diff --git a/android/demo-app/src/main/java/com/stadiamaps/ferrostar/DemoNavigationScene.kt b/android/demo-app/src/main/java/com/stadiamaps/ferrostar/DemoNavigationScene.kt
index 6c0d519d..5ab62e46 100644
--- a/android/demo-app/src/main/java/com/stadiamaps/ferrostar/DemoNavigationScene.kt
+++ b/android/demo-app/src/main/java/com/stadiamaps/ferrostar/DemoNavigationScene.kt
@@ -95,6 +95,7 @@ fun DemoNavigationScene(
       // Snapping works well for most motor vehicle navigation.
       // Other travel modes though, such as walking, may not want snapping.
       snapUserLocationToRoute = false,
+      // Configure speed limit signage based on user preference or location
       config = VisualNavigationViewConfig.Default().withSpeedLimitStyle(SignageStyle.MUTCD),
       views =
           NavigationViewComponentBuilder.Default()
diff --git a/apple/DemoApp/Demo/DemoNavigationView.swift b/apple/DemoApp/Demo/DemoNavigationView.swift
index a08a1dd7..57428c43 100644
--- a/apple/DemoApp/Demo/DemoNavigationView.swift
+++ b/apple/DemoApp/Demo/DemoNavigationView.swift
@@ -49,6 +49,7 @@ struct DemoNavigationView: View {
                 }
             )
             .navigationSpeedLimit(
+                // Configure speed limit signage based on user preference or location
                 speedLimit: ferrostarCore.annotation?.speedLimit,
                 speedLimitStyle: .mutcdStyle
             )
diff --git a/guide/src/annotations.md b/guide/src/annotations.md
index 5e8a02a2..05e61f58 100644
--- a/guide/src/annotations.md
+++ b/guide/src/annotations.md
@@ -10,13 +10,26 @@ from the route response,
 and will handle the most common ones from Valhalla-based servers
 (like Stadia Maps and Mapbox) with just one line of code.
 
-The implementation is completely generic,
+## OSRM-style annotation data structure
+
+In the OSRM data model, annotations are a list
+with each entry representing a line segment between consecutive
+coordinates along the route geometry.
+This allows for fine-grained details which may change through the course of a maneuver.
+
+While OSRM’s annotations aren’t particularly interesting for most use cases,
+many implementations use this for speed limit, traffic congestion, and similar info.
+
+The implementation in Ferrostar is generic,
 so you can define your own model to include custom parameters.
 PRs welcome for other public API annotation models.
 
-## Swift
+## Setting up an annotation publisher
+
+Here’s how to set up an annotation publisher using the bundled one
+(for Valhalla-based solutions like Stadia Maps and Mapbox).
 
-Here’s how to create a Valhalla extended OSRM annotation publisher in Swift:
+### Swift
 
 ```swift
 let annotationPublisher = AnnotationPublisher<ValhallaExtendedOSRMAnnotation>.valhallaExtendedOSRM()
@@ -24,11 +37,10 @@ let annotationPublisher = AnnotationPublisher<ValhallaExtendedOSRMAnnotation>.va
 
 Pass this publisher via the optional `annotation:` parameter
 of the `FerrostarCore` constructor.
+Now you can use the `annotation` property on your `FerrostarCore` instance
+to get the annotation based on the user’s snapped location.
 
-## Kotlin
-
-In Kotlin, you can create a Valhalla extended OSRM annotation publisher
-by importing and invoking an extension method:
+### Kotlin
 
 ```kotlin
 import com.stadiamaps.ferrostar.core.annotation.valhalla.valhallaExtendedOSRMAnnotationPublisher
@@ -51,3 +63,38 @@ class DemoNavigationViewModel(
     // ...
 }
 ```
+
+## Displaying speed limits in your app
+
+The provided navigation views for iOS and Android
+supports speed limits out of the box!
+Both demo apps include examples of how to configure it.
+
+### SwiftUI
+
+For SwiftUI, you can configure speed limit display using the `navigationSpeedLimit`
+view modifier on your navigation view:
+
+```swift
+DynamicallyOrientingNavigationView(
+    // Other arguments...
+)
+.navigationSpeedLimit(
+    // Configure speed limit signage based on user preference or location
+    speedLimit: ferrostarCore.annotation?.speedLimit,
+    speedLimitStyle: .mutcdStyle
+)
+```
+
+### Jetpack Compose
+
+With Jetpack Compose, you can configure speed limit display with the optional
+`config` parameter:
+
+```kotlin
+DynamicallyOrientingNavigationView(
+    // Other arguments...
+    // Configure speed limit signage based on user preference or location
+    config = VisualNavigationViewConfig.Default().withSpeedLimitStyle(SignageStyle.MUTCD)
+)
+```
\ No newline at end of file