(), tries + 1, wait.count());
+            run_task_after([this, device, tries](){ _addHandler(device, tries + 1); }, wait);
         }
-    }
-    if (tries == max_tries) {
-        logPrintf(WARN, "Failed to add device %s after %d tries. Treating as failure.",
-                  device.c_str(), max_tries);
+    } catch (std::exception& e) {
+        logPrintf(WARN, "Error adding device %s: %s", device.c_str(), e.what());
     }
 }
 
diff --git a/src/logid/backend/raw/DeviceMonitor.h b/src/logid/backend/raw/DeviceMonitor.h
index ac3061e..a0c8473 100644
--- a/src/logid/backend/raw/DeviceMonitor.h
+++ b/src/logid/backend/raw/DeviceMonitor.h
@@ -55,7 +55,7 @@ namespace logid::backend::raw {
         virtual void removeDevice(std::string device) = 0;
 
     private:
-        void _addHandler(const std::string& device);
+        void _addHandler(const std::string& device, int tries = 0);
 
         void _removeHandler(const std::string& device);
 
diff --git a/src/logid/config/schema.h b/src/logid/config/schema.h
index 97b8b39..1fac35c 100644
--- a/src/logid/config/schema.h
+++ b/src/logid/config/schema.h
@@ -304,11 +304,13 @@ namespace logid::config {
                 std::variant<Device, Profile>, "name">> devices;
         std::optional<std::set<uint16_t>> ignore;
         std::optional<double> io_timeout;
+        std::optional<int> workers;
 
-        Config() : group({"devices", "ignore", "io_timeout"},
+        Config() : group({"devices", "ignore", "io_timeout", "workers"},
                          &Config::devices,
                          &Config::ignore,
-                         &Config::io_timeout) {}
+                         &Config::io_timeout,
+                         &Config::workers) {}
     };
 }
 
diff --git a/src/logid/features/DeviceStatus.cpp b/src/logid/features/DeviceStatus.cpp
index a88bdbf..7a84c00 100644
--- a/src/logid/features/DeviceStatus.cpp
+++ b/src/logid/features/DeviceStatus.cpp
@@ -57,7 +57,8 @@ void DeviceStatus::listen() {
                             auto event =
                                     hidpp20::WirelessDeviceStatus::statusBroadcastEvent(report);
                             if (event.reconfNeeded)
-                                spawn_task([dev]() { dev->wakeup(); });
+                                run_task_after([dev]() { dev->wakeup(); },
+                                               std::chrono::milliseconds(100));
                         }
                 });
     }
diff --git a/src/logid/logid.cpp b/src/logid/logid.cpp
index 4babd3f..3a402ea 100644
--- a/src/logid/logid.cpp
+++ b/src/logid/logid.cpp
@@ -18,6 +18,7 @@
 
 #include <DeviceManager.h>
 #include <InputDevice.h>
+#include <util/task.h>
 #include <util/log.h>
 #include <algorithm>
 #include <ipc_defs.h>
@@ -142,6 +143,8 @@ int main(int argc, char** argv) {
         config = std::make_shared<Configuration>();
     }
 
+    init_workers(config->workers.value_or(defaults::workers));
+
 #ifdef USE_USER_BUS
     auto server_bus = ipcgull::IPCGULL_USER;
 #else
diff --git a/src/logid/util/task.cpp b/src/logid/util/task.cpp
index 4eaacf3..fea2f5e 100644
--- a/src/logid/util/task.cpp
+++ b/src/logid/util/task.cpp
@@ -16,16 +16,90 @@
  *
  */
 #include <util/task.h>
+#include <queue>
+#include <optional>
 
 using namespace logid;
+using namespace std::chrono;
 
-void logid::spawn_task(const std::function<void()>& function) {
-    auto future = std::make_shared<std::future<void>>();
-    *future = std::async(std::launch::async, [function, future]() {
-        try {
-            function();
-        } catch (std::exception& e) {
-            ExceptionHandler::Default(e);
+struct task_less {
+private:
+    std::greater<> greater;
+public:
+    bool operator()(const task& a, const task& b) const {
+        return greater(a.time, b.time);
+    }
+};
+
+static std::priority_queue<task, std::vector<task>, task_less> tasks {};
+static std::mutex task_mutex {};
+static std::condition_variable task_cv {};
+static std::atomic_bool workers_init = false;
+
+[[noreturn]] static void worker() {
+    std::unique_lock lock(task_mutex);
+    while (true) {
+        task_cv.wait(lock, []() { return !tasks.empty(); });
+
+        /* top task is in the future, wait */
+        if (tasks.top().time >= system_clock::now()) {
+            auto wait = tasks.top().time - system_clock::now();
+            task_cv.wait_for(lock, wait, []() {
+                return !tasks.empty() && (tasks.top().time < system_clock::now());
+            });
         }
-    });
-}
\ No newline at end of file
+
+        if (!tasks.empty()) {
+            /* May have timed out and is no longer empty */
+            auto f = tasks.top().function;
+            tasks.pop();
+
+            lock.unlock();
+            try {
+                f();
+            } catch(std::exception& e) {
+                ExceptionHandler::Default(e);
+            }
+            lock.lock();
+        }
+    }
+}
+
+void logid::init_workers(int worker_count) {
+    std::lock_guard lock(task_mutex);
+
+    for (int i = 0; i < worker_count; ++i)
+        std::thread(&worker).detach();
+
+    workers_init = true;
+}
+
+void logid::run_task(std::function<void()> function) {
+    task t{
+            .function = std::move(function),
+            .time = std::chrono::system_clock::now()
+    };
+
+    run_task(t);
+}
+
+void logid::run_task_after(std::function<void()> function, std::chrono::milliseconds delay) {
+    task t{
+            .function = std::move(function),
+            .time = system_clock::now() + delay
+    };
+
+    run_task(t);
+}
+
+void logid::run_task(task t) {
+    std::lock_guard lock(task_mutex);
+
+    if (!workers_init) {
+        throw std::runtime_error("tasks queued before work queue ready");
+    }
+
+    tasks.emplace(std::move(t));
+    // TODO: only need to wake up at top
+    task_cv.notify_one();
+}
diff --git a/src/logid/util/task.h b/src/logid/util/task.h
index a48468f..59d75a1 100644
--- a/src/logid/util/task.h
+++ b/src/logid/util/task.h
@@ -24,10 +24,16 @@
 #include <future>
 
 namespace logid {
-    /* This function spawns a new task into the least used worker queue
-    * and forgets about it.
-    */
-    void spawn_task(const std::function<void()>& function);
+    struct task {
+        std::function<void()> function;
+        std::chrono::time_point<std::chrono::system_clock> time;
+    };
+
+    void init_workers(int worker_count);
+
+    void run_task(std::function<void()> function);
+    void run_task_after(std::function<void()> function, std::chrono::milliseconds delay);
+    void run_task(task t);
 }
 
 #endif //LOGID_TASK_H