diff --git a/audio/effect/all-versions/default/Effect.cpp b/audio/effect/all-versions/default/Effect.cpp
index 3baafc9..def3a3f 100644
--- a/audio/effect/all-versions/default/Effect.cpp
+++ b/audio/effect/all-versions/default/Effect.cpp
@@ -238,12 +238,27 @@
 }
 
 // static
-std::vector<uint8_t> Effect::parameterToHal(uint32_t paramSize, const void* paramData,
-                                            uint32_t valueSize, const void** valueData) {
+bool Effect::parameterToHal(uint32_t paramSize, const void* paramData, uint32_t valueSize,
+                            const void** valueData, std::vector<uint8_t>* halParamBuffer) {
+    constexpr size_t kMaxSize = EFFECT_PARAM_SIZE_MAX - sizeof(effect_param_t);
+    if (paramSize > kMaxSize) {
+        ALOGE("%s: Parameter size is too big: %" PRIu32, __func__, paramSize);
+        return false;
+    }
     size_t valueOffsetFromData = alignedSizeIn<uint32_t>(paramSize) * sizeof(uint32_t);
+    if (valueOffsetFromData > kMaxSize) {
+        ALOGE("%s: Aligned parameter size is too big: %zu", __func__, valueOffsetFromData);
+        return false;
+    }
+    if (valueSize > kMaxSize - valueOffsetFromData) {
+        ALOGE("%s: Value size is too big: %" PRIu32 ", max size is %zu", __func__, valueSize,
+              kMaxSize - valueOffsetFromData);
+        android_errorWriteLog(0x534e4554, "237291425");
+        return false;
+    }
     size_t halParamBufferSize = sizeof(effect_param_t) + valueOffsetFromData + valueSize;
-    std::vector<uint8_t> halParamBuffer(halParamBufferSize, 0);
-    effect_param_t* halParam = reinterpret_cast<effect_param_t*>(&halParamBuffer[0]);
+    halParamBuffer->resize(halParamBufferSize, 0);
+    effect_param_t* halParam = reinterpret_cast<effect_param_t*>(halParamBuffer->data());
     halParam->psize = paramSize;
     halParam->vsize = valueSize;
     memcpy(halParam->data, paramData, paramSize);
@@ -256,7 +271,7 @@
             *valueData = halParam->data + valueOffsetFromData;
         }
     }
-    return halParamBuffer;
+    return true;
 }
 
 Result Effect::analyzeCommandStatus(const char* commandName, const char* context, status_t status) {
@@ -314,11 +329,15 @@
                                 GetParameterSuccessCallback onSuccess) {
     // As it is unknown what method HAL uses for copying the provided parameter data,
     // it is safer to make sure that input and output buffers do not overlap.
-    std::vector<uint8_t> halCmdBuffer =
-        parameterToHal(paramSize, paramData, requestValueSize, nullptr);
+    std::vector<uint8_t> halCmdBuffer;
+    if (!parameterToHal(paramSize, paramData, requestValueSize, nullptr, &halCmdBuffer)) {
+        return Result::INVALID_ARGUMENTS;
+    }
     const void* valueData = nullptr;
-    std::vector<uint8_t> halParamBuffer =
-        parameterToHal(paramSize, paramData, replyValueSize, &valueData);
+    std::vector<uint8_t> halParamBuffer;
+    if (!parameterToHal(paramSize, paramData, replyValueSize, &valueData, &halParamBuffer)) {
+        return Result::INVALID_ARGUMENTS;
+    }
     uint32_t halParamBufferSize = halParamBuffer.size();
 
     return sendCommandReturningStatusAndData(
@@ -472,8 +491,10 @@
 
 Result Effect::setParameterImpl(uint32_t paramSize, const void* paramData, uint32_t valueSize,
                                 const void* valueData) {
-    std::vector<uint8_t> halParamBuffer =
-        parameterToHal(paramSize, paramData, valueSize, &valueData);
+    std::vector<uint8_t> halParamBuffer;
+    if (!parameterToHal(paramSize, paramData, valueSize, &valueData, &halParamBuffer)) {
+        return Result::INVALID_ARGUMENTS;
+    }
     return sendCommandReturningStatus(EFFECT_CMD_SET_PARAM, "SET_PARAM", halParamBuffer.size(),
                                       &halParamBuffer[0]);
 }
diff --git a/audio/effect/all-versions/default/Effect.h b/audio/effect/all-versions/default/Effect.h
index 011544d..f0b65df 100644
--- a/audio/effect/all-versions/default/Effect.h
+++ b/audio/effect/all-versions/default/Effect.h
@@ -211,8 +211,8 @@
                                              channel_config_t* halConfig);
     static void effectOffloadParamToHal(const EffectOffloadParameter& offload,
                                         effect_offload_param_t* halOffload);
-    static std::vector<uint8_t> parameterToHal(uint32_t paramSize, const void* paramData,
-                                               uint32_t valueSize, const void** valueData);
+    static bool parameterToHal(uint32_t paramSize, const void* paramData, uint32_t valueSize,
+                               const void** valueData, std::vector<uint8_t>* halParamBuffer);
 
     Result analyzeCommandStatus(const char* commandName, const char* context, status_t status);
     void getConfigImpl(int commandCode, const char* commandName, GetConfigCallback cb);
diff --git a/audio/effect/all-versions/vts/functional/VtsHalAudioEffectTargetTest.cpp b/audio/effect/all-versions/vts/functional/VtsHalAudioEffectTargetTest.cpp
index e59423f..ffa4c56 100644
--- a/audio/effect/all-versions/vts/functional/VtsHalAudioEffectTargetTest.cpp
+++ b/audio/effect/all-versions/vts/functional/VtsHalAudioEffectTargetTest.cpp
@@ -623,6 +623,23 @@
     EXPECT_TRUE(ret.isOk());
 }
 
+TEST_P(AudioEffectHidlTest, GetParameterInvalidMaxReplySize) {
+    description("Verify that GetParameter caps the maximum reply size");
+    // Use a non-empty parameter to avoid being rejected by any earlier checks.
+    hidl_vec<uint8_t> parameter;
+    parameter.resize(16);
+    // Use very large size to ensure that the service does not crash. Since parameters
+    // are specific to each effect, and some effects may not have parameters at all,
+    // simply checking the return value would not reveal an issue of using an uncapped value.
+    const uint32_t veryLargeReplySize = std::numeric_limits<uint32_t>::max() - 100;
+    Result retval = Result::OK;
+    Return<void> ret =
+            effect->getParameter(parameter, veryLargeReplySize,
+                                 [&](Result r, const hidl_vec<uint8_t>&) { retval = r; });
+    EXPECT_TRUE(ret.isOk());
+    EXPECT_EQ(Result::INVALID_ARGUMENTS, retval);
+}
+
 TEST_P(AudioEffectHidlTest, GetSupportedConfigsForFeature) {
     description("Verify that GetSupportedConfigsForFeature does not crash");
     Return<void> ret = effect->getSupportedConfigsForFeature(
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index cfbbbd3..e276a39 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -1109,6 +1109,19 @@
                         },
                 .initialValue = {.stringValue = {"Test"}},
         },
+        // This property is later defined in the AIDL VHAL interface. However, HIDL VHAL might
+        // require support for this property to meet EU regulation.
+        {
+                .config =
+                        {
+                                // GENERAL_SAFETY_REGULATION_COMPLIANCE_REQUIREMENT
+                                .prop = 0x11400F47,
+                                .access = VehiclePropertyAccess::READ,
+                                .changeMode = VehiclePropertyChangeMode::STATIC,
+                        },
+                // GsrComplianceRequirementType::GSR_COMPLIANCE_REQUIRED_V1
+                .initialValue = {.int32Values = {1}},
+        },
 #ifdef ENABLE_VENDOR_CLUSTER_PROPERTY_FOR_TESTING
         // Vendor propetry for E2E ClusterHomeService testing.
         {
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/tests/DefaultVhalImpl_test.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/tests/DefaultVhalImpl_test.cpp
index e3c8dd6..d35792d 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/tests/DefaultVhalImpl_test.cpp
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/tests/DefaultVhalImpl_test.cpp
@@ -141,7 +141,7 @@
 TEST_F(DefaultVhalImplTest, testListProperties) {
     std::vector<VehiclePropConfig> configs = mHal->listProperties();
 
-    EXPECT_EQ((size_t)121, configs.size());
+    EXPECT_EQ((size_t)122, configs.size());
 }
 
 TEST_F(DefaultVhalImplTest, testGetDefaultPropertyFloat) {
diff --git a/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h b/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h
index e00f775..538a166 100644
--- a/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h
+++ b/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h
@@ -40,6 +40,7 @@
 using ::aidl::android::hardware::automotive::vehicle::VehicleApPowerStateReport;
 using ::aidl::android::hardware::automotive::vehicle::VehicleApPowerStateReq;
 using ::aidl::android::hardware::automotive::vehicle::VehicleAreaConfig;
+using ::aidl::android::hardware::automotive::vehicle::VehicleAreaMirror;
 using ::aidl::android::hardware::automotive::vehicle::VehicleAreaWindow;
 using ::aidl::android::hardware::automotive::vehicle::VehicleGear;
 using ::aidl::android::hardware::automotive::vehicle::VehicleHvacFanDirection;
@@ -173,6 +174,79 @@
 
         {.config =
                  {
+                         .prop = toInt(VehicleProperty::EV_BATTERY_DISPLAY_UNITS),
+                         .access = VehiclePropertyAccess::READ_WRITE,
+                         .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+                         .configArray = {toInt(VehicleUnit::WATT_HOUR),
+                                         toInt(VehicleUnit::AMPERE_HOURS),
+                                         toInt(VehicleUnit::KILOWATT_HOUR)},
+                 },
+         .initialValue = {.int32Values = {toInt(VehicleUnit::KILOWATT_HOUR)}}},
+
+        {.config = {.prop = toInt(VehicleProperty::SEAT_BELT_BUCKLED),
+                    .access = VehiclePropertyAccess::READ_WRITE,
+                    .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+                    .areaConfigs = {VehicleAreaConfig{.areaId = SEAT_1_LEFT},
+                                    VehicleAreaConfig{.areaId = SEAT_1_RIGHT},
+                                    VehicleAreaConfig{.areaId = SEAT_2_LEFT},
+                                    VehicleAreaConfig{.areaId = SEAT_2_RIGHT},
+                                    VehicleAreaConfig{.areaId = SEAT_2_CENTER}}},
+         .initialAreaValues = {{SEAT_1_LEFT, {.int32Values = {0}}},
+                               {SEAT_1_RIGHT, {.int32Values = {0}}},
+                               {SEAT_2_LEFT, {.int32Values = {0}}},
+                               {SEAT_2_RIGHT, {.int32Values = {0}}},
+                               {SEAT_2_CENTER, {.int32Values = {0}}}}},
+
+        {.config = {.prop = toInt(VehicleProperty::SEAT_BELT_HEIGHT_POS),
+                    .access = VehiclePropertyAccess::READ_WRITE,
+                    .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+                    .areaConfigs = {VehicleAreaConfig{.areaId = SEAT_1_LEFT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 10},
+                                    VehicleAreaConfig{.areaId = SEAT_1_RIGHT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 10},
+                                    VehicleAreaConfig{.areaId = SEAT_2_LEFT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 10},
+                                    VehicleAreaConfig{.areaId = SEAT_2_RIGHT,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 10},
+                                    VehicleAreaConfig{.areaId = SEAT_2_CENTER,
+                                                      .minInt32Value = 0,
+                                                      .maxInt32Value = 10}}},
+         .initialAreaValues = {{SEAT_1_LEFT, {.int32Values = {10}}},
+                               {SEAT_1_RIGHT, {.int32Values = {10}}},
+                               {SEAT_2_LEFT, {.int32Values = {10}}},
+                               {SEAT_2_RIGHT, {.int32Values = {10}}},
+                               {SEAT_2_CENTER, {.int32Values = {10}}}}},
+
+        {.config = {.prop = toInt(VehicleProperty::SEAT_BELT_HEIGHT_MOVE),
+                    .access = VehiclePropertyAccess::READ_WRITE,
+                    .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+                    .areaConfigs = {VehicleAreaConfig{.areaId = SEAT_1_LEFT,
+                                                      .minInt32Value = -1,
+                                                      .maxInt32Value = 1},
+                                    VehicleAreaConfig{.areaId = SEAT_1_RIGHT,
+                                                      .minInt32Value = -1,
+                                                      .maxInt32Value = 1},
+                                    VehicleAreaConfig{.areaId = SEAT_2_LEFT,
+                                                      .minInt32Value = -1,
+                                                      .maxInt32Value = 1},
+                                    VehicleAreaConfig{.areaId = SEAT_2_RIGHT,
+                                                      .minInt32Value = -1,
+                                                      .maxInt32Value = 1},
+                                    VehicleAreaConfig{.areaId = SEAT_2_CENTER,
+                                                      .minInt32Value = -1,
+                                                      .maxInt32Value = 1}}},
+         .initialAreaValues = {{SEAT_1_LEFT, {.int32Values = {0}}},
+                               {SEAT_1_RIGHT, {.int32Values = {0}}},
+                               {SEAT_2_LEFT, {.int32Values = {0}}},
+                               {SEAT_2_RIGHT, {.int32Values = {0}}},
+                               {SEAT_2_CENTER, {.int32Values = {0}}}}},
+
+        {.config =
+                 {
                          .prop = toInt(VehicleProperty::SEAT_OCCUPANCY),
                          .access = VehiclePropertyAccess::READ,
                          .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
@@ -352,8 +426,9 @@
                          .prop = toInt(VehicleProperty::VEHICLE_CURB_WEIGHT),
                          .access = VehiclePropertyAccess::READ,
                          .changeMode = VehiclePropertyChangeMode::STATIC,
+                         .configArray = {/*gross weight kg=*/2948},
                  },
-         .initialValue = {.int32Values = {30}}},
+         .initialValue = {.int32Values = {2211 /*kg*/}}},
 
         {.config =
                  {
@@ -460,6 +535,24 @@
 
         {.config =
                  {
+                         .prop = toInt(VehicleProperty::FUEL_VOLUME_DISPLAY_UNITS),
+                         .access = VehiclePropertyAccess::READ_WRITE,
+                         .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+                         .configArray = {(int)VehicleUnit::LITER, (int)VehicleUnit::US_GALLON},
+                 },
+         .initialValue = {.int32Values = {(int)VehicleUnit::LITER}}},
+
+        {.config =
+                 {
+                         .prop = toInt(
+                                 VehicleProperty::FUEL_CONSUMPTION_UNITS_DISTANCE_OVER_VOLUME),
+                         .access = VehiclePropertyAccess::READ_WRITE,
+                         .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+                 },
+         .initialValue = {.int32Values = {1}}},
+
+        {.config =
+                 {
                          .prop = toInt(VehicleProperty::HW_KEY_INPUT),
                          .access = VehiclePropertyAccess::READ,
                          .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
@@ -623,6 +716,17 @@
                                     }}},
          .initialValue = {.int32Values = {0}}},  // +ve values for heating and -ve for cooling
 
+        {.config = {.prop = toInt(VehicleProperty::HVAC_SIDE_MIRROR_HEAT),
+                    .access = VehiclePropertyAccess::READ_WRITE,
+                    .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+                    .areaConfigs = {VehicleAreaConfig{
+                            .areaId = toInt(VehicleAreaMirror::DRIVER_LEFT) |
+                                      toInt(VehicleAreaMirror::DRIVER_RIGHT),
+                            .minInt32Value = 0,
+                            .maxInt32Value = 2,
+                    }}},
+         .initialValue = {.int32Values = {0}}},
+
         {.config = {.prop = toInt(VehicleProperty::HVAC_TEMPERATURE_SET),
                     .access = VehiclePropertyAccess::READ_WRITE,
                     .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
@@ -715,6 +819,16 @@
 
         {.config =
                  {
+                         .prop = toInt(VehicleProperty::ENGINE_COOLANT_TEMP),
+                         .access = VehiclePropertyAccess::READ,
+                         .changeMode = VehiclePropertyChangeMode::CONTINUOUS,
+                         .minSampleRate = 1.0f,
+                         .maxSampleRate = 10.0f,
+                 },
+         .initialValue = {.floatValues = {75.0f}}},
+
+        {.config =
+                 {
                          .prop = toInt(VehicleProperty::ENGINE_OIL_LEVEL),
                          .access = VehiclePropertyAccess::READ,
                          .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
@@ -884,14 +998,6 @@
 
         {.config =
                  {
-                         .prop = toInt(VehicleProperty::FOG_LIGHTS_STATE),
-                         .access = VehiclePropertyAccess::READ,
-                         .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
-                 },
-         .initialValue = {.int32Values = {LIGHT_STATE_ON}}},
-
-        {.config =
-                 {
                          .prop = toInt(VehicleProperty::FRONT_FOG_LIGHTS_STATE),
                          .access = VehiclePropertyAccess::READ,
                          .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
@@ -930,14 +1036,7 @@
                  },
          .initialValue = {.int32Values = {LIGHT_SWITCH_AUTO}}},
 
-        {.config =
-                 {
-                         .prop = toInt(VehicleProperty::FOG_LIGHTS_SWITCH),
-                         .access = VehiclePropertyAccess::READ_WRITE,
-                         .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
-                 },
-         .initialValue = {.int32Values = {LIGHT_SWITCH_AUTO}}},
-
+        // FOG_LIGHTS_SWITCH must not be implemented when FRONT_FOG_LIGHTS_SWITCH is implemented
         {.config =
                  {
                          .prop = toInt(VehicleProperty::FRONT_FOG_LIGHTS_SWITCH),
@@ -946,6 +1045,7 @@
                  },
          .initialValue = {.int32Values = {LIGHT_SWITCH_AUTO}}},
 
+        // FOG_LIGHTS_SWITCH must not be implemented when REAR_FOG_LIGHTS_SWITCH is implemented
         {.config =
                  {
                          .prop = toInt(VehicleProperty::REAR_FOG_LIGHTS_SWITCH),
diff --git a/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp b/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
index b64c1a6..20c34aa 100644
--- a/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
+++ b/automotive/vehicle/aidl/impl/fake_impl/hardware/src/FakeVehicleHardware.cpp
@@ -217,17 +217,16 @@
             [[fallthrough]];
         case toInt(VehicleApPowerStateReport::WAIT_FOR_VHAL):
             // CPMS is in WAIT_FOR_VHAL state, simply move to ON and send back to HAL.
-            // Must erase existing state because in the case when Car Service crashes, the power
-            // state would already be ON when we receive WAIT_FOR_VHAL and thus new property change
-            // event would be generated. However, Car Service always expect a property change event
-            // even though there is not actual state change.
-            mServerSidePropStore->removeValuesForProperty(
-                    toInt(VehicleProperty::AP_POWER_STATE_REQ));
             prop = createApPowerStateReq(VehicleApPowerStateReq::ON);
 
-            // ALWAYS update status for generated property value
+            // ALWAYS update status for generated property value, and force a property update event
+            // because in the case when Car Service crashes, the power state would already be ON
+            // when we receive WAIT_FOR_VHAL and thus new property change event would be generated.
+            // However, Car Service always expect a property change event even though there is no
+            // actual state change.
             if (auto writeResult =
-                        mServerSidePropStore->writeValue(std::move(prop), /*updateStatus=*/true);
+                        mServerSidePropStore->writeValue(std::move(prop), /*updateStatus=*/true,
+                                                         VehiclePropertyStore::EventMode::ALWAYS);
                 !writeResult.ok()) {
                 return StatusError(getErrorCode(writeResult))
                        << "failed to write AP_POWER_STATE_REQ into property store, error: "
@@ -894,10 +893,10 @@
             return;
         }
         result.value()->timestamp = elapsedRealtimeNano();
-        // Must remove the value before writing, otherwise, we would generate no update event since
-        // the value is the same.
-        mServerSidePropStore->removeValue(*result.value());
-        mServerSidePropStore->writeValue(std::move(result.value()));
+        // For continuous properties, we must generate a new onPropertyChange event periodically
+        // according to the sample rate.
+        mServerSidePropStore->writeValue(std::move(result.value()), /*updateStatus=*/true,
+                                         VehiclePropertyStore::EventMode::ALWAYS);
     });
     mRecurrentTimer->registerTimerCallback(interval, action);
     mRecurrentActions[propIdAreaId] = action;
diff --git a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
index a7fcdcf..8bc3c20 100644
--- a/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
+++ b/automotive/vehicle/aidl/impl/utils/common/include/VehicleHalTypes.h
@@ -42,6 +42,7 @@
 #include <aidl/android/hardware/automotive/vehicle/VehicleApPowerStateReq.h>
 #include <aidl/android/hardware/automotive/vehicle/VehicleArea.h>
 #include <aidl/android/hardware/automotive/vehicle/VehicleAreaDoor.h>
+#include <aidl/android/hardware/automotive/vehicle/VehicleAreaMirror.h>
 #include <aidl/android/hardware/automotive/vehicle/VehicleAreaSeat.h>
 #include <aidl/android/hardware/automotive/vehicle/VehicleAreaWheel.h>
 #include <aidl/android/hardware/automotive/vehicle/VehicleAreaWindow.h>
diff --git a/automotive/vehicle/aidl/impl/utils/common/include/VehiclePropertyStore.h b/automotive/vehicle/aidl/impl/utils/common/include/VehiclePropertyStore.h
index ddc4f68..3d25cd3 100644
--- a/automotive/vehicle/aidl/impl/utils/common/include/VehiclePropertyStore.h
+++ b/automotive/vehicle/aidl/impl/utils/common/include/VehiclePropertyStore.h
@@ -46,6 +46,33 @@
     using ValueResultType = VhalResult<VehiclePropValuePool::RecyclableType>;
     using ValuesResultType = VhalResult<std::vector<VehiclePropValuePool::RecyclableType>>;
 
+    enum class EventMode : uint8_t {
+        /**
+         * Only invoke OnValueChangeCallback if the new property value (ignoring timestamp) is
+         * different than the existing value.
+         *
+         * This should be used for regular cases.
+         */
+        ON_VALUE_CHANGE,
+        /**
+         * Always invoke OnValueChangeCallback.
+         *
+         * This should be used for the special properties that are used for delivering event, e.g.
+         * HW_KEY_INPUT.
+         */
+        ALWAYS,
+        /**
+         * Never invoke OnValueChangeCallback.
+         *
+         * This should be used for continuous property subscription when the sample rate for the
+         * subscription is smaller than the refresh rate for the property. E.g., the vehicle speed
+         * is refreshed at 20hz, but we are only subscribing at 10hz. In this case, we want to
+         * generate the property change event at 10hz, not 20hz, but we still want to refresh the
+         * timestamp (via writeValue) at 20hz.
+         */
+        NEVER,
+    };
+
     explicit VehiclePropertyStore(std::shared_ptr<VehiclePropValuePool> valuePool)
         : mValuePool(valuePool) {}
 
@@ -72,8 +99,10 @@
     // 'status' would be initialized to {@code VehiclePropertyStatus::AVAILABLE}, if this is to
     // override an existing value, the status for the existing value would be used for the
     // overridden value.
+    // 'EventMode' controls whether the 'OnValueChangeCallback' will be called for this operation.
     VhalResult<void> writeValue(VehiclePropValuePool::RecyclableType propValue,
-                                bool updateStatus = false);
+                                bool updateStatus = false,
+                                EventMode mode = EventMode::ON_VALUE_CHANGE);
 
     // Remove a given property value from the property store. The 'propValue' would be used to
     // generate the key for the value to remove.
diff --git a/automotive/vehicle/aidl/impl/utils/common/src/VehiclePropertyStore.cpp b/automotive/vehicle/aidl/impl/utils/common/src/VehiclePropertyStore.cpp
index c8fb994..646dc0e 100644
--- a/automotive/vehicle/aidl/impl/utils/common/src/VehiclePropertyStore.cpp
+++ b/automotive/vehicle/aidl/impl/utils/common/src/VehiclePropertyStore.cpp
@@ -106,7 +106,8 @@
 }
 
 VhalResult<void> VehiclePropertyStore::writeValue(VehiclePropValuePool::RecyclableType propValue,
-                                                  bool updateStatus) {
+                                                  bool updateStatus,
+                                                  VehiclePropertyStore::EventMode eventMode) {
     std::scoped_lock<std::mutex> g(mLock);
 
     int32_t propId = propValue->prop;
@@ -145,7 +146,12 @@
     }
 
     record->values[recId] = std::move(propValue);
-    if (valueUpdated && mOnValueChangeCallback != nullptr) {
+
+    if (eventMode == EventMode::NEVER) {
+        return {};
+    }
+
+    if ((eventMode == EventMode::ALWAYS || valueUpdated) && mOnValueChangeCallback != nullptr) {
         mOnValueChangeCallback(*(record->values[recId]));
     }
     return {};
diff --git a/automotive/vehicle/aidl/impl/utils/common/test/VehiclePropertyStoreTest.cpp b/automotive/vehicle/aidl/impl/utils/common/test/VehiclePropertyStoreTest.cpp
index 4d6f811..fea5034 100644
--- a/automotive/vehicle/aidl/impl/utils/common/test/VehiclePropertyStoreTest.cpp
+++ b/automotive/vehicle/aidl/impl/utils/common/test/VehiclePropertyStoreTest.cpp
@@ -448,6 +448,67 @@
     ASSERT_EQ(updatedValue.prop, INVALID_PROP_ID);
 }
 
+TEST_F(VehiclePropertyStoreTest, testPropertyChangeCallbackNoUpdateForTimestampChange) {
+    VehiclePropValue updatedValue{
+            .prop = INVALID_PROP_ID,
+    };
+    VehiclePropValue fuelCapacity = {
+            .prop = toInt(VehicleProperty::INFO_FUEL_CAPACITY),
+            .value = {.floatValues = {1.0}},
+    };
+    ASSERT_RESULT_OK(mStore->writeValue(mValuePool->obtain(fuelCapacity)));
+
+    mStore->setOnValueChangeCallback(
+            [&updatedValue](const VehiclePropValue& value) { updatedValue = value; });
+
+    // Write the same value with different timestamp should succeed but should not trigger callback.
+    fuelCapacity.timestamp = 1;
+    ASSERT_RESULT_OK(mStore->writeValue(mValuePool->obtain(fuelCapacity)));
+
+    ASSERT_EQ(updatedValue.prop, INVALID_PROP_ID);
+}
+
+TEST_F(VehiclePropertyStoreTest, testPropertyChangeCallbackForceUpdate) {
+    VehiclePropValue updatedValue{
+            .prop = INVALID_PROP_ID,
+    };
+    VehiclePropValue fuelCapacity = {
+            .prop = toInt(VehicleProperty::INFO_FUEL_CAPACITY),
+            .value = {.floatValues = {1.0}},
+    };
+    ASSERT_RESULT_OK(mStore->writeValue(mValuePool->obtain(fuelCapacity)));
+
+    mStore->setOnValueChangeCallback(
+            [&updatedValue](const VehiclePropValue& value) { updatedValue = value; });
+
+    fuelCapacity.timestamp = 1;
+    ASSERT_RESULT_OK(mStore->writeValue(mValuePool->obtain(fuelCapacity), /*updateStatus=*/false,
+                                        VehiclePropertyStore::EventMode::ALWAYS));
+
+    ASSERT_EQ(updatedValue, fuelCapacity);
+}
+
+TEST_F(VehiclePropertyStoreTest, testPropertyChangeCallbackForceNoUpdate) {
+    VehiclePropValue updatedValue{
+            .prop = INVALID_PROP_ID,
+    };
+    VehiclePropValue fuelCapacity = {
+            .prop = toInt(VehicleProperty::INFO_FUEL_CAPACITY),
+            .value = {.floatValues = {1.0}},
+    };
+    ASSERT_RESULT_OK(mStore->writeValue(mValuePool->obtain(fuelCapacity)));
+
+    mStore->setOnValueChangeCallback(
+            [&updatedValue](const VehiclePropValue& value) { updatedValue = value; });
+    fuelCapacity.value.floatValues[0] = 2.0;
+    fuelCapacity.timestamp = 1;
+
+    ASSERT_RESULT_OK(mStore->writeValue(mValuePool->obtain(fuelCapacity), /*updateStatus=*/false,
+                                        VehiclePropertyStore::EventMode::NEVER));
+
+    ASSERT_EQ(updatedValue.prop, INVALID_PROP_ID);
+}
+
 }  // namespace vehicle
 }  // namespace automotive
 }  // namespace hardware
diff --git a/vibrator/aidl/default/Vibrator.cpp b/vibrator/aidl/default/Vibrator.cpp
index ddc6ee0..01602ab 100644
--- a/vibrator/aidl/default/Vibrator.cpp
+++ b/vibrator/aidl/default/Vibrator.cpp
@@ -59,7 +59,10 @@
                                 const std::shared_ptr<IVibratorCallback>& callback) {
     LOG(VERBOSE) << "Vibrator on for timeoutMs: " << timeoutMs;
     if (callback != nullptr) {
-        std::thread([=] {
+        // Note that thread lambdas aren't using implicit capture [=], to avoid capturing "this",
+        // which may be asynchronously destructed.
+        // If "this" is needed, use [sharedThis = this->ref<Vibrator>()].
+        std::thread([timeoutMs, callback] {
             LOG(VERBOSE) << "Starting on on another thread";
             usleep(timeoutMs * 1000);
             LOG(VERBOSE) << "Notifying on complete";
@@ -87,7 +90,7 @@
     constexpr size_t kEffectMillis = 100;
 
     if (callback != nullptr) {
-        std::thread([=] {
+        std::thread([callback] {
             LOG(VERBOSE) << "Starting perform on another thread";
             usleep(kEffectMillis * 1000);
             LOG(VERBOSE) << "Notifying perform complete";
@@ -174,7 +177,8 @@
         }
     }
 
-    std::thread([=] {
+    // The thread may theoretically outlive the vibrator, so take a proper reference to it.
+    std::thread([sharedThis = this->ref<Vibrator>(), composite, callback] {
         LOG(VERBOSE) << "Starting compose on another thread";
 
         for (auto& e : composite) {
@@ -185,7 +189,7 @@
                          << e.scale;
 
             int32_t durationMs;
-            getPrimitiveDuration(e.primitive, &durationMs);
+            sharedThis->getPrimitiveDuration(e.primitive, &durationMs);
             usleep(durationMs * 1000);
         }
 
@@ -396,7 +400,7 @@
         }
     }
 
-    std::thread([=] {
+    std::thread([totalDuration, callback] {
         LOG(VERBOSE) << "Starting composePwle on another thread";
         usleep(totalDuration * 1000);
         if (callback != nullptr) {
diff --git a/vibrator/aidl/default/VibratorManager.cpp b/vibrator/aidl/default/VibratorManager.cpp
index 7cf9e6a..26edf5a 100644
--- a/vibrator/aidl/default/VibratorManager.cpp
+++ b/vibrator/aidl/default/VibratorManager.cpp
@@ -66,7 +66,7 @@
 ndk::ScopedAStatus VibratorManager::triggerSynced(
         const std::shared_ptr<IVibratorCallback>& callback) {
     LOG(INFO) << "Vibrator Manager trigger synced";
-    std::thread([=] {
+    std::thread([callback] {
         if (callback != nullptr) {
             LOG(INFO) << "Notifying perform complete";
             callback->onComplete();