diff --git a/audio/aidl/default/EffectContext.cpp b/audio/aidl/default/EffectContext.cpp
index 2e12918..4f226c4 100644
--- a/audio/aidl/default/EffectContext.cpp
+++ b/audio/aidl/default/EffectContext.cpp
@@ -46,7 +46,7 @@
     ::android::status_t status =
             EventFlag::createEventFlag(mStatusMQ->getEventFlagWord(), &mEfGroup);
     LOG_ALWAYS_FATAL_IF(status != ::android::OK || !mEfGroup, " create EventFlagGroup failed ");
-    mWorkBuffer.reserve(std::max(inBufferSizeInFloat, outBufferSizeInFloat));
+    mWorkBuffer.resize(std::max(inBufferSizeInFloat, outBufferSizeInFloat));
 }
 
 // reset buffer status by abandon input data in FMQ
@@ -82,6 +82,10 @@
     return static_cast<float*>(mWorkBuffer.data());
 }
 
+size_t EffectContext::getWorkBufferSize() const {
+    return mWorkBuffer.size();
+}
+
 std::shared_ptr<EffectContext::StatusMQ> EffectContext::getStatusFmq() const {
     return mStatusMQ;
 }
@@ -206,6 +210,8 @@
     mInputFrameSize = iFrameSize;
     mOutputFrameSize = oFrameSize;
     if (needUpdateMq) {
+        mWorkBuffer.resize(std::max(common.input.frameCount * mInputFrameSize / sizeof(float),
+                                    common.output.frameCount * mOutputFrameSize / sizeof(float)));
         return notifyDataMqUpdate();
     }
     return RetCode::SUCCESS;
diff --git a/audio/aidl/default/EffectImpl.cpp b/audio/aidl/default/EffectImpl.cpp
index b76269a..c29bf79 100644
--- a/audio/aidl/default/EffectImpl.cpp
+++ b/audio/aidl/default/EffectImpl.cpp
@@ -327,7 +327,9 @@
             return;
         }
 
-        auto processSamples = inputMQ->availableToRead();
+        assert(mImplContext->getWorkBufferSize() >=
+               std::max(inputMQ->availableToRead(), outputMQ->availableToWrite()));
+        auto processSamples = std::min(inputMQ->availableToRead(), outputMQ->availableToWrite());
         if (processSamples) {
             inputMQ->read(buffer, processSamples);
             IEffect::Status status = effectProcessImpl(buffer, buffer, processSamples);
diff --git a/audio/aidl/default/bluetooth/ModuleBluetooth.cpp b/audio/aidl/default/bluetooth/ModuleBluetooth.cpp
index 9084b30..ac375a0 100644
--- a/audio/aidl/default/bluetooth/ModuleBluetooth.cpp
+++ b/audio/aidl/default/bluetooth/ModuleBluetooth.cpp
@@ -299,7 +299,13 @@
                         : std::shared_ptr<BluetoothAudioPortAidl>(
                                   std::make_shared<BluetoothAudioPortAidlOut>());
     const auto& devicePort = audioPort.ext.get<AudioPortExt::device>();
-    if (const auto device = devicePort.device.type; !proxy.ptr->registerPort(device)) {
+    const auto device = devicePort.device.type;
+    bool registrationSuccess = false;
+    for (int i = 0; i < kCreateProxyRetries && !registrationSuccess; ++i) {
+        registrationSuccess = proxy.ptr->registerPort(device);
+        usleep(kCreateProxyRetrySleepMs * 1000);
+    }
+    if (!registrationSuccess) {
         LOG(ERROR) << __func__ << ": failed to register BT port for " << device.toString();
         return ndk::ScopedAStatus::fromExceptionCode(EX_ILLEGAL_STATE);
     }
diff --git a/audio/aidl/default/include/core-impl/ModuleBluetooth.h b/audio/aidl/default/include/core-impl/ModuleBluetooth.h
index 9451411..b95b526 100644
--- a/audio/aidl/default/include/core-impl/ModuleBluetooth.h
+++ b/audio/aidl/default/include/core-impl/ModuleBluetooth.h
@@ -85,6 +85,8 @@
     ndk::ScopedAStatus findOrCreateProxy(
             const ::aidl::android::media::audio::common::AudioPort& audioPort, CachedProxy& proxy);
 
+    static constexpr int kCreateProxyRetries = 5;
+    static constexpr int kCreateProxyRetrySleepMs = 250;
     ChildInterface<BluetoothA2dp> mBluetoothA2dp;
     ChildInterface<BluetoothLe> mBluetoothLe;
     std::map<int32_t /*instantiated device port ID*/, CachedProxy> mProxies;
diff --git a/audio/aidl/default/include/effect-impl/EffectContext.h b/audio/aidl/default/include/effect-impl/EffectContext.h
index 24f3b5d..b3d730d 100644
--- a/audio/aidl/default/include/effect-impl/EffectContext.h
+++ b/audio/aidl/default/include/effect-impl/EffectContext.h
@@ -49,6 +49,7 @@
     std::shared_ptr<DataMQ> getOutputDataFmq() const;
 
     float* getWorkBuffer();
+    size_t getWorkBufferSize() const;
 
     // reset buffer status by abandon input data in FMQ
     void resetBuffer();
diff --git a/automotive/vehicle/Android.bp b/automotive/vehicle/Android.bp
index 3549519..e614937 100644
--- a/automotive/vehicle/Android.bp
+++ b/automotive/vehicle/Android.bp
@@ -25,3 +25,11 @@
         "android.hardware.automotive.vehicle.property-V3-ndk",
     ],
 }
+
+rust_defaults {
+    name: "VehicleHalInterfaceRustDefaults",
+    rustlibs: [
+        "android.hardware.automotive.vehicle-V3-rust",
+        "android.hardware.automotive.vehicle.property-V3-rust",
+    ],
+}
diff --git a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
index 0fd8c23..590eff9 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -3595,6 +3595,700 @@
             ]
         },
         {
+            "property": "VehicleProperty::ULTRASONICS_SENSOR_ORIENTATION",
+            "comment":
+                    "Default values for 12 individual ultrasonic sensors installed on the vehicle. Six sensors on the front bumper. Six sensors on the back bumper.",
+            "areas": [
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            0.924,
+                            0,
+                            0,
+                            0.383
+                        ]
+                    },
+                    "areaId": 1,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing front left most sensor rotated 45 degrees counter-clockwise."
+                },
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            1,
+                            0,
+                            0,
+                            0
+                        ]
+                    },
+                    "areaId": 2,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing front 2nd to the left sensor rotated 0 degrees"
+                },
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            1,
+                            0,
+                            0,
+                            0
+                        ]
+                    },
+                    "areaId": 4,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing front 3rd to the left sensor rotated 0 degrees"
+                },
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            1,
+                            0,
+                            0,
+                            0
+                        ]
+                    },
+                    "areaId": 8,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing front 3rd to the right sensor rotated 0 degrees"
+                },
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            1,
+                            0,
+                            0,
+                            0
+                        ]
+                    },
+                    "areaId": 16,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing front 2nd to the right sensor rotated 0 degrees"
+                },
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            0.924,
+                            0,
+                            0,
+                            -0.383
+                        ]
+                    },
+                    "areaId": 32,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing front right most sensor rotated 45 degrees clockwise."
+                },
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            60,
+                            61,
+                            62,
+                            63
+                        ]
+                    },
+                    "areaId": 64,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing back left most sensor rotated 45 degrees counter-clockwise."
+                },
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            70,
+                            71,
+                            72,
+                            73
+                        ]
+                    },
+                    "areaId": 128,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing back 2nd to the left sensor rotated 0 degrees"
+                },
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            81,
+                            82,
+                            83,
+                            84
+                        ]
+                    },
+                    "areaId": 256,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing back 3rd to the right sensor rotated 0 degrees"
+                },
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            90,
+                            91,
+                            92,
+                            93
+                        ]
+                    },
+                    "areaId": 512,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing back 3rd to the right sensor rotated 0 degrees"
+                },
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            100,
+                            101,
+                            102,
+                            103
+                        ]
+                    },
+                    "areaId": 1024,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing back 2nd to the right sensor rotated 0 degrees"
+                },
+                {
+                    "defaultValue": {
+                        "floatValues": [
+                            110,
+                            111,
+                            112,
+                            113
+                        ]
+                    },
+                    "areaId": 2048,
+                    "comment":
+                            "Rough quaternion values [w, x, y, z] representing back right most sensor rotated 45 degrees clockwise."
+                }
+            ]
+        },
+        {
+            "property": "VehicleProperty::ULTRASONICS_SENSOR_FIELD_OF_VIEW",
+            "comment":
+                    "Default values for 12 individual ultrasonic sensors installed on the vehicle. Six sensors on the front bumper. Six sensors on the back bumper.",
+            "areas": [
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            85,
+                            45
+                        ]
+                    },
+                    "areaId": 1,
+                    "comment": "Rough values representing front left most sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            75,
+                            45
+                        ]
+                    },
+                    "areaId": 2,
+                    "comment": "Rough values representing front 2nd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            75,
+                            45
+                        ]
+                    },
+                    "areaId": 4,
+                    "comment": "Rough values representing front 3rd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            75,
+                            45
+                        ]
+                    },
+                    "areaId": 8,
+                    "comment": "Rough values representing front 3rd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            75,
+                            45
+                        ]
+                    },
+                    "areaId": 16,
+                    "comment": "Rough values representing front 2nd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            85,
+                            45
+                        ]
+                    },
+                    "areaId": 32,
+                    "comment": "Rough values representing front right most sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            85,
+                            45
+                        ]
+                    },
+                    "areaId": 64,
+                    "comment": "Rough values representing back left most sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            75,
+                            45
+                        ]
+                    },
+                    "areaId": 128,
+                    "comment": "Rough values representing back 2nd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            75,
+                            45
+                        ]
+                    },
+                    "areaId": 256,
+                    "comment": "Rough values representing back 3rd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            75,
+                            45
+                        ]
+                    },
+                    "areaId": 512,
+                    "comment": "Rough values representing back 3rd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            75,
+                            45
+                        ]
+                    },
+                    "areaId": 1024,
+                    "comment": "Rough values representing back 2nd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            85,
+                            45
+                        ]
+                    },
+                    "areaId": 2048,
+                    "comment": "Rough values representing back right most sensor."
+                }
+            ]
+        },
+        {
+            "property": "VehicleProperty::ULTRASONICS_SENSOR_DETECTION_RANGE",
+            "areas": [
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            4000
+                        ]
+                    },
+                    "areaId": 1,
+                    "comment": "Rough values representing front left most sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            3000
+                        ]
+                    },
+                    "areaId": 2,
+                    "comment": "Rough values representing front 2nd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            3000
+                        ]
+                    },
+                    "areaId": 4,
+                    "comment": "Rough values representing front 3rd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            3000
+                        ]
+                    },
+                    "areaId": 8,
+                    "comment": "Rough values representing front 3rd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            3000
+                        ]
+                    },
+                    "areaId": 16,
+                    "comment": "Rough values representing front 2nd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            4000
+                        ]
+                    },
+                    "areaId": 32,
+                    "comment": "Rough values representing front right most sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            4000
+                        ]
+                    },
+                    "areaId": 64,
+                    "comment": "Rough values representing back left most sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            3000
+                        ]
+                    },
+                    "areaId": 128,
+                    "comment": "Rough values representing back 2nd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            3000
+                        ]
+                    },
+                    "areaId": 256,
+                    "comment": "Rough values representing back 3rd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            3000
+                        ]
+                    },
+                    "areaId": 512,
+                    "comment": "Rough values representing back 3rd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            3000
+                        ]
+                    },
+                    "areaId": 1024,
+                    "comment": "Rough values representing back 2nd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            4000
+                        ]
+                    },
+                    "areaId": 2048,
+                    "comment": "Rough values representing back right most sensor."
+                }
+            ]
+        },
+        {
+            "property": "VehicleProperty::ULTRASONICS_SENSOR_SUPPORTED_RANGES",
+            "areas": [
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            1999,
+                            2000,
+                            4000
+                        ]
+                    },
+                    "areaId": 1,
+                    "comment": "Rough values representing front left most sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            1999,
+                            2000,
+                            3000
+                        ]
+                    },
+                    "areaId": 2,
+                    "comment": "Rough values representing front 2nd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            1999,
+                            2000,
+                            3000
+                        ]
+                    },
+                    "areaId": 4,
+                    "comment": "Rough values representing front 3rd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            1999,
+                            2000,
+                            3000
+                        ]
+                    },
+                    "areaId": 8,
+                    "comment": "Rough values representing front 3rd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            1999,
+                            2000,
+                            3000
+                        ]
+                    },
+                    "areaId": 16,
+                    "comment": "Rough values representing front 2nd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            1999,
+                            2000,
+                            4000
+                        ]
+                    },
+                    "areaId": 32,
+                    "comment": "Rough values representing front right most sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            1999,
+                            2000,
+                            4000
+                        ]
+                    },
+                    "areaId": 64,
+                    "comment": "Rough values representing back left most sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            1999,
+                            2000,
+                            3000
+                        ]
+                    },
+                    "areaId": 128,
+                    "comment": "Rough values representing back 2nd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            3000
+                        ]
+                    },
+                    "areaId": 256,
+                    "comment": "Rough values representing back 3rd to the left sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            3000
+                        ]
+                    },
+                    "areaId": 512,
+                    "comment": "Rough values representing back 3rd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            1999,
+                            2000,
+                            3000
+                        ]
+                    },
+                    "areaId": 1024,
+                    "comment": "Rough values representing back 2nd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            150,
+                            999,
+                            1000,
+                            1999,
+                            2000,
+                            4000
+                        ]
+                    },
+                    "areaId": 2048,
+                    "comment": "Rough values representing back right most sensor."
+                }
+            ]
+        },
+        {
+            "property": "VehicleProperty::ULTRASONICS_SENSOR_MEASURED_DISTANCE",
+            "areas": [
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            2000,
+                            10
+                        ]
+                    },
+                    "areaId": 1,
+                    "comment": "Rough values representing front left most sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": []
+                    },
+                    "areaId": 2,
+                    "comment":
+                            "Rough values representing front 2nd to the left sensor. Nothing detected."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": []
+                    },
+                    "areaId": 4,
+                    "comment":
+                            "Rough values representing front 3rd to the left sensor. Nothing detected."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": []
+                    },
+                    "areaId": 8,
+                    "comment":
+                            "Rough values representing front 3rd to the right sensor. Nothing detected."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": []
+                    },
+                    "areaId": 16,
+                    "comment":
+                            "Rough values representing front 2nd to the right sensor. Nothing detected."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": []
+                    },
+                    "areaId": 32,
+                    "comment":
+                            "Rough values representing front right most sensor. Nothing detected."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": []
+                    },
+                    "areaId": 64,
+                    "comment": "Rough values representing back left most sensor. Nothing detected."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": []
+                    },
+                    "areaId": 128,
+                    "comment":
+                            "Rough values representing back 2nd to the left sensor. Nothing detected."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": []
+                    },
+                    "areaId": 256,
+                    "comment":
+                            "Rough values representing back 3rd to the left sensor. Nothing detected."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            1000
+                        ]
+                    },
+                    "areaId": 512,
+                    "comment":
+                            "Rough values representing back 3rd to the right sensor. Nothing detected."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            2000,
+                            50
+                        ]
+                    },
+                    "areaId": 1024,
+                    "comment": "Rough values representing back 2nd to the right sensor."
+                },
+                {
+                    "defaultValue": {
+                        "int32Values": [
+                            2000
+                        ]
+                    },
+                    "areaId": 2048,
+                    "comment":
+                            "Rough values representing back right most sensor. No distance error."
+                }
+            ],
+            "maxSampleRate": 10.0,
+            "minSampleRate": 1.0
+        },
+        {
             "property": "VehicleProperty::ELECTRONIC_TOLL_COLLECTION_CARD_TYPE",
             "defaultValue": {
                 "int32Values": [
diff --git a/automotive/vehicle/aidl/rust_impl/README.md b/automotive/vehicle/aidl/rust_impl/README.md
new file mode 100644
index 0000000..33f996b
--- /dev/null
+++ b/automotive/vehicle/aidl/rust_impl/README.md
@@ -0,0 +1,12 @@
+# Rust Skeleton VHAL implementation.
+
+WARNING: This is not a reference VHAL implementation and does not contain
+any actual implementation.
+
+This folder contains a skeleton VHAL implementation in Rust to demonstrate
+how vendor may implement a Rust VHAL. To run this VHAL, include
+`android.hardware.automotive.vehicle-V3-rust-service` in your image.
+
+This implementation returns `StatusCode::UNKNOWN_ERROR` for all operations
+and does not pass VTS/CTS. Vendor must replace the logic in
+`default_vehicle_hal.rs` with the actual implementation.
diff --git a/automotive/vehicle/aidl/rust_impl/vhal/Android.bp b/automotive/vehicle/aidl/rust_impl/vhal/Android.bp
new file mode 100644
index 0000000..46f37d8
--- /dev/null
+++ b/automotive/vehicle/aidl/rust_impl/vhal/Android.bp
@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2024 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.
+ */
+
+rust_binary {
+    name: "android.hardware.automotive.vehicle-V3-rust-service",
+    relative_install_path: "hw",
+    vendor: true,
+    srcs: ["src/*.rs"],
+    crate_root: "src/main.rs",
+    defaults: ["VehicleHalInterfaceRustDefaults"],
+    vintf_fragments: ["vhal-rust-service.xml"],
+    init_rc: ["vhal-rust-service.rc"],
+    rustlibs: [
+        "libbinder_rs",
+    ],
+}
diff --git a/automotive/vehicle/aidl/rust_impl/vhal/src/default_vehicle_hal.rs b/automotive/vehicle/aidl/rust_impl/vhal/src/default_vehicle_hal.rs
new file mode 100644
index 0000000..1f5dc95
--- /dev/null
+++ b/automotive/vehicle/aidl/rust_impl/vhal/src/default_vehicle_hal.rs
@@ -0,0 +1,55 @@
+use android_hardware_automotive_vehicle::aidl::android::hardware::automotive::vehicle::{
+    IVehicle::IVehicle,
+    IVehicleCallback::IVehicleCallback,
+    VehiclePropConfigs::VehiclePropConfigs,
+    GetValueRequests::GetValueRequests,
+    SetValueRequests::SetValueRequests,
+    SubscribeOptions::SubscribeOptions,
+};
+use binder::{Interface, Result as BinderResult, StatusCode, Strong};
+
+/// This struct is defined to implement IVehicle AIDL interface.
+pub struct DefaultVehicleHal;
+
+impl Interface for DefaultVehicleHal {}
+
+impl IVehicle for DefaultVehicleHal {
+    fn getAllPropConfigs(&self) -> BinderResult<VehiclePropConfigs> {
+        Err(StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn getPropConfigs(&self, _props: &[i32]) -> BinderResult<VehiclePropConfigs> {
+        Err(StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn getValues(
+            &self, _callback: &Strong<dyn IVehicleCallback>, _requests: &GetValueRequests
+        ) -> BinderResult<()> {
+        Err(StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn setValues(
+            &self, _callback: &Strong<dyn IVehicleCallback>, _requests: &SetValueRequests
+        ) -> BinderResult<()> {
+        Err(StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn subscribe(
+            &self, _callback: &Strong<dyn IVehicleCallback>, _options: &[SubscribeOptions],
+            _max_shared_memory_file_count: i32
+        ) -> BinderResult<()> {
+        Err(StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn unsubscribe(
+            &self, _callback: &Strong<dyn IVehicleCallback>, _prop_ids: &[i32]
+        ) -> BinderResult<()> {
+        Err(StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn returnSharedMemory(
+            &self, _callback: &Strong<dyn IVehicleCallback>, _shared_memory_id: i64
+        ) -> BinderResult<()> {
+        Err(StatusCode::UNKNOWN_ERROR.into())
+    }
+}
diff --git a/automotive/vehicle/aidl/rust_impl/vhal/src/main.rs b/automotive/vehicle/aidl/rust_impl/vhal/src/main.rs
new file mode 100644
index 0000000..59b248d
--- /dev/null
+++ b/automotive/vehicle/aidl/rust_impl/vhal/src/main.rs
@@ -0,0 +1,18 @@
+mod default_vehicle_hal;
+
+use android_hardware_automotive_vehicle::aidl::android::hardware::automotive::vehicle::IVehicle::BnVehicle;
+use crate::default_vehicle_hal::DefaultVehicleHal;
+
+fn main() {
+	binder::ProcessState::start_thread_pool();
+	let my_service = DefaultVehicleHal;
+	let service_name = "android.hardware.automotive.vehicle.IVehicle/default";
+    let my_service_binder = BnVehicle::new_binder(
+        my_service,
+        binder::BinderFeatures::default(),
+    );
+    binder::add_service(service_name, my_service_binder.as_binder())
+    		.expect(format!("Failed to register {}?", service_name).as_str());
+    // Does not return.
+    binder::ProcessState::join_thread_pool()
+}
diff --git a/automotive/vehicle/aidl/rust_impl/vhal/vhal-rust-service.rc b/automotive/vehicle/aidl/rust_impl/vhal/vhal-rust-service.rc
new file mode 100644
index 0000000..dff9894
--- /dev/null
+++ b/automotive/vehicle/aidl/rust_impl/vhal/vhal-rust-service.rc
@@ -0,0 +1,4 @@
+service vendor.vehicle-hal-default /vendor/bin/hw/android.hardware.automotive.vehicle-V3-rust-service
+    class early_hal
+    user vehicle_network
+    group system inet
diff --git a/automotive/vehicle/aidl/rust_impl/vhal/vhal-rust-service.xml b/automotive/vehicle/aidl/rust_impl/vhal/vhal-rust-service.xml
new file mode 100644
index 0000000..b0c6ae7
--- /dev/null
+++ b/automotive/vehicle/aidl/rust_impl/vhal/vhal-rust-service.xml
@@ -0,0 +1,7 @@
+<manifest version="1.0" type="device">
+    <hal format="aidl">
+        <name>android.hardware.automotive.vehicle</name>
+        <version>3</version>
+        <fqname>IVehicle/default</fqname>
+    </hal>
+</manifest>
diff --git a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
index 52876d1..2e25466 100644
--- a/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/aidl_api/android.hardware.automotive.vehicle.property/current/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -199,7 +199,7 @@
   VEHICLE_MAP_SERVICE = (((0x0C00 + 0x10000000) + 0x01000000) + 0x00e00000) /* 299895808 */,
   LOCATION_CHARACTERIZATION = (((0x0C10 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.GLOBAL) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32) /* 289410064 */,
   ULTRASONICS_SENSOR_POSITION = (((0x0C20 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916128 */,
-  ULTRASONICS_SENSOR_ORIENTATION = (((0x0C21 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916129 */,
+  ULTRASONICS_SENSOR_ORIENTATION = (((0x0C21 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.FLOAT_VEC) /* 409013281 */,
   ULTRASONICS_SENSOR_FIELD_OF_VIEW = (((0x0C22 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916130 */,
   ULTRASONICS_SENSOR_DETECTION_RANGE = (((0x0C23 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916131 */,
   ULTRASONICS_SENSOR_SUPPORTED_RANGES = (((0x0C24 + android.hardware.automotive.vehicle.VehiclePropertyGroup.SYSTEM) + android.hardware.automotive.vehicle.VehicleArea.VENDOR) + android.hardware.automotive.vehicle.VehiclePropertyType.INT32_VEC) /* 406916132 */,
diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
index 026c040..97e7847 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -75,7 +75,7 @@
     INFO_MODEL = 0x0102 + 0x10000000 + 0x01000000
             + 0x00100000, // VehiclePropertyGroup:SYSTEM,VehicleArea:GLOBAL,VehiclePropertyType:STRING
     /**
-     * Model year of vehicle.
+     * Model year of vehicle in YYYY format based on the Gregorian calendar.
      *
      * @change_mode VehiclePropertyChangeMode.STATIC
      * @access VehiclePropertyAccess.READ
@@ -3561,7 +3561,7 @@
      * @version 3
      */
     ULTRASONICS_SENSOR_ORIENTATION = 0x0C21 + VehiclePropertyGroup.SYSTEM + VehicleArea.VENDOR
-            + VehiclePropertyType.INT32_VEC,
+            + VehiclePropertyType.FLOAT_VEC,
 
     /**
      * Static data for the field of view of each ultrasonic sensor in degrees.
diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index f8ddfaa..d91f4f2 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -26,6 +26,7 @@
 #include <android-base/stringprintf.h>
 #include <android-base/thread_annotations.h>
 #include <android/binder_process.h>
+#include <android/hardware/automotive/vehicle/2.0/IVehicle.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
 #include <hidl/GtestPrinter.h>
@@ -48,9 +49,11 @@
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropertyAccess;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropertyChangeMode;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropertyGroup;
+using ::aidl::android::hardware::automotive::vehicle::VehiclePropertyStatus;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropertyType;
 using ::aidl::android::hardware::automotive::vehicle::VersionForVehicleProperty;
 using ::android::getAidlHalInstanceNames;
+using ::android::uptimeMillis;
 using ::android::base::ScopedLockAssertion;
 using ::android::base::StringPrintf;
 using ::android::frameworks::automotive::vhal::ErrorCode;
@@ -59,6 +62,7 @@
 using ::android::frameworks::automotive::vhal::IHalPropValue;
 using ::android::frameworks::automotive::vhal::ISubscriptionCallback;
 using ::android::frameworks::automotive::vhal::IVhalClient;
+using ::android::frameworks::automotive::vhal::VhalClientResult;
 using ::android::hardware::getAllHalInstanceNames;
 using ::android::hardware::Sanitize;
 using ::android::hardware::automotive::vehicle::isSystemProp;
@@ -67,6 +71,8 @@
 using ::testing::Ge;
 
 constexpr int32_t kInvalidProp = 0x31600207;
+// The timeout for retrying getting prop value after setting prop value.
+constexpr int64_t kRetryGetPropAfterSetPropTimeoutMillis = 10'000;
 
 struct ServiceDescriptor {
     std::string name;
@@ -124,6 +130,10 @@
   protected:
     bool checkIsSupported(int32_t propertyId);
 
+    static bool isUnavailable(const VhalClientResult<std::unique_ptr<IHalPropValue>>& result);
+    static bool isResultOkayWithValue(
+            const VhalClientResult<std::unique_ptr<IHalPropValue>>& result, int32_t value);
+
   public:
     void verifyProperty(VehicleProperty propId, VehiclePropertyAccess access,
                         VehiclePropertyChangeMode changeMode, VehiclePropertyGroup group,
@@ -269,6 +279,27 @@
             "Expect failure to get property for invalid prop: %" PRId32, kInvalidProp);
 }
 
+bool VtsHalAutomotiveVehicleTargetTest::isResultOkayWithValue(
+        const VhalClientResult<std::unique_ptr<IHalPropValue>>& result, int32_t value) {
+    return result.ok() && result.value() != nullptr &&
+           result.value()->getStatus() == VehiclePropertyStatus::AVAILABLE &&
+           result.value()->getInt32Values().size() == 1 &&
+           result.value()->getInt32Values()[0] == value;
+}
+
+bool VtsHalAutomotiveVehicleTargetTest::isUnavailable(
+        const VhalClientResult<std::unique_ptr<IHalPropValue>>& result) {
+    if (!result.ok()) {
+        return result.error().code() == ErrorCode::NOT_AVAILABLE_FROM_VHAL;
+    }
+    if (result.value() != nullptr &&
+        result.value()->getStatus() == VehiclePropertyStatus::UNAVAILABLE) {
+        return true;
+    }
+
+    return false;
+}
+
 // Test set() on read_write properties.
 TEST_P(VtsHalAutomotiveVehicleTargetTest, setProp) {
     ALOGD("VtsHalAutomotiveVehicleTargetTest::setProp");
@@ -296,6 +327,14 @@
             auto propToGet = mVhalClient->createHalPropValue(propId);
             auto getValueResult = mVhalClient->getValueSync(*propToGet);
 
+            if (isUnavailable(getValueResult)) {
+                ALOGW("getProperty for %" PRId32
+                      " returns NOT_AVAILABLE, "
+                      "skip testing setProp",
+                      propId);
+                return;
+            }
+
             ASSERT_TRUE(getValueResult.ok())
                     << StringPrintf("Failed to get value for property: %" PRId32 ", error: %s",
                                     propId, getValueResult.error().message().c_str());
@@ -308,17 +347,48 @@
                     "Expect exactly 1 int value for boolean property: %" PRId32 ", got %zu", propId,
                     intValueSize);
 
-            int setValue = value.getInt32Values()[0] == 1 ? 0 : 1;
+            int32_t setValue = value.getInt32Values()[0] == 1 ? 0 : 1;
             auto propToSet = mVhalClient->createHalPropValue(propId);
             propToSet->setInt32Values({setValue});
             auto setValueResult = mVhalClient->setValueSync(*propToSet);
 
+            if (!setValueResult.ok() &&
+                setValueResult.error().code() == ErrorCode::NOT_AVAILABLE_FROM_VHAL) {
+                ALOGW("setProperty for %" PRId32
+                      " returns NOT_AVAILABLE, "
+                      "skip verifying getProperty returns the same value",
+                      propId);
+                return;
+            }
+
             ASSERT_TRUE(setValueResult.ok())
                     << StringPrintf("Failed to set value for property: %" PRId32 ", error: %s",
                                     propId, setValueResult.error().message().c_str());
+            // Retry getting the value until we pass the timeout. getValue might not return
+            // the expected value immediately since setValue is async.
+            auto timeoutMillis = uptimeMillis() + kRetryGetPropAfterSetPropTimeoutMillis;
 
-            // check set success
-            getValueResult = mVhalClient->getValueSync(*propToGet);
+            while (true) {
+                getValueResult = mVhalClient->getValueSync(*propToGet);
+                if (isResultOkayWithValue(getValueResult, setValue)) {
+                    break;
+                }
+                if (uptimeMillis() >= timeoutMillis) {
+                    // Reach timeout, the following assert should fail.
+                    break;
+                }
+                // Sleep for 100ms between each getValueSync retry.
+                std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            }
+
+            if (isUnavailable(getValueResult)) {
+                ALOGW("getProperty for %" PRId32
+                      " returns NOT_AVAILABLE, "
+                      "skip verifying the return value",
+                      propId);
+                return;
+            }
+
             ASSERT_TRUE(getValueResult.ok())
                     << StringPrintf("Failed to get value for property: %" PRId32 ", error: %s",
                                     propId, getValueResult.error().message().c_str());
@@ -598,7 +668,7 @@
 TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyUltrasonicsSensorOrientationConfig) {
     verifyProperty(VehicleProperty::ULTRASONICS_SENSOR_ORIENTATION, VehiclePropertyAccess::READ,
                    VehiclePropertyChangeMode::STATIC, VehiclePropertyGroup::SYSTEM,
-                   VehicleArea::VENDOR, VehiclePropertyType::INT32_VEC);
+                   VehicleArea::VENDOR, VehiclePropertyType::FLOAT_VEC);
 }
 
 TEST_P(VtsHalAutomotiveVehicleTargetTest, verifyUltrasonicsSensorFieldOfViewConfig) {
@@ -1121,7 +1191,8 @@
                 .isAidlService = true,
         });
     }
-    for (std::string name : getAllHalInstanceNames(IVehicle::descriptor)) {
+    for (std::string name : getAllHalInstanceNames(
+                 android::hardware::automotive::vehicle::V2_0::IVehicle::descriptor)) {
         descriptors.push_back({
                 .name = name,
                 .isAidlService = false,
diff --git a/compatibility_matrices/Android.bp b/compatibility_matrices/Android.bp
index eefca39..a3e1cd4 100644
--- a/compatibility_matrices/Android.bp
+++ b/compatibility_matrices/Android.bp
@@ -94,3 +94,11 @@
         "kernel_config_v_6.6",
     ],
 }
+
+vintf_compatibility_matrix {
+    name: "framework_compatibility_matrix.tmp.xml",
+    stem: "compatibility_matrix.tmp.xml",
+    srcs: [
+        "compatibility_matrix.tmp.xml",
+    ],
+}
diff --git a/compatibility_matrices/Android.mk b/compatibility_matrices/Android.mk
index 72ead58..7abf35e 100644
--- a/compatibility_matrices/Android.mk
+++ b/compatibility_matrices/Android.mk
@@ -112,7 +112,8 @@
 # interfaces (in the `next` release configuration).
 ifeq ($(RELEASE_AIDL_USE_UNFROZEN),true)
 my_system_matrix_deps += \
-    framework_compatibility_matrix.202404.xml
+    framework_compatibility_matrix.202404.xml \
+    framework_compatibility_matrix.tmp.xml
 endif
 
 my_framework_matrix_deps += \
diff --git a/compatibility_matrices/compatibility_matrix.202404.xml b/compatibility_matrices/compatibility_matrix.202404.xml
index 2080c69..cf7de22 100644
--- a/compatibility_matrices/compatibility_matrix.202404.xml
+++ b/compatibility_matrices/compatibility_matrix.202404.xml
@@ -345,25 +345,6 @@
             <instance>default</instance>
         </interface>
     </hal>
-    <hal format="hidl">
-        <name>android.hardware.media.c2</name>
-        <version>1.0-2</version>
-        <interface>
-            <name>IComponentStore</name>
-            <instance>software</instance>
-            <regex-instance>default[0-9]*</regex-instance>
-            <regex-instance>vendor[0-9]*_software</regex-instance>
-        </interface>
-    </hal>
-    <hal format="hidl">
-        <name>android.hardware.media.c2</name>
-        <version>1.0</version>
-        <interface>
-            <name>IConfigurable</name>
-            <instance>default</instance>
-            <instance>software</instance>
-        </interface>
-    </hal>
     <hal format="aidl">
         <name>android.hardware.media.c2</name>
         <version>1</version>
diff --git a/compatibility_matrices/compatibility_matrix.tmp.xml b/compatibility_matrices/compatibility_matrix.tmp.xml
new file mode 100644
index 0000000..85e3c4c
--- /dev/null
+++ b/compatibility_matrices/compatibility_matrix.tmp.xml
@@ -0,0 +1,24 @@
+<compatibility-matrix version="1.0" type="framework" level="202404">
+  <!-- This file holds the HIDL media.c2 interface while it
+  is being deprecated. This will be removed after the flag ramping
+  complete. This interface is not allowed in the 202404 vendor interface -->
+    <hal format="hidl" optional="true">
+        <name>android.hardware.media.c2</name>
+        <version>1.0-2</version>
+        <interface>
+            <name>IComponentStore</name>
+            <instance>software</instance>
+            <regex-instance>default[0-9]*</regex-instance>
+            <regex-instance>vendor[0-9]*_software</regex-instance>
+        </interface>
+    </hal>
+    <hal format="hidl" optional="true">
+        <name>android.hardware.media.c2</name>
+        <version>1.0</version>
+        <interface>
+            <name>IConfigurable</name>
+            <instance>default</instance>
+            <instance>software</instance>
+        </interface>
+    </hal>
+</compatibility-matrix>
diff --git a/contexthub/OWNERS b/contexthub/OWNERS
index d5cfc2e..ee25833 100644
--- a/contexthub/OWNERS
+++ b/contexthub/OWNERS
@@ -1,4 +1,3 @@
 # Bug component: 156070
 arthuri@google.com
 bduddie@google.com
-stange@google.com
diff --git a/security/secretkeeper/aidl/vts/Android.bp b/security/secretkeeper/aidl/vts/Android.bp
index 9d1701a..0061e88 100644
--- a/security/secretkeeper/aidl/vts/Android.bp
+++ b/security/secretkeeper/aidl/vts/Android.bp
@@ -50,7 +50,7 @@
         "libbinder_rs",
         "libciborium",
         "libcoset",
-        "libdice_policy",
+        "libdice_policy_builder",
         "liblog_rust",
         "libsecretkeeper_client",
         "libsecretkeeper_comm_nostd",
@@ -72,7 +72,7 @@
         "libbinder_rs",
         "libclap",
         "libcoset",
-        "libdice_policy",
+        "libdice_policy_builder",
         "libhex",
         "liblog_rust",
         "libsecretkeeper_client",
diff --git a/security/secretkeeper/aidl/vts/secretkeeper_cli.rs b/security/secretkeeper/aidl/vts/secretkeeper_cli.rs
index 5f08482..0c13811 100644
--- a/security/secretkeeper/aidl/vts/secretkeeper_cli.rs
+++ b/security/secretkeeper/aidl/vts/secretkeeper_cli.rs
@@ -24,7 +24,8 @@
 use authgraph_core::traits::Sha256;
 use clap::{Args, Parser, Subcommand};
 use coset::CborSerializable;
-use dice_policy::{ConstraintSpec, ConstraintType, DicePolicy, MissingAction};
+use dice_policy_builder::{ConstraintSpec, ConstraintType, MissingAction, policy_for_dice_chain};
+
 use secretkeeper_client::{dice::OwnedDiceArtifactsWithExplicitKey, SkSession};
 use secretkeeper_comm::data_types::{
     error::SecretkeeperError,
@@ -146,7 +147,7 @@
                 MissingAction::Ignore,
             ),
         ];
-        DicePolicy::from_dice_chain(dice, &constraint_spec)
+        policy_for_dice_chain(dice, &constraint_spec)
             .unwrap()
             .to_vec()
             .context("serialize DICE policy")
diff --git a/security/secretkeeper/aidl/vts/secretkeeper_test_client.rs b/security/secretkeeper/aidl/vts/secretkeeper_test_client.rs
index 8c33f04..483aed6 100644
--- a/security/secretkeeper/aidl/vts/secretkeeper_test_client.rs
+++ b/security/secretkeeper/aidl/vts/secretkeeper_test_client.rs
@@ -20,7 +20,7 @@
 use authgraph_boringssl as boring;
 use authgraph_core::key;
 use coset::{CborSerializable, CoseEncrypt0};
-use dice_policy::{ConstraintSpec, ConstraintType, DicePolicy, MissingAction};
+use dice_policy_builder::{ConstraintSpec, ConstraintType, MissingAction, policy_for_dice_chain};
 use rdroidtest::{ignore_if, rdroidtest};
 use secretkeeper_client::dice::OwnedDiceArtifactsWithExplicitKey;
 use secretkeeper_client::SkSession;
@@ -258,7 +258,7 @@
         ),
     ];
 
-    DicePolicy::from_dice_chain(dice, &constraint_spec).unwrap().to_vec().unwrap()
+    policy_for_dice_chain(dice, &constraint_spec).unwrap().to_vec().unwrap()
 }
 
 /// Perform AuthGraph key exchange, returning the session keys and session ID.
diff --git a/tv/tuner/aidl/default/Demux.cpp b/tv/tuner/aidl/default/Demux.cpp
index de94467..5eeb36a 100644
--- a/tv/tuner/aidl/default/Demux.cpp
+++ b/tv/tuner/aidl/default/Demux.cpp
@@ -53,9 +53,6 @@
 
 Demux::~Demux() {
     ALOGV("%s", __FUNCTION__);
-    if (mDemuxIptvReadThread.joinable()) {
-        mDemuxIptvReadThread.join();
-    }
     close();
 }
 
@@ -123,26 +120,43 @@
     mIsIptvThreadRunningCv.notify_all();
 }
 
-void Demux::readIptvThreadLoop(dtv_plugin* interface, dtv_streamer* streamer, size_t buf_size,
-                               int timeout_ms, int buffer_timeout) {
+void Demux::frontendIptvInputThreadLoop(dtv_plugin* interface, dtv_streamer* streamer, void* buf) {
     Timer *timer, *fullBufferTimer;
+    bool isTuneBytePushedToDvr = false;
     while (true) {
         std::unique_lock<std::mutex> lock(mIsIptvThreadRunningMutex);
-        mIsIptvThreadRunningCv.wait(lock, [this] { return mIsIptvReadThreadRunning; });
-        if (mIsIptvDvrFMQFull && fullBufferTimer->get_elapsed_time_ms() > buffer_timeout) {
-            ALOGE("DVR FMQ has not been flushed within timeout of %d ms", buffer_timeout);
+        mIsIptvThreadRunningCv.wait(
+                lock, [this] { return mIsIptvReadThreadRunning || mIsIptvReadThreadTerminated; });
+        if (mIsIptvReadThreadTerminated) {
+            ALOGI("[Demux] IPTV reading thread for playback terminated");
+            break;
+        }
+        if (mIsIptvDvrFMQFull &&
+            fullBufferTimer->get_elapsed_time_ms() > IPTV_PLAYBACK_BUFFER_TIMEOUT) {
+            ALOGE("DVR FMQ has not been flushed within timeout of %d ms",
+                  IPTV_PLAYBACK_BUFFER_TIMEOUT);
             delete fullBufferTimer;
             break;
         }
         timer = new Timer();
-        void* buf = malloc(sizeof(char) * IPTV_BUFFER_SIZE);
-        if (buf == nullptr) ALOGI("Buffer allocation failed");
-        ssize_t bytes_read = interface->read_stream(streamer, buf, buf_size, timeout_ms);
-        if (bytes_read == 0) {
+        ssize_t bytes_read;
+        void* tuneByteBuffer = mFrontend->getTuneByteBuffer();
+        if (!isTuneBytePushedToDvr && tuneByteBuffer != nullptr) {
+            memcpy(buf, tuneByteBuffer, 1);
+            char* offsetBuf = (char*)buf + 1;
+            bytes_read = interface->read_stream(streamer, (void*)offsetBuf, IPTV_BUFFER_SIZE - 1,
+                                                IPTV_PLAYBACK_TIMEOUT);
+            isTuneBytePushedToDvr = true;
+        } else {
+            bytes_read =
+                    interface->read_stream(streamer, buf, IPTV_BUFFER_SIZE, IPTV_PLAYBACK_TIMEOUT);
+        }
+
+        if (bytes_read <= 0) {
             double elapsed_time = timer->get_elapsed_time_ms();
-            if (elapsed_time > timeout_ms) {
+            if (elapsed_time > IPTV_PLAYBACK_TIMEOUT) {
                 ALOGE("[Demux] timeout reached - elapsed_time: %f, timeout: %d", elapsed_time,
-                      timeout_ms);
+                      IPTV_PLAYBACK_TIMEOUT);
             }
             ALOGE("[Demux] Cannot read data from the socket");
             delete timer;
@@ -170,8 +184,6 @@
             default:
                 ALOGI("Invalid DVR Status");
         }
-
-        free(buf);
     }
 }
 
@@ -206,32 +218,44 @@
 
         // get plugin interface from frontend
         dtv_plugin* interface = mFrontend->getIptvPluginInterface();
+        // if plugin interface is not on frontend, create a new plugin interface
         if (interface == nullptr) {
-            ALOGE("[Demux] getIptvPluginInterface(): plugin interface is null");
-            return ::ndk::ScopedAStatus::fromServiceSpecificError(
-                    static_cast<int32_t>(Result::INVALID_STATE));
+            interface = mFrontend->createIptvPluginInterface();
+            if (interface == nullptr) {
+                ALOGE("[   INFO   ] Failed to load plugin.");
+                return ::ndk::ScopedAStatus::fromServiceSpecificError(
+                        static_cast<int32_t>(Result::INVALID_STATE));
+            }
         }
-        ALOGI("[Demux] getIptvPluginInterface(): plugin interface is not null");
+
+        // get transport description from frontend
+        string transport_desc = mFrontend->getIptvTransportDescription();
+        if (transport_desc.empty()) {
+            string content_url = "rtp://127.0.0.1:12345";
+            transport_desc = "{ \"uri\": \"" + content_url + "\"}";
+        }
+        ALOGI("[Demux] transport_desc: %s", transport_desc.c_str());
 
         // get streamer object from Frontend instance
         dtv_streamer* streamer = mFrontend->getIptvPluginStreamer();
         if (streamer == nullptr) {
-            ALOGE("[Demux] getIptvPluginStreamer(): streamer is null");
+            streamer = mFrontend->createIptvPluginStreamer(interface, transport_desc.c_str());
+            if (streamer == nullptr) {
+                ALOGE("[   INFO   ] Failed to open stream");
+                return ::ndk::ScopedAStatus::fromServiceSpecificError(
+                        static_cast<int32_t>(Result::INVALID_STATE));
+            }
+        }
+        stopIptvFrontendInput();
+        mIsIptvReadThreadTerminated = false;
+        void* buf = malloc(sizeof(char) * IPTV_BUFFER_SIZE);
+        if (buf == nullptr) {
+            ALOGE("[Demux] Buffer allocation failed");
             return ::ndk::ScopedAStatus::fromServiceSpecificError(
                     static_cast<int32_t>(Result::INVALID_STATE));
         }
-        ALOGI("[Demux] getIptvPluginStreamer(): streamer is not null");
-
-        // get transport description from frontend
-        string transport_desc = mFrontend->getIptvTransportDescription();
-        ALOGI("[Demux] getIptvTransportDescription(): transport_desc: %s", transport_desc.c_str());
-
-        // call read_stream on the socket to populate the buffer with TS data
-        // while thread is alive, keep reading data
-        int timeout_ms = 20;
-        int buffer_timeout = 10000;  // 10s
-        mDemuxIptvReadThread = std::thread(&Demux::readIptvThreadLoop, this, interface, streamer,
-                                           IPTV_BUFFER_SIZE, timeout_ms, buffer_timeout);
+        mDemuxIptvReadThread =
+                std::thread(&Demux::frontendIptvInputThreadLoop, this, interface, streamer, buf);
     }
     return ::ndk::ScopedAStatus::ok();
 }
@@ -348,6 +372,7 @@
     ALOGV("%s", __FUNCTION__);
 
     stopFrontendInput();
+    stopIptvFrontendInput();
 
     set<int64_t>::iterator it;
     for (it = mPlaybackFilterIds.begin(); it != mPlaybackFilterIds.end(); it++) {
@@ -543,6 +568,15 @@
     }
 }
 
+void Demux::stopIptvFrontendInput() {
+    ALOGD("[Demux] stop iptv frontend on demux");
+    if (mDemuxIptvReadThread.joinable()) {
+        mIsIptvReadThreadTerminated = true;
+        mIsIptvThreadRunningCv.notify_all();
+        mDemuxIptvReadThread.join();
+    }
+}
+
 void Demux::setIsRecording(bool isRecording) {
     mIsRecording = isRecording;
 }
diff --git a/tv/tuner/aidl/default/Demux.h b/tv/tuner/aidl/default/Demux.h
index ad7b7a7..af040d4 100644
--- a/tv/tuner/aidl/default/Demux.h
+++ b/tv/tuner/aidl/default/Demux.h
@@ -56,6 +56,9 @@
 class TimeFilter;
 class Tuner;
 
+const int IPTV_PLAYBACK_TIMEOUT = 20;            // ms
+const int IPTV_PLAYBACK_BUFFER_TIMEOUT = 20000;  // ms
+
 class DvrPlaybackCallback : public BnDvrCallback {
   public:
     virtual ::ndk::ScopedAStatus onPlaybackStatus(PlaybackStatus status) override {
@@ -103,8 +106,7 @@
     void setIsRecording(bool isRecording);
     bool isRecording();
     void startFrontendInputLoop();
-    void readIptvThreadLoop(dtv_plugin* interface, dtv_streamer* streamer, size_t size,
-                            int timeout_ms, int buffer_timeout);
+    void frontendIptvInputThreadLoop(dtv_plugin* interface, dtv_streamer* streamer, void* buf);
 
     /**
      * A dispatcher to read and dispatch input data to all the started filters.
@@ -128,6 +130,10 @@
      * Setter for IPTV Reading thread
      */
     void setIptvThreadRunning(bool isIptvThreadRunning);
+    /**
+     * Stops IPTV playback reading thread.
+     */
+    void stopIptvFrontendInput();
 
   private:
     // Tuner service
@@ -206,7 +212,8 @@
     /**
      * Controls IPTV reading thread status
      */
-    bool mIsIptvReadThreadRunning;
+    bool mIsIptvReadThreadRunning = false;
+    std::atomic<bool> mIsIptvReadThreadTerminated = false;
     std::mutex mIsIptvThreadRunningMutex;
     std::condition_variable mIsIptvThreadRunningCv;
 
diff --git a/tv/tuner/aidl/default/Filter.cpp b/tv/tuner/aidl/default/Filter.cpp
index 212d329..5f7a4cd 100644
--- a/tv/tuner/aidl/default/Filter.cpp
+++ b/tv/tuner/aidl/default/Filter.cpp
@@ -366,9 +366,11 @@
 ::ndk::ScopedAStatus Filter::stop() {
     ALOGV("%s", __FUNCTION__);
 
-    mFilterCount -= 1;
-    if (mFilterCount == 0) {
-        mDemux->setIptvThreadRunning(false);
+    if (mFilterCount > 0) {
+        mFilterCount -= 1;
+        if (mFilterCount.load() == 0) {
+            mDemux->setIptvThreadRunning(false);
+        }
     }
 
     mFilterThreadRunning = false;
diff --git a/tv/tuner/aidl/default/Frontend.cpp b/tv/tuner/aidl/default/Frontend.cpp
index 57ed1ba..1031604 100644
--- a/tv/tuner/aidl/default/Frontend.cpp
+++ b/tv/tuner/aidl/default/Frontend.cpp
@@ -188,6 +188,9 @@
     mCallback = nullptr;
     mIsLocked = false;
     mTuner = nullptr;
+    if (mTuneByteBuffer != nullptr) {
+        free(mTuneByteBuffer);
+    }
 }
 
 ::ndk::ScopedAStatus Frontend::close() {
@@ -215,19 +218,43 @@
     return ::ndk::ScopedAStatus::ok();
 }
 
-void Frontend::readTuneByte(dtv_streamer* streamer, void* buf, size_t buf_size, int timeout_ms) {
-    ssize_t bytes_read = mIptvPluginInterface->read_stream(streamer, buf, buf_size, timeout_ms);
+dtv_plugin* Frontend::createIptvPluginInterface() {
+    const char* path = "/vendor/lib/iptv_udp_plugin.so";
+    DtvPlugin* plugin = new DtvPlugin(path);
+    bool plugin_loaded = plugin->load();
+    if (!plugin_loaded) {
+        ALOGE("Failed to load plugin");
+        return nullptr;
+    }
+    return plugin->interface();
+}
+
+dtv_streamer* Frontend::createIptvPluginStreamer(dtv_plugin* interface,
+                                                 const char* transport_desc) {
+    dtv_streamer* streamer = interface->create_streamer();
+    int open_fd = interface->open_stream(streamer, transport_desc);
+    if (open_fd < 0) {
+        return nullptr;
+    }
+    ALOGI("[   INFO   ] open_stream successful, open_fd=%d", open_fd);
+    return streamer;
+}
+
+void Frontend::readTuneByte(void* buf) {
+    ssize_t bytes_read = mIptvPluginInterface->read_stream(mIptvPluginStreamer, buf,
+                                                           TUNE_BUFFER_SIZE, TUNE_BUFFER_TIMEOUT);
     if (bytes_read <= 0) {
         ALOGI("[   ERROR   ] Tune byte couldn't be read.");
         return;
     }
     mCallback->onEvent(FrontendEventType::LOCKED);
     mIsLocked = true;
+    mTuneByteBuffer = buf;
 }
 
 ::ndk::ScopedAStatus Frontend::tune(const FrontendSettings& in_settings) {
     if (mCallback == nullptr) {
-        ALOGW("[   WARN   ] Frontend callback is not set for tunin0g");
+        ALOGW("[   WARN   ] Frontend callback is not set for tuning");
         return ::ndk::ScopedAStatus::fromServiceSpecificError(
                 static_cast<int32_t>(Result::INVALID_STATE));
     }
@@ -242,54 +269,39 @@
         ALOGI("[   INFO   ] Frontend type is set to IPTV, tag = %d id=%d", in_settings.getTag(),
               mId);
 
-        // load udp plugin for reading TS data
-        const char* path = "/vendor/lib/iptv_udp_plugin.so";
-        DtvPlugin* plugin = new DtvPlugin(path);
-        if (!plugin) {
-            ALOGE("Failed to create DtvPlugin, plugin_path is invalid");
+        mIptvPluginInterface = createIptvPluginInterface();
+        if (mIptvPluginInterface == nullptr) {
+            ALOGE("[   INFO   ] Failed to load plugin.");
             return ::ndk::ScopedAStatus::fromServiceSpecificError(
                     static_cast<int32_t>(Result::INVALID_ARGUMENT));
         }
-        bool plugin_loaded = plugin->load();
-        if (!plugin_loaded) {
-            ALOGE("Failed to load plugin");
-            return ::ndk::ScopedAStatus::fromServiceSpecificError(
-                    static_cast<int32_t>(Result::INVALID_ARGUMENT));
-        }
-        mIptvPluginInterface = plugin->interface();
 
         // validate content_url format
         std::string content_url = in_settings.get<FrontendSettings::Tag::iptv>()->contentUrl;
-        std::string transport_desc = "{ \"uri\": \"" + content_url + "\"}";
-        ALOGI("[   INFO   ] transport_desc: %s", transport_desc.c_str());
-        bool is_transport_desc_valid = plugin->validate(transport_desc.c_str());
+        mIptvTransportDescription = "{ \"uri\": \"" + content_url + "\"}";
+        ALOGI("[   INFO   ] transport_desc: %s", mIptvTransportDescription.c_str());
+        bool is_transport_desc_valid =
+                mIptvPluginInterface->validate(mIptvTransportDescription.c_str());
         if (!is_transport_desc_valid) {  // not of format protocol://ip:port
             ALOGE("[   INFO   ] transport_desc is not valid");
             return ::ndk::ScopedAStatus::fromServiceSpecificError(
                     static_cast<int32_t>(Result::INVALID_ARGUMENT));
         }
-        mIptvTransportDescription = transport_desc;
 
         // create a streamer and open it for reading data
-        dtv_streamer* streamer = mIptvPluginInterface->create_streamer();
-        mIptvPluginStreamer = streamer;
-        int open_fd = mIptvPluginInterface->open_stream(streamer, transport_desc.c_str());
-        if (open_fd < 0) {
-            ALOGE("[   INFO   ] could not open stream");
-            return ::ndk::ScopedAStatus::fromServiceSpecificError(
-                    static_cast<int32_t>(Result::INVALID_ARGUMENT));
-        }
-        ALOGI("[   INFO   ] open_stream successful, open_fd=%d", open_fd);
+        mIptvPluginStreamer =
+                createIptvPluginStreamer(mIptvPluginInterface, mIptvTransportDescription.c_str());
 
-        size_t buf_size = 1;
-        int timeout_ms = 2000;
-        void* buf = malloc(sizeof(char) * buf_size);
-        if (buf == nullptr) ALOGI("malloc buf failed [TUNE]");
-        ALOGI("[   INFO   ] [Tune] Allocated buffer of size %zu", buf_size);
-        mIptvFrontendTuneThread =
-                std::thread(&Frontend::readTuneByte, this, streamer, buf, buf_size, timeout_ms);
-        if (mIptvFrontendTuneThread.joinable()) mIptvFrontendTuneThread.join();
-        free(buf);
+        void* buf = malloc(sizeof(char) * TUNE_BUFFER_SIZE);
+        if (buf == nullptr) {
+            ALOGE("Failed to allocate 1 byte buffer for tuning.");
+            return ::ndk::ScopedAStatus::fromServiceSpecificError(
+                    static_cast<int32_t>(Result::INVALID_STATE));
+        }
+        mIptvFrontendTuneThread = std::thread(&Frontend::readTuneByte, this, buf);
+        if (mIptvFrontendTuneThread.joinable()) {
+            mIptvFrontendTuneThread.join();
+        }
     }
 
     return ::ndk::ScopedAStatus::ok();
diff --git a/tv/tuner/aidl/default/Frontend.h b/tv/tuner/aidl/default/Frontend.h
index 17a1aee..f3f8a87 100644
--- a/tv/tuner/aidl/default/Frontend.h
+++ b/tv/tuner/aidl/default/Frontend.h
@@ -33,6 +33,9 @@
 
 class Tuner;
 
+const int TUNE_BUFFER_SIZE = 1;        // byte
+const int TUNE_BUFFER_TIMEOUT = 2000;  // ms
+
 class Frontend : public BnFrontend {
   public:
     Frontend(FrontendType type, int32_t id);
@@ -64,7 +67,10 @@
     dtv_plugin* getIptvPluginInterface();
     string getIptvTransportDescription();
     dtv_streamer* getIptvPluginStreamer();
-    void readTuneByte(dtv_streamer* streamer, void* buf, size_t size, int timeout_ms);
+    void readTuneByte(void* buf);
+    void* getTuneByteBuffer() { return mTuneByteBuffer; };
+    dtv_streamer* createIptvPluginStreamer(dtv_plugin* interface, const char* transport_desc);
+    dtv_plugin* createIptvPluginInterface();
     bool isLocked();
     void getFrontendInfo(FrontendInfo* _aidl_return);
     void setTunerService(std::shared_ptr<Tuner> tuner);
@@ -90,6 +96,7 @@
     string mIptvTransportDescription;
     dtv_streamer* mIptvPluginStreamer;
     std::thread mIptvFrontendTuneThread;
+    void* mTuneByteBuffer = nullptr;
 };
 
 }  // namespace tuner
diff --git a/tv/tuner/aidl/vts/functional/VtsHalTvTunerTargetTest.cpp b/tv/tuner/aidl/vts/functional/VtsHalTvTunerTargetTest.cpp
index 671d079..2b39bc6 100644
--- a/tv/tuner/aidl/vts/functional/VtsHalTvTunerTargetTest.cpp
+++ b/tv/tuner/aidl/vts/functional/VtsHalTvTunerTargetTest.cpp
@@ -684,10 +684,6 @@
     if (!live.hasFrontendConnection) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
-    if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
-        return;
-    }
     auto live_configs = generateLiveConfigurations();
     for (auto& configuration : live_configs) {
         live = configuration;
@@ -784,10 +780,6 @@
     if (!live.hasFrontendConnection) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
-    if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
-        return;
-    }
     // TODO use parameterized tests
     auto live_configs = generateLiveConfigurations();
     for (auto& configuration : live_configs) {
@@ -802,10 +794,6 @@
     if (!live.hasFrontendConnection) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
-    if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
-        return;
-    }
     auto live_configs = generateLiveConfigurations();
     for (auto& configuration : live_configs) {
         live = configuration;
@@ -821,10 +809,6 @@
     if (!live.hasFrontendConnection) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
-    if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
-        return;
-    }
     // TODO use parameterized tests
     auto live_configs = generateLiveConfigurations();
     for (auto& configuration : live_configs) {
@@ -1128,7 +1112,7 @@
     if (!record.support) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
+    // Recording is not currently supported for IPTV frontend
     if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
         return;
     }
@@ -1146,7 +1130,7 @@
     if (!record.support) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
+    // Recording is not currently supported for IPTV frontend
     if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
         return;
     }
@@ -1182,7 +1166,7 @@
     if (!record.support) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
+    // Recording is not currently supported for IPTV frontend
     if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
         return;
     }
@@ -1287,10 +1271,6 @@
 
 TEST_P(TunerFrontendAidlTest, getHardwareInfo) {
     description("Test Frontend get hardware info");
-    // Do not execute tests for IPTV Frontend
-    if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
-        return;
-    }
     if (!live.hasFrontendConnection) {
         return;
     }
@@ -1338,10 +1318,6 @@
     if (!live.hasFrontendConnection) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
-    if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
-        return;
-    }
     auto live_configs = generateLiveConfigurations();
     for (auto& configuration : live_configs) {
         live = configuration;
@@ -1369,10 +1345,6 @@
     if (!live.hasFrontendConnection) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
-    if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
-        return;
-    }
     auto live_configs = generateLiveConfigurations();
     for (auto& configuration : live_configs) {
         live = configuration;
@@ -1402,10 +1374,6 @@
     if (!live.hasFrontendConnection) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
-    if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
-        return;
-    }
     auto live_configs = generateLiveConfigurations();
     for (auto& configuration : live_configs) {
         live = configuration;
@@ -1419,10 +1387,6 @@
     if (!descrambling.support) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
-    if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
-        return;
-    }
     vector<DescramblingHardwareConnections> descrambling_configs =
             generateDescramblingConfigurations();
     if (descrambling_configs.empty()) {
@@ -1459,10 +1423,6 @@
     if (!descrambling.support) {
         return;
     }
-    // Do not execute tests for IPTV Frontend
-    if (frontendMap[live.frontendId].type == FrontendType::IPTV) {
-        return;
-    }
     vector<DescramblingHardwareConnections> descrambling_configs =
             generateDescramblingConfigurations();
     if (descrambling_configs.empty()) {
diff --git a/weaver/vts/VtsHalWeaverTargetTest.cpp b/weaver/vts/VtsHalWeaverTargetTest.cpp
index 754d467..40e9558 100644
--- a/weaver/vts/VtsHalWeaverTargetTest.cpp
+++ b/weaver/vts/VtsHalWeaverTargetTest.cpp
@@ -222,9 +222,8 @@
     }
     // Starting in Android 14, the system will always use at least one Weaver slot if Weaver is
     // supported at all.  Make sure we saw at least one.
-    // TODO: uncomment after Android 14 is merged into AOSP
-    // ASSERT_FALSE(used_slots.empty())
-    //<< "Could not determine which Weaver slots are in use by the system";
+    ASSERT_FALSE(used_slots.empty())
+            << "Could not determine which Weaver slots are in use by the system";
 
     // Find the first free slot.
     int found = 0;