diff --git a/acp_adapter/entry.py b/acp_adapter/entry.py
index fb9ed95450c3d..7b549006bc274 100644
--- a/acp_adapter/entry.py
+++ b/acp_adapter/entry.py
@@ -247,16 +247,22 @@ def main(argv: list[str] | None = None) -> None:
     import acp
     from .server import HermesACPAgent
 
-    # MCP tool discovery from config.yaml — run before asyncio.run() so
-    # it's safe to use blocking waits.  (ACP also registers per-session
-    # MCP servers dynamically via asyncio.to_thread inside the event
-    # loop; that path is unaffected.)  Moved from model_tools.py module
-    # scope to avoid freezing the gateway's loop on lazy import (#16856).
+    # MCP tool discovery from config.yaml — fire-and-forget in a
+    # background daemon thread so the ACP server becomes responsive
+    # immediately while MCP servers connect.  Previously this blocked
+    # asyncio.run() for 2-5 s.  (ACP also registers per-session MCP
+    # servers dynamically via asyncio.to_thread inside the event loop;
+    # that path is unaffected.)  Moved from model_tools.py module scope
+    # to avoid freezing the gateway's loop on lazy import (#16856).
     # Metadata-only hosts can opt out of unrelated global MCP startup.
     if os.environ.get("HERMES_ACP_SKIP_CONFIGURED_MCP", "").strip() != "1":
         try:
-            from tools.mcp_tool import discover_mcp_tools
-            discover_mcp_tools()
+            from hermes_cli.mcp_startup import start_background_mcp_discovery
+
+            start_background_mcp_discovery(
+                logger=logger,
+                thread_name="acp-mcp-discovery",
+            )
         except Exception:
             logger.debug("MCP tool discovery failed at ACP startup", exc_info=True)