We propose and demonstrate a single beam-axis design for a highly stable and sensitive 3-axis vector atomic magnetometer compatible with the SERF regime. The scheme uses short, intense optical pulses for pumping, while a co-linear probe measures the spins evolution under the influence of signal fields and applied magnetic pulses. Due to evolution in the absence of a strong pump field, the scheme is inherently insensitive to pump intensity and wavelength fluctuations. Further, drifts in the pump direction or the applied magnetic pulses can be distinguished from signal fields due to their differing temporal signature. Our demonstration uses a small \(\sim\) 1mm \({}^{3}\) measurement volume of hot \({}^{87}\)Rb vapor in the SERF regime, and achieves sub 100 fT Hz\({}^{\frac{-1}{2}}\)precision on all three axes. Good low frequency noise of \(<\) 30 pT Hz\({}^{\frac{-1}{2}}\)at 1 mHz is also achieved despite long, \(\sim\) 1 m in-air beam paths which can cause orders of magnitude more drift in similar schemes. The residual low-frequency noise is though to be limited by environmental magnetic noise.