Heterogeneous networks pose significant security challenges due to device diversity, fragile operating conditions, and heterogeneous firmware and service configurations. Traditional vulnerability management often relies on static scanning and severity-based prioritization, overlooking exploitation likelihood and asset context. This can delay mitigation and increase operational overhead. This paper proposes a SOAR-orchestrated vulnerability management framework integrating passive asset discovery, adaptive two-stage vulnerability assessment, context-aware risk assessment, and automated SDN-based mitigation. The detection engine progressively characterizes device attack surfaces using assessment strategies tailored to device capabilities, minimizing disruption to resource-constrained IoT assets. Risk assessment combines CVSS severity, EPSS exploitation probability, and contextual attributes to prioritize vulnerabilities by operational risk. Based on risk bands, mitigation is automatically enforced through coordinated OpenFlow and IDS policies, ranging from monitoring and selective service isolation to complete host quarantine. Experimental results demonstrate the framework's effectiveness. Adaptive two-stage assessment reduces scan time by up to 91% while identifying 71% of baseline vulnerabilities during the initial stage before selectively triggering further analysis. The context-aware risk model reduces vulnerabilities requiring immediate mitigation by approximately 75% without missing any vulnerability with verified exploitation. Compared with conventional assessment, the framework reduces assessment time for 32 physical hosts by up to 45% and enforces mitigation within milliseconds, enabling efficient and scalable vulnerability management through adaptive assessment, context-aware prioritization, and automated mitigation.

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