diff --git a/src/blueapi/client/client.py b/src/blueapi/client/client.py
index c5b41ff45..d62b97e1a 100644
--- a/src/blueapi/client/client.py
+++ b/src/blueapi/client/client.py
@@ -4,9 +4,8 @@
 from collections.abc import Iterable
 from concurrent.futures import Future
 from functools import cached_property
-from itertools import chain
 from pathlib import Path
-from typing import Self
+from typing import Any, Self
 
 from bluesky_stomp.messaging import MessageContext, StompClient
 from bluesky_stomp.models import Broker
@@ -50,6 +49,32 @@
 log = logging.getLogger(__name__)
 
 
+def _pretty_type(schema: dict[str, Any]) -> str:
+    if "$ref" in schema:
+        return schema["$ref"].split("/")[-1]
+
+    if schema.get("type") == "array":
+        item_schema = schema.get("items", {})
+        inner = _pretty_type(item_schema)
+        return f"list[{inner}]"
+
+    if "anyOf" in schema:
+        return " | ".join(_pretty_type(s) for s in schema["anyOf"])
+
+    json_type = schema.get("type")
+    type_map = {
+        "string": "str",
+        "integer": "int",
+        "boolean": "bool",
+        "number": "float",
+        "object": "dict",
+    }
+    if isinstance(json_type, str):
+        return type_map.get(json_type, json_type.split(".")[-1])
+
+    return "Any"
+
+
 class MissingInstrumentSessionError(Exception):
     pass
 
@@ -154,7 +179,7 @@ def help_text(self) -> str:
         return self.model.description or f"Plan {self!r}"
 
     @property
-    def properties(self) -> set[str]:
+    def properties(self) -> dict[str, Any]:
         return self.model.parameter_schema.get("properties", {}).keys()
 
     @property
@@ -192,9 +217,26 @@ def _build_args(self, *args, **kwargs):
         return params
 
     def __repr__(self):
-        opts = [p for p in self.properties if p not in self.required]
-        params = ", ".join(chain(self.required, (f"{opt}=None" for opt in opts)))
-        return f"{self.name}({params})"
+        props = self.model.parameter_schema.get("properties", {})
+        tab = "    "
+        args = []
+        for name, info in props.items():
+            typ = _pretty_type(info)
+            arg = f"{name}: {typ}"
+            if name not in self.required:
+                arg = f"{arg} | None = None"
+            args.append(arg)
+
+        single_line = f"{self.name}({', '.join(args)})"
+        max_length = 100
+        max_args_inline = 3
+        if len(single_line) <= max_length and len(args) <= max_args_inline:
+            return single_line
+
+        # Fall back to multiline if too many arguments or too long.
+        multiline_args = ",\n".join(f"{tab}{arg}" for arg in args)
+
+        return f"{self.name}(\n{multiline_args}\n)"
 
 
 class BlueapiClient:
diff --git a/tests/unit_tests/client/test_client.py b/tests/unit_tests/client/test_client.py
index a96f428e8..f79b8aaef 100644
--- a/tests/unit_tests/client/test_client.py
+++ b/tests/unit_tests/client/test_client.py
@@ -716,7 +716,36 @@ def test_plan_fallback_help_text(client):
         ),
         client,
     )
-    assert plan.help_text == "Plan foo(one, two=None)"
+    assert plan.help_text == "Plan foo(one: Any, two: Any | None = None)"
+
+
+def test_plan_multi_parameter_fallback_help_text(client):
+    plan = Plan(
+        "foo",
+        PlanModel(
+            name="foo",
+            schema={
+                "properties": {
+                    "one": {},
+                    "two": {
+                        "anyOf": [{"items": {}, "type": "array"}, {"type": "boolean"}],
+                    },
+                    "three": {},
+                    "four": {},
+                },
+                "required": ["one", "two"],
+            },
+        ),
+        client,
+    )
+    assert (
+        plan.help_text == "Plan foo(\n"
+        "    one: Any,\n"
+        "    two: list[Any] | bool,\n"
+        "    three: Any | None = None,\n"
+        "    four: Any | None = None\n"
+        ")"
+    )
 
 
 def test_plan_properties(client):