diff --git a/packages/base-driver/lib/basedriver/commands/event.js b/packages/base-driver/lib/basedriver/commands/event.js
index d871a3ccb..21e1bd14a 100644
--- a/packages/base-driver/lib/basedriver/commands/event.js
+++ b/packages/base-driver/lib/basedriver/commands/event.js
@@ -3,8 +3,9 @@
 import _ from 'lodash';
 
 /**
- * @param {TimeoutBase} Base
- * @returns {EventBase}
+ * @template {Constraints} C
+ * @param {import('./timeout').TimeoutBase<C>} Base
+ * @returns {EventBase<C>}
  */
 export function EventMixin(Base) {
   /**
@@ -52,7 +53,11 @@ export function EventMixin(Base) {
 }
 
 /**
- * @typedef {import('@appium/types').EventCommands} IEventCommands
- * @typedef {import('./timeout').TimeoutBase} TimeoutBase
- * @typedef {import('../driver').BaseDriverBase<import('@appium/types').TimeoutCommands & IEventCommands>} EventBase
+ * @typedef {import('@appium/types').Constraints} Constraints
+ * @typedef {import('@appium/types').IEventCommands} IEventCommands
+ */
+
+/**
+ * @template {Constraints} C
+ * @typedef {import('../driver').BaseDriverBase<C, import('@appium/types').ITimeoutCommands & IEventCommands>} EventBase
  */
diff --git a/packages/base-driver/lib/basedriver/commands/execute.js b/packages/base-driver/lib/basedriver/commands/execute.js
index 7bbf3c2b8..ea594b9f7 100644
--- a/packages/base-driver/lib/basedriver/commands/execute.js
+++ b/packages/base-driver/lib/basedriver/commands/execute.js
@@ -2,8 +2,9 @@ import _ from 'lodash';
 import {errors, makeArgs, checkParams} from '../../protocol';
 
 /**
- * @param {SessionBase} Base
- * @returns {ExecuteBase}
+ * @template {Constraints} C
+ * @param {import('./session').SessionBase<C>} Base
+ * @returns {ExecuteBase<C>}
  */
 export function ExecuteMixin(Base) {
   /**
@@ -57,9 +58,13 @@ export function ExecuteMixin(Base) {
 }
 
 /**
- * @typedef {import('@appium/types').ExecuteCommands} IExecuteCommands
+ * @typedef {import('@appium/types').IExecuteCommands} IExecuteCommands
  * @typedef {import('@appium/types').Driver} Driver
  * @typedef {import('@appium/types').DriverClass} DriverClass
- * @typedef {import('./session').SessionBase} SessionBase
- * @typedef {import('../driver').BaseDriverBase<import('@appium/types').TimeoutCommands & import('@appium/types').EventCommands & import('@appium/types').FindCommands & import('@appium/types').LogCommands & import('@appium/types').SettingsCommands & import('@appium/types').SessionCommands & IExecuteCommands>} ExecuteBase
+ * @typedef {import('@appium/types').Constraints} Constraints
+ */
+
+/**
+ * @template {Constraints} C
+ * @typedef {import('../driver').BaseDriverBase<C, import('@appium/types').ITimeoutCommands & import('@appium/types').IEventCommands & import('@appium/types').IFindCommands & import('@appium/types').ILogCommands<C> & import('@appium/types').ISettingsCommands & import('@appium/types').SessionCommands & IExecuteCommands>} ExecuteBase
  */
diff --git a/packages/base-driver/lib/basedriver/commands/find.js b/packages/base-driver/lib/basedriver/commands/find.js
index 18fd74af3..b78306adc 100644
--- a/packages/base-driver/lib/basedriver/commands/find.js
+++ b/packages/base-driver/lib/basedriver/commands/find.js
@@ -4,9 +4,9 @@
 import {errors} from '../../protocol';
 
 /**
- *
- * @param {EventBase} Base
- * @returns {FindBase}
+ * @template {Constraints} C
+ * @param {import('./event').EventBase<C>} Base
+ * @returns {FindBase<C>}
  */
 export function FindMixin(Base) {
   /**
@@ -96,7 +96,12 @@ export function FindMixin(Base) {
 
 /**
  * @typedef {import('@appium/types').Element} Element
- * @typedef {import('@appium/types').FindCommands} IFindCommands
- * @typedef {import('./event').EventBase} EventBase
- * @typedef {import('../driver').BaseDriverBase<import('@appium/types').TimeoutCommands & import('@appium/types').EventCommands & IFindCommands>} FindBase
+ * @typedef {import('@appium/types').Constraints} Constraints
+ * @typedef {import('@appium/types').IFindCommands} IFindCommands
+ * @typedef {import('@appium/types').ITimeoutCommands} ITimeoutCommands
+ * @typedef {import('@appium/types').IEventCommands} IEventCommands
+ */
+/**
+ * @template {Constraints} C
+ * @typedef {import('../driver').BaseDriverBase<C, ITimeoutCommands & IEventCommands & IFindCommands>} FindBase
  */
diff --git a/packages/base-driver/lib/basedriver/commands/index.js b/packages/base-driver/lib/basedriver/commands/index.js
index 1dae4b232..50b300093 100644
--- a/packages/base-driver/lib/basedriver/commands/index.js
+++ b/packages/base-driver/lib/basedriver/commands/index.js
@@ -1,5 +1,5 @@
 // @ts-check
-
+import _ from 'lodash';
 import {EventMixin} from './event';
 import {FindMixin} from './find';
 import {LogMixin} from './log';
@@ -9,22 +9,27 @@ import {TimeoutMixin} from './timeout';
 import {ExecuteMixin} from './execute';
 
 /**
- * Applies all the mixins to the `BaseDriverBase` class.
- * Returns a `BaseDriver` class.
- * @param {BaseDriverBase} Base
+ * Applies all the mixins to the `BaseDriverBase` class; returns a `BaseDriver` class definition.
+ * Each mixin is applied in the order it is listed here, and each type is a union with the previous.
+ *
+ * @template {Constraints} C
+ * @param {BaseDriverBase<C>} Base
  */
-export function createBaseDriverClass(Base) {
-  const WithTimeoutCommands = TimeoutMixin(Base);
-  const WithEventCommands = EventMixin(WithTimeoutCommands);
-  const WithFindCommands = FindMixin(WithEventCommands);
-  const WithLogCommands = LogMixin(WithFindCommands);
-  const WithSettingsCommands = SettingsMixin(WithLogCommands);
-  const WithSessionCommands = SessionMixin(WithSettingsCommands);
-  const WithExecuteCommands = ExecuteMixin(WithSessionCommands);
-  return WithExecuteCommands;
-}
+export const createBaseDriverClass = _.flow(
+  TimeoutMixin,
+  EventMixin,
+  FindMixin,
+  LogMixin,
+  SettingsMixin,
+  SessionMixin,
+  ExecuteMixin
+);
 
 /**
- * @template [T={}]
- * @typedef {import('../driver').BaseDriverBase<T>} BaseDriverBase
+ * @template {Constraints} C
+ * @typedef {import('../driver').BaseDriverBase<C>} BaseDriverBase
+ */
+
+/**
+ * @typedef {import('@appium/types').Constraints} Constraints
  */
diff --git a/packages/base-driver/lib/basedriver/commands/log.js b/packages/base-driver/lib/basedriver/commands/log.js
index 86a19101b..2a948772b 100644
--- a/packages/base-driver/lib/basedriver/commands/log.js
+++ b/packages/base-driver/lib/basedriver/commands/log.js
@@ -4,37 +4,40 @@
 import _ from 'lodash';
 
 /**
- *
- * @param {FindBase} Base
- * @returns {LogBase}
+ * @template {Constraints} C
+ * @param {import('./find').FindBase<C>} Base
+ * @returns {LogBase<C>}
  */
 export function LogMixin(Base) {
   /**
-   * @implements {ILogCommands}
+   * @implements {ILogCommands<C>}
    */
   class LogCommands extends Base {
+    /** @type {Readonly<import('@appium/types').LogDefRecord<C>>} */
+    supportedLogTypes;
+
     constructor(...args) {
       super(...args);
-      /** @type {Record<string, LogType<Driver>>} */
-      this.supportedLogTypes = this.supportedLogTypes ?? {};
+      this.supportedLogTypes ??= {};
     }
 
     async getLogTypes() {
       this.log.debug('Retrieving supported log types');
-      return _.keys(this.supportedLogTypes);
+      return Object.keys(this.supportedLogTypes);
     }
 
     /**
-     * @this {Driver}
-     * @param {string} logType
+     * @this {import('@appium/types').Driver<C>}
+     * @param {keyof typeof this.supportedLogTypes} logType
+     * @returns {Promise<import('type-fest').AsyncReturnType<typeof this.supportedLogTypes[keyof typeof this.supportedLogTypes]['getter']>>}
      */
     async getLog(logType) {
-      this.log.debug(`Retrieving '${logType}' logs`);
+      this.log.debug(`Retrieving '${String(logType)}' logs`);
 
-      if (!(await this.getLogTypes()).includes(logType)) {
+      if (!(logType in this.supportedLogTypes)) {
         const logsTypesWithDescriptions = _.mapValues(this.supportedLogTypes, 'description');
         throw new Error(
-          `Unsupported log type '${logType}'. ` +
+          `Unsupported log type '${String(logType)}'. ` +
             `Supported types: ${JSON.stringify(logsTypesWithDescriptions)}`
         );
       }
@@ -46,13 +49,16 @@ export function LogMixin(Base) {
 }
 
 /**
- * @typedef {import('@appium/types').LogCommands} ILogCommands
- * @typedef {import('@appium/types').Driver} Driver
- * @typedef {import('./find').FindBase} FindBase
- * @typedef {import('../driver').BaseDriverBase<import('@appium/types').TimeoutCommands & import('@appium/types').EventCommands & import('@appium/types').FindCommands & ILogCommands>} LogBase
+ * @typedef {import('@appium/types').Constraints} Constraints
+ * @typedef {import('@appium/types').StringRecord} StringRecord
  */
 
 /**
- * @template T
- * @typedef {import('@appium/types').LogType<T>} LogType
+ * @template {Constraints} C
+ * @typedef {import('@appium/types').ILogCommands<C>} ILogCommands
+ */
+
+/**
+ * @template {Constraints} C
+ * @typedef {import('../driver').BaseDriverBase<C, import('@appium/types').ITimeoutCommands & import('@appium/types').IEventCommands & import('@appium/types').IFindCommands & ILogCommands<C>>} LogBase
  */
diff --git a/packages/base-driver/lib/basedriver/commands/session.js b/packages/base-driver/lib/basedriver/commands/session.js
index e9b20d199..b13f61a43 100644
--- a/packages/base-driver/lib/basedriver/commands/session.js
+++ b/packages/base-driver/lib/basedriver/commands/session.js
@@ -4,8 +4,9 @@
 import _ from 'lodash';
 
 /**
- * @param {SettingsBase} Base
- * @returns {SessionBase}
+ * @template {Constraints} C
+ * @param {import('./settings').SettingsBase<C>} Base
+ * @returns {SessionBase<C>}
  */
 export function SessionMixin(Base) {
   /**
@@ -46,6 +47,10 @@ export function SessionMixin(Base) {
  * @typedef {import('@appium/types').SessionCommands} ISessionCommands
  * @typedef {import('@appium/types').SingularSessionData} SingularSessionData
  * @typedef {import('@appium/types').MultiSessionData} MultiSessionData
- * @typedef {import('./settings').SettingsBase} SettingsBase
- * @typedef {import('../driver').BaseDriverBase<import('@appium/types').TimeoutCommands & import('@appium/types').EventCommands & import('@appium/types').FindCommands & import('@appium/types').LogCommands & import('@appium/types').SettingsCommands & ISessionCommands>} SessionBase
+ * @typedef {import('@appium/types').Constraints} Constraints
+ */
+
+/**
+ * @template {Constraints} C
+ * @typedef {import('../driver').BaseDriverBase<C, import('@appium/types').ITimeoutCommands & import('@appium/types').IEventCommands & import('@appium/types').IFindCommands & import('@appium/types').ILogCommands<C> & import('@appium/types').ISettingsCommands & ISessionCommands>} SessionBase
  */
diff --git a/packages/base-driver/lib/basedriver/commands/settings.js b/packages/base-driver/lib/basedriver/commands/settings.js
index b3638b862..b14ce95da 100644
--- a/packages/base-driver/lib/basedriver/commands/settings.js
+++ b/packages/base-driver/lib/basedriver/commands/settings.js
@@ -1,9 +1,9 @@
 // @ts-check
 
 /**
- *
- * @param {ReturnType<import('./log').LogMixin>} Base
- * @returns {SettingsBase}
+ * @template {Constraints} C
+ * @param {import('./log').LogBase<C>} Base
+ * @returns {SettingsBase<C>}
  */
 export function SettingsMixin(Base) {
   /**
@@ -29,7 +29,10 @@ export function SettingsMixin(Base) {
 }
 
 /**
- * @typedef {import('@appium/types').SettingsCommands} ISettingsCommands
- * @typedef {import('./log').LogBase} LogBase
- * @typedef {import('../driver').BaseDriverBase<import('@appium/types').TimeoutCommands & import('@appium/types').EventCommands & import('@appium/types').FindCommands & import('@appium/types').LogCommands & ISettingsCommands>} SettingsBase
+ * @typedef {import('@appium/types').Constraints} Constraints
+ * @typedef {import('@appium/types').ISettingsCommands} ISettingsCommands
+ */
+/**
+ * @template {Constraints} C
+ * @typedef {import('../driver').BaseDriverBase<C, import('@appium/types').ITimeoutCommands & import('@appium/types').IEventCommands & import('@appium/types').IFindCommands & import('@appium/types').ILogCommands<C> & ISettingsCommands>} SettingsBase
  */
diff --git a/packages/base-driver/lib/basedriver/commands/timeout.js b/packages/base-driver/lib/basedriver/commands/timeout.js
index a9b107021..cc3ad57cd 100644
--- a/packages/base-driver/lib/basedriver/commands/timeout.js
+++ b/packages/base-driver/lib/basedriver/commands/timeout.js
@@ -10,8 +10,9 @@ import {errors} from '../../protocol';
 const MIN_TIMEOUT = 0;
 
 /**
- * @param {import('../driver').BaseDriverBase} Base
- * @returns {TimeoutBase}
+ * @template {Constraints} C
+ * @param {import('../driver').BaseDriverBase<C>} Base
+ * @returns {TimeoutBase<C>}
  */
 export function TimeoutMixin(Base) {
   /**
@@ -157,6 +158,11 @@ export function TimeoutMixin(Base) {
 }
 
 /**
- * @typedef {import('@appium/types').TimeoutCommands} ITimeoutCommands
- * @typedef {import('../driver').BaseDriverBase<ITimeoutCommands>} TimeoutBase
+ * @typedef {import('@appium/types').ITimeoutCommands} ITimeoutCommands
+ * @typedef {import('@appium/types').Constraints} Constraints
+ */
+
+/**
+ * @template {Constraints} C
+ * @typedef {import('../driver').BaseDriverBase<C, ITimeoutCommands>} TimeoutBase
  */
diff --git a/packages/base-driver/lib/basedriver/driver.js b/packages/base-driver/lib/basedriver/driver.js
index ed2e84e98..8c294d7ee 100644
--- a/packages/base-driver/lib/basedriver/driver.js
+++ b/packages/base-driver/lib/basedriver/driver.js
@@ -445,9 +445,10 @@ export default BaseDriver;
 
 /**
  * This is used to extend {@linkcode BaseDriverCore} by the mixins and also external drivers.
+ * @template {Constraints} C
  * @template [Proto={}]
  * @template [Static={}]
- * @typedef {import('@appium/types').Class<BaseDriverCore & Proto,import('@appium/types').DriverStatic & Static>} BaseDriverBase
+ * @typedef {import('@appium/types').Class<BaseDriverCore<C> & Proto,import('@appium/types').DriverStatic & Static>} BaseDriverBase
  */
 
 /**
@@ -468,13 +469,9 @@ export default BaseDriver;
  */
 
 /**
- * @template {Constraints} C
- * @typedef {import('@appium/types').ConstraintsToCaps<C>} ConstraintsToCaps
- */
-
-/**
- * @template {Constraints} C
- * @typedef {import('@appium/types').Driver<C>} Driver
+ * @template {Constraints} [C=BaseDriverCapConstraints]
+ * @template {StringRecord} [CArgs=StringRecord]
+ * @typedef {import('@appium/types').Driver<C, CArgs>} Driver
  */
 
 /**
diff --git a/packages/types/lib/driver.ts b/packages/types/lib/driver.ts
index f0ab421f1..a57520cdc 100644
--- a/packages/types/lib/driver.ts
+++ b/packages/types/lib/driver.ts
@@ -14,8 +14,9 @@ import {
   Capabilities,
 } from '.';
 import {ServerArgs} from './config';
+import {AsyncReturnType} from 'type-fest';
 
-export interface TimeoutCommands {
+export interface ITimeoutCommands {
   timeouts(
     type: string,
     ms: number | string,
@@ -38,7 +39,7 @@ export interface TimeoutCommands {
   parseTimeoutArgument(ms: number | string): number;
 }
 
-export interface EventCommands {
+export interface IEventCommands {
   logCustomEvent(vendor: string, event: string): Promise<void>;
   getLogEvents(type?: string | string[]): Promise<EventHistory | Record<string, number>>;
 }
@@ -48,7 +49,7 @@ export interface SessionCommands {
   getSession(): Promise<SingularSessionData>;
 }
 
-export interface ExecuteCommands {
+export interface IExecuteCommands {
   executeMethod(script: string, args: [StringRecord] | []): Promise<any>;
 }
 
@@ -74,7 +75,7 @@ export type SingularSessionData<
   Extra extends StringRecord | void = void
 > = Capabilities<C, Extra> & {events?: EventHistory; error?: string};
 
-export interface FindCommands {
+export interface IFindCommands {
   findElement(strategy: string, selector: string): Promise<Element>;
   findElements(strategy: string, selector: string): Promise<Element[]>;
   findElementFromElement(strategy: string, selector: string, elementId: string): Promise<Element>;
@@ -101,20 +102,60 @@ export interface FindCommands {
   getPageSource(): Promise<string>;
 }
 
-export interface LogCommands {
-  supportedLogTypes: Record<string, LogType<Driver>>;
-  getLogTypes(): Promise<string[]>;
+/**
+ * Log-related functionality of a {@linkcode Driver}. To be used as a mixin
+ */
+export interface ILogCommands<C extends Constraints> {
   /**
-   * Gets logs
-   *
-   * TODO: `logType` should be a key in `supportedLogTypes`, and the return value of this function
-   * should be the associated `LogType` object's `LogEntry` parameterized type.
-   * @param logType - Name/key of log type as defined in {@linkcode LogCommands.supportedLogTypes}.
+   * Definition of the available log types
    */
-  getLog(logType: string): Promise<any[]>;
+  supportedLogTypes: Readonly<LogDefRecord<C>>;
+
+  /**
+   * Get available log types as a list of strings
+   */
+  getLogTypes(): Promise<(keyof ILogCommands<C>['supportedLogTypes'])[]>;
+
+  /**
+   * Get the log for a given log type.
+   *
+   * @param logType - Name/key of log type as defined in {@linkcode ILogCommands.supportedLogTypes}.
+   */
+  getLog(
+    logType: keyof ILogCommands<C>['supportedLogTypes']
+  ): Promise<
+    AsyncReturnType<
+      ILogCommands<C>['supportedLogTypes'][keyof ILogCommands<C>['supportedLogTypes']]['getter']
+    >
+  >;
 }
 
-export interface SettingsCommands {
+/**
+ * A record of {@linkcode LogDef} objects, keyed by the log type name.
+ * Used in {@linkcode ILogCommands.supportedLogTypes}
+ */
+export type LogDefRecord<C extends Constraints> = Record<string, LogDef<C>>;
+
+/**
+ * A definition of a log type
+ */
+export interface LogDef<C extends Constraints, T = unknown> {
+  /**
+   * Description of the log type.
+   *
+   * The only place this is used is in error messages if the client provides an invalid log type
+   * via {@linkcode ILogCommands.getLog}.
+   */
+  description: string;
+  /**
+   * Returns all the log data for the given type
+   *
+   * This implementation *should* drain, truncate or otherwise reset the log buffer.
+   */
+  getter: (driver: Driver<C>) => Promise<T[]>;
+}
+
+export interface ISettingsCommands {
   updateSettings: (settings: StringRecord) => Promise<void>;
   getSettings(): Promise<StringRecord>;
 }
@@ -185,11 +226,6 @@ export interface DeviceSettings<T = any> {
   getSettings(): Record<string, T>;
 }
 
-export interface LogType<TDriver, LogEntry = string> {
-  description: string;
-  getter: (driver: TDriver) => Promise<LogEntry[]>;
-}
-
 // WebDriver
 
 export interface Rect {
@@ -327,17 +363,17 @@ export interface Core<C extends Constraints = BaseDriverCapConstraints> {
  */
 export interface Driver<
   C extends Constraints = BaseDriverCapConstraints,
-  A extends StringRecord = StringRecord
+  CArgs extends StringRecord = StringRecord
 > extends SessionCommands,
-    LogCommands,
-    FindCommands,
-    SettingsCommands,
-    TimeoutCommands,
-    EventCommands,
+    ILogCommands<C>,
+    IFindCommands,
+    ISettingsCommands,
+    ITimeoutCommands,
+    IEventCommands,
+    IExecuteCommands,
     SessionHandler<[string, any], void, C>,
-    ExecuteCommands,
     Core {
-  cliArgs?: A;
+  cliArgs?: CArgs;
   // The following methods are implemented by `BaseDriver`.
   executeCommand(cmd: string, ...args: any[]): Promise<any>;
   startUnexpectedShutdown(err?: Error): Promise<void>;