diff --git a/conf/init.gs101.rc b/conf/init.gs101.rc
index c760bcb..bc38dea 100644
--- a/conf/init.gs101.rc
+++ b/conf/init.gs101.rc
@@ -303,9 +303,6 @@
     # Power Stats HAL
     chown system system /dev/bbd_pwrstat
 
-    # start watchdogd
-    start watchdogd
-
     # Add a boost for NNAPI HAL
     write /proc/vendor_sched/nnapi_prefer_idle 0
     write /proc/vendor_sched/nnapi_uclamp_min 512
@@ -391,7 +388,6 @@
     chmod 0664 /sys/devices/platform/1c2c0000.drmdsim/hs_clock
     chmod 0664 /sys/devices/platform/1c2d0000.drmdsim/hs_clock
 
-    setprop vold.post_fs_data_done 1
     setprop wifi.direct.interface p2p-dev-wlan0
     setprop wifi.aware.interface aware_nmi0
 
@@ -724,6 +720,9 @@
     swapon_all /vendor/etc/fstab.${ro.board.platform}
     write /proc/sys/vm/swappiness 100
 
+    # Force empty CMA
+    write /sys/kernel/vendor_mm/cma/farawimg/force_empty 1
+
     # Back to default VM settings
     write /proc/sys/vm/dirty_expire_centisecs 3000
     write /proc/sys/vm/dirty_background_ratio 10
@@ -839,12 +838,6 @@
     disabled
     oneshot
 
-# Set watchdog timer to 30 seconds and pet it every 10 seconds to get a 20 second margin
-service watchdogd /system/bin/watchdogd 10 20
-    class core
-    oneshot
-    seclabel u:r:watchdogd:s0
-
 # bugreport is triggered by holding down volume down, volume up and power
 service bugreport /system/bin/dumpstate -d -p -z
     class main
@@ -963,14 +956,23 @@
     chown system system /dev/thermal/tz-by-name/usb_pwr_therm2/trip_point_0_temp
     chown system system /dev/thermal/tz-by-name/usb_pwr_therm2/trip_point_0_hyst
     chown system system /dev/thermal/tz-by-name/usb_pwr_therm2/emul_temp
+    chmod 664 /dev/thermal/cdev-by-name/thermal-cpufreq-0/user_vote
     chown system system /dev/thermal/cdev-by-name/thermal-cpufreq-0/user_vote
+    chmod 664 /dev/thermal/cdev-by-name/thermal-cpufreq-1/user_vote
     chown system system /dev/thermal/cdev-by-name/thermal-cpufreq-1/user_vote
+    chmod 664 /dev/thermal/cdev-by-name/thermal-cpufreq-2/user_vote
     chown system system /dev/thermal/cdev-by-name/thermal-cpufreq-2/user_vote
+    chmod 664 /dev/thermal/cdev-by-name/thermal-gpufreq-0/user_vote
     chown system system /dev/thermal/cdev-by-name/thermal-gpufreq-0/user_vote
+    chmod 664 /dev/thermal/cdev-by-name/tpu_cooling/user_vote
     chown system system /dev/thermal/cdev-by-name/tpu_cooling/user_vote
+    chmod 664 /dev/thermal/cdev-by-name/fcc/cur_state
     chown system system /dev/thermal/cdev-by-name/fcc/cur_state
+    chmod 664 /dev/thermal/cdev-by-name/dc_icl/cur_state
     chown system system /dev/thermal/cdev-by-name/dc_icl/cur_state
+    chmod 664 /dev/thermal/cdev-by-name/wlc_fcc/cur_state
     chown system system /dev/thermal/cdev-by-name/wlc_fcc/cur_state
+    chmod 664 /dev/thermal/cdev-by-name/usbc-port/cur_state
     chown system system /dev/thermal/cdev-by-name/usbc-port/cur_state
 
 on charger
diff --git a/device.mk b/device.mk
index 3ea32c3..0618c8a 100644
--- a/device.mk
+++ b/device.mk
@@ -35,18 +35,11 @@
 # Set boot SPL
 BOOT_SECURITY_PATCH = $(PLATFORM_SECURITY_PATCH)
 
-# TODO(b/207450311): Remove this flag once implemented
-USE_PIXEL_GRALLOC := false
-ifeq ($(USE_PIXEL_GRALLOC),true)
-	PRODUCT_SOONG_NAMESPACES += hardware/google/gchips/GrallocHAL
-else
-	PRODUCT_SOONG_NAMESPACES += hardware/google/gchips/gralloc4
-endif
-
 PRODUCT_SOONG_NAMESPACES += \
 	hardware/google/av \
 	hardware/google/gchips \
 	hardware/google/graphics/common \
+	hardware/google/gchips/gralloc4 \
 	hardware/google/graphics/gs101 \
 	hardware/google/interfaces \
 	hardware/google/pixel \
@@ -416,8 +409,8 @@
 	frameworks/native/data/etc/android.hardware.sensor.stepdetector.xml:$(TARGET_COPY_OUT_VENDOR)/etc/permissions/android.hardware.sensor.stepdetector.xml
 endif
 
-# Add sensor HAL 2.1 product packages
-PRODUCT_PACKAGES += android.hardware.sensors@2.1-service.multihal
+# Add sensor HAL AIDL product packages
+PRODUCT_PACKAGES += android.hardware.sensors-service.multihal
 
 # USB HAL
 PRODUCT_PACKAGES += \
diff --git a/device_framework_matrix_product.xml b/device_framework_matrix_product.xml
index 3c24f9a..c007ae2 100644
--- a/device_framework_matrix_product.xml
+++ b/device_framework_matrix_product.xml
@@ -134,9 +134,9 @@
             <instance>default</instance>
         </interface>
     </hal>
-    <hal format="hidl" optional="true">
+    <hal format="aidl" optional="true">
         <name>vendor.google.google_battery</name>
-        <version>1.2</version>
+        <version>1</version>
         <interface>
             <name>IGoogleBattery</name>
             <instance>default</instance>
diff --git a/fingerprint/extension/fingerprint.extension.mk b/fingerprint/extension/fingerprint.extension.mk
index 1ef2374..0cb220d 100644
--- a/fingerprint/extension/fingerprint.extension.mk
+++ b/fingerprint/extension/fingerprint.extension.mk
@@ -1,11 +1,14 @@
 # Fingerprint extension feature
-ifneq (,$(filter userdebug, $(TARGET_BUILD_VARIANT)))
-SOONG_CONFIG_fp_hal_feature += report_bug_support
-SOONG_CONFIG_fp_hal_feature_report_bug_support := true
-BOARD_SEPOLICY_DIRS += hardware/google/pixel-sepolicy/fingerprint-extension/vendor/
-SYSTEM_EXT_PUBLIC_SEPOLICY_DIRS += hardware/google/pixel-sepolicy/fingerprint-extension/system_ext/public/
-SYSTEM_EXT_PRIVATE_SEPOLICY_DIRS += hardware/google/pixel-sepolicy/fingerprint-extension/system_ext/private/
-PRODUCT_PACKAGES += \
-    fps_ext_bug_lib \
-    fingerprint.extension.sh
+ifneq (,$(filter aosp% factory%, $(TARGET_PRODUCT)))
+# Skip if device is AOSP or factory build
+else
+    ifneq (,$(filter userdebug, $(TARGET_BUILD_VARIANT)))
+    $(call soong_config_set,fp_hal_feature,report_bug_support,true)
+    BOARD_SEPOLICY_DIRS += hardware/google/pixel-sepolicy/fingerprint-extension/vendor/
+    SYSTEM_EXT_PUBLIC_SEPOLICY_DIRS += hardware/google/pixel-sepolicy/fingerprint-extension/system_ext/public/
+    SYSTEM_EXT_PRIVATE_SEPOLICY_DIRS += hardware/google/pixel-sepolicy/fingerprint-extension/system_ext/private/
+    PRODUCT_PACKAGES += \
+        fps_ext_bug_lib \
+        fingerprint.extension.sh
+    endif
 endif
diff --git a/manifest.xml b/manifest.xml
index 1cb5345..a306c70 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -133,14 +133,13 @@
             <instance>default</instance>
         </interface>
     </hal>
-    <hal format="hidl">
-      <name>vendor.google.google_battery</name>
-      <transport>hwbinder</transport>
-      <version>1.2</version>
-      <interface>
-        <name>IGoogleBattery</name>
-        <instance>default</instance>
-      </interface>
+    <hal format="aidl">
+        <name>vendor.google.google_battery</name>
+        <version>1</version>
+        <interface>
+            <name>IGoogleBattery</name>
+            <instance>default</instance>
+        </interface>
     </hal>
     <hal format="hidl">
        <name>vendor.google.whitechapel.audio.audioext</name>
diff --git a/manifest_64.xml b/manifest_64.xml
index 2190686..a8b512b 100644
--- a/manifest_64.xml
+++ b/manifest_64.xml
@@ -125,14 +125,13 @@
             <instance>default</instance>
         </interface>
     </hal>
-    <hal format="hidl">
-      <name>vendor.google.google_battery</name>
-      <transport>hwbinder</transport>
-      <version>1.2</version>
-      <interface>
-        <name>IGoogleBattery</name>
-        <instance>default</instance>
-      </interface>
+    <hal format="aidl">
+        <name>vendor.google.google_battery</name>
+        <version>1</version>
+        <interface>
+            <name>IGoogleBattery</name>
+            <instance>default</instance>
+        </interface>
     </hal>
     <hal format="hidl">
        <name>vendor.google.whitechapel.audio.audioext</name>