diff --git a/api/src/opentrons/hardware_control/protocols/liquid_handler.py b/api/src/opentrons/hardware_control/protocols/liquid_handler.py
index f2f3f2ecef4c..2aea15bd55b7 100644
--- a/api/src/opentrons/hardware_control/protocols/liquid_handler.py
+++ b/api/src/opentrons/hardware_control/protocols/liquid_handler.py
@@ -1,8 +1,8 @@
-from typing import Optional, Dict
+from typing import Optional
 from typing_extensions import Protocol
 
 from opentrons.types import Point
-from opentrons.hardware_control.types import CriticalPoint, Axis
+from opentrons.hardware_control.types import CriticalPoint
 from .types import MountArgType, CalibrationType, ConfigType
 
 from .instrument_configurer import InstrumentConfigurer
diff --git a/api/src/opentrons/hardware_control/protocols/motion_controller.py b/api/src/opentrons/hardware_control/protocols/motion_controller.py
index 6fda13f8f382..e95a9d2e24f1 100644
--- a/api/src/opentrons/hardware_control/protocols/motion_controller.py
+++ b/api/src/opentrons/hardware_control/protocols/motion_controller.py
@@ -1,4 +1,4 @@
-from typing import Dict, Union, List, Optional, Mapping
+from typing import Dict, List, Optional, Mapping
 from typing_extensions import Protocol
 
 from opentrons.types import Point
diff --git a/api/src/opentrons/protocol_api/core/protocol.py b/api/src/opentrons/protocol_api/core/protocol.py
index c367c2b4bbab..62e2d7cd1d71 100644
--- a/api/src/opentrons/protocol_api/core/protocol.py
+++ b/api/src/opentrons/protocol_api/core/protocol.py
@@ -3,7 +3,7 @@
 from __future__ import annotations
 
 from abc import abstractmethod, ABC
-from typing import Generic, Type, List, Optional, Union, Tuple, Dict, TYPE_CHECKING
+from typing import Generic, List, Optional, Union, Tuple, Dict, TYPE_CHECKING
 
 from opentrons_shared_data.deck.types import DeckDefinitionV5, SlotDefV3
 from opentrons_shared_data.pipette.types import PipetteNameType
diff --git a/api/src/opentrons/protocol_api/validation.py b/api/src/opentrons/protocol_api/validation.py
index 9baba2268ce8..6b491d7e9b44 100644
--- a/api/src/opentrons/protocol_api/validation.py
+++ b/api/src/opentrons/protocol_api/validation.py
@@ -193,29 +193,24 @@ def ensure_pipette_name(pipette_name: str) -> PipetteNameType:
         ) from None
 
 
-def ensure_axis_map_type(
-    axis_map: Union[AxisMapType, StringAxisMap],
-    robot_type: RobotType,
-    is_96_channel: bool = False,
-) -> AxisMapType:
-    """Ensure that the axis map provided is in the correct shape and contains the correct keys."""
-    axis_map_keys = list(axis_map.keys())
-    key_type = set(type(k) for k in axis_map_keys)
-
-    if len(key_type) > 1:
-        raise IncorrectAxisError(
-            "Please provide an `axis_map` with only string or only AxisType keys."
-        )
+def _check_ot2_axis_type(
+    robot_type: RobotType, axis_map_keys: Union[List[str], List[AxisType]]
+) -> None:
     if robot_type == "OT-2 Standard" and isinstance(axis_map_keys[0], AxisType):
         if any(k not in AxisType.ot2_axes() for k in axis_map_keys):
             raise IncorrectAxisError(
                 f"An OT-2 Robot only accepts the following axes {AxisType.ot2_axes()}"
             )
     if robot_type == "OT-2 Standard" and isinstance(axis_map_keys[0], str):
-        if any(k.upper() not in [axis.value for axis in AxisType.ot2_axes()] for k in axis_map_keys):  # type: ignore [attr-defined]
+        if any(k.upper() not in [axis.value for axis in AxisType.ot2_axes()] for k in axis_map_keys):  # type: ignore [union-attr]
             raise IncorrectAxisError(
                 f"An OT-2 Robot only accepts the following axes {AxisType.ot2_axes()}"
             )
+
+
+def _check_96_channel_axis_type(
+    is_96_channel: bool, axis_map_keys: Union[List[str], List[AxisType]]
+) -> None:
     if is_96_channel and any(
         key_variation in axis_map_keys for key_variation in ["Z_R", "z_r", AxisType.Z_R]
     ):
@@ -229,6 +224,23 @@ def ensure_axis_map_type(
             "A 96 channel is not attached. The clamp `Q` motor does not exist."
         )
 
+
+def ensure_axis_map_type(
+    axis_map: Union[AxisMapType, StringAxisMap],
+    robot_type: RobotType,
+    is_96_channel: bool = False,
+) -> AxisMapType:
+    """Ensure that the axis map provided is in the correct shape and contains the correct keys."""
+    axis_map_keys: Union[List[str], List[AxisType]] = list(axis_map.keys())  # type: ignore
+    key_type = set(type(k) for k in axis_map_keys)
+
+    if len(key_type) > 1:
+        raise IncorrectAxisError(
+            "Please provide an `axis_map` with only string or only AxisType keys."
+        )
+    _check_ot2_axis_type(robot_type, axis_map_keys)
+    _check_96_channel_axis_type(is_96_channel, axis_map_keys)
+
     if all(isinstance(k, AxisType) for k in axis_map_keys):
         return_map: AxisMapType = axis_map  # type: ignore
         return return_map
@@ -241,6 +253,7 @@ def ensure_axis_map_type(
 def ensure_only_gantry_axis_map_type(
     axis_map: AxisMapType, robot_type: RobotType
 ) -> None:
+    """Ensure that the axis map provided is in the correct shape and matches the gantry axes for the robot."""
     if robot_type == "OT-2 Standard":
         if any(k not in AxisType.ot2_gantry_axes() for k in axis_map.keys()):
             raise IncorrectAxisError(
diff --git a/api/src/opentrons/protocol_engine/commands/robot/common.py b/api/src/opentrons/protocol_engine/commands/robot/common.py
index e5401e3045fe..1cd0b0d17b33 100644
--- a/api/src/opentrons/protocol_engine/commands/robot/common.py
+++ b/api/src/opentrons/protocol_engine/commands/robot/common.py
@@ -1,3 +1,4 @@
+"""Shared result types for robot API commands."""
 from pydantic import BaseModel, Field
 
 from typing import Dict
@@ -9,6 +10,8 @@
 
 
 class DestinationRobotPositionResult(BaseModel):
+    """The result dictionary of `MotorAxis` type."""
+
     position: MotorAxisMapType = Field(
         default=default_position,
         description="The position of all axes on the robot. If no mount was provided, the last moved mount is used to determine the location.",
diff --git a/api/src/opentrons/protocol_engine/commands/robot/move_axes_relative.py b/api/src/opentrons/protocol_engine/commands/robot/move_axes_relative.py
index bd1da7b60c6f..238229ebce65 100644
--- a/api/src/opentrons/protocol_engine/commands/robot/move_axes_relative.py
+++ b/api/src/opentrons/protocol_engine/commands/robot/move_axes_relative.py
@@ -58,6 +58,7 @@ def __init__(
     async def execute(
         self, params: MoveAxesRelativeParams
     ) -> SuccessData[MoveAxesRelativeResult]:
+        """Move the axes on a flex a relative distance."""
         # TODO (lc 08-16-2024) implement `move_axes` for OT 2 hardware controller
         # and then we can remove this validation.
         ensure_ot3_hardware(self._hardware_api)
diff --git a/api/src/opentrons/protocol_engine/commands/robot/move_axes_to.py b/api/src/opentrons/protocol_engine/commands/robot/move_axes_to.py
index 98b8128db292..0d17d5f171f7 100644
--- a/api/src/opentrons/protocol_engine/commands/robot/move_axes_to.py
+++ b/api/src/opentrons/protocol_engine/commands/robot/move_axes_to.py
@@ -3,7 +3,6 @@
 from typing import Literal, Optional, Type, TYPE_CHECKING
 from pydantic import Field, BaseModel
 
-from opentrons.protocol_engine.types import MotorAxis
 from opentrons.hardware_control import HardwareControlAPI
 from opentrons.protocol_engine.resources import ensure_ot3_hardware
 
@@ -59,6 +58,7 @@ def __init__(
         self._hardware_api = hardware_api
 
     async def execute(self, params: MoveAxesToParams) -> SuccessData[MoveAxesToResult]:
+        """Move the axes on a flex an absolute distance."""
         # TODO (lc 08-16-2024) implement `move_axes` for OT 2 hardware controller
         # and then we can remove this validation.
         ensure_ot3_hardware(self._hardware_api)
diff --git a/api/src/opentrons/protocol_engine/commands/robot/move_to.py b/api/src/opentrons/protocol_engine/commands/robot/move_to.py
index 4b310bcd9ab2..44b8c4fdbe24 100644
--- a/api/src/opentrons/protocol_engine/commands/robot/move_to.py
+++ b/api/src/opentrons/protocol_engine/commands/robot/move_to.py
@@ -4,7 +4,6 @@
 
 from pydantic import BaseModel, Field
 from opentrons.types import MountType
-from opentrons.hardware_control.protocols.types import FlexRobotType
 
 from ..pipetting_common import DestinationPositionResult
 from ..command import (
@@ -60,6 +59,7 @@ def __init__(
         self._movement = movement
 
     async def execute(self, params: MoveToParams) -> SuccessData[MoveToResult]:
+        """Move to a given destination on a flex."""
         x, y, z = await self._movement.move_mount_to(
             mount=params.mount, destination=params.destination, speed=params.speed
         )
diff --git a/api/src/opentrons/protocol_engine/execution/gantry_mover.py b/api/src/opentrons/protocol_engine/execution/gantry_mover.py
index c76be093c7f4..1cb50f21418d 100644
--- a/api/src/opentrons/protocol_engine/execution/gantry_mover.py
+++ b/api/src/opentrons/protocol_engine/execution/gantry_mover.py
@@ -246,6 +246,13 @@ async def get_position_from_mount(
         critical_point: Optional[CriticalPoint] = None,
         fail_on_not_homed: bool = False,
     ) -> Point:
+        """Get the current position of the gantry based on the mount.
+
+        Args:
+            mount: The mount to get the position for.
+            critical_point: Optional parameter for getting instrument location data, effects critical point.
+            fail_on_not_homed: Raise PositionUnknownError if gantry position is not known.
+        """
         try:
             point = await self._hardware_api.gantry_position(
                 mount=mount,
@@ -319,8 +326,9 @@ async def move_axes(
 
         Args:
             axis_map: The mapping of axes to command.
-            relative_move: Specifying whether a relative move needs to be handled or not.
+            critical_point: A critical point override for axes
             speed: Optional speed parameter for the move.
+            relative_move: Specifying whether a relative move needs to be handled or not.
         """
         try:
             pos_hw = self._convert_axis_map_for_hw(axis_map)
@@ -496,6 +504,13 @@ async def get_position_from_mount(
         critical_point: Optional[CriticalPoint] = None,
         fail_on_not_homed: bool = False,
     ) -> Point:
+        """Get the current position of the gantry based on the mount.
+
+        Args:
+            mount: The mount to get the position for.
+            critical_point: Optional parameter for getting instrument location data, effects critical point.
+            fail_on_not_homed: Raise PositionUnknownError if gantry position is not known.
+        """
         pipette = self._state_view.pipettes.get_by_mount(MountType[mount.name])
         origin_deck_point = (
             self._state_view.pipettes.get_deck_point(pipette.id) if pipette else None
diff --git a/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py b/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py
index 7077718d9c08..2e650a2c2467 100644
--- a/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py
+++ b/api/tests/opentrons/hardware_control/backends/test_ot3_utils.py
@@ -1,9 +1,6 @@
 import pytest
 from typing import List
 from opentrons_hardware.hardware_control.motion_planning import Move
-from opentrons_hardware.hardware_control.motion import (
-    create_step,
-)
 from opentrons.hardware_control.backends import ot3utils
 from opentrons_hardware.firmware_bindings.constants import NodeId
 from opentrons.hardware_control.types import Axis, OT3Mount
diff --git a/api/tests/opentrons/protocol_api/test_robot_context.py b/api/tests/opentrons/protocol_api/test_robot_context.py
index 7d1531705b85..f60869c3813e 100644
--- a/api/tests/opentrons/protocol_api/test_robot_context.py
+++ b/api/tests/opentrons/protocol_api/test_robot_context.py
@@ -76,6 +76,7 @@ def test_move_to(
     destination: Location,
     speed: Optional[float],
 ) -> None:
+    """Test `RobotContext.move_to`."""
     subject.move_to(mount, destination, speed)
     core_mount: Mount
     if isinstance(mount, str):
@@ -119,6 +120,7 @@ def test_move_axes_to(
     expected_critical_point: AxisMapType,
     speed: Optional[float],
 ) -> None:
+    """Test `RobotContext.move_axes_to`."""
     subject.move_axes_to(axis_map, critical_point, speed)
     decoy.verify(
         subject._core.move_axes_to(expected_axis_map, expected_critical_point, speed)
@@ -143,6 +145,7 @@ def test_move_axes_relative(
     converted_map: AxisMapType,
     speed: Optional[float],
 ) -> None:
+    """Test `RobotContext.move_axes_relative`."""
     subject.move_axes_relative(axis_map, speed)
     decoy.verify(subject._core.move_axes_relative(converted_map, speed))
 
@@ -168,5 +171,6 @@ def test_get_axes_coordinates_for(
     location_to_move: Union[Location, ModuleContext, DeckLocation],
     expected_axis_map: AxisMapType,
 ) -> None:
+    """Test `RobotContext.get_axis_coordinates_for`."""
     res = subject.axis_coordinates_for(mount, location_to_move)
     assert res == expected_axis_map
diff --git a/api/tests/opentrons/protocol_engine/commands/robot/test_move_axes_relative_to.py b/api/tests/opentrons/protocol_engine/commands/robot/test_move_axes_relative_to.py
index 9fb31ba4e82e..11c6e13b54fb 100644
--- a/api/tests/opentrons/protocol_engine/commands/robot/test_move_axes_relative_to.py
+++ b/api/tests/opentrons/protocol_engine/commands/robot/test_move_axes_relative_to.py
@@ -5,8 +5,7 @@
 
 from opentrons.protocol_engine.execution import GantryMover
 from opentrons.protocol_engine.types import MotorAxis
-from opentrons.hardware_control.protocols.types import FlexRobotType, OT2RobotType
-from opentrons.types import Point, MountType
+from opentrons.hardware_control.protocols.types import FlexRobotType
 
 from opentrons.protocol_engine.commands.command import SuccessData
 from opentrons.protocol_engine.commands.robot.move_axes_relative import (
diff --git a/api/tests/opentrons/protocol_engine/commands/robot/test_move_axes_to.py b/api/tests/opentrons/protocol_engine/commands/robot/test_move_axes_to.py
index f85d1b24058b..3caa8b03ec86 100644
--- a/api/tests/opentrons/protocol_engine/commands/robot/test_move_axes_to.py
+++ b/api/tests/opentrons/protocol_engine/commands/robot/test_move_axes_to.py
@@ -5,8 +5,7 @@
 
 from opentrons.protocol_engine.execution import GantryMover
 from opentrons.protocol_engine.types import MotorAxis
-from opentrons.hardware_control.protocols.types import FlexRobotType, OT2RobotType
-from opentrons.types import Point, MountType
+from opentrons.hardware_control.protocols.types import FlexRobotType
 
 from opentrons.protocol_engine.commands.command import SuccessData
 from opentrons.protocol_engine.commands.robot.move_axes_to import (
diff --git a/api/tests/opentrons/protocol_engine/execution/test_gantry_mover.py b/api/tests/opentrons/protocol_engine/execution/test_gantry_mover.py
index 7712faf14080..7baaf4df4810 100644
--- a/api/tests/opentrons/protocol_engine/execution/test_gantry_mover.py
+++ b/api/tests/opentrons/protocol_engine/execution/test_gantry_mover.py
@@ -705,5 +705,6 @@ async def test_virtual_move_axes(
     relative_move: bool,
     expected_position: Dict[MotorAxis, float],
 ) -> None:
+    """It should simulate moving a set of axis by a certain distance."""
     pos = await virtual_subject.move_axes(axis_map, critical_point, 100, relative_move)
     assert pos == expected_position
diff --git a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
index f9fafc04945b..4f06b7597ce4 100644
--- a/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
+++ b/hardware-testing/hardware_testing/opentrons_api/helpers_ot3.py
@@ -619,15 +619,14 @@ async def move_tip_motor_relative_ot3(
     if not api.hardware_pipettes[OT3Mount.LEFT.to_mount()]:
         raise RuntimeError("No pipette found on LEFT mount")
 
-    current_gear_pos_float = api._backend.gear_motor_position or 0.0
-    current_gear_pos_dict = {Axis.Q: current_gear_pos_float}
-    target_pos_dict = {Axis.Q: current_gear_pos_float + distance}
+    current_gear_pos = api._backend.gear_motor_position or 0.0
+    target_pos = {Axis.Q: current_gear_pos + distance}
 
     if speed is not None and distance < 0:
         speed *= -1
 
     _move_coro = api._backend.tip_action(
-        current_gear_pos_dict, [(target_pos_dict, speed or 400)]
+        current_gear_pos, [(target_pos, speed or 400)]
     )
     if motor_current is None:
         await _move_coro