diff --git a/audio/common/all-versions/default/service/android.hardware.audio.service.rc b/audio/common/all-versions/default/service/android.hardware.audio.service.rc
index 45fef9a..f859f21 100644
--- a/audio/common/all-versions/default/service/android.hardware.audio.service.rc
+++ b/audio/common/all-versions/default/service/android.hardware.audio.service.rc
@@ -4,6 +4,8 @@
     # media gid needed for /dev/fm (radio) and for /data/misc/media (tee)
     group audio camera drmrpc inet media mediadrm net_bt net_bt_admin net_bw_acct wakelock context_hub
     capabilities BLOCK_SUSPEND
+    # setting RLIMIT_RTPRIO allows binder RT priority inheritance
+    rlimit rtprio 10 10
     ioprio rt 4
     task_profiles ProcessCapacityHigh HighPerformance
     onrestart restart audioserver
diff --git a/audio/core/all-versions/default/Device.cpp b/audio/core/all-versions/default/Device.cpp
index b954fcd..d03118a 100644
--- a/audio/core/all-versions/default/Device.cpp
+++ b/audio/core/all-versions/default/Device.cpp
@@ -30,6 +30,7 @@
 #include <algorithm>
 
 #include <android/log.h>
+#include <hidl/HidlTransportSupport.h>
 #include <mediautils/MemoryLeakTrackUtil.h>
 #include <memunreachable/memunreachable.h>
 
@@ -183,6 +184,7 @@
     if (status == OK) {
         streamOut = new StreamOut(this, halStream);
         ++mOpenedStreamsCount;
+        android::hardware::setMinSchedulerPolicy(streamOut, SCHED_NORMAL, ANDROID_PRIORITY_AUDIO);
     }
     status_t convertStatus =
             HidlUtils::audioConfigFromHal(halConfig, false /*isInput*/, suggestedConfig);
@@ -220,6 +222,7 @@
     if (status == OK) {
         streamIn = new StreamIn(this, halStream);
         ++mOpenedStreamsCount;
+        android::hardware::setMinSchedulerPolicy(streamIn, SCHED_NORMAL, ANDROID_PRIORITY_AUDIO);
     }
     status_t convertStatus =
             HidlUtils::audioConfigFromHal(halConfig, true /*isInput*/, suggestedConfig);
diff --git a/audio/core/all-versions/default/DevicesFactory.cpp b/audio/core/all-versions/default/DevicesFactory.cpp
index f44daf0..011f9ac 100644
--- a/audio/core/all-versions/default/DevicesFactory.cpp
+++ b/audio/core/all-versions/default/DevicesFactory.cpp
@@ -23,6 +23,8 @@
 #include <string.h>
 
 #include <android/log.h>
+#include <hidl/HidlTransportSupport.h>
+#include <system/thread_defs.h>
 
 namespace android {
 namespace hardware {
@@ -103,6 +105,7 @@
     int halStatus = loadAudioInterface(moduleName, &halDevice);
     if (halStatus == OK) {
         result = new DeviceShim(halDevice);
+        android::hardware::setMinSchedulerPolicy(result, SCHED_NORMAL, ANDROID_PRIORITY_AUDIO);
         retval = Result::OK;
     } else if (halStatus == -EINVAL) {
         retval = Result::NOT_INITIALIZED;
diff --git a/audio/effect/all-versions/default/Effect.cpp b/audio/effect/all-versions/default/Effect.cpp
index b57dc63..5dc42dc 100644
--- a/audio/effect/all-versions/default/Effect.cpp
+++ b/audio/effect/all-versions/default/Effect.cpp
@@ -700,8 +700,21 @@
 
     void* dataPtr = halDataSize > 0 ? &halData[0] : NULL;
     void* resultPtr = halResultSize > 0 ? &halResult[0] : NULL;
-    status_t status =
-        (*mHandle)->command(mHandle, commandId, halDataSize, dataPtr, &halResultSize, resultPtr);
+    status_t status = BAD_VALUE;
+    switch (commandId) {
+        case 'gtid':  // retrieve the tid, used for spatializer priority boost
+            if (halDataSize == 0 && resultMaxSize == sizeof(int32_t)) {
+                auto ptid = (int32_t*)resultPtr;
+                ptid[0] = mProcessThread ? mProcessThread->getTid() : -1;
+                status = OK;
+                break;  // we have handled 'gtid' here.
+            }
+            [[fallthrough]];  // allow 'gtid' overload (checked halDataSize and resultMaxSize).
+        default:
+            status = (*mHandle)->command(mHandle, commandId, halDataSize, dataPtr, &halResultSize,
+                                         resultPtr);
+            break;
+    }
     hidl_vec<uint8_t> result;
     if (status == OK && resultPtr != NULL) {
         result.setToExternal(&halResult[0], halResultSize);
diff --git a/audio/effect/all-versions/default/EffectsFactory.cpp b/audio/effect/all-versions/default/EffectsFactory.cpp
index e93ad89..9bf309c 100644
--- a/audio/effect/all-versions/default/EffectsFactory.cpp
+++ b/audio/effect/all-versions/default/EffectsFactory.cpp
@@ -32,6 +32,7 @@
 
 #include <UuidUtils.h>
 #include <android/log.h>
+#include <hidl/HidlTransportSupport.h>
 #include <media/EffectsFactoryApi.h>
 #include <system/audio_effects/effect_aec.h>
 #include <system/audio_effects/effect_agc.h>
@@ -44,6 +45,7 @@
 #include <system/audio_effects/effect_presetreverb.h>
 #include <system/audio_effects/effect_virtualizer.h>
 #include <system/audio_effects/effect_visualizer.h>
+#include <system/thread_defs.h>
 #include <util/EffectUtils.h>
 
 namespace android {
@@ -189,6 +191,7 @@
         status = (*handle)->get_descriptor(handle, &halDescriptor);
         if (status == OK) {
             effect = dispatchEffectInstanceCreation(halDescriptor, handle);
+            android::hardware::setMinSchedulerPolicy(effect, SCHED_NORMAL, ANDROID_PRIORITY_AUDIO);
             effectId = EffectMap::getInstance().add(handle);
         } else {
             ALOGE("Error querying effect descriptor for %s: %s",
diff --git a/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h b/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h
index 9a93e1a..622846a 100644
--- a/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h
+++ b/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h
@@ -190,6 +190,40 @@
                  },
          .initialValue = {.int32Values = {toInt(VehicleUnit::KILOWATT_HOUR)}}},
 
+        {.config = {.prop = toInt(VehicleProperty::SEAT_MEMORY_SELECT),
+                    .access = VehiclePropertyAccess::WRITE,
+                    .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+                    .areaConfigs = {VehicleAreaConfig{.areaId = SEAT_1_LEFT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 3},
+                                    VehicleAreaConfig{.areaId = SEAT_1_RIGHT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 3},
+                                    VehicleAreaConfig{.areaId = SEAT_2_LEFT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 3},
+                                    VehicleAreaConfig{.areaId = SEAT_2_RIGHT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 3}}},
+         .initialValue = {.int32Values = {1}}},
+
+        {.config = {.prop = toInt(VehicleProperty::SEAT_MEMORY_SET),
+                    .access = VehiclePropertyAccess::WRITE,
+                    .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+                    .areaConfigs = {VehicleAreaConfig{.areaId = SEAT_1_LEFT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 3},
+                                    VehicleAreaConfig{.areaId = SEAT_1_RIGHT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 3},
+                                    VehicleAreaConfig{.areaId = SEAT_2_LEFT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 3},
+                                    VehicleAreaConfig{.areaId = SEAT_2_RIGHT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 3}}},
+         .initialValue = {.int32Values = {1}}},
+
         {.config = {.prop = toInt(VehicleProperty::SEAT_BELT_BUCKLED),
                     .access = VehiclePropertyAccess::READ_WRITE,
                     .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
diff --git a/gnss/aidl/default/Gnss.cpp b/gnss/aidl/default/Gnss.cpp
index cf2c90d..2d6490c 100644
--- a/gnss/aidl/default/Gnss.cpp
+++ b/gnss/aidl/default/Gnss.cpp
@@ -68,7 +68,7 @@
 
     IGnssCallback::GnssSystemInfo systemInfo = {
             .yearOfHw = 2022,
-            .name = "Google Mock GNSS Implementation AIDL v2",
+            .name = "Google, Cuttlefish, AIDL v2",
     };
     status = sGnssCallback->gnssSetSystemInfoCb(systemInfo);
     if (!status.isOk()) {
diff --git a/neuralnetworks/1.2/utils/src/BurstUtils.cpp b/neuralnetworks/1.2/utils/src/BurstUtils.cpp
index b589c46..c4c096d 100644
--- a/neuralnetworks/1.2/utils/src/BurstUtils.cpp
+++ b/neuralnetworks/1.2/utils/src/BurstUtils.cpp
@@ -190,12 +190,13 @@
     size_t index = 0;
 
     // validate packet information
-    if (data.size() == 0 || data[index].getDiscriminator() != discriminator::packetInformation) {
+    if (index >= data.size() ||
+        data.at(index).getDiscriminator() != discriminator::packetInformation) {
         return NN_ERROR() << "FMQ Request packet ill-formed";
     }
 
     // unpackage packet information
-    const FmqRequestDatum::PacketInformation& packetInfo = data[index].packetInformation();
+    const FmqRequestDatum::PacketInformation& packetInfo = data.at(index).packetInformation();
     index++;
     const uint32_t packetSize = packetInfo.packetSize;
     const uint32_t numberOfInputOperands = packetInfo.numberOfInputOperands;
@@ -212,13 +213,14 @@
     inputs.reserve(numberOfInputOperands);
     for (size_t operand = 0; operand < numberOfInputOperands; ++operand) {
         // validate input operand information
-        if (data[index].getDiscriminator() != discriminator::inputOperandInformation) {
+        if (index >= data.size() ||
+            data.at(index).getDiscriminator() != discriminator::inputOperandInformation) {
             return NN_ERROR() << "FMQ Request packet ill-formed";
         }
 
         // unpackage operand information
         const FmqRequestDatum::OperandInformation& operandInfo =
-                data[index].inputOperandInformation();
+                data.at(index).inputOperandInformation();
         index++;
         const bool hasNoValue = operandInfo.hasNoValue;
         const V1_0::DataLocation location = operandInfo.location;
@@ -229,12 +231,13 @@
         dimensions.reserve(numberOfDimensions);
         for (size_t i = 0; i < numberOfDimensions; ++i) {
             // validate dimension
-            if (data[index].getDiscriminator() != discriminator::inputOperandDimensionValue) {
+            if (index >= data.size() ||
+                data.at(index).getDiscriminator() != discriminator::inputOperandDimensionValue) {
                 return NN_ERROR() << "FMQ Request packet ill-formed";
             }
 
             // unpackage dimension
-            const uint32_t dimension = data[index].inputOperandDimensionValue();
+            const uint32_t dimension = data.at(index).inputOperandDimensionValue();
             index++;
 
             // store result
@@ -251,13 +254,14 @@
     outputs.reserve(numberOfOutputOperands);
     for (size_t operand = 0; operand < numberOfOutputOperands; ++operand) {
         // validate output operand information
-        if (data[index].getDiscriminator() != discriminator::outputOperandInformation) {
+        if (index >= data.size() ||
+            data.at(index).getDiscriminator() != discriminator::outputOperandInformation) {
             return NN_ERROR() << "FMQ Request packet ill-formed";
         }
 
         // unpackage operand information
         const FmqRequestDatum::OperandInformation& operandInfo =
-                data[index].outputOperandInformation();
+                data.at(index).outputOperandInformation();
         index++;
         const bool hasNoValue = operandInfo.hasNoValue;
         const V1_0::DataLocation location = operandInfo.location;
@@ -268,12 +272,13 @@
         dimensions.reserve(numberOfDimensions);
         for (size_t i = 0; i < numberOfDimensions; ++i) {
             // validate dimension
-            if (data[index].getDiscriminator() != discriminator::outputOperandDimensionValue) {
+            if (index >= data.size() ||
+                data.at(index).getDiscriminator() != discriminator::outputOperandDimensionValue) {
                 return NN_ERROR() << "FMQ Request packet ill-formed";
             }
 
             // unpackage dimension
-            const uint32_t dimension = data[index].outputOperandDimensionValue();
+            const uint32_t dimension = data.at(index).outputOperandDimensionValue();
             index++;
 
             // store result
@@ -290,12 +295,13 @@
     slots.reserve(numberOfPools);
     for (size_t pool = 0; pool < numberOfPools; ++pool) {
         // validate input operand information
-        if (data[index].getDiscriminator() != discriminator::poolIdentifier) {
+        if (index >= data.size() ||
+            data.at(index).getDiscriminator() != discriminator::poolIdentifier) {
             return NN_ERROR() << "FMQ Request packet ill-formed";
         }
 
         // unpackage operand information
-        const int32_t poolId = data[index].poolIdentifier();
+        const int32_t poolId = data.at(index).poolIdentifier();
         index++;
 
         // store result
@@ -303,17 +309,17 @@
     }
 
     // validate measureTiming
-    if (data[index].getDiscriminator() != discriminator::measureTiming) {
+    if (index >= data.size() || data.at(index).getDiscriminator() != discriminator::measureTiming) {
         return NN_ERROR() << "FMQ Request packet ill-formed";
     }
 
     // unpackage measureTiming
-    const V1_2::MeasureTiming measure = data[index].measureTiming();
+    const V1_2::MeasureTiming measure = data.at(index).measureTiming();
     index++;
 
     // validate packet information
     if (index != packetSize) {
-        return NN_ERROR() << "FMQ Result packet ill-formed";
+        return NN_ERROR() << "FMQ Request packet ill-formed";
     }
 
     // return request
@@ -328,12 +334,13 @@
     size_t index = 0;
 
     // validate packet information
-    if (data.size() == 0 || data[index].getDiscriminator() != discriminator::packetInformation) {
+    if (index >= data.size() ||
+        data.at(index).getDiscriminator() != discriminator::packetInformation) {
         return NN_ERROR() << "FMQ Result packet ill-formed";
     }
 
     // unpackage packet information
-    const FmqResultDatum::PacketInformation& packetInfo = data[index].packetInformation();
+    const FmqResultDatum::PacketInformation& packetInfo = data.at(index).packetInformation();
     index++;
     const uint32_t packetSize = packetInfo.packetSize;
     const V1_0::ErrorStatus errorStatus = packetInfo.errorStatus;
@@ -349,12 +356,13 @@
     outputShapes.reserve(numberOfOperands);
     for (size_t operand = 0; operand < numberOfOperands; ++operand) {
         // validate operand information
-        if (data[index].getDiscriminator() != discriminator::operandInformation) {
+        if (index >= data.size() ||
+            data.at(index).getDiscriminator() != discriminator::operandInformation) {
             return NN_ERROR() << "FMQ Result packet ill-formed";
         }
 
         // unpackage operand information
-        const FmqResultDatum::OperandInformation& operandInfo = data[index].operandInformation();
+        const FmqResultDatum::OperandInformation& operandInfo = data.at(index).operandInformation();
         index++;
         const bool isSufficient = operandInfo.isSufficient;
         const uint32_t numberOfDimensions = operandInfo.numberOfDimensions;
@@ -364,12 +372,13 @@
         dimensions.reserve(numberOfDimensions);
         for (size_t i = 0; i < numberOfDimensions; ++i) {
             // validate dimension
-            if (data[index].getDiscriminator() != discriminator::operandDimensionValue) {
+            if (index >= data.size() ||
+                data.at(index).getDiscriminator() != discriminator::operandDimensionValue) {
                 return NN_ERROR() << "FMQ Result packet ill-formed";
             }
 
             // unpackage dimension
-            const uint32_t dimension = data[index].operandDimensionValue();
+            const uint32_t dimension = data.at(index).operandDimensionValue();
             index++;
 
             // store result
@@ -381,12 +390,13 @@
     }
 
     // validate execution timing
-    if (data[index].getDiscriminator() != discriminator::executionTiming) {
+    if (index >= data.size() ||
+        data.at(index).getDiscriminator() != discriminator::executionTiming) {
         return NN_ERROR() << "FMQ Result packet ill-formed";
     }
 
     // unpackage execution timing
-    const V1_2::Timing timing = data[index].executionTiming();
+    const V1_2::Timing timing = data.at(index).executionTiming();
     index++;
 
     // validate packet information