diff --git a/cmds/idlcli/vibrator.h b/cmds/idlcli/vibrator.h
index dfbb886..e100eac 100644
--- a/cmds/idlcli/vibrator.h
+++ b/cmds/idlcli/vibrator.h
@@ -74,7 +74,7 @@
 }
 
 template <typename I>
-using shared_ptr = std::result_of_t<decltype(getService<I>)&(std::string)>;
+using shared_ptr = std::invoke_result_t<decltype(getService<I>)&, std::string>;
 
 template <typename I>
 class HalWrapper {
diff --git a/cmds/lshal/Timeout.h b/cmds/lshal/Timeout.h
index 805e8dc..d97ba89 100644
--- a/cmds/lshal/Timeout.h
+++ b/cmds/lshal/Timeout.h
@@ -16,83 +16,44 @@
 
 #pragma once
 
-#include <condition_variable>
 #include <chrono>
-#include <functional>
-#include <mutex>
-#include <thread>
+#include <future>
 
 #include <hidl/Status.h>
+#include <utils/Errors.h>
 
 namespace android {
 namespace lshal {
 
-class BackgroundTaskState {
-public:
-    explicit BackgroundTaskState(std::function<void(void)> &&func)
-            : mFunc(std::forward<decltype(func)>(func)) {}
-    void notify() {
-        std::unique_lock<std::mutex> lock(mMutex);
-        mFinished = true;
-        lock.unlock();
-        mCondVar.notify_all();
-    }
-    template<class C, class D>
-    bool wait(std::chrono::time_point<C, D> end) {
-        std::unique_lock<std::mutex> lock(mMutex);
-        mCondVar.wait_until(lock, end, [this](){ return this->mFinished; });
-        return mFinished;
-    }
-    void operator()() {
-        mFunc();
-    }
-private:
-    std::mutex mMutex;
-    std::condition_variable mCondVar;
-    bool mFinished = false;
-    std::function<void(void)> mFunc;
-};
-
-void *callAndNotify(void *data) {
-    BackgroundTaskState &state = *static_cast<BackgroundTaskState *>(data);
-    state();
-    state.notify();
-    return nullptr;
-}
-
-template<class R, class P>
-bool timeout(std::chrono::duration<R, P> delay, std::function<void(void)> &&func) {
-    auto now = std::chrono::system_clock::now();
-    BackgroundTaskState state{std::forward<decltype(func)>(func)};
-    pthread_t thread;
-    if (pthread_create(&thread, nullptr, callAndNotify, &state)) {
-        std::cerr << "FATAL: could not create background thread." << std::endl;
-        return false;
-    }
-    bool success = state.wait(now + delay);
-    if (!success) {
-        pthread_kill(thread, SIGINT);
-    }
-    pthread_join(thread, nullptr);
-    return success;
-}
-
+// Call function on interfaceObject and wait for result until the given timeout has reached.
+// Callback functions pass to timeoutIPC() may be executed after the this function
+// has returned, especially if deadline has been reached. Hence, care must be taken when passing
+// data between the background thread and the main thread. See b/311143089.
 template<class R, class P, class Function, class I, class... Args>
-typename std::result_of<Function(I *, Args...)>::type
+typename std::invoke_result<Function, I *, Args...>::type
 timeoutIPC(std::chrono::duration<R, P> wait, const sp<I> &interfaceObject, Function &&func,
            Args &&... args) {
     using ::android::hardware::Status;
-    typename std::result_of<Function(I *, Args...)>::type ret{Status::ok()};
-    auto boundFunc = std::bind(std::forward<Function>(func),
-            interfaceObject.get(), std::forward<Args>(args)...);
-    bool success = timeout(wait, [&ret, &boundFunc] {
-        ret = std::move(boundFunc());
-    });
-    if (!success) {
+
+    // Execute on a background thread but do not defer execution.
+    auto future =
+            std::async(std::launch::async, func, interfaceObject, std::forward<Args>(args)...);
+    auto status = future.wait_for(wait);
+    if (status == std::future_status::ready) {
+        return future.get();
+    }
+
+    // This future belongs to a background thread that we no longer care about.
+    // Putting this in the global list avoids std::future::~future() that may wait for the
+    // result to come back.
+    // This leaks memory, but lshal is a debugging tool, so this is fine.
+    static std::vector<decltype(future)> gDeadPool{};
+    gDeadPool.emplace_back(std::move(future));
+
+    if (status == std::future_status::timeout) {
         return Status::fromStatusT(TIMED_OUT);
     }
-    return ret;
+    return Status::fromExceptionCode(Status::Exception::EX_ILLEGAL_STATE, "Illegal future_status");
 }
-
-}  // namespace lshal
-}  // namespace android
+} // namespace lshal
+} // namespace android
diff --git a/cmds/lshal/main.cpp b/cmds/lshal/main.cpp
index 366c938..bd5fa32 100644
--- a/cmds/lshal/main.cpp
+++ b/cmds/lshal/main.cpp
@@ -18,5 +18,6 @@
 
 int main(int argc, char **argv) {
     using namespace ::android::lshal;
-    return Lshal{}.main(Arg{argc, argv});
+    // Use _exit() to force terminate background threads in Timeout.h
+    _exit(Lshal{}.main(Arg{argc, argv}));
 }
diff --git a/cmds/lshal/test.cpp b/cmds/lshal/test.cpp
index cba7c4b..c24f827 100644
--- a/cmds/lshal/test.cpp
+++ b/cmds/lshal/test.cpp
@@ -14,6 +14,10 @@
  * limitations under the License.
  */
 
+#include <chrono>
+#include <future>
+#include <mutex>
+#include "android/hidl/base/1.0/IBase.h"
 #define LOG_TAG "Lshal"
 #include <android-base/logging.h>
 
@@ -36,6 +40,8 @@
 
 using namespace testing;
 
+using std::chrono_literals::operator""ms;
+
 using ::android::hidl::base::V1_0::DebugInfo;
 using ::android::hidl::base::V1_0::IBase;
 using ::android::hidl::manager::V1_0::IServiceManager;
@@ -934,12 +940,9 @@
         return hardware::Void();
     }));
     EXPECT_CALL(*serviceManager, get(_, _))
-            .WillRepeatedly(
-                    Invoke([&](const hidl_string&, const hidl_string& instance) -> sp<IBase> {
-                        int id = getIdFromInstanceName(instance);
-                        if (id > inheritanceLevel) return nullptr;
-                        return sp<IBase>(service);
-                    }));
+            .WillRepeatedly(Invoke([&](const hidl_string&, const hidl_string&) -> sp<IBase> {
+                return sp<IBase>(service);
+            }));
 
     const std::string expected = "[fake description 0]\n"
                                  "Interface\n"
@@ -957,6 +960,110 @@
     EXPECT_EQ("", err.str());
 }
 
+// In SlowService, everything goes slooooooow. Each IPC call will wait for
+// the specified time before calling the callback function or returning.
+class SlowService : public IBase {
+public:
+    explicit SlowService(std::chrono::milliseconds wait) : mWait(wait) {}
+    android::hardware::Return<void> interfaceDescriptor(interfaceDescriptor_cb cb) override {
+        std::this_thread::sleep_for(mWait);
+        cb(getInterfaceName(1));
+        storeHistory("interfaceDescriptor");
+        return hardware::Void();
+    }
+    android::hardware::Return<void> interfaceChain(interfaceChain_cb cb) override {
+        std::this_thread::sleep_for(mWait);
+        std::vector<hidl_string> ret;
+        ret.push_back(getInterfaceName(1));
+        ret.push_back(IBase::descriptor);
+        cb(ret);
+        storeHistory("interfaceChain");
+        return hardware::Void();
+    }
+    android::hardware::Return<void> getHashChain(getHashChain_cb cb) override {
+        std::this_thread::sleep_for(mWait);
+        std::vector<hidl_hash> ret;
+        ret.push_back(getHashFromId(0));
+        ret.push_back(getHashFromId(0xff));
+        cb(ret);
+        storeHistory("getHashChain");
+        return hardware::Void();
+    }
+    android::hardware::Return<void> debug(const hidl_handle&,
+                                          const hidl_vec<hidl_string>&) override {
+        std::this_thread::sleep_for(mWait);
+        storeHistory("debug");
+        return Void();
+    }
+
+    template <class R, class P, class Pred>
+    bool waitForHistory(std::chrono::duration<R, P> wait, Pred predicate) {
+        std::unique_lock<std::mutex> lock(mLock);
+        return mCv.wait_for(lock, wait, [&]() { return predicate(mCallHistory); });
+    }
+
+private:
+    void storeHistory(std::string hist) {
+        {
+            std::lock_guard<std::mutex> lock(mLock);
+            mCallHistory.emplace_back(std::move(hist));
+        }
+        mCv.notify_all();
+    }
+
+    const std::chrono::milliseconds mWait;
+    std::mutex mLock;
+    std::condition_variable mCv;
+    // List of functions that have finished being called on this interface.
+    std::vector<std::string> mCallHistory;
+};
+
+class TimeoutTest : public ListTest {
+public:
+    void setMockServiceManager(sp<IBase> service) {
+        EXPECT_CALL(*serviceManager, list(_))
+                .WillRepeatedly(Invoke([&](IServiceManager::list_cb cb) {
+                    std::vector<hidl_string> ret;
+                    ret.push_back(getInterfaceName(1) + "/default");
+                    cb(ret);
+                    return hardware::Void();
+                }));
+        EXPECT_CALL(*serviceManager, get(_, _))
+                .WillRepeatedly(Invoke([&](const hidl_string&, const hidl_string&) -> sp<IBase> {
+                    return service;
+                }));
+    }
+};
+
+TEST_F(TimeoutTest, BackgroundThreadIsKept) {
+    auto lshalIpcTimeout = 100ms;
+    auto serviceIpcTimeout = 200ms;
+    lshal->setWaitTimeForTest(lshalIpcTimeout, lshalIpcTimeout);
+    sp<SlowService> service = new SlowService(serviceIpcTimeout);
+    setMockServiceManager(service);
+
+    optind = 1; // mimic Lshal::parseArg()
+    EXPECT_NE(0u, mockList->main(createArg({"lshal", "--types=b", "-i", "--neat"})));
+    EXPECT_THAT(err.str(), HasSubstr("Skipping \"a.h.foo1@1.0::IFoo/default\""));
+    EXPECT_TRUE(service->waitForHistory(serviceIpcTimeout * 5, [](const auto& hist) {
+        return hist.size() == 1 && hist[0] == "interfaceChain";
+    })) << "The background thread should continue after the main thread moves on, but it is killed";
+}
+
+TEST_F(TimeoutTest, BackgroundThreadDoesNotBlockMainThread) {
+    auto lshalIpcTimeout = 100ms;
+    auto serviceIpcTimeout = 2000ms;
+    auto start = std::chrono::system_clock::now();
+    lshal->setWaitTimeForTest(lshalIpcTimeout, lshalIpcTimeout);
+    sp<SlowService> service = new SlowService(serviceIpcTimeout);
+    setMockServiceManager(service);
+
+    optind = 1; // mimic Lshal::parseArg()
+    EXPECT_NE(0u, mockList->main(createArg({"lshal", "--types=b", "-i", "--neat"})));
+    EXPECT_LE(std::chrono::system_clock::now(), start + 5 * lshalIpcTimeout)
+            << "The main thread should not be blocked by the background task";
+}
+
 class ListVintfTest : public ListTest {
 public:
     virtual void SetUp() override {
@@ -1079,5 +1186,6 @@
 
 int main(int argc, char **argv) {
     ::testing::InitGoogleMock(&argc, argv);
-    return RUN_ALL_TESTS();
+    // Use _exit() to force terminate background threads in Timeout.h
+    _exit(RUN_ALL_TESTS());
 }