diff --git a/bcmbt/dump/dump_bcmbt.cpp b/bcmbt/dump/dump_bcmbt.cpp
index fde0ad0..22e2fcf 100644
--- a/bcmbt/dump/dump_bcmbt.cpp
+++ b/bcmbt/dump/dump_bcmbt.cpp
@@ -34,7 +34,8 @@
         return 0;
     }
 
-    dumpLogs(BCMBT_SNOOP_LOG_DIRECTORY, outputDir.c_str(), 2, BCMBT_SNOOP_LOG_PREFIX);
+    dumpLogs(BCMBT_SNOOP_LOG_DIRECTORY, outputDir.c_str(), 4,
+             BCMBT_SNOOP_LOG_PREFIX);
     dumpLogs(BCMBT_SNOOP_LOG_DIRECTORY, outputDir.c_str(), 2, BCMBT_BACKUP_SNOOP_LOG_PREFIX);
     dumpLogs(BCMBT_FW_LOG_DIRECTORY, outputDir.c_str(), 10, BCMBT_FW_DUMP_LOG_PREFIX);
     dumpLogs(BCMBT_FW_LOG_DIRECTORY, outputDir.c_str(), 10, BCMBT_CHRE_DUMP_LOG_PREFIX);
diff --git a/betterbug/betterbug.mk b/betterbug/betterbug.mk
index 906933d..2930362 100644
--- a/betterbug/betterbug.mk
+++ b/betterbug/betterbug.mk
@@ -1,7 +1,7 @@
 # When neither AOSP nor factory targets
 ifeq (,$(filter aosp_% factory_%, $(TARGET_PRODUCT)))
   PRODUCT_PACKAGES += BetterBugStub
-  PRODUCT_PACKAGES_DEBUG += BetterBug
+  PRODUCT_PACKAGES_DEBUG += $(RELEASE_PACKAGE_BETTER_BUG)
 endif
 
 PRODUCT_PUBLIC_SEPOLICY_DIRS += device/google/gs-common/betterbug/sepolicy/product/public
diff --git a/bootctrl/1.2/BootControl.cpp b/bootctrl/1.2/BootControl.cpp
index ff02013..54764a0 100644
--- a/bootctrl/1.2/BootControl.cpp
+++ b/bootctrl/1.2/BootControl.cpp
@@ -19,6 +19,7 @@
 #include "BootControl.h"
 
 #include <android-base/file.h>
+#include <android-base/properties.h>
 #include <android-base/unique_fd.h>
 #include <bootloader_message/bootloader_message.h>
 #include <cutils/properties.h>
@@ -254,16 +255,15 @@
 }
 
 static bool blowAR() {
-    char platform[PROPERTY_VALUE_MAX];
-    property_get("ro.boot.hardware.platform", platform, "");
+    const auto& platform = ::android::base::GetProperty("ro.boot.hardware.platform", "");
 
-    if (std::string(platform) == "gs101") {
+    if (platform == "gs101") {
         return blowAR_gs101();
-    } else if (std::string(platform) == "gs201" || std::string(platform) == "zuma") {
+    } else if (platform == "gs201" || platform == "zuma" || platform == "zumapro") {
         return blowAR_zuma();
     }
 
-    return true;
+    return false;
 }
 
 }  // namespace
diff --git a/bootctrl/aidl/BootControl.cpp b/bootctrl/aidl/BootControl.cpp
index e771845..83deb72 100644
--- a/bootctrl/aidl/BootControl.cpp
+++ b/bootctrl/aidl/BootControl.cpp
@@ -20,6 +20,7 @@
 
 #include <android-base/file.h>
 #include <android-base/logging.h>
+#include <android-base/properties.h>
 #include <android-base/unique_fd.h>
 #include <bootloader_message/bootloader_message.h>
 #include <cutils/properties.h>
@@ -251,16 +252,15 @@
 }
 
 static bool blowAR() {
-    char platform[PROPERTY_VALUE_MAX];
-    property_get("ro.boot.hardware.platform", platform, "");
+    const auto& platform = ::android::base::GetProperty("ro.boot.hardware.platform", "");
 
-    if (std::string(platform) == "gs101") {
+    if (platform == "gs101") {
         return blowAR_gs101();
-    } else if (std::string(platform) == "gs201" || std::string(platform) == "zuma") {
+    } else if (platform == "gs201" || platform == "zuma" || platform == "zumapro") {
         return blowAR_zuma();
     }
 
-    return true;
+    return false;
 }
 
 static constexpr MergeStatus ToAIDLMergeStatus(HIDLMergeStatus status) {
diff --git a/camera/lyric.mk b/camera/lyric.mk
index 7762f4d..30e06d1 100644
--- a/camera/lyric.mk
+++ b/camera/lyric.mk
@@ -5,6 +5,9 @@
 $(call soong_config_set,google3a_config,gcam_awb,true)
 $(call soong_config_set,google3a_config,ghawb_truetone,true)
 
+# Flag controls whether Lyric apex can be located in the dist-directory.
+$(call soong_config_set, lyric, dist_lyric_apex, $(RELEASE_PIXEL_DIST_LYRIC_APEX))
+
 # Select GCH backend.
 # TODO(b/192681010): This dependency inversion should be removed.
 ifneq ($(wildcard vendor/google/services/LyricCameraHAL/src),)
diff --git a/camera/sepolicy/product/private/service_contexts b/camera/sepolicy/product/private/service_contexts
index fed03af..0cb84b4 100644
--- a/camera/sepolicy/product/private/service_contexts
+++ b/camera/sepolicy/product/private/service_contexts
@@ -1 +1,5 @@
-com.google.pixel.camera.services.binder.IServiceBinder/default u:object_r:camera_binder_service:s0
\ No newline at end of file
+com.google.pixel.camera.services.binder.IServiceBinder/default u:object_r:camera_binder_service:s0
+
+com.google.pixel.camera.services.cameraidremapper.ICameraIdRemapper/default u:object_r:camera_cameraidremapper_service:s0
+
+com.google.pixel.camera.services.lyricconfigprovider.ILyricConfigProvider/default u:object_r:camera_lyricconfigprovider_service:s0
diff --git a/camera/sepolicy/product/private/vendor_pbcs_app.te b/camera/sepolicy/product/private/vendor_pbcs_app.te
index 54bc0c0..b8a52d2 100644
--- a/camera/sepolicy/product/private/vendor_pbcs_app.te
+++ b/camera/sepolicy/product/private/vendor_pbcs_app.te
@@ -9,4 +9,10 @@
 allow vendor_pbcs_app cameraserver_service:service_manager find;
 
 # Allow PBCS to add the ServiceBinder service to ServiceManager.
-add_service(vendor_pbcs_app, camera_binder_service);
\ No newline at end of file
+add_service(vendor_pbcs_app, camera_binder_service);
+
+# Allow PBCS to add the CameraIdRemapper service to ServiceManager.
+add_service(vendor_pbcs_app, camera_cameraidremapper_service);
+
+# Allow PBCS to add the LyricConfigProvider service to ServiceManager.
+add_service(vendor_pbcs_app, camera_lyricconfigprovider_service);
diff --git a/camera/sepolicy/product/private/vendor_pcs_app.te b/camera/sepolicy/product/private/vendor_pcs_app.te
index 55eeee7..d41adb4 100644
--- a/camera/sepolicy/product/private/vendor_pcs_app.te
+++ b/camera/sepolicy/product/private/vendor_pcs_app.te
@@ -8,6 +8,8 @@
     app_api_service
     audioserver_service
     cameraserver_service
+    camera_cameraidremapper_service
+    camera_lyricconfigprovider_service
     drmserver_service
     mediametrics_service
     mediaserver_service
diff --git a/camera/sepolicy/product/public/service.te b/camera/sepolicy/product/public/service.te
index f94fd9f..2cdc125 100644
--- a/camera/sepolicy/product/public/service.te
+++ b/camera/sepolicy/product/public/service.te
@@ -1 +1,5 @@
-type camera_binder_service, hal_service_type, protected_service, service_manager_type;
\ No newline at end of file
+type camera_binder_service, hal_service_type, protected_service, service_manager_type;
+
+type camera_cameraidremapper_service, hal_service_type, protected_service, service_manager_type;
+
+type camera_lyricconfigprovider_service, hal_service_type, protected_service, service_manager_type;
diff --git a/camera/sepolicy/vendor/hal_camera_default.te b/camera/sepolicy/vendor/hal_camera_default.te
index 9e7b105..ebb58b8 100644
--- a/camera/sepolicy/vendor/hal_camera_default.te
+++ b/camera/sepolicy/vendor/hal_camera_default.te
@@ -1,6 +1,6 @@
 allow hal_camera_default camera_binder_service:service_manager find;
 # Allow Lyric Hal to find the LyricConfigProvider service through ServiceManager.
-allow hal_camera_default vendor_camera_lyricconfigprovider_service:service_manager find;
+allow hal_camera_default camera_lyricconfigprovider_service:service_manager find;
 
 allow hal_camera_default hal_pixel_remote_camera_service:service_manager find;
 
@@ -8,6 +8,5 @@
 
 binder_call(hal_camera_default, vendor_pcs_app);
 
-# Allow Lyric HAL to start ISP Service and Image Processing HAL
-add_service(hal_camera_default, vendor_camera_isp_service)
+# Allow Lyric HAL to start Image Processing HAL
 add_service(hal_camera_default, vendor_image_processing_hal_service)
diff --git a/camera/sepolicy/vendor/service.te b/camera/sepolicy/vendor/service.te
index 35887ba..757bf6d 100644
--- a/camera/sepolicy/vendor/service.te
+++ b/camera/sepolicy/vendor/service.te
@@ -1,9 +1,3 @@
 type hal_pixel_remote_camera_service, hal_service_type, protected_service, service_manager_type;
 
-type vendor_camera_lyricconfigprovider_service, hal_service_type, protected_service, service_manager_type;
-
-type vendor_camera_isp_service, hal_service_type, protected_service, service_manager_type;
-
-type vendor_camera_cameraidremapper_service, hal_service_type, protected_service, service_manager_type;
-
 type vendor_image_processing_hal_service, hal_service_type, protected_service, service_manager_type;
diff --git a/camera/sepolicy/vendor/service_contexts b/camera/sepolicy/vendor/service_contexts
index 9f5e335..7a2d6ff 100644
--- a/camera/sepolicy/vendor/service_contexts
+++ b/camera/sepolicy/vendor/service_contexts
@@ -1,9 +1,3 @@
 com.google.pixel.camera.connectivity.hal.provider.ICameraProvider/default u:object_r:hal_pixel_remote_camera_service:s0
 
-com.google.pixel.camera.services.lyricconfigprovider.ILyricConfigProvider/default u:object_r:vendor_camera_lyricconfigprovider_service:s0
-
-com.google.pixel.camera.isp.IIspService/default u:object_r:vendor_camera_isp_service:s0
-
-com.google.pixel.camera.services.cameraidremapper.ICameraIdRemapper/default u:object_r:vendor_camera_cameraidremapper_service:s0
-
-com.google.android.imageprocessing.IImageProcessingHal u:object_r:vendor_image_processing_hal_service:s0
+com.google.android.imageprocessing.hal.IImageProcessingHal/default u:object_r:vendor_image_processing_hal_service:s0
diff --git a/camera/sepolicy/vendor/vendor_pbcs_app.te b/camera/sepolicy/vendor/vendor_pbcs_app.te
index b25c9a2..965ef54 100644
--- a/camera/sepolicy/vendor/vendor_pbcs_app.te
+++ b/camera/sepolicy/vendor/vendor_pbcs_app.te
@@ -1,9 +1,9 @@
 # Allow PBCS to add the ServiceBinder service to ServiceManager.
 add_service(vendor_pbcs_app, camera_binder_service);
 # Allow PBCS to add the LyricConfigProvider service to ServiceManager.
-add_service(vendor_pbcs_app, vendor_camera_lyricconfigprovider_service);
+add_service(vendor_pbcs_app, camera_lyricconfigprovider_service);
 # Allow PBCS to add the CameraIdRemapper service to ServiceManager.
-add_service(vendor_pbcs_app, vendor_camera_cameraidremapper_service);
+add_service(vendor_pbcs_app, camera_cameraidremapper_service);
 
 # Allow PBCS to read debug system properties of the form vendor.camera.pbcs.debug.*
 # and persist.vendor.camera.pbcs.debug.*
diff --git a/camera/sepolicy/vendor/vendor_pcs_app.te b/camera/sepolicy/vendor/vendor_pcs_app.te
index b4d71b5..068a0f7 100644
--- a/camera/sepolicy/vendor/vendor_pcs_app.te
+++ b/camera/sepolicy/vendor/vendor_pcs_app.te
@@ -1,6 +1,6 @@
 allow vendor_pcs_app {
-    vendor_camera_lyricconfigprovider_service
-    vendor_camera_cameraidremapper_service
+    camera_lyricconfigprovider_service
+    camera_cameraidremapper_service
     edgetpu_app_service
 }:service_manager find;
 
diff --git a/edgetpu/sepolicy/edgetpu_tachyon_service.te b/edgetpu/sepolicy/edgetpu_tachyon_service.te
index da34353..80db366 100644
--- a/edgetpu/sepolicy/edgetpu_tachyon_service.te
+++ b/edgetpu/sepolicy/edgetpu_tachyon_service.te
@@ -27,6 +27,9 @@
 allow edgetpu_tachyon_server gpu_device:dir r_dir_perms;
 allow edgetpu_tachyon_server ion_device:chr_file r_file_perms;
 
+# Allow Tachyon service to access camera hal via binder.
+binder_call(edgetpu_tachyon_server, hal_camera_default);
+
 # Allow Tachyon service to access dmabuf sysytem.
 allow edgetpu_tachyon_server dmabuf_system_heap_device:chr_file r_file_perms;
 
@@ -60,3 +63,8 @@
 userdebug_or_eng(`
     allow edgetpu_tachyon_server shell_data_file:file { map read};
 ')
+
+# For shell level testing
+userdebug_or_eng(`
+    binder_call(edgetpu_tachyon_server, shell);
+')
diff --git a/edgetpu/sepolicy/hal_camera_default.te b/edgetpu/sepolicy/hal_camera_default.te
index 624533a..e84f5dc 100644
--- a/edgetpu/sepolicy/hal_camera_default.te
+++ b/edgetpu/sepolicy/hal_camera_default.te
@@ -6,3 +6,10 @@
 
 # Allow camera HAL to read hetero runtime properties
 get_prop(hal_camera_default, vendor_hetero_runtime_prop)
+
+# Allow camera HAL to access tachyon HAL
+allow hal_camera_default edgetpu_tachyon_service:service_manager find;
+
+# Allow camera HAL to communicate with tachyon hal using binder calls
+binder_call(hal_camera_default, edgetpu_tachyon_server);
+
diff --git a/gps/brcm/sepolicy/genfs_contexts b/gps/brcm/sepolicy/genfs_contexts
index 446fc45..a551e96 100644
--- a/gps/brcm/sepolicy/genfs_contexts
+++ b/gps/brcm/sepolicy/genfs_contexts
@@ -1,3 +1,4 @@
 # GPS
 genfscon sysfs /devices/virtual/pps/pps0/assert_elapsed                         u:object_r:sysfs_gps_assert:s0
+genfscon sysfs /devices/platform/bbd_pps/pps_assert                             u:object_r:sysfs_gps_assert:s0
 
diff --git a/gps/lsi/sepolicy/gnssd.te b/gps/lsi/sepolicy/gnssd.te
index a293b95..29dfa2e 100644
--- a/gps/lsi/sepolicy/gnssd.te
+++ b/gps/lsi/sepolicy/gnssd.te
@@ -5,7 +5,9 @@
 # Allow gnssd to access rild
 binder_call(gnssd, rild);
 binder_call(gnssd, hwservicemanager)
+binder_call(gnssd, servicemanager)
 allow gnssd hal_exynos_rild_hwservice:hwservice_manager find;
+allow gnssd hal_vendor_radio_external_service:service_manager find;
 allow gnssd radio_device:chr_file rw_file_perms;
 
 # Allow gnssd to acess gnss device
diff --git a/gs_watchdogd/gs_watchdogd.cpp b/gs_watchdogd/gs_watchdogd.cpp
index 82e01d0..333e023 100644
--- a/gs_watchdogd/gs_watchdogd.cpp
+++ b/gs_watchdogd/gs_watchdogd.cpp
@@ -19,38 +19,31 @@
 #include <android-base/logging.h>
 #include <android-base/stringprintf.h>
 #include <android-base/unique_fd.h>
+#include <log/log.h>
 
-#include <errno.h>
 #include <fcntl.h>
 #include <glob.h>
 #include <linux/watchdog.h>
 #include <stdlib.h>
 #include <string.h>
+#include <sys/cdefs.h>
 #include <unistd.h>
 
-#include <chrono>
+#include <cstdlib>
 #include <vector>
 
+#define NSEC_PER_SEC (1000LL * 1000LL * 1000LL)
+
 #define DEV_GLOB "/sys/devices/platform/*.watchdog_cl*/watchdog/watchdog*"
 
-#define DEFAULT_INTERVAL 10s
-#define DEFAULT_MARGIN 10s
-
 using android::base::Basename;
 using android::base::StringPrintf;
-using std::literals::chrono_literals::operator""s;
 
-int main(int argc, char** argv) {
+int main(int __unused argc, char** argv) {
+    auto min_timeout_nsecs = std::numeric_limits<typeof(NSEC_PER_SEC)>::max();
+
     android::base::InitLogging(argv, &android::base::KernelLogger);
 
-    std::chrono::seconds interval = argc >= 2
-        ? std::chrono::seconds(atoi(argv[1])) : DEFAULT_INTERVAL;
-    std::chrono::seconds margin = argc >= 3
-        ? std::chrono::seconds(atoi(argv[2])) : DEFAULT_MARGIN;
-
-    LOG(INFO) << "gs_watchdogd started (interval " << interval.count()
-              << ", margin " << margin.count() << ")!";
-
     glob_t globbuf;
     int ret = glob(DEV_GLOB, GLOB_MARK, nullptr, &globbuf);
     if (ret) {
@@ -61,8 +54,7 @@
     std::vector<android::base::unique_fd> wdt_dev_fds;
 
     for (size_t i = 0; i < globbuf.gl_pathc; i++) {
-        std::chrono::seconds timeout = interval + margin;
-        int timeout_secs = timeout.count();
+        int timeout_secs;
         std::string dev_path = StringPrintf("/dev/%s", Basename(globbuf.gl_pathv[i]).c_str());
 
         int fd = TEMP_FAILURE_RETRY(open(dev_path.c_str(), O_RDWR | O_CLOEXEC));
@@ -71,29 +63,39 @@
             return 1;
         }
 
-        wdt_dev_fds.emplace_back(fd);
-        ret = ioctl(fd, WDIOC_SETTIMEOUT, &timeout_secs);
+        ret = ioctl(fd, WDIOC_GETTIMEOUT, &timeout_secs);
         if (ret) {
-            PLOG(ERROR) << "Failed to set timeout to " << timeout_secs;
-            ret = ioctl(fd, WDIOC_GETTIMEOUT, &timeout_secs);
-            if (ret) {
-                PLOG(ERROR) << "Failed to get timeout";
-            } else {
-                interval = timeout > margin ? timeout - margin : 1s;
-                LOG(WARNING) << "Adjusted interval to timeout returned by driver: "
-                             << "timeout " << timeout_secs
-                             << ", interval " << interval.count()
-                             << ", margin " << margin.count();
-            }
+            PLOG(ERROR) << "Failed to get timeout on " << dev_path;
+            continue;
+        } else {
+            min_timeout_nsecs = std::min(min_timeout_nsecs, NSEC_PER_SEC * timeout_secs);
         }
+
+        wdt_dev_fds.emplace_back(fd);
     }
 
     globfree(&globbuf);
 
+    if (wdt_dev_fds.empty()) {
+        LOG(ERROR) << "no valid wdt dev found";
+        return 1;
+    }
+
+    timespec ts;
+    auto result = div(min_timeout_nsecs / 2, NSEC_PER_SEC);
+    ts.tv_sec = result.quot;
+    ts.tv_nsec = result.rem;
+
     while (true) {
+        timespec rem = ts;
+
         for (const auto& fd : wdt_dev_fds) {
             TEMP_FAILURE_RETRY(write(fd, "", 1));
         }
-        sleep(interval.count());
+
+        if (TEMP_FAILURE_RETRY(nanosleep(&rem, &rem))) {
+            PLOG(ERROR) << "nanosleep failed";
+            return 1;
+        }
     }
 }
diff --git a/gs_watchdogd/init.gs_watchdogd.rc b/gs_watchdogd/init.gs_watchdogd.rc
index f58ce50..23d5fb2 100644
--- a/gs_watchdogd/init.gs_watchdogd.rc
+++ b/gs_watchdogd/init.gs_watchdogd.rc
@@ -1,5 +1,5 @@
-# Set watchdog timer to 30 seconds and pet it every 10 seconds to get a 20 second margin
-service gs_watchdogd /system_ext/bin/gs_watchdogd 10 20
+# Pet watchdog timer every half of its timeout period.
+service gs_watchdogd /system_ext/bin/gs_watchdogd
     class core
     oneshot
     seclabel u:r:gs_watchdogd:s0
diff --git a/insmod/16k/Android.bp b/insmod/16k/Android.bp
deleted file mode 100644
index 975c5dc..0000000
--- a/insmod/16k/Android.bp
+++ /dev/null
@@ -1,14 +0,0 @@
-
-soong_namespace {
-}
-
-package {
-    default_applicable_licenses: ["Android-Apache-2.0"],
-}
-
-sh_binary {
-    name: "insmod.sh",
-    src: "insmod.sh",
-    init_rc: ["init.module.rc"],
-    vendor: true,
-}
diff --git a/insmod/16k/init.module.rc b/insmod/16k/init.module.rc
deleted file mode 100644
index de23b5b..0000000
--- a/insmod/16k/init.module.rc
+++ /dev/null
@@ -1,10 +0,0 @@
-on init
-    # Loading common kernel modules in background
-    start insmod_sh
-
-service insmod_sh /vendor/bin/insmod.sh /vendor/etc/init.common.cfg
-    class main
-    user root
-    group root system
-    disabled
-    oneshot
diff --git a/insmod/16k/insmod.sh b/insmod/16k/insmod.sh
deleted file mode 100644
index 8ec8199..0000000
--- a/insmod/16k/insmod.sh
+++ /dev/null
@@ -1,119 +0,0 @@
-#!/vendor/bin/sh
-
-#############################################################
-### init.insmod.cfg format:                               ###
-### ----------------------------------------------------- ###
-### [insmod|setprop|enable/moprobe|wait] [path|prop name] ###
-### ...                                                   ###
-#############################################################
-
-modules_dir=
-system_modules_dir=
-vendor_modules_dir=
-
-
-pagesize=$(getconf PAGESIZE)
-# bootoption=$(getprop ro.product.build.16k_page.enabled)
-# We do not need to check ro.product.build.16k_page.enabled , because this
-# version of insmod.sh will only be used if PRODUCT_16K_DEVELOPER_OPTION
-# is set to true
-
-if [ "$pagesize" != "4096" ] ; then
-    echo "Device has page size $pagesize , skip loading modules from vendor_dlkm/system_dlkm because all modules are stored on vendor_boot"
-    setprop vendor.common.modules.ready 1
-    setprop vendor.device.modules.ready 1
-    setprop vendor.all.modules.ready 1
-    setprop vendor.all.devices.ready 1
-    return 0
-fi
-
-
-for dir in system vendor; do
-  for f in /${dir}/lib/modules/*/modules.dep /${dir}/lib/modules/modules.dep; do
-    if [[ -f "$f" ]]; then
-      if [[ "${dir}" == "system" ]]; then
-        system_modules_dir="$(dirname "$f")"
-      else
-        vendor_modules_dir="$(dirname "$f")"
-        modules_dir=${vendor_modules_dir}
-      fi
-      break
-    fi
-  done
-done
-
-if [[ -z "${system_modules_dir}" ]]; then
-  echo "Unable to locate system kernel modules directory" 2>&1
-fi
-
-if [[ -z "${vendor_modules_dir}" ]]; then
-  echo "Unable to locate vendor kernel modules directory" 2>&1
-  exit 1
-fi
-
-# imitates wait_for_file() in init
-wait_for_file()
-{
-    filename="${1}"
-    timeout="${2:-5}"
-
-    expiry=$(($(date "+%s")+timeout))
-    while [[ ! -e "${filename}" ]] && [[ "$(date "+%s")" -le "${expiry}" ]]
-    do
-        sleep 0.01
-    done
-}
-
-if [ $# -eq 1 ]; then
-  cfg_file=$1
-else
-  # Set property even if there is no insmod config
-  # to unblock early-boot trigger
-  setprop vendor.common.modules.ready 1
-  setprop vendor.device.modules.ready 1
-  setprop vendor.all.modules.ready 1
-  setprop vendor.all.devices.ready 1
-  exit 1
-fi
-
-if [ -f $cfg_file ]; then
-  while IFS="|" read -r action arg
-  do
-    case $action in
-      "insmod") insmod $arg ;;
-      "setprop") setprop $arg 1 ;;
-      "enable") echo 1 > $arg ;;
-      "condinsmod")
-        prop=$(echo $arg | cut -d '|' -f 1)
-        module1=$(echo $arg | cut -d '|' -f 2)
-        module2=$(echo $arg | cut -d '|' -f 3)
-        value=$(getprop $prop)
-        if [[ ${value} == "true" ]]; then
-          insmod ${vendor_modules_dir}/${module1}
-        else
-          insmod ${vendor_modules_dir}/${module2}
-        fi
-        ;;
-      "modprobe")
-        case ${arg} in
-          "system -b *" | "system -b")
-            modules_dir=${system_modules_dir}
-            arg="-b --all=${system_modules_dir}/modules.load" ;;
-          "system *" | "system")
-            modules_dir=${system_modules_dir}
-            arg="--all=${system_modules_dir}/modules.load" ;;
-          "-b *" | "-b" | "vendor -b *" | "vendor -b")
-            modules_dir=${vendor_modules_dir}
-            arg="-b --all=${vendor_modules_dir}/modules.load" ;;
-          "*" | "" | "vendor *" | "vendor")
-            modules_dir=${vendor_modules_dir}
-            arg="--all=${vendor_modules_dir}/modules.load" ;;
-        esac
-        if [[ -d "${modules_dir}" ]]; then
-          modprobe -a -d "${modules_dir}" $arg
-        fi
-        ;;
-      "wait") wait_for_file $arg ;;
-    esac
-  done < $cfg_file
-fi
diff --git a/insmod/4k/Android.bp b/insmod/4k/Android.bp
deleted file mode 100644
index ddfec40..0000000
--- a/insmod/4k/Android.bp
+++ /dev/null
@@ -1,13 +0,0 @@
-
-soong_namespace {
-}
-package {
-    default_applicable_licenses: ["Android-Apache-2.0"],
-}
-
-sh_binary {
-    name: "insmod.sh",
-    src: "insmod.sh",
-    init_rc: ["init.module.rc"],
-    vendor: true,
-}
diff --git a/insmod/Android.bp b/insmod/Android.bp
index 143e777..eed35ec 100644
--- a/insmod/Android.bp
+++ b/insmod/Android.bp
@@ -2,6 +2,13 @@
     default_applicable_licenses: ["Android-Apache-2.0"],
 }
 
+sh_binary {
+    name: "insmod.sh",
+    src: "insmod.sh",
+    init_rc: ["init.module.rc"],
+    vendor: true,
+}
+
 prebuilt_etc {
     name: "init.common.cfg",
     src: "init.common.cfg",
diff --git a/insmod/4k/init.module.rc b/insmod/init.module.rc
similarity index 100%
rename from insmod/4k/init.module.rc
rename to insmod/init.module.rc
diff --git a/insmod/insmod.mk b/insmod/insmod.mk
index 0d8da9e..aa2261a 100644
--- a/insmod/insmod.mk
+++ b/insmod/insmod.mk
@@ -1,9 +1,3 @@
-ifeq (true,$(PRODUCT_16K_DEVELOPER_OPTION))
-PRODUCT_SOONG_NAMESPACES += device/google/gs-common/insmod/16k
-else
-PRODUCT_SOONG_NAMESPACES += device/google/gs-common/insmod/4k
-endif
-
 BOARD_VENDOR_SEPOLICY_DIRS += device/google/gs-common/insmod/sepolicy
 PRODUCT_PACKAGES += \
         insmod.sh \
diff --git a/insmod/4k/insmod.sh b/insmod/insmod.sh
similarity index 100%
rename from insmod/4k/insmod.sh
rename to insmod/insmod.sh
diff --git a/mediacodec/vpu/mediacodec_google.mk b/mediacodec/vpu/mediacodec_google.mk
new file mode 100644
index 0000000..8c1e974
--- /dev/null
+++ b/mediacodec/vpu/mediacodec_google.mk
@@ -0,0 +1,21 @@
+PRODUCT_SOONG_NAMESPACES += hardware/google/video/cnm
+
+PRODUCT_PACKAGES += \
+	google.hardware.media.c2@3.0-service \
+	libgc2_store \
+	libgc2_base \
+	libgc2_vdi_vpu \
+	libgc2_log \
+	libgc2_utils \
+	libgc2_av1_dec \
+	libgc2_vp9_dec \
+	libgc2_hevc_dec \
+	libgc2_avc_dec \
+	libgc2_av1_enc \
+	libgc2_hevc_enc \
+	libgc2_avc_enc \
+	vpu_firmware
+
+$(call soong_config_set,cnm,soc,$(TARGET_BOARD_PLATFORM))
+
+BOARD_VENDOR_SEPOLICY_DIRS += device/google/gs-common/mediacodec/vpu/sepolicy
diff --git a/mediacodec/vpu/sepolicy/file_contexts b/mediacodec/vpu/sepolicy/file_contexts
new file mode 100644
index 0000000..138e20e
--- /dev/null
+++ b/mediacodec/vpu/sepolicy/file_contexts
@@ -0,0 +1,2 @@
+/vendor/bin/hw/google\.hardware\.media\.c2@3\.0-service                     u:object_r:mediacodec_google_exec:s0
+/dev/vpu                                                                    u:object_r:video_device:s0
diff --git a/mediacodec/vpu/sepolicy/mediacodec_google.te b/mediacodec/vpu/sepolicy/mediacodec_google.te
new file mode 100644
index 0000000..2c5d1cb
--- /dev/null
+++ b/mediacodec/vpu/sepolicy/mediacodec_google.te
@@ -0,0 +1,20 @@
+type mediacodec_google, domain;
+type mediacodec_google_exec, exec_type, vendor_file_type, file_type;
+
+init_daemon_domain(mediacodec_google)
+
+hal_server_domain(mediacodec_google, hal_codec2)
+
+hal_client_domain(mediacodec_google, hal_graphics_allocator)
+
+allow mediacodec_google dmabuf_system_heap_device:chr_file r_file_perms;
+
+# mediacodec_google should never execute any executable without a domain transition
+neverallow mediacodec_google { file_type fs_type }:file execute_no_trans;
+
+# Media processing code is inherently risky and thus should have limited
+# permissions and be isolated from the rest of the system and network.
+# Lengthier explanation here:
+# https://android-developers.googleblog.com/2016/05/hardening-media-stack.html
+neverallow mediacodec_google domain:{ udp_socket rawip_socket } *;
+neverallow mediacodec_google { domain userdebug_or_eng(`-su') }:tcp_socket *;
diff --git a/performance/perf.mk b/performance/perf.mk
index dfbdb5b..ad4011a 100644
--- a/performance/perf.mk
+++ b/performance/perf.mk
@@ -1,3 +1,7 @@
 BOARD_VENDOR_SEPOLICY_DIRS += device/google/gs-common/performance/sepolicy
 
 PRODUCT_PACKAGES += dump_perf
+
+# Ensure enough free space to create zram backing device
+PRODUCT_PRODUCT_PROPERTIES += \
+    ro.zram_backing_device_min_free_mb=1536
diff --git a/performance/sepolicy/hal_power_default.te b/performance/sepolicy/hal_power_default.te
index 763862d..309e8f7 100644
--- a/performance/sepolicy/hal_power_default.te
+++ b/performance/sepolicy/hal_power_default.te
@@ -1,2 +1,3 @@
 allow hal_power_default sysfs_pakills:file rw_file_perms;
 allow hal_power_default sysfs_pakills:dir r_dir_perms;
+r_dir_file(hal_power_default, sysfs_vendor_mm);
diff --git a/sensors/dump_sensors.cpp b/sensors/dump_sensors.cpp
index 58d63e9..4c406ce 100644
--- a/sensors/dump_sensors.cpp
+++ b/sensors/dump_sensors.cpp
@@ -26,7 +26,8 @@
     if (!::android::os::dumpstate::PropertiesHelper::IsUserBuild()) {
         // Not a user build, if this is also not a production device dump the USF registry.
         std::string hwRev = ::android::base::GetProperty("ro.boot.hardware.revision", "");
-        if (hwRev.find("PROTO") != std::string::npos ||
+        if (hwRev.find("DEV") != std::string::npos ||
+            hwRev.find("PROTO") != std::string::npos ||
             hwRev.find("EVT") != std::string::npos ||
             hwRev.find("DVT") != std::string::npos ||
             hwRev.find("PVT") != std::string::npos) {
diff --git a/touch/gti/dump_gti0.sh b/touch/gti/dump_gti0.sh
index a3af3d7..facb531 100644
--- a/touch/gti/dump_gti0.sh
+++ b/touch/gti/dump_gti0.sh
@@ -8,6 +8,11 @@
 heatmap_path=$path
 fi
 
+if [[ -f "${procfs_path}/dump" ]]; then
+  echo "------ Dump ------"
+  cat ${procfs_path}/dump
+fi
+
 echo "------ Force Touch Active ------"
 result=$( cat "$path/force_active" 2>&1 )
 if [ $? -eq 0 ]; then
@@ -60,10 +65,5 @@
 echo "------ Self Test ------"
 cat $path/self_test
 
-if [[ -f "${procfs_path}/dump" ]]; then
-  echo "------ Dump ------"
-  cat ${procfs_path}/dump
-fi
-
 echo "------ Disable Force Touch Active ------"
 echo 0 > $path/force_active
diff --git a/touch/gti/dump_gti1.sh b/touch/gti/dump_gti1.sh
index 297ad44..eabd6d6 100644
--- a/touch/gti/dump_gti1.sh
+++ b/touch/gti/dump_gti1.sh
@@ -8,6 +8,11 @@
 heatmap_path=$path
 fi
 
+if [[ -f "${procfs_path}/dump" ]]; then
+  echo "------ Dump ------"
+  cat ${procfs_path}/dump
+fi
+
 echo "------ Force Touch Active ------"
 result=$( cat "$path/force_active" 2>&1 )
 if [ $? -eq 0 ]; then
@@ -60,10 +65,5 @@
 echo "------ Self Test ------"
 cat $path/self_test
 
-if [[ -f "${procfs_path}/dump" ]]; then
-  echo "------ Dump ------"
-  cat ${procfs_path}/dump
-fi
-
 echo "------ Disable Force Touch Active ------"
 echo 0 > $path/force_active
diff --git a/touch/gti/predump_sepolicy/genfs_contexts b/touch/gti/predump_sepolicy/genfs_contexts
index 45d3b53..1dd4bad 100644
--- a/touch/gti/predump_sepolicy/genfs_contexts
+++ b/touch/gti/predump_sepolicy/genfs_contexts
@@ -1,4 +1,6 @@
 # Touch
 genfscon sysfs /devices/virtual/goog_touch_interface                            u:object_r:sysfs_touch_gti:s0
+genfscon sysfs /devices/virtual/goog_touch_interface/gti.0/wakeup               u:object_r:sysfs_wakeup:s0
+genfscon sysfs /devices/virtual/goog_touch_interface/gti.1/wakeup               u:object_r:sysfs_wakeup:s0
 genfscon proc  /goog_touch_interface                                            u:object_r:proc_touch_gti:s0
 
diff --git a/touch/gti/sepolicy/genfs_contexts b/touch/gti/sepolicy/genfs_contexts
index 45d3b53..1dd4bad 100644
--- a/touch/gti/sepolicy/genfs_contexts
+++ b/touch/gti/sepolicy/genfs_contexts
@@ -1,4 +1,6 @@
 # Touch
 genfscon sysfs /devices/virtual/goog_touch_interface                            u:object_r:sysfs_touch_gti:s0
+genfscon sysfs /devices/virtual/goog_touch_interface/gti.0/wakeup               u:object_r:sysfs_wakeup:s0
+genfscon sysfs /devices/virtual/goog_touch_interface/gti.1/wakeup               u:object_r:sysfs_wakeup:s0
 genfscon proc  /goog_touch_interface                                            u:object_r:proc_touch_gti:s0
 
diff --git a/touch/nvt/nvt-spi20.mk b/touch/nvt/nvt-spi20.mk
new file mode 100644
index 0000000..ad46fcc
--- /dev/null
+++ b/touch/nvt/nvt-spi20.mk
@@ -0,0 +1,2 @@
+BOARD_VENDOR_SEPOLICY_DIRS += device/google/gs-common/touch/nvt/sepolicy
+BOARD_VENDOR_SEPOLICY_DIRS += device/google/gs-common/touch/nvt/sepolicy-spi20
diff --git a/touch/nvt/sepolicy-spi20/genfs_contexts b/touch/nvt/sepolicy-spi20/genfs_contexts
new file mode 100644
index 0000000..05467a3
--- /dev/null
+++ b/touch/nvt/sepolicy-spi20/genfs_contexts
@@ -0,0 +1,8 @@
+# Touch
+genfscon sysfs /devices/platform/111d0000.spi/spi_master/spi20/spi20.0   u:object_r:sysfs_touch:s0
+
+# System suspend wakeup files
+genfscon sysfs /devices/platform/111d0000.spi/spi_master/spi20/spi20.0/power_supply/nvt-pen-battery/wakeup                  u:object_r:sysfs_wakeup:s0
+genfscon sysfs /devices/platform/111d0000.spi/spi_master/spi20/spi20.0/power_supply/USI_Stylus_Battery/wakeup               u:object_r:sysfs_wakeup:s0
+genfscon sysfs /devices/platform/111d0000.spi/spi_master/spi20/spi20.0/input/input2/wakeup                                  u:object_r:sysfs_wakeup:s0
+genfscon sysfs /devices/platform/111d0000.spi/spi_master/spi20/spi20.0/wakeup                                               u:object_r:sysfs_wakeup:s0
diff --git a/touch/nvt/sepolicy/file.te b/touch/nvt/sepolicy/file.te
index e310df7..05a770b 100644
--- a/touch/nvt/sepolicy/file.te
+++ b/touch/nvt/sepolicy/file.te
@@ -1 +1,2 @@
 type sysfs_touch, sysfs_type, fs_type;
+type proc_touch, proc_type, fs_type;
diff --git a/touch/nvt/sepolicy/genfs_contexts b/touch/nvt/sepolicy/genfs_contexts
new file mode 100644
index 0000000..b120511
--- /dev/null
+++ b/touch/nvt/sepolicy/genfs_contexts
@@ -0,0 +1,12 @@
+genfscon proc  /nvt_baseline                u:object_r:proc_touch:s0
+genfscon proc  /nvt_cc_uniformity           u:object_r:proc_touch:s0
+genfscon proc  /nvt_diff                    u:object_r:proc_touch:s0
+genfscon proc  /nvt_fw_update               u:object_r:proc_touch:s0
+genfscon proc  /nvt_fw_version              u:object_r:proc_touch:s0
+genfscon proc  /nvt_heatmap                 u:object_r:proc_touch:s0
+genfscon proc  /nvt_pen_1d_diff             u:object_r:proc_touch:s0
+genfscon proc  /nvt_pen_2d_baseline         u:object_r:proc_touch:s0
+genfscon proc  /nvt_pen_2d_diff             u:object_r:proc_touch:s0
+genfscon proc  /nvt_pen_2d_raw              u:object_r:proc_touch:s0
+genfscon proc  /nvt_raw                     u:object_r:proc_touch:s0
+genfscon proc  /nvt_selftest                u:object_r:proc_touch:s0
diff --git a/touch/nvt/sepolicy/vendor_init.te b/touch/nvt/sepolicy/vendor_init.te
new file mode 100644
index 0000000..8b844dd
--- /dev/null
+++ b/touch/nvt/sepolicy/vendor_init.te
@@ -0,0 +1,5 @@
+allow vendor_init sysfs_touch:dir r_dir_perms;
+allow vendor_init sysfs_touch:file rw_file_perms;
+allow vendor_init proc_touch:dir r_dir_perms;
+allow vendor_init proc_touch:file rw_file_perms;
+set_prop(vendor_init, gesture_prop)
diff --git a/tts/de-de/de-de-x-multi-r51.zvoice b/tts/de-de/de-de-x-multi-r51.zvoice
deleted file mode 100644
index 8ca49a3..0000000
--- a/tts/de-de/de-de-x-multi-r51.zvoice
+++ /dev/null
Binary files differ
diff --git a/tts/de-de/de-de-x-multi-r53.zvoice b/tts/de-de/de-de-x-multi-r53.zvoice
new file mode 100644
index 0000000..87a9b04
--- /dev/null
+++ b/tts/de-de/de-de-x-multi-r53.zvoice
Binary files differ
diff --git a/tts/es-es/es-es-x-multi-r50.zvoice b/tts/es-es/es-es-x-multi-r50.zvoice
deleted file mode 100644
index b42cae9..0000000
--- a/tts/es-es/es-es-x-multi-r50.zvoice
+++ /dev/null
Binary files differ
diff --git a/tts/es-es/es-es-x-multi-r52.zvoice b/tts/es-es/es-es-x-multi-r52.zvoice
new file mode 100644
index 0000000..5f8c243
--- /dev/null
+++ b/tts/es-es/es-es-x-multi-r52.zvoice
Binary files differ
diff --git a/tts/fr-fr/fr-fr-x-multi-r51.zvoice b/tts/fr-fr/fr-fr-x-multi-r51.zvoice
deleted file mode 100644
index 2e3c160..0000000
--- a/tts/fr-fr/fr-fr-x-multi-r51.zvoice
+++ /dev/null
Binary files differ
diff --git a/tts/fr-fr/fr-fr-x-multi-r53.zvoice b/tts/fr-fr/fr-fr-x-multi-r53.zvoice
new file mode 100644
index 0000000..71ad1ca
--- /dev/null
+++ b/tts/fr-fr/fr-fr-x-multi-r53.zvoice
Binary files differ
diff --git a/tts/it-it/it-it-x-multi-r47.zvoice b/tts/it-it/it-it-x-multi-r47.zvoice
deleted file mode 100644
index 78dce63..0000000
--- a/tts/it-it/it-it-x-multi-r47.zvoice
+++ /dev/null
Binary files differ
diff --git a/tts/it-it/it-it-x-multi-r49.zvoice b/tts/it-it/it-it-x-multi-r49.zvoice
new file mode 100644
index 0000000..c1ecf15
--- /dev/null
+++ b/tts/it-it/it-it-x-multi-r49.zvoice
Binary files differ
diff --git a/tts/ja-jp/ja-jp-x-multi-r49.zvoice b/tts/ja-jp/ja-jp-x-multi-r49.zvoice
deleted file mode 100644
index c2f8c80..0000000
--- a/tts/ja-jp/ja-jp-x-multi-r49.zvoice
+++ /dev/null
Binary files differ
diff --git a/tts/ja-jp/ja-jp-x-multi-r51.zvoice b/tts/ja-jp/ja-jp-x-multi-r51.zvoice
new file mode 100644
index 0000000..d507720
--- /dev/null
+++ b/tts/ja-jp/ja-jp-x-multi-r51.zvoice
Binary files differ
diff --git a/tts/voice_packs.mk b/tts/voice_packs.mk
index 7b95af9..86e2590 100644
--- a/tts/voice_packs.mk
+++ b/tts/voice_packs.mk
@@ -15,8 +15,8 @@
 
 # Voice packs for Text-To-Speech
 PRODUCT_COPY_FILES += \
-	device/google/gs-common/tts/ja-jp/ja-jp-x-multi-r49.zvoice:product/tts/google/ja-jp/ja-jp-x-multi-r49.zvoice\
-	device/google/gs-common/tts/fr-fr/fr-fr-x-multi-r51.zvoice:product/tts/google/fr-fr/fr-fr-x-multi-r51.zvoice\
-	device/google/gs-common/tts/de-de/de-de-x-multi-r51.zvoice:product/tts/google/de-de/de-de-x-multi-r51.zvoice\
-	device/google/gs-common/tts/it-it/it-it-x-multi-r47.zvoice:product/tts/google/it-it/it-it-x-multi-r47.zvoice\
-	device/google/gs-common/tts/es-es/es-es-x-multi-r50.zvoice:product/tts/google/es-es/es-es-x-multi-r50.zvoice
+	device/google/gs-common/tts/ja-jp/ja-jp-x-multi-r51.zvoice:product/tts/google/ja-jp/ja-jp-x-multi-r51.zvoice\
+	device/google/gs-common/tts/fr-fr/fr-fr-x-multi-r53.zvoice:product/tts/google/fr-fr/fr-fr-x-multi-r53.zvoice\
+	device/google/gs-common/tts/de-de/de-de-x-multi-r53.zvoice:product/tts/google/de-de/de-de-x-multi-r53.zvoice\
+	device/google/gs-common/tts/it-it/it-it-x-multi-r49.zvoice:product/tts/google/it-it/it-it-x-multi-r49.zvoice\
+	device/google/gs-common/tts/es-es/es-es-x-multi-r52.zvoice:product/tts/google/es-es/es-es-x-multi-r52.zvoice
diff --git a/wireless_charger/compatibility_matrix.xml b/wireless_charger/compatibility_matrix.xml
index b760b1d..5185344 100644
--- a/wireless_charger/compatibility_matrix.xml
+++ b/wireless_charger/compatibility_matrix.xml
@@ -9,7 +9,7 @@
     </hal>
     <hal format="aidl" optional="true">
         <name>vendor.google.wireless_charger.service</name>
-        <version>1</version>
+        <version>1-2</version>
         <interface>
             <name>IWlcService</name>
             <instance>default</instance>
diff --git a/wireless_charger/sepolicy/hal_wlcservice.te b/wireless_charger/sepolicy/hal_wlcservice.te
index eadb593..6eba2ef 100644
--- a/wireless_charger/sepolicy/hal_wlcservice.te
+++ b/wireless_charger/sepolicy/hal_wlcservice.te
@@ -8,6 +8,8 @@
 allow hal_wlcservice hal_wireless_charger_service:service_manager find;
 allow hal_wlcservice kmsg_device:chr_file { getattr w_file_perms };
 
+get_prop(hal_wlcservice, vendor_wlcservice_test_prop)
+
 binder_call(hal_wlcservice, servicemanager)
 add_service(hal_wlcservice, hal_wlcservice_service)
 
diff --git a/wireless_charger/sepolicy/property.te b/wireless_charger/sepolicy/property.te
new file mode 100644
index 0000000..b8ddbdf
--- /dev/null
+++ b/wireless_charger/sepolicy/property.te
@@ -0,0 +1 @@
+vendor_internal_prop(vendor_wlcservice_test_prop)
diff --git a/wireless_charger/sepolicy/property_contexts b/wireless_charger/sepolicy/property_contexts
new file mode 100644
index 0000000..8cf8f70
--- /dev/null
+++ b/wireless_charger/sepolicy/property_contexts
@@ -0,0 +1 @@
+vendor.wlcservice.test.authentication       u:object_r:vendor_wlcservice_test_prop:s0 exact bool