diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index 85c7228..bf85da2 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -300,7 +300,24 @@
                          .maxSampleRate = 10.0f,
                  },
          .initialValue = {.floatValues = {0.0f}}},
-
+        {.config =
+                 {
+                         .prop = toInt(VehicleProperty::PERF_STEERING_ANGLE),
+                         .access = VehiclePropertyAccess::READ,
+                         .changeMode = VehiclePropertyChangeMode::CONTINUOUS,
+                         .minSampleRate = 0.0f,
+                         .maxSampleRate = 10.0f,
+                 },
+         .initialValue = {.floatValues = {0.0f}}},
+        {.config =
+                 {
+                         .prop = toInt(VehicleProperty::PERF_REAR_STEERING_ANGLE),
+                         .access = VehiclePropertyAccess::READ,
+                         .changeMode = VehiclePropertyChangeMode::CONTINUOUS,
+                         .minSampleRate = 0.0f,
+                         .maxSampleRate = 10.0f,
+                 },
+         .initialValue = {.floatValues = {0.0f}}},
         {
                 .config =
                         {
diff --git a/automotive/vehicle/2.0/types.hal b/automotive/vehicle/2.0/types.hal
index 7e0aa25..6145ea2 100644
--- a/automotive/vehicle/2.0/types.hal
+++ b/automotive/vehicle/2.0/types.hal
@@ -362,7 +362,7 @@
         | VehicleArea:GLOBAL),
 
     /**
-     * Steering angle of the vehicle
+     * Front bicycle model steering angle for vehicle
      *
      * Angle is in degrees.  Left is negative.
      *
@@ -377,6 +377,21 @@
         | VehicleArea:GLOBAL),
 
     /**
+     * Rear bicycle model steering angle for vehicle
+     *
+     * Angle is in degrees.  Left is negative.
+     *
+     * @change_mode VehiclePropertyChangeMode:CONTINUOUS
+     * @access VehiclePropertyAccess:READ
+     * @unit VehicleUnit:DEGREES
+     */
+    PERF_REAR_STEERING_ANGLE = (
+        0x0210
+        | VehiclePropertyGroup:SYSTEM
+        | VehiclePropertyType:FLOAT
+        | VehicleArea:GLOBAL),
+
+    /**
      * Temperature of engine coolant
      *
      * @change_mode VehiclePropertyChangeMode:CONTINUOUS
diff --git a/graphics/composer/2.1/utils/command-buffer/include/composer-command-buffer/2.1/ComposerCommandBuffer.h b/graphics/composer/2.1/utils/command-buffer/include/composer-command-buffer/2.1/ComposerCommandBuffer.h
index 64ed4f3..499d3b9 100644
--- a/graphics/composer/2.1/utils/command-buffer/include/composer-command-buffer/2.1/ComposerCommandBuffer.h
+++ b/graphics/composer/2.1/utils/command-buffer/include/composer-command-buffer/2.1/ComposerCommandBuffer.h
@@ -626,9 +626,15 @@
     }
 
    protected:
+     template <typename T>
+     bool beginCommand(T* outCommand, uint16_t* outLength) {
+         return beginCommandBase(reinterpret_cast<IComposerClient::Command*>(outCommand),
+                                 outLength);
+     }
+
     bool isEmpty() const { return (mDataRead >= mDataSize); }
 
-    bool beginCommand(IComposerClient::Command* outCommand, uint16_t* outLength) {
+    bool beginCommandBase(IComposerClient::Command* outCommand, uint16_t* outLength) {
         if (mCommandEnd) {
             LOG_FATAL("endCommand was not called for last command");
         }
diff --git a/graphics/composer/2.1/utils/hal/include/composer-hal/2.1/ComposerCommandEngine.h b/graphics/composer/2.1/utils/hal/include/composer-hal/2.1/ComposerCommandEngine.h
index b173e2e..ab67eb1 100644
--- a/graphics/composer/2.1/utils/hal/include/composer-hal/2.1/ComposerCommandEngine.h
+++ b/graphics/composer/2.1/utils/hal/include/composer-hal/2.1/ComposerCommandEngine.h
@@ -146,6 +146,25 @@
         return std::make_unique<CommandWriterBase>(writerInitialSize);
     }
 
+    virtual Error executeValidateDisplayInternal() {
+        std::vector<Layer> changedLayers;
+        std::vector<IComposerClient::Composition> compositionTypes;
+        uint32_t displayRequestMask = 0x0;
+        std::vector<Layer> requestedLayers;
+        std::vector<uint32_t> requestMasks;
+
+        auto err = mHal->validateDisplay(mCurrentDisplay, &changedLayers, &compositionTypes,
+                                         &displayRequestMask, &requestedLayers, &requestMasks);
+        mResources->setDisplayMustValidateState(mCurrentDisplay, false);
+        if (err == Error::NONE) {
+            mWriter->setChangedCompositionTypes(changedLayers, compositionTypes);
+            mWriter->setDisplayRequests(displayRequestMask, requestedLayers, requestMasks);
+        } else {
+            mWriter->setError(getCommandLoc(), err);
+        }
+        return err;
+    }
+
     bool executeSelectDisplay(uint16_t length) {
         if (length != CommandWriterBase::kSelectDisplayLength) {
             return false;
@@ -255,23 +274,7 @@
         if (length != CommandWriterBase::kValidateDisplayLength) {
             return false;
         }
-
-        std::vector<Layer> changedLayers;
-        std::vector<IComposerClient::Composition> compositionTypes;
-        uint32_t displayRequestMask = 0x0;
-        std::vector<Layer> requestedLayers;
-        std::vector<uint32_t> requestMasks;
-
-        auto err = mHal->validateDisplay(mCurrentDisplay, &changedLayers, &compositionTypes,
-                                         &displayRequestMask, &requestedLayers, &requestMasks);
-        mResources->setDisplayMustValidateState(mCurrentDisplay, false);
-        if (err == Error::NONE) {
-            mWriter->setChangedCompositionTypes(changedLayers, compositionTypes);
-            mWriter->setDisplayRequests(displayRequestMask, requestedLayers, requestMasks);
-        } else {
-            mWriter->setError(getCommandLoc(), err);
-        }
-
+        executeValidateDisplayInternal();
         return true;
     }
 
@@ -297,21 +300,9 @@
         }
 
         // Present has failed. We need to fallback to validate
-        std::vector<Layer> changedLayers;
-        std::vector<IComposerClient::Composition> compositionTypes;
-        uint32_t displayRequestMask = 0x0;
-        std::vector<Layer> requestedLayers;
-        std::vector<uint32_t> requestMasks;
-
-        auto err = mHal->validateDisplay(mCurrentDisplay, &changedLayers, &compositionTypes,
-                                         &displayRequestMask, &requestedLayers, &requestMasks);
-        mResources->setDisplayMustValidateState(mCurrentDisplay, false);
+        auto err = executeValidateDisplayInternal();
         if (err == Error::NONE) {
             mWriter->setPresentOrValidateResult(0);
-            mWriter->setChangedCompositionTypes(changedLayers, compositionTypes);
-            mWriter->setDisplayRequests(displayRequestMask, requestedLayers, requestMasks);
-        } else {
-            mWriter->setError(getCommandLoc(), err);
         }
 
         return true;
diff --git a/graphics/composer/2.4/IComposerClient.hal b/graphics/composer/2.4/IComposerClient.hal
index 1b8170b..7e0c33c 100644
--- a/graphics/composer/2.4/IComposerClient.hal
+++ b/graphics/composer/2.4/IComposerClient.hal
@@ -16,6 +16,9 @@
 
 package android.hardware.graphics.composer@2.4;
 
+import android.hardware.graphics.common@1.2::PixelFormat;
+import android.hardware.graphics.common@1.2::Dataspace;
+import android.hardware.graphics.composer@2.1::IComposerClient.Command;
 import IComposerCallback;
 import @2.1::Config;
 import @2.1::Display;
@@ -56,6 +59,20 @@
         AUTO_LOW_LATENCY_MODE = 5,
     };
 
+    enum Command : @2.3::IComposerClient.Command {
+        /**
+         * SET_CLIENT_TARGET_PROPERTY has this pseudo prototype
+         *
+         * This command has the following binary layout in bytes:
+         *
+         *     0 - 3: clientTargetProperty.pixelFormat
+         *     4 - 7: clientTargetProperty.dataspace
+         *
+         *   setClientTargetProperty(ClientTargetProperty clientTargetProperty);
+         */
+         SET_CLIENT_TARGET_PROPERTY = 0x105 << @2.1::IComposerClient.Command:OPCODE_SHIFT,
+    };
+
     /**
      * Supersedes {@link @2.1::IComposerClient.DisplayType}.
      */
@@ -99,6 +116,11 @@
         bool seamlessRequired;
     };
 
+    struct ClientTargetProperty {
+        PixelFormat pixelFormat;
+        Dataspace dataspace;
+    };
+
     /**
      * Provides a IComposerCallback object for the device to call.
      *
diff --git a/graphics/composer/2.4/utils/command-buffer/include/composer-command-buffer/2.4/ComposerCommandBuffer.h b/graphics/composer/2.4/utils/command-buffer/include/composer-command-buffer/2.4/ComposerCommandBuffer.h
index cb391be..e84779e 100644
--- a/graphics/composer/2.4/utils/command-buffer/include/composer-command-buffer/2.4/ComposerCommandBuffer.h
+++ b/graphics/composer/2.4/utils/command-buffer/include/composer-command-buffer/2.4/ComposerCommandBuffer.h
@@ -41,14 +41,25 @@
 // units of uint32_t's.
 class CommandWriterBase : public V2_3::CommandWriterBase {
   public:
+    static constexpr uint16_t kSetClientTargetPropertyLength = 2;
+
     CommandWriterBase(uint32_t initialMaxSize) : V2_3::CommandWriterBase(initialMaxSize) {}
+
+    void setClientTargetProperty(
+            const IComposerClient::ClientTargetProperty& clientTargetProperty) {
+        beginCommand(IComposerClient::Command::SET_CLIENT_TARGET_PROPERTY,
+                     kSetClientTargetPropertyLength);
+        writeSigned(static_cast<int32_t>(clientTargetProperty.pixelFormat));
+        writeSigned(static_cast<int32_t>(clientTargetProperty.dataspace));
+        endCommand();
+    }
 };
 
 // This class helps parse a command queue.  Note that all sizes/lengths are in
 // units of uint32_t's.
 class CommandReaderBase : public V2_3::CommandReaderBase {
   public:
-    CommandReaderBase() : V2_3::CommandReaderBase(){};
+    CommandReaderBase() : V2_3::CommandReaderBase() {}
 };
 
 }  // namespace V2_4
diff --git a/graphics/composer/2.4/utils/hal/Android.bp b/graphics/composer/2.4/utils/hal/Android.bp
index 3ee4e19..f4cdea4 100644
--- a/graphics/composer/2.4/utils/hal/Android.bp
+++ b/graphics/composer/2.4/utils/hal/Android.bp
@@ -26,11 +26,11 @@
     ],
     header_libs: [
         "android.hardware.graphics.composer@2.3-hal",
-        "android.hardware.graphics.composer@2.3-command-buffer",
+        "android.hardware.graphics.composer@2.4-command-buffer",
     ],
     export_header_lib_headers: [
         "android.hardware.graphics.composer@2.3-hal",
-        "android.hardware.graphics.composer@2.3-command-buffer",
+        "android.hardware.graphics.composer@2.4-command-buffer",
     ],
     export_include_dirs: ["include"],
 }
diff --git a/graphics/composer/2.4/utils/hal/include/composer-hal/2.4/ComposerClient.h b/graphics/composer/2.4/utils/hal/include/composer-hal/2.4/ComposerClient.h
index d48a9e7..c864ce6 100644
--- a/graphics/composer/2.4/utils/hal/include/composer-hal/2.4/ComposerClient.h
+++ b/graphics/composer/2.4/utils/hal/include/composer-hal/2.4/ComposerClient.h
@@ -22,6 +22,7 @@
 
 #include <android/hardware/graphics/composer/2.4/IComposerCallback.h>
 #include <android/hardware/graphics/composer/2.4/IComposerClient.h>
+#include <composer-hal/2.4/ComposerCommandEngine.h>
 #include <composer-hal/2.4/ComposerHal.h>
 #include <composer-resources/2.1/ComposerResources.h>
 
@@ -168,12 +169,18 @@
         return client->init() ? std::move(client) : nullptr;
     }
 
+  protected:
+    std::unique_ptr<V2_1::hal::ComposerCommandEngine> createCommandEngine() override {
+        return std::make_unique<ComposerCommandEngine>(
+                mHal, static_cast<V2_2::hal::ComposerResources*>(mResources.get()));
+    }
+
   private:
     using BaseType2_3 = V2_3::hal::detail::ComposerClientImpl<Interface, Hal>;
     using BaseType2_1 = V2_1::hal::detail::ComposerClientImpl<Interface, Hal>;
     using BaseType2_1::mHal;
-    std::unique_ptr<HalEventCallback> mHalEventCallback_2_4;
     using BaseType2_1::mResources;
+    std::unique_ptr<HalEventCallback> mHalEventCallback_2_4;
 };
 
 }  // namespace detail
diff --git a/graphics/composer/2.4/utils/hal/include/composer-hal/2.4/ComposerCommandEngine.h b/graphics/composer/2.4/utils/hal/include/composer-hal/2.4/ComposerCommandEngine.h
new file mode 100644
index 0000000..e0153ce
--- /dev/null
+++ b/graphics/composer/2.4/utils/hal/include/composer-hal/2.4/ComposerCommandEngine.h
@@ -0,0 +1,85 @@
+/*
+ * Copyright 2020 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#ifndef LOG_TAG
+#warning "ComposerCommandEngine.h included without LOG_TAG"
+#endif
+
+#include <composer-command-buffer/2.4/ComposerCommandBuffer.h>
+#include <composer-hal/2.1/ComposerCommandEngine.h>
+#include <composer-hal/2.3/ComposerCommandEngine.h>
+#include <composer-hal/2.4/ComposerHal.h>
+#include <composer-resources/2.2/ComposerResources.h>
+
+namespace android {
+namespace hardware {
+namespace graphics {
+namespace composer {
+namespace V2_4 {
+namespace hal {
+
+class ComposerCommandEngine : public V2_3::hal::ComposerCommandEngine {
+  public:
+    ComposerCommandEngine(ComposerHal* hal, V2_2::hal::ComposerResources* resources)
+        : BaseType2_3(hal, resources), mHal(hal) {}
+
+  protected:
+    std::unique_ptr<V2_1::CommandWriterBase> createCommandWriter(
+            size_t writerInitialSize) override {
+        return std::make_unique<CommandWriterBase>(writerInitialSize);
+    }
+
+  private:
+    using BaseType2_1 = V2_1::hal::ComposerCommandEngine;
+    using BaseType2_3 = V2_3::hal::ComposerCommandEngine;
+    using BaseType2_1::mWriter;
+
+    V2_1::Error executeValidateDisplayInternal() override {
+        std::vector<Layer> changedLayers;
+        std::vector<IComposerClient::Composition> compositionTypes;
+        uint32_t displayRequestMask = 0x0;
+        std::vector<Layer> requestedLayers;
+        std::vector<uint32_t> requestMasks;
+        IComposerClient::ClientTargetProperty clientTargetProperty{PixelFormat::RGBA_8888,
+                                                                   Dataspace::UNKNOWN};
+
+        auto err = mHal->validateDisplay_2_4(mCurrentDisplay, &changedLayers, &compositionTypes,
+                                             &displayRequestMask, &requestedLayers, &requestMasks,
+                                             &clientTargetProperty);
+        mResources->setDisplayMustValidateState(mCurrentDisplay, false);
+        if (err == Error::NONE) {
+            mWriter->setChangedCompositionTypes(changedLayers, compositionTypes);
+            mWriter->setDisplayRequests(displayRequestMask, requestedLayers, requestMasks);
+            getWriter()->setClientTargetProperty(clientTargetProperty);
+        } else {
+            mWriter->setError(getCommandLoc(), static_cast<V2_1::Error>(err));
+        }
+        return static_cast<V2_1::Error>(err);
+    }
+
+    CommandWriterBase* getWriter() { return static_cast<CommandWriterBase*>(mWriter.get()); }
+
+    ComposerHal* mHal;
+};
+
+}  // namespace hal
+}  // namespace V2_4
+}  // namespace composer
+}  // namespace graphics
+}  // namespace hardware
+}  // namespace android
diff --git a/graphics/composer/2.4/utils/hal/include/composer-hal/2.4/ComposerHal.h b/graphics/composer/2.4/utils/hal/include/composer-hal/2.4/ComposerHal.h
index bbc5405..277055c 100644
--- a/graphics/composer/2.4/utils/hal/include/composer-hal/2.4/ComposerHal.h
+++ b/graphics/composer/2.4/utils/hal/include/composer-hal/2.4/ComposerHal.h
@@ -73,6 +73,12 @@
             Display display,
             std::vector<IComposerClient::ContentType>* outSupportedContentTypes) = 0;
     virtual Error setContentType(Display display, IComposerClient::ContentType contentType) = 0;
+    virtual Error validateDisplay_2_4(
+            Display display, std::vector<Layer>* outChangedLayers,
+            std::vector<IComposerClient::Composition>* outCompositionTypes,
+            uint32_t* outDisplayRequestMask, std::vector<Layer>* outRequestedLayers,
+            std::vector<uint32_t>* outRequestMasks,
+            IComposerClient::ClientTargetProperty* outClientTargetProperty) = 0;
 };
 
 }  // namespace hal
diff --git a/graphics/composer/2.4/utils/passthrough/include/composer-passthrough/2.4/HwcHal.h b/graphics/composer/2.4/utils/passthrough/include/composer-passthrough/2.4/HwcHal.h
index 07d8607..616852a 100644
--- a/graphics/composer/2.4/utils/passthrough/include/composer-passthrough/2.4/HwcHal.h
+++ b/graphics/composer/2.4/utils/passthrough/include/composer-passthrough/2.4/HwcHal.h
@@ -43,6 +43,7 @@
 using common::V1_2::PixelFormat;
 using V2_1::Config;
 using V2_1::Display;
+using V2_1::Layer;
 using V2_4::Error;
 
 // HwcHalImpl implements V2_*::hal::ComposerHal on top of hwcomposer2
@@ -218,6 +219,32 @@
         return Error::NONE;
     }
 
+    Error validateDisplay_2_4(
+            Display display, std::vector<Layer>* outChangedLayers,
+            std::vector<IComposerClient::Composition>* outCompositionTypes,
+            uint32_t* outDisplayRequestMask, std::vector<Layer>* outRequestedLayers,
+            std::vector<uint32_t>* outRequestMasks,
+            IComposerClient::ClientTargetProperty* outClientTargetProperty) override {
+        auto err = static_cast<Error>(BaseType2_1::validateDisplay(
+                display, outChangedLayers, outCompositionTypes, outDisplayRequestMask,
+                outRequestedLayers, outRequestMasks));
+        if (err != Error::NONE) {
+            return err;
+        }
+
+        if (mDispatch.getClientTargetProperty) {
+            hwc_client_target_property_t clientTargetProperty;
+            err = static_cast<Error>(
+                    mDispatch.getClientTargetProperty(mDevice, display, &clientTargetProperty));
+            outClientTargetProperty->pixelFormat =
+                    static_cast<PixelFormat>(clientTargetProperty.pixelFormat);
+            outClientTargetProperty->dataspace =
+                    static_cast<Dataspace>(clientTargetProperty.dataspace);
+        }
+
+        return err;
+    }
+
   protected:
     bool initDispatch() override {
         if (!BaseType2_3::initDispatch()) {
@@ -238,6 +265,8 @@
         this->initOptionalDispatch(HWC2_FUNCTION_GET_SUPPORTED_CONTENT_TYPES,
                                    &mDispatch.getSupportedContentTypes);
         this->initOptionalDispatch(HWC2_FUNCTION_SET_CONTENT_TYPE, &mDispatch.setContentType);
+        this->initOptionalDispatch(HWC2_FUNCTION_GET_CLIENT_TARGET_PROPERTY,
+                                   &mDispatch.getClientTargetProperty);
         return true;
     }
 
@@ -289,6 +318,7 @@
         HWC2_PFN_SET_AUTO_LOW_LATENCY_MODE setAutoLowLatencyMode;
         HWC2_PFN_GET_SUPPORTED_CONTENT_TYPES getSupportedContentTypes;
         HWC2_PFN_SET_CONTENT_TYPE setContentType;
+        HWC2_PFN_GET_CLIENT_TARGET_PROPERTY getClientTargetProperty;
     } mDispatch = {};
 
     hal::ComposerHal::EventCallback_2_4* mEventCallback_2_4 = nullptr;