diff --git a/libs/vr/libpdx_uds/client_channel_factory.cpp b/libs/vr/libpdx_uds/client_channel_factory.cpp
index 1879127..f059453 100644
--- a/libs/vr/libpdx_uds/client_channel_factory.cpp
+++ b/libs/vr/libpdx_uds/client_channel_factory.cpp
@@ -6,10 +6,16 @@
 #include <sys/un.h>
 #include <unistd.h>
 
+#include <chrono>
+#include <thread>
+
 #include <uds/channel_manager.h>
 #include <uds/client_channel.h>
 #include <uds/ipc_helper.h>
 
+using std::chrono::duration_cast;
+using std::chrono::steady_clock;
+
 namespace android {
 namespace pdx {
 namespace uds {
@@ -41,13 +47,11 @@
 
 Status<std::unique_ptr<pdx::ClientChannel>> ClientChannelFactory::Connect(
     int64_t timeout_ms) const {
-  auto status = WaitForEndpoint(endpoint_path_, timeout_ms);
-  if (!status)
-    return ErrorStatus(status.error());
+  Status<void> status;
 
   LocalHandle socket_fd{socket(AF_UNIX, SOCK_STREAM, 0)};
   if (!socket_fd) {
-    ALOGE("ClientChannelFactory::Connect: socket error %s", strerror(errno));
+    ALOGE("ClientChannelFactory::Connect: socket error: %s", strerror(errno));
     return ErrorStatus(errno);
   }
 
@@ -56,16 +60,55 @@
   strncpy(remote.sun_path, endpoint_path_.c_str(), sizeof(remote.sun_path));
   remote.sun_path[sizeof(remote.sun_path) - 1] = '\0';
 
-  int ret = RETRY_EINTR(connect(
-      socket_fd.Get(), reinterpret_cast<sockaddr*>(&remote), sizeof(remote)));
-  if (ret == -1) {
-    ALOGE(
-        "ClientChannelFactory::Connect: Failed to initialize connection when "
-        "connecting %s",
-        strerror(errno));
-    return ErrorStatus(errno);
-  }
+  bool use_timeout = (timeout_ms >= 0);
+  auto now = steady_clock::now();
+  auto time_end = now + std::chrono::milliseconds{timeout_ms};
 
+  bool connected = false;
+  while (!connected) {
+    int64_t timeout = -1;
+    if (use_timeout) {
+      auto remaining = time_end - now;
+      timeout = duration_cast<std::chrono::milliseconds>(remaining).count();
+      if (timeout < 0)
+        return ErrorStatus(ETIMEDOUT);
+    }
+    ALOGD("ClientChannelFactory: Waiting for endpoint at %s", remote.sun_path);
+    status = WaitForEndpoint(endpoint_path_, timeout);
+    if (!status)
+      return ErrorStatus(status.error());
+
+    ALOGD("ClientChannelFactory: Connecting to %s", remote.sun_path);
+    int ret = RETRY_EINTR(connect(
+        socket_fd.Get(), reinterpret_cast<sockaddr*>(&remote), sizeof(remote)));
+    if (ret == -1) {
+      ALOGD("ClientChannelFactory: Connect error %d: %s", errno,
+            strerror(errno));
+      if (errno == ECONNREFUSED) {
+        // Connection refused can be the result of connecting too early (the
+        // service socket is created but not being listened to yet).
+        ALOGD("ClientChannelFactory: Connection refused, waiting...");
+        using namespace std::literals::chrono_literals;
+        std::this_thread::sleep_for(100ms);
+      } else if (errno != ENOENT && errno != ENOTDIR) {
+        // ENOENT/ENOTDIR might mean that the socket file/directory containing
+        // it has been just deleted. Try to wait for its creation and do not
+        // return an error immediately.
+        ALOGE(
+            "ClientChannelFactory::Connect: Failed to initialize connection "
+            "when connecting: %s",
+            strerror(errno));
+        return ErrorStatus(errno);
+      }
+    } else {
+      connected = true;
+    }
+    if (use_timeout)
+      now = steady_clock::now();
+  }  // while (!connected)
+
+  ALOGD("ClientChannelFactory: Connected successfully to %s...",
+        remote.sun_path);
   RequestHeader<BorrowedHandle> request;
   InitRequest(&request, opcodes::CHANNEL_OPEN, 0, 0, false);
   status = SendData(socket_fd.Get(), request);