diff --git a/conformance/test_mathutils.py b/conformance/test_mathutils.py
new file mode 100644
index 0000000..3838d69
--- /dev/null
+++ b/conformance/test_mathutils.py
@@ -0,0 +1,18 @@
+import mathutils
+from math import radians
+
+vec = mathutils.Vector((1.0, 2.0, 3.0))
+
+mat_rot = mathutils.Matrix.Rotation(radians(90.0), 4, "X")
+mat_trans = mathutils.Matrix.Translation(vec)
+
+mat = mat_trans @ mat_rot
+mat.invert()
+
+mat3 = mat.to_3x3()
+quat1 = mat.to_quaternion()
+quat2 = mat3.to_quaternion()
+
+quat_diff = quat1.rotation_difference(quat2)
+
+print(quat_diff.angle)
diff --git a/introspect.py b/introspect.py
index dcc7f87..38d0518 100644
--- a/introspect.py
+++ b/introspect.py
@@ -959,7 +959,9 @@ def introspect_callable(func: Callable[..., object], name: str) -> FunctionData
     # C functions often use generic names like "object" in __text_signature__
     # while docstrings use descriptive names like "string", "cls", etc.
     doc_param_list = list(param_types.items())
-    sig_param_list = list(sig.parameters.items())
+    sig_param_list = [
+        (n, p) for n, p in sig.parameters.items() if n != "self"
+    ]
 
     params = []
     for i, (pname, param) in enumerate(sig_param_list):
@@ -1223,6 +1225,17 @@ def _fix_dunder_signatures(
                 pass
             continue
 
+        # __iter__: return Iterator[element_type] based on __getitem__
+        if name == "__iter__":
+            try:
+                result = instance[0]
+                etype = _type_name(result)
+                method["return_type"] = f"Iterator[{etype}]"
+                method["params"] = []
+            except Exception:
+                pass
+            continue
+
         # __setitem__: refine value type from __getitem__ return type
         if name == "__setitem__":
             try:
@@ -1381,6 +1394,22 @@ def introspect_class(cls: type[object], module_name: str) -> StructData:
     if dunder_methods:
         _fix_dunder_signatures(cls, dunder_methods)
 
+    # Synthesize __iter__ if the class supports iteration via __getitem__
+    # but doesn't define __iter__ explicitly (old-style C iteration protocol).
+    method_names = {m["name"] for m in methods}
+    if "__getitem__" in method_names and "__iter__" not in method_names:
+        getitem = next(m for m in methods if m["name"] == "__getitem__")
+        elem_type = getitem["return_type"] or "object"
+        methods.append(
+            {
+                "name": "__iter__",
+                "doc": "",
+                "params": [],
+                "return_type": f"Iterator[{elem_type}]",
+                "is_classmethod": False,
+            }
+        )
+
     return {
         "name": cls.__name__,
         "doc": class_doc,
diff --git a/main.py b/main.py
index fec6aa7..2190ade 100644
--- a/main.py
+++ b/main.py
@@ -396,6 +396,68 @@ def typecheck_stubs(versions: list[str] | None = None) -> None:
         sys.exit(1)
 
 
+def conformance_check(versions: list[str] | None = None) -> None:
+    """Type-check conformance test files against generated stubs."""
+    dist_dir = SCRIPT_DIR / "dist"
+    conformance_dir = SCRIPT_DIR / "conformance"
+
+    if not conformance_dir.exists():
+        print("No conformance/ directory found.")
+        sys.exit(1)
+
+    if versions:
+        missing = [v for v in versions if not (dist_dir / v).is_dir()]
+        if missing:
+            print(f"Missing stubs for: {', '.join(missing)}")
+            sys.exit(1)
+    else:
+        versions = sorted(
+            d.name
+            for d in dist_dir.iterdir()
+            if d.is_dir() and not d.name.startswith(".")
+        )
+
+    if not versions:
+        print("No generated stubs found in dist/.")
+        sys.exit(1)
+
+    failed = False
+    for version in versions:
+        version_dir = dist_dir / version
+        print(f"=== Conformance check against Blender {version} stubs ===")
+
+        python_version_file = version_dir / ".python-version"
+        python_version = (
+            python_version_file.read_text().strip()
+            if python_version_file.exists()
+            else "3.11"
+        )
+
+        config = version_dir / "pyrightconfig.conformance.json"
+        config.write_text(
+            json.dumps(
+                {
+                    "include": [str(conformance_dir)],
+                    "extraPaths": [str(version_dir)],
+                    "typeCheckingMode": "strict",
+                    "pythonVersion": python_version,
+                }
+            )
+        )
+
+        result = subprocess.run(
+            ["basedpyright", "--project", str(config)],
+        )
+
+        config.unlink()
+
+        if result.returncode != 0:
+            failed = True
+
+    if failed:
+        sys.exit(1)
+
+
 if __name__ == "__main__":
     parser = argparse.ArgumentParser(description="Blender type stubs generator")
     parser.add_argument(
@@ -403,6 +465,11 @@ if __name__ == "__main__":
         action="store_true",
         help="Type-check generated stubs instead of generating",
     )
+    parser.add_argument(
+        "--conformance",
+        action="store_true",
+        help="Run conformance tests against generated stubs",
+    )
     parser.add_argument(
         "versions",
         nargs="*",
@@ -412,6 +479,8 @@ if __name__ == "__main__":
 
     if args.typecheck_stubs:
         typecheck_stubs(args.versions or None)
+    elif args.conformance:
+        conformance_check(args.versions or None)
     else:
         if not args.versions:
             parser.error("versions are required for generation")
diff --git a/overrides/5.1/mathutils.json b/overrides/5.1/mathutils.json
new file mode 100644
index 0000000..f6b59c2
--- /dev/null
+++ b/overrides/5.1/mathutils.json
@@ -0,0 +1,7 @@
+{
+  "Matrix.Translation": {
+    "params": {
+      "vector": "Sequence[float] | Vector"
+    }
+  }
+}
diff --git a/pyproject.toml b/pyproject.toml
index 76ad3f8..5c56dec 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -30,7 +30,7 @@ target-version = ["py311"]
 [tool.basedpyright]
 typeCheckingMode = "strict"
 extraPaths = ["stubs"]
-exclude = ["downloads/", ".venv/", "dist/"]
+exclude = ["downloads/", ".venv/", "dist/", "conformance/"]
 
 [tool.ruff]
 exclude = ["dist/"]
@@ -40,6 +40,7 @@ format = { cmd = "black .", help = "Format all Python files" }
 lint = { cmd = "ruff check .", help = "Lint all Python files" }
 typecheck = { cmd = "basedpyright", help = "Run type checker on source code" }
 typecheck-stubs = { cmd = "python -m main --typecheck-stubs", help = "Type-check generated stubs (e.g., poe typecheck-stubs 4.0 4.1)" }
+conformance = { cmd = "python -m main --conformance", help = "Run conformance tests against generated stubs (e.g., poe conformance 5.0)" }
 test = { cmd = "python -m unittest discover -s tests -v", help = "Run unit tests" }
 
 [tool.poe.tasks.generate]