diff --git a/packages/SystemUI/Android.bp b/packages/SystemUI/Android.bp
index b472982..2077af8 100644
--- a/packages/SystemUI/Android.bp
+++ b/packages/SystemUI/Android.bp
@@ -135,7 +135,10 @@
 aconfig_declarations {
     name: "systemui_aconfig_flags",
     package: "com.android.systemui.aconfig",
-    srcs: ["src/com/android/systemui/aconfig/systemui.aconfig"],
+    srcs: [
+        "src/com/android/systemui/aconfig/systemui.aconfig",
+        "src/com/android/systemui/accessibility/aconfig/accessibility.aconfig",
+    ],
 }
 
 java_aconfig_library {
diff --git a/packages/SystemUI/src/com/android/systemui/accessibility/aconfig/accessibility.aconfig b/packages/SystemUI/src/com/android/systemui/accessibility/aconfig/accessibility.aconfig
new file mode 100644
index 0000000..91c5551
--- /dev/null
+++ b/packages/SystemUI/src/com/android/systemui/accessibility/aconfig/accessibility.aconfig
@@ -0,0 +1,7 @@
+package: "com.android.systemui.aconfig"
+flag {
+    name: "floating_menu_overlaps_nav_bars_flag"
+    namespace: "accessibility"
+    description: "Adjusts bounds to allow the floating menu to render on top of navigation bars."
+    bug: "283768342"
+}
\ No newline at end of file
diff --git a/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuView.java b/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuView.java
index 47770fa..f29077d 100644
--- a/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuView.java
+++ b/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuView.java
@@ -38,6 +38,7 @@
 import androidx.recyclerview.widget.RecyclerViewAccessibilityDelegate;
 
 import com.android.internal.accessibility.dialog.AccessibilityTarget;
+import com.android.systemui.aconfig.Flags;
 
 import java.util.ArrayList;
 import java.util.Collections;
@@ -284,6 +285,22 @@
     void updateMenuMoveToTucked(boolean isMoveToTucked) {
         mIsMoveToTucked = isMoveToTucked;
         mMenuViewModel.updateMenuMoveToTucked(isMoveToTucked);
+
+        if (Flags.floatingMenuOverlapsNavBarsFlag()) {
+            if (isMoveToTucked) {
+                final float halfWidth = getMenuWidth() / 2.0f;
+                final boolean isOnLeftSide = mMenuAnimationController.isOnLeftSide();
+                final Rect clipBounds = new Rect(
+                        (int) (!isOnLeftSide ? 0 : halfWidth),
+                        0,
+                        (int) (!isOnLeftSide ? halfWidth : getMenuWidth()),
+                        getMenuHeight()
+                );
+                setClipBounds(clipBounds);
+            } else {
+                setClipBounds(null);
+            }
+        }
     }
 
 
diff --git a/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuViewAppearance.java b/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuViewAppearance.java
index 3cd250f..3822936 100644
--- a/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuViewAppearance.java
+++ b/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuViewAppearance.java
@@ -35,6 +35,7 @@
 import androidx.annotation.DimenRes;
 
 import com.android.systemui.R;
+import com.android.systemui.aconfig.Flags;
 
 import java.lang.annotation.Retention;
 import java.lang.annotation.RetentionPolicy;
@@ -154,8 +155,10 @@
         final int margin = getMenuMargin();
         final Rect draggableBounds = new Rect(getWindowAvailableBounds());
 
-        // Initializes start position for mapping the translation of the menu view.
-        draggableBounds.offsetTo(/* newLeft= */ 0, /* newTop= */ 0);
+        if (!Flags.floatingMenuOverlapsNavBarsFlag()) {
+            // Initializes start position for mapping the translation of the menu view.
+            draggableBounds.offsetTo(/* newLeft= */ 0, /* newTop= */ 0);
+        }
 
         draggableBounds.top += margin;
         draggableBounds.right -= getMenuWidth();
diff --git a/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuViewLayerController.java b/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuViewLayerController.java
index c52ecc5..cc18c30 100644
--- a/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuViewLayerController.java
+++ b/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/MenuViewLayerController.java
@@ -24,6 +24,7 @@
 import android.view.WindowManager;
 import android.view.accessibility.AccessibilityManager;
 
+import com.android.systemui.aconfig.Flags;
 import com.android.systemui.util.settings.SecureSettings;
 
 /**
@@ -77,8 +78,15 @@
         params.receiveInsetsIgnoringZOrder = true;
         params.privateFlags |= PRIVATE_FLAG_EXCLUDE_FROM_SCREEN_MAGNIFICATION;
         params.windowAnimations = android.R.style.Animation_Translucent;
-        params.setFitInsetsTypes(
-                WindowInsets.Type.systemBars() | WindowInsets.Type.displayCutout());
+        // Insets are configured to allow the menu to display over navigation and system bars.
+        if (Flags.floatingMenuOverlapsNavBarsFlag()) {
+            params.setFitInsetsTypes(0);
+            params.layoutInDisplayCutoutMode =
+                    WindowManager.LayoutParams.LAYOUT_IN_DISPLAY_CUTOUT_MODE_ALWAYS;
+        } else {
+            params.setFitInsetsTypes(
+                    WindowInsets.Type.systemBars() | WindowInsets.Type.displayCutout());
+        }
         return params;
     }
 }