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I run sync manually from time to time, but it would be nice if OF would just sync automatically.

My first choice would be to have it sync very soon after I make a change "worth sync'ing" -- which I would define as an OF change that will change something in iCal.

A simpler version could just sync periodically. That, I suppose, would also have the benefit of automatically picking up iCal-initiated changes, such as marking a task done, or changing its priority.