diff --git a/src/lerobot/cameras/opencv/camera_opencv.py b/src/lerobot/cameras/opencv/camera_opencv.py
index b3c20e8dd..e50d24c01 100644
--- a/src/lerobot/cameras/opencv/camera_opencv.py
+++ b/src/lerobot/cameras/opencv/camera_opencv.py
@@ -436,7 +436,7 @@ class OpenCVCamera(Camera):
         Internal loop run by the background thread for asynchronous reading.
 
         On each iteration:
-        1. Reads a color frame
+        1. Reads a color frame (blocking call)
         2. Stores result in latest_frame and updates timestamp (thread-safe)
         3. Sets new_frame_event to notify listeners
 
@@ -485,6 +485,8 @@ class OpenCVCamera(Camera):
 
         if self.thread is not None and self.thread.is_alive():
             self.thread.join(timeout=2.0)
+            if self.thread.is_alive():
+                logger.warning(f"{self} read thread did not terminate within timeout.")
 
         self.thread = None
         self.stop_event = None
diff --git a/src/lerobot/cameras/realsense/camera_realsense.py b/src/lerobot/cameras/realsense/camera_realsense.py
index 41c2fe882..c0971a48f 100644
--- a/src/lerobot/cameras/realsense/camera_realsense.py
+++ b/src/lerobot/cameras/realsense/camera_realsense.py
@@ -465,8 +465,8 @@ class RealSenseCamera(Camera):
         Internal loop run by the background thread for asynchronous reading.
 
         On each iteration:
-        1. Reads a color frame with 500ms timeout
-        2. Stores result in latest_frame and updates timestamp (thread-safe)
+        1. Reads a color/depth frame (blocking call with 10s timeout)
+        2. Stores result in latest_color_frame/latest_depth_frame and updates timestamp (thread-safe)
         3. Sets new_frame_event to notify listeners
 
         Stops on DeviceNotConnectedError, logs other errors and continues.
@@ -487,7 +487,7 @@ class RealSenseCamera(Camera):
                     depth_frame_raw = frame.get_depth_frame()
                     depth_frame = np.asanyarray(depth_frame_raw.get_data())
                     processed_depth_frame = self._postprocess_image(depth_frame, depth_frame=True)
-                    if processed_depth_frame.ndim == 2: # (H, W) -> (H, W, 1)
+                    if processed_depth_frame.ndim == 2:  # (H, W) -> (H, W, 1)
                         processed_depth_frame = processed_depth_frame[..., np.newaxis]
 
                 capture_time = time.perf_counter()
@@ -525,6 +525,8 @@ class RealSenseCamera(Camera):
 
         if self.thread is not None and self.thread.is_alive():
             self.thread.join(timeout=2.0)
+            if self.thread.is_alive():  # pragma: no cover
+                logger.warning(f"{self} read thread did not terminate within timeout.")
 
         self.thread = None
         self.stop_event = None
diff --git a/src/lerobot/cameras/zmq/camera_zmq.py b/src/lerobot/cameras/zmq/camera_zmq.py
index f3df17814..cd32a117b 100644
--- a/src/lerobot/cameras/zmq/camera_zmq.py
+++ b/src/lerobot/cameras/zmq/camera_zmq.py
@@ -293,6 +293,8 @@ class ZMQCamera(Camera):
 
         if self.thread is not None and self.thread.is_alive():
             self.thread.join(timeout=2.0)
+            if self.thread.is_alive():
+                logger.warning(f"{self} read thread did not terminate within timeout.")
 
         self.thread = None
         self.stop_event = None