diff --git a/cmds/atrace/atrace.cpp b/cmds/atrace/atrace.cpp
index 6fb9a4d..5cd2dea 100644
--- a/cmds/atrace/atrace.cpp
+++ b/cmds/atrace/atrace.cpp
@@ -193,8 +193,9 @@
         { OPT,      "events/ext4/ext4_da_write_end/enable" },
         { OPT,      "events/ext4/ext4_sync_file_enter/enable" },
         { OPT,      "events/ext4/ext4_sync_file_exit/enable" },
-        { REQ,      "events/block/block_rq_issue/enable" },
-        { REQ,      "events/block/block_rq_complete/enable" },
+        { REQ,      "events/block/block_bio_queue/enable" },
+        { REQ,      "events/block/block_bio_complete/enable" },
+        { REQ,      "events/ufs/ufshcd_command/enable" },
     } },
     { "mmc",        "eMMC commands",    0, {
         { REQ,      "events/mmc/enable" },
diff --git a/cmds/bugreportz/readme.md b/cmds/bugreportz/readme.md
index eb0d898..3606827 100644
--- a/cmds/bugreportz/readme.md
+++ b/cmds/bugreportz/readme.md
@@ -1,6 +1,6 @@
 # bugreportz protocol
 
-`bugreportz` is used to generate a zippped bugreport whose path is passed back to `adb`, using
+`bugreportz` is used to generate a zipped bugreport whose path is passed back to `adb`, using
 the simple protocol defined below.
 
 # Version 1.1
diff --git a/cmds/servicemanager/ServiceManager.cpp b/cmds/servicemanager/ServiceManager.cpp
index 3cfe529..0727383 100644
--- a/cmds/servicemanager/ServiceManager.cpp
+++ b/cmds/servicemanager/ServiceManager.cpp
@@ -762,4 +762,10 @@
     return Status::ok();
 }
 
+void ServiceManager::clear() {
+    mNameToService.clear();
+    mNameToRegistrationCallback.clear();
+    mNameToClientCallback.clear();
+}
+
 }  // namespace android
diff --git a/cmds/servicemanager/ServiceManager.h b/cmds/servicemanager/ServiceManager.h
index 5e40319..c6db697 100644
--- a/cmds/servicemanager/ServiceManager.h
+++ b/cmds/servicemanager/ServiceManager.h
@@ -58,6 +58,12 @@
     void binderDied(const wp<IBinder>& who) override;
     void handleClientCallbacks();
 
+    /**
+     *  This API is added for debug purposes. It clears members which hold service and callback
+     * information.
+     */
+    void clear();
+
 protected:
     virtual void tryStartService(const std::string& name);
 
diff --git a/cmds/servicemanager/ServiceManagerFuzzer.cpp b/cmds/servicemanager/ServiceManagerFuzzer.cpp
index 39f8522..b76a6bd 100644
--- a/cmds/servicemanager/ServiceManagerFuzzer.cpp
+++ b/cmds/servicemanager/ServiceManagerFuzzer.cpp
@@ -29,6 +29,7 @@
     auto accessPtr = std::make_unique<Access>();
     auto serviceManager = sp<ServiceManager>::make(std::move(accessPtr));
     fuzzService(serviceManager, FuzzedDataProvider(data, size));
+    serviceManager->clear();
 
     return 0;
 }
diff --git a/libs/binder/IServiceManager.cpp b/libs/binder/IServiceManager.cpp
index 5db3eef..05db774 100644
--- a/libs/binder/IServiceManager.cpp
+++ b/libs/binder/IServiceManager.cpp
@@ -380,6 +380,13 @@
     if (Status status = realGetService(name, &out); !status.isOk()) {
         ALOGW("Failed to getService in waitForService for %s: %s", name.c_str(),
               status.toString8().c_str());
+        if (0 == ProcessState::self()->getThreadPoolMaxTotalThreadCount()) {
+            ALOGW("Got service, but may be racey because we could not wait efficiently for it. "
+                  "Threadpool has 0 guaranteed threads. "
+                  "Is the threadpool configured properly? "
+                  "See ProcessState::startThreadPool and "
+                  "ProcessState::setThreadPoolMaxThreadCount.");
+        }
         return nullptr;
     }
     if (out != nullptr) return out;
@@ -410,7 +417,9 @@
             if (waiter->mBinder != nullptr) return waiter->mBinder;
         }
 
-        ALOGW("Waited one second for %s (is service started? are binder threads started and available?)", name.c_str());
+        ALOGW("Waited one second for %s (is service started? Number of threads started in the "
+              "threadpool: %zu. Are binder threads started and available?)",
+              name.c_str(), ProcessState::self()->getThreadPoolMaxTotalThreadCount());
 
         // Handle race condition for lazy services. Here is what can happen:
         // - the service dies (not processed by init yet).
diff --git a/libs/binder/RpcTrusty.cpp b/libs/binder/RpcTrusty.cpp
index ea49eef..3b53b05 100644
--- a/libs/binder/RpcTrusty.cpp
+++ b/libs/binder/RpcTrusty.cpp
@@ -26,8 +26,12 @@
 
 using android::base::unique_fd;
 
-sp<IBinder> RpcTrustyConnect(const char* device, const char* port) {
+sp<RpcSession> RpcTrustyConnectWithSessionInitializer(
+        const char* device, const char* port,
+        std::function<void(sp<RpcSession>&)> sessionInitializer) {
     auto session = RpcSession::make(RpcTransportCtxFactoryTipcAndroid::make());
+    // using the callback to initialize the session
+    sessionInitializer(session);
     auto request = [=] {
         int tipcFd = tipc_connect(device, port);
         if (tipcFd < 0) {
@@ -40,6 +44,11 @@
         LOG(ERROR) << "Failed to set up Trusty client. Error: " << statusToString(status).c_str();
         return nullptr;
     }
+    return session;
+}
+
+sp<IBinder> RpcTrustyConnect(const char* device, const char* port) {
+    auto session = RpcTrustyConnectWithSessionInitializer(device, port, [](auto) {});
     return session->getRootObject();
 }
 
diff --git a/libs/binder/include_trusty/binder/RpcTrusty.h b/libs/binder/include_trusty/binder/RpcTrusty.h
index f124e0c..b034b9b 100644
--- a/libs/binder/include_trusty/binder/RpcTrusty.h
+++ b/libs/binder/include_trusty/binder/RpcTrusty.h
@@ -22,4 +22,8 @@
 
 sp<IBinder> RpcTrustyConnect(const char* device, const char* port);
 
+sp<RpcSession> RpcTrustyConnectWithSessionInitializer(
+        const char* device, const char* port,
+        std::function<void(sp<RpcSession>&)> sessionInitializer);
+
 } // namespace android
diff --git a/libs/binder/ndk/Android.bp b/libs/binder/ndk/Android.bp
index 33d28e6..8ae7537 100644
--- a/libs/binder/ndk/Android.bp
+++ b/libs/binder/ndk/Android.bp
@@ -182,4 +182,8 @@
     name: "libbinder_ndk",
     symbol_file: "libbinder_ndk.map.txt",
     first_version: "29",
+    export_header_libs: [
+        "libbinder_ndk_headers",
+        "libbinder_ndk_helper_headers",
+    ],
 }
diff --git a/libs/binder/rust/Android.bp b/libs/binder/rust/Android.bp
index 0ec6183..a135796 100644
--- a/libs/binder/rust/Android.bp
+++ b/libs/binder/rust/Android.bp
@@ -30,6 +30,7 @@
     apex_available: [
         "//apex_available:platform",
         "com.android.compos",
+        "com.android.rkpd",
         "com.android.uwb",
         "com.android.virt",
     ],
@@ -80,6 +81,7 @@
     apex_available: [
         "//apex_available:platform",
         "com.android.compos",
+        "com.android.rkpd",
         "com.android.uwb",
         "com.android.virt",
     ],
@@ -138,6 +140,7 @@
     apex_available: [
         "//apex_available:platform",
         "com.android.compos",
+        "com.android.rkpd",
         "com.android.uwb",
         "com.android.virt",
     ],
diff --git a/libs/binder/rust/rpcbinder/Android.bp b/libs/binder/rust/rpcbinder/Android.bp
index f169390..5ebc27f 100644
--- a/libs/binder/rust/rpcbinder/Android.bp
+++ b/libs/binder/rust/rpcbinder/Android.bp
@@ -16,7 +16,7 @@
     ],
     rustlibs: [
         "libbinder_ndk_sys",
-        "libbinder_rpc_unstable_bindgen",
+        "libbinder_rpc_unstable_bindgen_sys",
         "libbinder_rs",
         "libdowncast_rs",
         "liblibc",
@@ -29,6 +29,35 @@
     min_sdk_version: "Tiramisu",
 }
 
+// Build a separate rust_library rather than depending directly on libbinder_rpc_unstable_bindgen,
+// to work around the fact that rust_bindgen targets only produce rlibs and not dylibs, which would
+// result in duplicate conflicting versions of libbinder_ndk_sys. This will hopefully be fixed in
+// the build system, at which point we can delete this target and go back to using
+// libbinder_rpc_unstable_bindgen directly.
+rust_library {
+    name: "libbinder_rpc_unstable_bindgen_sys",
+    crate_name: "binder_rpc_unstable_bindgen",
+    srcs: [
+        ":libbinder_rpc_unstable_bindgen",
+    ],
+    visibility: [":__subpackages__"],
+    rustlibs: [
+        "libbinder_ndk_sys",
+    ],
+    shared_libs: [
+        "libbinder_rpc_unstable",
+        "libutils",
+    ],
+    apex_available: [
+        "com.android.compos",
+        "com.android.uwb",
+        "com.android.virt",
+    ],
+    min_sdk_version: "Tiramisu",
+    lints: "none",
+    clippy_lints: "none",
+}
+
 // TODO(b/184872979): remove once the RPC Binder API is stabilised.
 rust_bindgen {
     name: "libbinder_rpc_unstable_bindgen",
@@ -36,6 +65,15 @@
     crate_name: "binder_rpc_unstable_bindgen",
     visibility: [":__subpackages__"],
     source_stem: "bindings",
+    bindgen_flags: [
+        "--blocklist-type",
+        "AIBinder",
+        "--raw-line",
+        "use binder_ndk_sys::AIBinder;",
+    ],
+    rustlibs: [
+        "libbinder_ndk_sys",
+    ],
     shared_libs: [
         "libbinder_rpc_unstable",
         "libutils",
@@ -52,6 +90,9 @@
     name: "libbinder_rpc_unstable_bindgen_test",
     srcs: [":libbinder_rpc_unstable_bindgen"],
     crate_name: "binder_rpc_unstable_bindgen",
+    rustlibs: [
+        "libbinder_ndk_sys",
+    ],
     test_suites: ["general-tests"],
     auto_gen_config: true,
     clippy_lints: "none",
diff --git a/libs/binder/rust/rpcbinder/src/client.rs b/libs/binder/rust/rpcbinder/src/client.rs
index dfc6f06..743800b 100644
--- a/libs/binder/rust/rpcbinder/src/client.rs
+++ b/libs/binder/rust/rpcbinder/src/client.rs
@@ -14,10 +14,7 @@
  * limitations under the License.
  */
 
-use binder::{
-    unstable_api::{new_spibinder, AIBinder},
-    FromIBinder, SpIBinder, StatusCode, Strong,
-};
+use binder::{unstable_api::new_spibinder, FromIBinder, SpIBinder, StatusCode, Strong};
 use std::os::{
     raw::{c_int, c_void},
     unix::io::RawFd,
@@ -27,7 +24,7 @@
 pub fn get_vsock_rpc_service(cid: u32, port: u32) -> Option<SpIBinder> {
     // SAFETY: AIBinder returned by RpcClient has correct reference count, and the ownership can
     // safely be taken by new_spibinder.
-    unsafe { new_spibinder(binder_rpc_unstable_bindgen::RpcClient(cid, port) as *mut AIBinder) }
+    unsafe { new_spibinder(binder_rpc_unstable_bindgen::RpcClient(cid, port)) }
 }
 
 /// Connects to an RPC Binder server for a particular interface over vsock.
@@ -54,7 +51,7 @@
         new_spibinder(binder_rpc_unstable_bindgen::RpcPreconnectedClient(
             Some(request_fd_wrapper),
             param,
-        ) as *mut AIBinder)
+        ))
     }
 }
 
diff --git a/libs/binder/rust/rpcbinder/src/server.rs b/libs/binder/rust/rpcbinder/src/server.rs
index d98a439..aeb23c6 100644
--- a/libs/binder/rust/rpcbinder/src/server.rs
+++ b/libs/binder/rust/rpcbinder/src/server.rs
@@ -14,7 +14,10 @@
  * limitations under the License.
  */
 
-use binder::{unstable_api::AsNative, SpIBinder};
+use binder::{
+    unstable_api::{AIBinder, AsNative},
+    SpIBinder,
+};
 use std::{os::raw, ptr::null_mut};
 
 /// Runs a binder RPC server, serving the supplied binder service implementation on the given vsock
@@ -44,7 +47,7 @@
     F: FnOnce(),
 {
     fn run_server(&mut self, mut service: SpIBinder, port: u32) -> bool {
-        let service = service.as_native_mut() as *mut binder_rpc_unstable_bindgen::AIBinder;
+        let service = service.as_native_mut();
         let param = self.as_void_ptr();
 
         // SAFETY: Service ownership is transferring to the server and won't be valid afterward.
@@ -106,10 +109,7 @@
     }
 }
 
-unsafe extern "C" fn factory_wrapper(
-    cid: u32,
-    context: *mut raw::c_void,
-) -> *mut binder_rpc_unstable_bindgen::AIBinder {
+unsafe extern "C" fn factory_wrapper(cid: u32, context: *mut raw::c_void) -> *mut AIBinder {
     // SAFETY: `context` was created from an `&mut RpcServerFactoryRef` by
     // `run_rpc_server_with_factory`, and we are still within the lifetime of the value it is
     // pointing to.
@@ -117,7 +117,7 @@
     let factory = factory_ptr.as_mut().unwrap();
 
     if let Some(mut service) = factory(cid) {
-        service.as_native_mut() as *mut binder_rpc_unstable_bindgen::AIBinder
+        service.as_native_mut()
     } else {
         null_mut()
     }
diff --git a/libs/binder/rust/src/native.rs b/libs/binder/rust/src/native.rs
index 3a6dadd..dee05d0 100644
--- a/libs/binder/rust/src/native.rs
+++ b/libs/binder/rust/src/native.rs
@@ -296,7 +296,7 @@
     /// Must be called with a valid pointer to a `T` object. After this call,
     /// the pointer will be invalid and should not be dereferenced.
     unsafe extern "C" fn on_destroy(object: *mut c_void) {
-        Box::from_raw(object as *mut T);
+        drop(Box::from_raw(object as *mut T));
     }
 
     /// Called whenever a new, local `AIBinder` object is needed of a specific
diff --git a/libs/binderthreadstate/test.cpp b/libs/binderthreadstate/test.cpp
index 2f73137..df1f35d 100644
--- a/libs/binderthreadstate/test.cpp
+++ b/libs/binderthreadstate/test.cpp
@@ -73,6 +73,15 @@
     CHECK(ret.isOk()) << ret;
 }
 
+static std::string getStackPointerDebugInfo() {
+    const void* hwbinderSp = android::hardware::IPCThreadState::self()->getServingStackPointer();
+    const void* binderSp = android::IPCThreadState::self()->getServingStackPointer();
+
+    std::stringstream ss;
+    ss << "(hwbinder sp: " << hwbinderSp << " binder sp: " << binderSp << ")";
+    return ss.str();
+}
+
 static inline std::ostream& operator<<(std::ostream& o, const BinderCallType& s) {
     return o << static_cast<std::underlying_type_t<BinderCallType>>(s);
 }
@@ -88,17 +97,21 @@
         return android::hardware::Status::ok();
     }
     Return<void> call(int32_t idx) {
+        bool doCallHidl = thisId == kP1Id && idx % 4 < 2;
+
         LOG(INFO) << "HidlServer CALL " << thisId << " to " << otherId << " at idx: " << idx
-                  << " with tid: " << gettid();
-        CHECK_EQ(BinderCallType::HWBINDER, getCurrentServingCall());
+                  << " with tid: " << gettid() << " calling " << (doCallHidl ? "HIDL" : "AIDL");
+        CHECK_EQ(BinderCallType::HWBINDER, getCurrentServingCall())
+                << " before call " << getStackPointerDebugInfo();
         if (idx > 0) {
-            if (thisId == kP1Id && idx % 4 < 2) {
+            if (doCallHidl) {
                 callHidl(otherId, idx - 1);
             } else {
                 callAidl(otherId, idx - 1);
             }
         }
-        CHECK_EQ(BinderCallType::HWBINDER, getCurrentServingCall());
+        CHECK_EQ(BinderCallType::HWBINDER, getCurrentServingCall())
+                << " after call " << getStackPointerDebugInfo();
         return android::hardware::Status::ok();
     }
 };
@@ -113,17 +126,20 @@
         return Status::ok();
     }
     Status call(int32_t idx) {
+        bool doCallHidl = thisId == kP2Id && idx % 4 < 2;
         LOG(INFO) << "AidlServer CALL " << thisId << " to " << otherId << " at idx: " << idx
-                  << " with tid: " << gettid();
-        CHECK_EQ(BinderCallType::BINDER, getCurrentServingCall());
+                  << " with tid: " << gettid() << " calling " << (doCallHidl ? "HIDL" : "AIDL");
+        CHECK_EQ(BinderCallType::BINDER, getCurrentServingCall())
+                << " before call " << getStackPointerDebugInfo();
         if (idx > 0) {
-            if (thisId == kP2Id && idx % 4 < 2) {
+            if (doCallHidl) {
                 callHidl(otherId, idx - 1);
             } else {
                 callAidl(otherId, idx - 1);
             }
         }
-        CHECK_EQ(BinderCallType::BINDER, getCurrentServingCall());
+        CHECK_EQ(BinderCallType::BINDER, getCurrentServingCall())
+                << " after call " << getStackPointerDebugInfo();
         return Status::ok();
     }
 };
diff --git a/libs/nativewindow/Android.bp b/libs/nativewindow/Android.bp
index dd07319..d7db6bd 100644
--- a/libs/nativewindow/Android.bp
+++ b/libs/nativewindow/Android.bp
@@ -61,6 +61,9 @@
 
     // Android O
     first_version: "26",
+    export_header_libs: [
+        "libnativewindow_ndk_headers",
+    ],
 }
 
 cc_library {
diff --git a/libs/sensor/fuzz/bittube_fuzzer/bittube_fuzzer.cpp b/libs/sensor/fuzz/bittube_fuzzer/bittube_fuzzer.cpp
index 6f10a67..6a61d36 100644
--- a/libs/sensor/fuzz/bittube_fuzzer/bittube_fuzzer.cpp
+++ b/libs/sensor/fuzz/bittube_fuzzer/bittube_fuzzer.cpp
@@ -24,14 +24,14 @@
 
 extern "C" int LLVMFuzzerTestOneInput(const uint8_t* data, size_t size) {
     FuzzedDataProvider fdp(data, size);
-    BitTube bittube(size);
+    sp<BitTube> bittube(new BitTube(size));
     Parcel parcel[5];
-    bittube.writeToParcel(parcel);
+    bittube->writeToParcel(parcel);
     sp<BitTube> tube(new BitTube(size));
-    bittube.sendObjects<uint8_t>(tube, data, size);
+    bittube->sendObjects<uint8_t>(tube, data, size);
     uint8_t recvData[size];
     for (int i = 0; i < size; i++) recvData[i] = fdp.ConsumeIntegral<uint8_t>();
-    bittube.recvObjects<uint8_t>(tube, recvData, size);
+    bittube->recvObjects<uint8_t>(tube, recvData, size);
 
     return 0;
 }
diff --git a/opengl/libs/Android.bp b/opengl/libs/Android.bp
index c1e935a..62cf255 100644
--- a/opengl/libs/Android.bp
+++ b/opengl/libs/Android.bp
@@ -12,7 +12,10 @@
     name: "libETC1",
     srcs: ["ETC1/etc1.cpp"],
     host_supported: true,
-    cflags: ["-Wall", "-Werror"],
+    cflags: [
+        "-Wall",
+        "-Werror",
+    ],
 
     target: {
         android: {
@@ -37,6 +40,9 @@
     symbol_file: "libEGL.map.txt",
     first_version: "9",
     unversioned_until: "current",
+    export_header_libs: [
+        "libEGL_headers",
+    ],
 }
 
 ndk_library {
@@ -44,6 +50,9 @@
     symbol_file: "libGLESv1_CM.map.txt",
     first_version: "9",
     unversioned_until: "current",
+    export_header_libs: [
+        "libGLESv1_CM_headers",
+    ],
 }
 
 ndk_library {
@@ -51,6 +60,9 @@
     symbol_file: "libGLESv2.map.txt",
     first_version: "9",
     unversioned_until: "current",
+    export_header_libs: [
+        "libGLESv2_headers",
+    ],
 }
 
 ndk_library {
@@ -58,6 +70,9 @@
     symbol_file: "libGLESv3.map.txt",
     first_version: "18",
     unversioned_until: "current",
+    export_header_libs: [
+        "libGLESv3_headers",
+    ],
 }
 
 cc_defaults {
@@ -170,7 +185,11 @@
         "libEGL_getProcAddress",
         "libEGL_blobCache",
     ],
-    ldflags: ["-Wl,--exclude-libs=ALL,--Bsymbolic-functions"],
+    ldflags: [
+        "-Wl,--exclude-libs=libEGL_getProcAddress.a",
+        "-Wl,--exclude-libs=libEGL_blobCache.a",
+        "-Wl,--Bsymbolic-functions",
+    ],
     export_include_dirs: ["EGL/include"],
     stubs: {
         symbol_file: "libEGL.map.txt",
diff --git a/vulkan/libvulkan/Android.bp b/vulkan/libvulkan/Android.bp
index 5719b5c..a87f82f 100644
--- a/vulkan/libvulkan/Android.bp
+++ b/vulkan/libvulkan/Android.bp
@@ -27,6 +27,9 @@
     symbol_file: "libvulkan.map.txt",
     first_version: "24",
     unversioned_until: "current",
+    export_header_libs: [
+        "ndk_vulkan_headers",
+    ],
 }
 
 cc_library_shared {