diff --git a/audio/effect/all-versions/vts/functional/VtsHalAudioEffectTargetTest.cpp b/audio/effect/all-versions/vts/functional/VtsHalAudioEffectTargetTest.cpp
index ffa4c56..c808ff6 100644
--- a/audio/effect/all-versions/vts/functional/VtsHalAudioEffectTargetTest.cpp
+++ b/audio/effect/all-versions/vts/functional/VtsHalAudioEffectTargetTest.cpp
@@ -35,6 +35,7 @@
 
 #include <common/all-versions/VersionUtils.h>
 
+#include <cutils/properties.h>
 #include <gtest/gtest.h>
 #include <hidl/GtestPrinter.h>
 #include <hidl/ServiceManagement.h>
@@ -625,6 +626,10 @@
 
 TEST_P(AudioEffectHidlTest, GetParameterInvalidMaxReplySize) {
     description("Verify that GetParameter caps the maximum reply size");
+    const bool isNewDeviceLaunchingOnTPlus = property_get_int32("ro.vendor.api_level", 0) >= 33;
+    if (!isNewDeviceLaunchingOnTPlus) {
+        GTEST_SKIP() << "The test only applies to devices launching on T or later";
+    }
     // Use a non-empty parameter to avoid being rejected by any earlier checks.
     hidl_vec<uint8_t> parameter;
     parameter.resize(16);
diff --git a/automotive/vehicle/aidl/impl/default_config/Android.bp b/automotive/vehicle/aidl/impl/default_config/Android.bp
deleted file mode 100644
index aa22d87..0000000
--- a/automotive/vehicle/aidl/impl/default_config/Android.bp
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
- * Copyright (C) 2021 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.
- */
-
-package {
-    default_applicable_licenses: ["Android-Apache-2.0"],
-}
-
-cc_library_headers {
-    name: "VehicleHalDefaultConfig",
-    vendor: true,
-    local_include_dirs: ["include"],
-    export_include_dirs: ["include"],
-    defaults: ["VehicleHalDefaults"],
-    static_libs: ["VehicleHalUtils"],
-    header_libs: [
-        "VehicleHalJsonConfigLoaderHeaders",
-        "VehicleHalTestUtilHeaders",
-    ],
-    export_static_lib_headers: ["VehicleHalUtils"],
-    export_header_lib_headers: [
-        "VehicleHalTestUtilHeaders",
-        "VehicleHalJsonConfigLoaderHeaders",
-    ],
-}
diff --git a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
index 7167a60..a9bd970 100644
--- a/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
+++ b/automotive/vehicle/aidl/impl/default_config/config/DefaultProperties.json
@@ -435,6 +435,76 @@
             ]
         },
         {
+            "property": "VehicleProperty::SEAT_HEIGHT_POS",
+            "defaultValue": {
+                "int32Values": [
+                    0
+                ]
+            },
+            "areas": [
+                {
+                    "areaId": "Constants::SEAT_1_LEFT",
+                    "minInt32Value": -10,
+                    "maxInt32Value": 10
+                },
+                {
+                    "areaId": "Constants::SEAT_1_RIGHT",
+                    "minInt32Value": -10,
+                    "maxInt32Value": 10
+                },
+                {
+                    "areaId": "Constants::SEAT_2_LEFT",
+                    "minInt32Value": -10,
+                    "maxInt32Value": 10
+                },
+                {
+                    "areaId": "Constants::SEAT_2_RIGHT",
+                    "minInt32Value": -10,
+                    "maxInt32Value": 10
+                },
+                {
+                    "areaId": "Constants::SEAT_2_CENTER",
+                    "minInt32Value": -10,
+                    "maxInt32Value": 10
+                }
+            ]
+        },
+        {
+            "property": "VehicleProperty::SEAT_HEIGHT_MOVE",
+            "defaultValue": {
+                "int32Values": [
+                    0
+                ]
+            },
+            "areas": [
+                {
+                    "areaId": "Constants::SEAT_1_LEFT",
+                    "minInt32Value": -1,
+                    "maxInt32Value": 1
+                },
+                {
+                    "areaId": "Constants::SEAT_1_RIGHT",
+                    "minInt32Value": -1,
+                    "maxInt32Value": 1
+                },
+                {
+                    "areaId": "Constants::SEAT_2_LEFT",
+                    "minInt32Value": -1,
+                    "maxInt32Value": 1
+                },
+                {
+                    "areaId": "Constants::SEAT_2_RIGHT",
+                    "minInt32Value": -1,
+                    "maxInt32Value": 1
+                },
+                {
+                    "areaId": "Constants::SEAT_2_CENTER",
+                    "minInt32Value": -1,
+                    "maxInt32Value": 1
+                }
+            ]
+        },
+        {
             "property": "VehicleProperty::SEAT_OCCUPANCY",
             "areas": [
                 {
diff --git a/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h b/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h
index 8c6fa1b..2a40160 100644
--- a/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h
+++ b/automotive/vehicle/aidl/impl/default_config/include/DefaultConfig.h
@@ -344,6 +344,46 @@
                                                       .maxInt32Value = 1}}},
          .initialValue = {.int32Values = {0}}},
 
+        {.config = {.prop = toInt(VehicleProperty::SEAT_HEIGHT_POS),
+                    .access = VehiclePropertyAccess::READ_WRITE,
+                    .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+                    .areaConfigs = {VehicleAreaConfig{.areaId = SEAT_1_LEFT,
+                                                      .minInt32Value = -10,
+                                                      .maxInt32Value = 10},
+                                    VehicleAreaConfig{.areaId = SEAT_1_RIGHT,
+                                                      .minInt32Value = -10,
+                                                      .maxInt32Value = 10},
+                                    VehicleAreaConfig{.areaId = SEAT_2_LEFT,
+                                                      .minInt32Value = -10,
+                                                      .maxInt32Value = 10},
+                                    VehicleAreaConfig{.areaId = SEAT_2_RIGHT,
+                                                      .minInt32Value = -10,
+                                                      .maxInt32Value = 10},
+                                    VehicleAreaConfig{.areaId = SEAT_2_CENTER,
+                                                      .minInt32Value = -10,
+                                                      .maxInt32Value = 10}}},
+         .initialValue = {.int32Values = {0}}},
+
+        {.config = {.prop = toInt(VehicleProperty::SEAT_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}}},
+         .initialValue = {.int32Values = {0}}},
+
         {.config =
                  {
                          .prop = toInt(VehicleProperty::SEAT_OCCUPANCY),
diff --git a/automotive/vehicle/aidl/impl/default_config/test/Android.bp b/automotive/vehicle/aidl/impl/default_config/test/Android.bp
index b05d47c..8702eae 100644
--- a/automotive/vehicle/aidl/impl/default_config/test/Android.bp
+++ b/automotive/vehicle/aidl/impl/default_config/test/Android.bp
@@ -30,8 +30,6 @@
         "libgtest",
     ],
     header_libs: [
-        // TODO(b/238685398): Remove this once we deprecate DefaultConfig.h
-        "VehicleHalDefaultConfig",
         "IVehicleGeneratedHeaders",
     ],
     shared_libs: [
@@ -55,13 +53,9 @@
         "libgtest",
     ],
     cflags: [
-        // TODO(b/238685398): Remove this once we deprecate DefaultConfig.h
-        "-DENABLE_VENDOR_CLUSTER_PROPERTY_FOR_TESTING",
         "-DENABLE_VEHICLE_HAL_TEST_PROPERTIES",
     ],
     header_libs: [
-        // TODO(b/238685398): Remove this once we deprecate DefaultConfig.h
-        "VehicleHalDefaultConfig",
         "IVehicleGeneratedHeaders",
     ],
     shared_libs: [
diff --git a/automotive/vehicle/aidl/impl/default_config/test/DefaultConfigTest.cpp b/automotive/vehicle/aidl/impl/default_config/test/DefaultConfigTest.cpp
index f0ab806..95fecfe 100644
--- a/automotive/vehicle/aidl/impl/default_config/test/DefaultConfigTest.cpp
+++ b/automotive/vehicle/aidl/impl/default_config/test/DefaultConfigTest.cpp
@@ -14,7 +14,6 @@
  * limitations under the License.
  */
 
-#include <DefaultConfig.h>
 #include <JsonConfigLoader.h>
 #include <VehicleUtils.h>
 #include <android-base/file.h>
@@ -80,26 +79,6 @@
     ASSERT_TRUE(result.ok()) << result.error().message();
 }
 
-// TODO(b/238685398): Remove this test after we deprecate DefaultConfig.h
-TEST(DefaultConfigTest, TestCompatibleWithDefaultConfigHeader) {
-    auto configsFromHeaderFile = defaultconfig::getDefaultConfigs();
-
-    std::vector<ConfigDeclaration> configsFromJson;
-    JsonConfigLoader loader;
-    for (const char* file :
-         std::vector<const char*>({kDefaultPropertiesConfigFile, kTestPropertiesConfigFile,
-                                   kVendorClusterTestPropertiesConfigFile})) {
-        auto result = loadConfig(loader, file);
-        ASSERT_TRUE(result.ok()) << result.error().message();
-        for (auto& [propId, configDeclaration] : result.value()) {
-            configsFromJson.push_back(configDeclaration);
-        }
-    }
-
-    ASSERT_EQ(configsFromHeaderFile.size(), configsFromJson.size());
-    ASSERT_THAT(configsFromHeaderFile, UnorderedElementsAreArray(configsFromJson));
-}
-
 #endif  // ENABLE_VEHICLE_HAL_TEST_PROPERTIES
 
 }  // namespace test
diff --git a/automotive/vehicle/aidl/impl/grpc/utils/proto_message_converter/Android.bp b/automotive/vehicle/aidl/impl/grpc/utils/proto_message_converter/Android.bp
index c368334..2b4059c 100644
--- a/automotive/vehicle/aidl/impl/grpc/utils/proto_message_converter/Android.bp
+++ b/automotive/vehicle/aidl/impl/grpc/utils/proto_message_converter/Android.bp
@@ -61,6 +61,5 @@
     data: [
         ":VehicleHalDefaultProperties_JSON",
     ],
-    header_libs: ["VehicleHalDefaultConfig"],
     test_suites: ["device-tests"],
 }
diff --git a/bluetooth/audio/utils/aidl_session/BluetoothAudioCodecs.cpp b/bluetooth/audio/utils/aidl_session/BluetoothAudioCodecs.cpp
index d5e85b8..036d6cd 100644
--- a/bluetooth/audio/utils/aidl_session/BluetoothAudioCodecs.cpp
+++ b/bluetooth/audio/utils/aidl_session/BluetoothAudioCodecs.cpp
@@ -491,11 +491,18 @@
              .broadcastCapability = kInvalidBroadcastCapability});
 
         // Adds the capability for the case that encode and decode exist at the
-        // same time
+        // same time(force one active device for decode)
         kDefaultOffloadLeAudioCapabilities.push_back(
             {.unicastEncodeCapability = lc3Capability,
              .unicastDecodeCapability = lc3MonoDecodeCapability,
              .broadcastCapability = kInvalidBroadcastCapability});
+
+        // Adds the capability for the case that encode and decode exist at the
+        // same time
+        kDefaultOffloadLeAudioCapabilities.push_back(
+            {.unicastEncodeCapability = lc3Capability,
+             .unicastDecodeCapability = lc3Capability,
+             .broadcastCapability = kInvalidBroadcastCapability});
       }
     }
   }
diff --git a/compatibility_matrices/compatibility_matrix.current.xml b/compatibility_matrices/compatibility_matrix.current.xml
index 12b4675..35cd6f0 100644
--- a/compatibility_matrices/compatibility_matrix.current.xml
+++ b/compatibility_matrices/compatibility_matrix.current.xml
@@ -104,14 +104,6 @@
             <regex-instance>.*</regex-instance>
         </interface>
     </hal>
-    <hal format="hidl" optional="true">
-        <name>android.hardware.automotive.vehicle</name>
-        <version>2.0</version>
-        <interface>
-            <name>IVehicle</name>
-            <regex-instance>.*</regex-instance>
-        </interface>
-    </hal>
     <hal format="aidl" optional="true">
         <name>android.hardware.biometrics.face</name>
         <version>2</version>
diff --git a/radio/aidl/compat/libradiocompat/data/structs.cpp b/radio/aidl/compat/libradiocompat/data/structs.cpp
index 4ff89a1..cc6dcbc 100644
--- a/radio/aidl/compat/libradiocompat/data/structs.cpp
+++ b/radio/aidl/compat/libradiocompat/data/structs.cpp
@@ -28,14 +28,14 @@
 
 V1_5::DataProfileInfo toHidl(const aidl::DataProfileInfo& info) {
     return {
-            .profileId = V1_0::DataProfileId{info.profileId},
+            .profileId = static_cast<V1_0::DataProfileId>(info.profileId),
             .apn = info.apn,
-            .protocol = V1_4::PdpProtocolType{info.protocol},
-            .roamingProtocol = V1_4::PdpProtocolType{info.roamingProtocol},
-            .authType = V1_0::ApnAuthType{info.authType},
+            .protocol = static_cast<V1_4::PdpProtocolType>(info.protocol),
+            .roamingProtocol = static_cast<V1_4::PdpProtocolType>(info.roamingProtocol),
+            .authType = static_cast<V1_0::ApnAuthType>(info.authType),
             .user = info.user,
             .password = info.password,
-            .type = V1_0::DataProfileInfoType{info.type},
+            .type = static_cast<V1_0::DataProfileInfoType>(info.type),
             .maxConnsTime = info.maxConnsTime,
             .maxConns = info.maxConns,
             .waitTime = info.waitTime,
@@ -74,7 +74,7 @@
             .sliceDifferentiator = info.sliceDifferentiator,
             .mappedHplmnSst = static_cast<V1_6::SliceServiceType>(info.mappedHplmnSst),
             .mappedHplmnSD = info.mappedHplmnSd,
-            .status = V1_6::SliceStatus{info.status},
+            .status = static_cast<V1_6::SliceStatus>(info.status),
     };
 }
 
@@ -106,7 +106,7 @@
 
 V1_1::KeepaliveRequest toHidl(const aidl::KeepaliveRequest& keep) {
     return {
-            .type = V1_1::KeepaliveType{keep.type},
+            .type = static_cast<V1_1::KeepaliveType>(keep.type),
             .sourceAddress = keep.sourceAddress,
             .sourcePort = keep.sourcePort,
             .destinationAddress = keep.destinationAddress,
diff --git a/radio/aidl/compat/libradiocompat/messaging/structs.cpp b/radio/aidl/compat/libradiocompat/messaging/structs.cpp
index 9019680..f30c5ce 100644
--- a/radio/aidl/compat/libradiocompat/messaging/structs.cpp
+++ b/radio/aidl/compat/libradiocompat/messaging/structs.cpp
@@ -45,11 +45,11 @@
 
 static V1_0::CdmaSmsAddress toHidl(const aidl::CdmaSmsAddress& addr) {
     return {
-            .digitMode = V1_0::CdmaSmsDigitMode{addr.digitMode},
+            .digitMode = static_cast<V1_0::CdmaSmsDigitMode>(addr.digitMode),
             .numberMode = addr.isNumberModeDataNetwork ? V1_0::CdmaSmsNumberMode::DATA_NETWORK
                                                        : V1_0::CdmaSmsNumberMode::NOT_DATA_NETWORK,
-            .numberType = V1_0::CdmaSmsNumberType{addr.numberType},
-            .numberPlan = V1_0::CdmaSmsNumberPlan{addr.numberPlan},
+            .numberType = static_cast<V1_0::CdmaSmsNumberType>(addr.numberType),
+            .numberPlan = static_cast<V1_0::CdmaSmsNumberPlan>(addr.numberPlan),
             .digits = addr.digits,
     };
 }
@@ -64,7 +64,7 @@
 
 static V1_0::CdmaSmsSubaddress toHidl(const aidl::CdmaSmsSubaddress& addr) {
     return {
-            .subaddressType = V1_0::CdmaSmsSubaddressType{addr.subaddressType},
+            .subaddressType = static_cast<V1_0::CdmaSmsSubaddressType>(addr.subaddressType),
             .odd = addr.odd,
             .digits = addr.digits,
     };
@@ -94,7 +94,7 @@
 
 V1_0::ImsSmsMessage toHidl(const aidl::ImsSmsMessage& msg) {
     return {
-            .tech = V1_0::RadioTechnologyFamily{msg.tech},
+            .tech = static_cast<V1_0::RadioTechnologyFamily>(msg.tech),
             .retry = msg.retry,
             .messageRef = msg.messageRef,
             .cdmaMessage = toHidl(msg.cdmaMessage),
@@ -147,14 +147,14 @@
 
 V1_0::CdmaSmsWriteArgs toHidl(const aidl::CdmaSmsWriteArgs& args) {
     return {
-            .status = V1_0::CdmaSmsWriteArgsStatus{args.status},
+            .status = static_cast<V1_0::CdmaSmsWriteArgsStatus>(args.status),
             .message = toHidl(args.message),
     };
 }
 
 V1_0::SmsWriteArgs toHidl(const aidl::SmsWriteArgs& args) {
     return {
-            .status = V1_0::SmsWriteArgsStatus{args.status},
+            .status = static_cast<V1_0::SmsWriteArgsStatus>(args.status),
             .pdu = args.pdu,
             .smsc = args.smsc,
     };
diff --git a/radio/aidl/compat/libradiocompat/modem/structs.cpp b/radio/aidl/compat/libradiocompat/modem/structs.cpp
index 69e651b..6f32cdf 100644
--- a/radio/aidl/compat/libradiocompat/modem/structs.cpp
+++ b/radio/aidl/compat/libradiocompat/modem/structs.cpp
@@ -30,7 +30,7 @@
 
 V1_0::NvWriteItem toHidl(const aidl::NvWriteItem& item) {
     return {
-            .itemId = V1_0::NvItem{item.itemId},
+            .itemId = static_cast<V1_0::NvItem>(item.itemId),
             .value = item.value,
     };
 }
@@ -48,10 +48,10 @@
 V1_0::RadioCapability toHidl(const aidl::RadioCapability& capa) {
     return {
             .session = capa.session,
-            .phase = V1_0::RadioCapabilityPhase{capa.phase},
+            .phase = static_cast<V1_0::RadioCapabilityPhase>(capa.phase),
             .raf = toHidlBitfield<V1_0::RadioAccessFamily>(capa.raf),
             .logicalModemUuid = capa.logicalModemUuid,
-            .status = V1_0::RadioCapabilityStatus{capa.status},
+            .status = static_cast<V1_0::RadioCapabilityStatus>(capa.status),
     };
 }
 
diff --git a/radio/aidl/compat/libradiocompat/network/structs.cpp b/radio/aidl/compat/libradiocompat/network/structs.cpp
index d0b3b90..30d4f6d 100644
--- a/radio/aidl/compat/libradiocompat/network/structs.cpp
+++ b/radio/aidl/compat/libradiocompat/network/structs.cpp
@@ -66,7 +66,7 @@
 
 V1_5::SignalThresholdInfo toHidl(const aidl::SignalThresholdInfo& info) {
     return {
-            .signalMeasurement = V1_5::SignalMeasurementType{info.signalMeasurement},
+            .signalMeasurement = static_cast<V1_5::SignalMeasurementType>(info.signalMeasurement),
             .hysteresisMs = info.hysteresisMs,
             .hysteresisDb = info.hysteresisDb,
             .thresholds = info.thresholds,
@@ -155,7 +155,7 @@
 
 V1_5::NetworkScanRequest toHidl(const aidl::NetworkScanRequest& req) {
     return {
-            .type = V1_1::ScanType{req.type},
+            .type = static_cast<V1_1::ScanType>(req.type),
             .interval = req.interval,
             .specifiers = toHidl(req.specifiers),
             .maxSearchTime = req.maxSearchTime,
diff --git a/radio/aidl/compat/libradiocompat/sim/structs.cpp b/radio/aidl/compat/libradiocompat/sim/structs.cpp
index bfbff02..00db2b8 100644
--- a/radio/aidl/compat/libradiocompat/sim/structs.cpp
+++ b/radio/aidl/compat/libradiocompat/sim/structs.cpp
@@ -65,7 +65,7 @@
     return {
             .mcc = carrier.mcc,
             .mnc = carrier.mnc,
-            .matchType = V1_0::CarrierMatchType{carrier.matchType},
+            .matchType = static_cast<V1_0::CarrierMatchType>(carrier.matchType),
             .matchData = carrier.matchData,
     };
 }
@@ -107,7 +107,7 @@
 V1_6::ImsiEncryptionInfo toHidl_1_6(const aidl::ImsiEncryptionInfo& info) {
     return {
             .base = toHidl(info),
-            .keyType = V1_6::PublicKeyType{info.keyType},
+            .keyType = static_cast<V1_6::PublicKeyType>(info.keyType),
     };
 }
 
diff --git a/radio/aidl/compat/libradiocompat/voice/structs.cpp b/radio/aidl/compat/libradiocompat/voice/structs.cpp
index 254ea20..35c8d46 100644
--- a/radio/aidl/compat/libradiocompat/voice/structs.cpp
+++ b/radio/aidl/compat/libradiocompat/voice/structs.cpp
@@ -29,15 +29,15 @@
 V1_0::Dial toHidl(const aidl::Dial& info) {
     return {
             .address = info.address,
-            .clir = V1_0::Clir{info.clir},
+            .clir = static_cast<V1_0::Clir>(info.clir),
             .uusInfo = toHidl(info.uusInfo),
     };
 }
 
 V1_0::UusInfo toHidl(const aidl::UusInfo& info) {
     return {
-            .uusType = V1_0::UusType{info.uusType},
-            .uusDcs = V1_0::UusDcs{info.uusDcs},
+            .uusType = static_cast<V1_0::UusType>(info.uusType),
+            .uusDcs = static_cast<V1_0::UusDcs>(info.uusDcs),
             .uusData = info.uusData,
     };
 }
@@ -55,7 +55,7 @@
 
 V1_0::CallForwardInfo toHidl(const aidl::CallForwardInfo& info) {
     return {
-            .status = V1_0::CallForwardInfoStatus{info.status},
+            .status = static_cast<V1_0::CallForwardInfoStatus>(info.status),
             .reason = info.reason,
             .serviceClass = info.serviceClass,
             .toa = info.toa,