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PEXO provides a global modeling framework for ns timing, μas astrometry, and μm/s radial velocities. It can account for binary motion and stellar reflex motions induced by planetary companions and also treat various relativistic effects both in the Solar System and in the target system (Roemer, Shapiro, and Einstein delays). PEXO is able to model timing to a precision of 1 ns, astrometry to a precision of 1 μas, and radial velocity to a precision of 1 μm/s.