Binaries consisting of a white dwarf and a compact object (neutron stars, black holes, or sub-solar mass compact objects) display unique orbital evolution and gravitational wave signals. We investigate the end stages of these systems by developing a novel integrator implementing mass transfer and 2.5-order Post-Newtonian kinematics. White-dwarf–compact-object binaries are subject to two phases: a slow inspiral during which binary evolution is dominated by weak-gravity radiation reaction and a quicker “outspiral” dominated by mass transfer. These systems have unique gravitational waveforms with several characteristic features including an accumulation of signal near the maximum cutoff frequency set by the transition between in- and outspiral. We investigate trends in gravitational wave parameters based on component masses. In particular, maximum cutoff frequency depends strongly on white dwarf mass and compactness. It is unlikely that extragalactic binaries will be measured by LISA or current or future terrestrial detectors. However, white-dwarf–compact-object binary end stages will be an important source for future decihertz detectors such as DECIGO and LGWA: The final inspiral of tens of white-dwarf–neutron-star binaries will be detected annually by LGWA, and millions of inspirals along with thousands of outspirals will be detected by DECIGO. The ultimate fates of these binaries are diverse and dependent upon the intricacies of angular momentum loss. In particular, we show that white dwarfs with partners of sufficiently low/high mass can end their lives in mergers, while white dwarfs do not enter contact with partners of intermediate mass. The highest frequencies produced by white-dwarf–compact-object binaries in our tests are 10–20 Hz—incapable of mimicking sub-solar-mass compact object signals in terrestrial detectors or explaining S251112cm-like signals.