A Unified Dynamical Systems Framework for Cosmology in $f(Q)$ Gravity: Generic Features Beyond the Coincident Gauge

Abstract: We present a unified dynamical systems framework for spatially flat FLRW cosmology in $f(Q)$ gravity, covering all three connection branches via a single set of Hubble-normalised variables without fixing $f(Q)$ \textit{a priori}. This connection-agnostic, model-independent approach enables direct comparison across branches and reveals generic structural features that are not apparent in model or connection-specific analyses. Beyond fixed points, we identify invariant submanifolds, model-independent trajectories, and viable phase-space regions common to multiple branches. For a broad class of viable $f(Q)$ models, we find generic de Sitter attractors and matter-dominated points in non-coincident branches, ensuring late-time acceleration without fine-tuning. An invariant submanifold is shown to reproduce $\Lambda$CDM-like backgrounds despite dynamics distinct from GR, offering a geometric origin for cosmic acceleration detectable only at the perturbation level. On this submanifold, a first integral enables analytic reconstruction of the dynamical connection and uncovers hidden conservation laws. While trivial connections display strong parameter dependence, nontrivial branches often exhibit parameter-independent behaviour. We also analyse the variation of the effective gravitational coupling $\kappa_{\text{eff}}=\frac{1}{f_Q}$ across branches, providing observational constraints that bridge theory and data. Applying the framework to $f(Q)=\alpha Q+\beta(-Q)^n$, we recover late-time acceleration and $\Lambda$CDM-like behaviour without vacuum energy. Finally, we propose a general route for extending dynamical systems analysis to broader classes of $f(Q)$ models using the $m_i$-hierarchy method, which enables closure of the autonomous system for models previously inaccessible to standard approaches.