diff --git a/lib/managers/ar_object_manager.dart b/lib/managers/ar_object_manager.dart
index 608ba464..789449b9 100644
--- a/lib/managers/ar_object_manager.dart
+++ b/lib/managers/ar_object_manager.dart
@@ -145,4 +145,22 @@ class ARObjectManager {
   removeNode(ARNode node) {
     _channel.invokeMethod<String>('removeNode', {'name': node.name});
   }
+
+  /// Pushes the given node's current transformation to the underlying AR scene.
+  /// Call this after programmatically changing a node's [ARNode.transform],
+  /// [ARNode.position], [ARNode.rotation], [ARNode.scale] or [ARNode.eulerAngles]
+  /// to synchronize the change with the native AR engine.
+  ///
+  /// Fire-and-forget (like [removeNode]): it is intentionally not awaitable
+  /// because the Android side only sends a reply when pan/rotation handling is
+  /// enabled, so awaiting would hang when gestures are disabled. On Android the
+  /// transform is applied only when `handlePans` or `handleRotation` was enabled
+  /// in [ARSessionManager.onInitialize].
+  void updateNode(ARNode node) {
+    _channel.invokeMethod<void>('transformationChanged', {
+      'name': node.name,
+      'transformation':
+          const MatrixValueNotifierConverter().toJson(node.transformNotifier),
+    });
+  }
 }
diff --git a/lib/managers/ar_session_manager.dart b/lib/managers/ar_session_manager.dart
index deee08ba..74541663 100644
--- a/lib/managers/ar_session_manager.dart
+++ b/lib/managers/ar_session_manager.dart
@@ -29,10 +29,10 @@ class ARSessionManager {
   final PlaneDetectionConfig planeDetectionConfig;
 
   /// Receives hit results from user taps with tracked planes or feature points
-  late ARHitResultHandler onPlaneOrPointTap;
+  ARHitResultHandler? onPlaneOrPointTap;
 
   /// Receives total number of Planes when a plane is detected and added to the view
-  late ARPlaneResultHandler onPlaneDetected;
+  ARPlaneResultHandler? onPlaneDetected;
 
   /// Callback that is triggered once error is triggered
   ErrorHandler? onError;
@@ -158,13 +158,13 @@ class ARSessionManager {
             final hitTestResults = serializedHitTestResults.map((e) {
               return ARHitTestResult.fromJson(e);
             }).toList();
-            onPlaneOrPointTap(hitTestResults);
+            onPlaneOrPointTap?.call(hitTestResults);
           }
           break;
         case 'onPlaneDetected':
           if (onPlaneDetected != null) {
             final planeCountResult = call.arguments as int;
-            onPlaneDetected(planeCountResult);
+            onPlaneDetected?.call(planeCountResult);
           }
           break;
         case 'dispose':
diff --git a/pubspec.yaml b/pubspec.yaml
index 85b13936..e0a59e11 100644
--- a/pubspec.yaml
+++ b/pubspec.yaml
@@ -4,13 +4,13 @@ version: 0.0.3
 repository: https://github.com/hlefe/ar_flutter_plugin_2
 
 environment:
-  sdk: ">=2.16.1 <3.0.0"
+  sdk: ">=2.16.1 <4.0.0"
   flutter: ">=1.20.0"
 
 dependencies:
   flutter:
     sdk: flutter
-  permission_handler: ^11.3.1
+  permission_handler: ">=11.3.1 <13.0.0"
   vector_math: ^2.1.1
   json_annotation: ^4.9.0
   geolocator: ^12.0.0
diff --git a/test/ar_flutter_plugin_test.dart b/test/ar_flutter_plugin_test.dart
index b229d62d..8b8d8e7a 100644
--- a/test/ar_flutter_plugin_test.dart
+++ b/test/ar_flutter_plugin_test.dart
@@ -1,6 +1,12 @@
+import 'package:flutter/material.dart';
 import 'package:flutter/services.dart';
 import 'package:flutter_test/flutter_test.dart';
 import 'package:ar_flutter_plugin_2/ar_flutter_plugin.dart';
+import 'package:ar_flutter_plugin_2/managers/ar_session_manager.dart';
+import 'package:ar_flutter_plugin_2/managers/ar_object_manager.dart';
+import 'package:ar_flutter_plugin_2/datatypes/config_planedetection.dart';
+import 'package:ar_flutter_plugin_2/datatypes/node_types.dart';
+import 'package:ar_flutter_plugin_2/models/ar_node.dart';
 
 void main() {
   const MethodChannel channel = MethodChannel('ar_flutter_plugin_2');
@@ -20,4 +26,51 @@ void main() {
   test('getPlatformVersion', () async {
     expect(await ArFlutterPlugin.platformVersion, '42');
   });
+
+  // Regression test for upstream issue #8: the session event handlers used to
+  // be declared `late` and non-nullable, so reading them before the app
+  // assigned one threw `LateInitializationError: Field 'onPlaneDetected' has
+  // not been initialized.` They must now be nullable and default to null.
+  testWidgets('session event handlers are null-safe when unset (issue #8)',
+      (WidgetTester tester) async {
+    await tester.pumpWidget(const MaterialApp(home: SizedBox()));
+    final context = tester.element(find.byType(SizedBox));
+
+    final sessionManager =
+        ARSessionManager(0, context, PlaneDetectionConfig.none);
+
+    expect(sessionManager.onPlaneOrPointTap, isNull);
+    expect(sessionManager.onPlaneDetected, isNull);
+  });
+
+  // Regression test for upstream issue #6: `updateNode` did not exist even
+  // though it was the documented way to sync transform changes. It must push a
+  // `transformationChanged` call (the method the native side already handles).
+  test('updateNode pushes transformationChanged to the object channel (issue #6)',
+      () async {
+    const objectChannel = MethodChannel('arobjects_0');
+    final messenger =
+        TestDefaultBinaryMessengerBinding.instance.defaultBinaryMessenger;
+    final calls = <MethodCall>[];
+    messenger.setMockMethodCallHandler(objectChannel, (call) async {
+      calls.add(call);
+      return null;
+    });
+    addTearDown(() => messenger.setMockMethodCallHandler(objectChannel, null));
+
+    final objectManager = ARObjectManager(0);
+    final node = ARNode(
+        type: NodeType.localGLTF2, uri: 'model.gltf', name: 'myNode');
+
+    // updateNode is fire-and-forget; flush the event queue so the mock handler
+    // records the dispatched platform call before asserting.
+    objectManager.updateNode(node);
+    await pumpEventQueue();
+
+    expect(calls.single.method, 'transformationChanged');
+    final args = calls.single.arguments as Map;
+    expect(args['name'], 'myNode');
+    expect(args['transformation'], isA<List<dynamic>>());
+    expect((args['transformation'] as List).length, 16);
+  });
 }