diff --git a/audio/6.0/IDevice.hal b/audio/6.0/IDevice.hal
index e885fe2..520e776 100644
--- a/audio/6.0/IDevice.hal
+++ b/audio/6.0/IDevice.hal
@@ -280,4 +280,15 @@
      */
     setConnectedState(DeviceAddress address, bool connected)
             generates (Result retval);
+
+    /**
+     * Called by the framework to deinitialize the device and free up
+     * all currently allocated resources. It is recommended to close
+     * the device on the client side as soon as it is becomes unused.
+     *
+     * @return retval OK in case the success.
+     *                INVALID_STATE if the device was already closed.
+     */
+    @exit
+    close() generates (Result retval);
 };
diff --git a/audio/6.0/IStream.hal b/audio/6.0/IStream.hal
index 451e116..1f62017 100644
--- a/audio/6.0/IStream.hal
+++ b/audio/6.0/IStream.hal
@@ -300,13 +300,17 @@
 
     /**
      * Called by the framework to deinitialize the stream and free up
-     * all the currently allocated resources. It is recommended to close
+     * all currently allocated resources. It is recommended to close
      * the stream on the client side as soon as it is becomes unused.
      *
+     * The client must ensure that this function is not called while
+     * audio data is being transferred through the stream's message queues.
+     *
      * @return retval OK in case the success.
      *                NOT_SUPPORTED if called on IStream instead of input or
      *                              output stream interface.
      *                INVALID_STATE if the stream was already closed.
      */
+    @exit
     close() generates (Result retval);
 };
diff --git a/audio/core/all-versions/default/Device.cpp b/audio/core/all-versions/default/Device.cpp
index 1a9df21..5ea4c8d 100644
--- a/audio/core/all-versions/default/Device.cpp
+++ b/audio/core/all-versions/default/Device.cpp
@@ -39,11 +39,10 @@
 
 using ::android::hardware::audio::common::CPP_VERSION::implementation::HidlUtils;
 
-Device::Device(audio_hw_device_t* device) : mDevice(device) {}
+Device::Device(audio_hw_device_t* device) : mIsClosed(false), mDevice(device) {}
 
 Device::~Device() {
-    int status = audio_hw_device_close(mDevice);
-    ALOGW_IF(status, "Error closing audio hw device %p: %s", mDevice, strerror(-status));
+    (void)doClose();
     mDevice = nullptr;
 }
 
@@ -383,6 +382,18 @@
 }
 #endif
 
+Result Device::doClose() {
+    if (mIsClosed) return Result::INVALID_STATE;
+    mIsClosed = true;
+    return analyzeStatus("close", audio_hw_device_close(mDevice));
+}
+
+#if MAJOR_VERSION >= 6
+Return<Result> Device::close() {
+    return doClose();
+}
+#endif
+
 }  // namespace implementation
 }  // namespace CPP_VERSION
 }  // namespace audio
diff --git a/audio/core/all-versions/default/PrimaryDevice.cpp b/audio/core/all-versions/default/PrimaryDevice.cpp
index 99590b0..3cf0932 100644
--- a/audio/core/all-versions/default/PrimaryDevice.cpp
+++ b/audio/core/all-versions/default/PrimaryDevice.cpp
@@ -31,7 +31,11 @@
 
 PrimaryDevice::PrimaryDevice(audio_hw_device_t* device) : mDevice(new Device(device)) {}
 
-PrimaryDevice::~PrimaryDevice() {}
+PrimaryDevice::~PrimaryDevice() {
+    // Do not call mDevice->close here. If there are any unclosed streams,
+    // they only hold IDevice instance, not IPrimaryDevice, thus IPrimaryDevice
+    // "part" of a device can be destroyed before the streams.
+}
 
 // Methods from ::android::hardware::audio::CPP_VERSION::IDevice follow.
 Return<Result> PrimaryDevice::initCheck() {
@@ -160,6 +164,11 @@
     return mDevice->setConnectedState(address, connected);
 }
 #endif
+#if MAJOR_VERSION >= 6
+Return<Result> PrimaryDevice::close() {
+    return mDevice->close();
+}
+#endif
 
 // Methods from ::android::hardware::audio::CPP_VERSION::IPrimaryDevice follow.
 Return<Result> PrimaryDevice::setVoiceVolume(float volume) {
diff --git a/audio/core/all-versions/default/StreamIn.cpp b/audio/core/all-versions/default/StreamIn.cpp
index d316f83..f1152ca 100644
--- a/audio/core/all-versions/default/StreamIn.cpp
+++ b/audio/core/all-versions/default/StreamIn.cpp
@@ -139,8 +139,7 @@
 }  // namespace
 
 StreamIn::StreamIn(const sp<Device>& device, audio_stream_in_t* stream)
-    : mIsClosed(false),
-      mDevice(device),
+    : mDevice(device),
       mStream(stream),
       mStreamCommon(new Stream(&stream->common)),
       mStreamMmap(new StreamMmap<audio_stream_in_t>(stream)),
@@ -159,7 +158,9 @@
         status_t status = EventFlag::deleteEventFlag(&mEfGroup);
         ALOGE_IF(status, "read MQ event flag deletion error: %s", strerror(-status));
     }
+#if MAJOR_VERSION <= 5
     mDevice->closeInputStream(mStream);
+#endif
     mStream = nullptr;
 }
 
@@ -303,14 +304,16 @@
 }
 
 Return<Result> StreamIn::close() {
-    if (mIsClosed) return Result::INVALID_STATE;
-    mIsClosed = true;
-    if (mReadThread.get()) {
-        mStopReadThread.store(true, std::memory_order_release);
+    if (mStopReadThread.load(std::memory_order_relaxed)) {  // only this thread writes
+        return Result::INVALID_STATE;
     }
+    mStopReadThread.store(true, std::memory_order_release);
     if (mEfGroup) {
         mEfGroup->wake(static_cast<uint32_t>(MessageQueueFlagBits::NOT_FULL));
     }
+#if MAJOR_VERSION >= 6
+    mDevice->closeInputStream(mStream);
+#endif
     return Result::OK;
 }
 
diff --git a/audio/core/all-versions/default/StreamOut.cpp b/audio/core/all-versions/default/StreamOut.cpp
index 82cc408..396d354 100644
--- a/audio/core/all-versions/default/StreamOut.cpp
+++ b/audio/core/all-versions/default/StreamOut.cpp
@@ -138,8 +138,7 @@
 }  // namespace
 
 StreamOut::StreamOut(const sp<Device>& device, audio_stream_out_t* stream)
-    : mIsClosed(false),
-      mDevice(device),
+    : mDevice(device),
       mStream(stream),
       mStreamCommon(new Stream(&stream->common)),
       mStreamMmap(new StreamMmap<audio_stream_out_t>(stream)),
@@ -148,7 +147,7 @@
 
 StreamOut::~StreamOut() {
     ATRACE_CALL();
-    close();
+    (void)close();
     if (mWriteThread.get()) {
         ATRACE_NAME("mWriteThread->join");
         status_t status = mWriteThread->join();
@@ -159,10 +158,12 @@
         ALOGE_IF(status, "write MQ event flag deletion error: %s", strerror(-status));
     }
     mCallback.clear();
+#if MAJOR_VERSION <= 5
     mDevice->closeOutputStream(mStream);
     // Closing the output stream in the HAL waits for the callback to finish,
     // and joins the callback thread. Thus is it guaranteed that the callback
     // thread will not be accessing our object anymore.
+#endif
     mStream = nullptr;
 }
 
@@ -291,14 +292,16 @@
 #endif
 
 Return<Result> StreamOut::close() {
-    if (mIsClosed) return Result::INVALID_STATE;
-    mIsClosed = true;
-    if (mWriteThread.get()) {
-        mStopWriteThread.store(true, std::memory_order_release);
+    if (mStopWriteThread.load(std::memory_order_relaxed)) {  // only this thread writes
+        return Result::INVALID_STATE;
     }
+    mStopWriteThread.store(true, std::memory_order_release);
     if (mEfGroup) {
         mEfGroup->wake(static_cast<uint32_t>(MessageQueueFlagBits::NOT_EMPTY));
     }
+#if MAJOR_VERSION >= 6
+    mDevice->closeOutputStream(mStream);
+#endif
     return Result::OK;
 }
 
diff --git a/audio/core/all-versions/default/include/core/default/Device.h b/audio/core/all-versions/default/include/core/default/Device.h
index e64f00f..dc53a39 100644
--- a/audio/core/all-versions/default/include/core/default/Device.h
+++ b/audio/core/all-versions/default/include/core/default/Device.h
@@ -114,6 +114,9 @@
     Return<void> getMicrophones(getMicrophones_cb _hidl_cb) override;
     Return<Result> setConnectedState(const DeviceAddress& address, bool connected) override;
 #endif
+#if MAJOR_VERSION >= 6
+    Return<Result> close() override;
+#endif
 
     Return<void> debug(const hidl_handle& fd, const hidl_vec<hidl_string>& options) override;
 
@@ -124,11 +127,14 @@
     void closeOutputStream(audio_stream_out_t* stream);
     audio_hw_device_t* device() const { return mDevice; }
 
-   private:
+  private:
+    bool mIsClosed;
     audio_hw_device_t* mDevice;
 
     virtual ~Device();
 
+    Result doClose();
+
     // Methods from ParametersUtil.
     char* halGetParameters(const char* keys) override;
     int halSetParameters(const char* keysAndValues) override;
diff --git a/audio/core/all-versions/default/include/core/default/PrimaryDevice.h b/audio/core/all-versions/default/include/core/default/PrimaryDevice.h
index 9d69cb0..f5f3848 100644
--- a/audio/core/all-versions/default/include/core/default/PrimaryDevice.h
+++ b/audio/core/all-versions/default/include/core/default/PrimaryDevice.h
@@ -96,6 +96,9 @@
     Return<void> getMicrophones(getMicrophones_cb _hidl_cb) override;
     Return<Result> setConnectedState(const DeviceAddress& address, bool connected) override;
 #endif
+#if MAJOR_VERSION >= 6
+    Return<Result> close() override;
+#endif
 
     Return<void> debug(const hidl_handle& fd, const hidl_vec<hidl_string>& options) override;
 
diff --git a/audio/core/all-versions/default/include/core/default/StreamIn.h b/audio/core/all-versions/default/include/core/default/StreamIn.h
index 6209b8f..24f9944 100644
--- a/audio/core/all-versions/default/include/core/default/StreamIn.h
+++ b/audio/core/all-versions/default/include/core/default/StreamIn.h
@@ -120,7 +120,6 @@
                                          uint64_t* time);
 
    private:
-    bool mIsClosed;
     const sp<Device> mDevice;
     audio_stream_in_t* mStream;
     const sp<Stream> mStreamCommon;
diff --git a/audio/core/all-versions/default/include/core/default/StreamOut.h b/audio/core/all-versions/default/include/core/default/StreamOut.h
index b098005..6334785 100644
--- a/audio/core/all-versions/default/include/core/default/StreamOut.h
+++ b/audio/core/all-versions/default/include/core/default/StreamOut.h
@@ -126,7 +126,6 @@
                                               TimeSpec* timeStamp);
 
    private:
-    bool mIsClosed;
     const sp<Device> mDevice;
     audio_stream_out_t* mStream;
     const sp<Stream> mStreamCommon;
diff --git a/audio/core/all-versions/vts/functional/4.0/AudioPrimaryHidlHalTest.cpp b/audio/core/all-versions/vts/functional/4.0/AudioPrimaryHidlHalTest.cpp
index e267a5e..81f963d 100644
--- a/audio/core/all-versions/vts/functional/4.0/AudioPrimaryHidlHalTest.cpp
+++ b/audio/core/all-versions/vts/functional/4.0/AudioPrimaryHidlHalTest.cpp
@@ -22,18 +22,16 @@
         GTEST_SKIP() << "No primary device on this factory";  // returns
     }
 
-    struct WaitExecutor {
-        ~WaitExecutor() { DeviceManager::waitForInstanceDestruction(); }
-    } waitExecutor;  // Make sure we wait for the device destruction on exiting from the test.
-    Result result;
-    sp<IDevice> baseDevice;
-    ASSERT_OK(getDevicesFactory()->openDevice("primary", returnIn(result, baseDevice)));
-    ASSERT_OK(result);
-    ASSERT_TRUE(baseDevice != nullptr);
-
-    Return<sp<IPrimaryDevice>> primaryDevice = IPrimaryDevice::castFrom(baseDevice);
-    ASSERT_TRUE(primaryDevice.isOk());
-    ASSERT_TRUE(sp<IPrimaryDevice>(primaryDevice) != nullptr);
+    {  // Scope for device SPs
+        sp<IDevice> baseDevice =
+                DeviceManager::getInstance().get(getFactoryName(), DeviceManager::kPrimaryDevice);
+        ASSERT_TRUE(baseDevice != nullptr);
+        Return<sp<IPrimaryDevice>> primaryDevice = IPrimaryDevice::castFrom(baseDevice);
+        EXPECT_TRUE(primaryDevice.isOk());
+        EXPECT_TRUE(sp<IPrimaryDevice>(primaryDevice) != nullptr);
+    }
+    EXPECT_TRUE(
+            DeviceManager::getInstance().reset(getFactoryName(), DeviceManager::kPrimaryDevice));
 }
 
 //////////////////////////////////////////////////////////////////////////////
@@ -113,10 +111,12 @@
                 ASSERT_NE(0U, activeMicrophones.size());
             }
             stream->close();
+#if MAJOR_VERSION <= 5
             // Workaround for b/139329877. Ensures the stream gets closed on the audio hal side.
             stream.clear();
             IPCThreadState::self()->flushCommands();
             usleep(1000);
+#endif
             if (efGroup) {
                 EventFlag::deleteEventFlag(&efGroup);
             }
diff --git a/audio/core/all-versions/vts/functional/AudioPrimaryHidlHalTest.h b/audio/core/all-versions/vts/functional/AudioPrimaryHidlHalTest.h
index 468f9b2..52917fd 100644
--- a/audio/core/all-versions/vts/functional/AudioPrimaryHidlHalTest.h
+++ b/audio/core/all-versions/vts/functional/AudioPrimaryHidlHalTest.h
@@ -860,6 +860,7 @@
     }
 
     static void waitForStreamDestruction() {
+#if MAJOR_VERSION <= 5
         // FIXME: there is no way to know when the remote IStream is being destroyed
         //        Binder does not support testing if an object is alive, thus
         //        wait for 100ms to let the binder destruction propagates and
@@ -868,6 +869,7 @@
         //        the latency between local and remote destruction.
         IPCThreadState::self()->flushCommands();
         usleep(100 * 1000);
+#endif
     }
 
   private:
diff --git a/audio/core/all-versions/vts/functional/DeviceManager.h b/audio/core/all-versions/vts/functional/DeviceManager.h
index b6e2db0..d849f85 100644
--- a/audio/core/all-versions/vts/functional/DeviceManager.h
+++ b/audio/core/all-versions/vts/functional/DeviceManager.h
@@ -22,25 +22,33 @@
 template <class Derived, class Key, class Interface>
 class InterfaceManager {
   public:
+    sp<Interface> getExisting(const Key& name) {
+        auto existing = instances.find(name);
+        return existing != instances.end() ? existing->second : sp<Interface>();
+    }
+
     sp<Interface> get(const Key& name) {
         auto existing = instances.find(name);
         if (existing != instances.end()) return existing->second;
         auto [inserted, _] = instances.emplace(name, Derived::createInterfaceInstance(name));
         if (inserted->second) {
-            environment->registerTearDown([name]() { (void)Derived::getInstance().reset(name); });
+            environment->registerTearDown(
+                    [name]() { (void)Derived::getInstance().reset(name, false); });
         }
         return inserted->second;
     }
 
     // The test must check that reset was successful. Reset failure means that the test code
     // is holding a strong reference to the device.
-    bool reset(const Key& name) __attribute__((warn_unused_result)) {
+    bool reset(const Key& name, bool waitForDestruction) __attribute__((warn_unused_result)) {
         auto iter = instances.find(name);
         if (iter == instances.end()) return true;
         ::android::wp<Interface> weak = iter->second;
         instances.erase(iter);
         if (weak.promote() != nullptr) return false;
-        waitForInstanceDestruction();
+        if (waitForDestruction) {
+            waitForInstanceDestruction();
+        }
         return true;
     }
 
@@ -100,7 +108,15 @@
     }
     bool reset(const std::string& factoryName, const std::string& name)
             __attribute__((warn_unused_result)) {
-        return InterfaceManager::reset(std::make_tuple(factoryName, name));
+#if MAJOR_VERSION <= 5
+        return InterfaceManager::reset(std::make_tuple(factoryName, name), true);
+#elif MAJOR_VERSION >= 6
+        {
+            sp<IDevice> device = getExisting(std::make_tuple(factoryName, name));
+            if (device != nullptr) device->close();
+        }
+        return InterfaceManager::reset(std::make_tuple(factoryName, name), false);
+#endif
     }
     bool resetPrimary(const std::string& factoryName) __attribute__((warn_unused_result)) {
         return reset(factoryName, kPrimaryDevice);
diff --git a/audio/effect/6.0/IEffect.hal b/audio/effect/6.0/IEffect.hal
index b35afee..f4c50a2 100644
--- a/audio/effect/6.0/IEffect.hal
+++ b/audio/effect/6.0/IEffect.hal
@@ -407,9 +407,12 @@
 
     /**
      * Called by the framework to deinitialize the effect and free up
-     * all the currently allocated resources. It is recommended to close
+     * all currently allocated resources. It is recommended to close
      * the effect on the client side as soon as it is becomes unused.
      *
+     * The client must ensure that this function is not called while
+     * audio data is being transferred through the effect's message queues.
+     *
      * @return retval OK in case the success.
      *                INVALID_STATE if the effect was already closed.
      */
diff --git a/audio/effect/all-versions/default/Effect.cpp b/audio/effect/all-versions/default/Effect.cpp
index 3c0d878..0afa779 100644
--- a/audio/effect/all-versions/default/Effect.cpp
+++ b/audio/effect/all-versions/default/Effect.cpp
@@ -138,11 +138,11 @@
 const char* Effect::sContextCallFunction = sContextCallToCommand;
 
 Effect::Effect(effect_handle_t handle)
-    : mIsClosed(false), mHandle(handle), mEfGroup(nullptr), mStopProcessThread(false) {}
+    : mHandle(handle), mEfGroup(nullptr), mStopProcessThread(false) {}
 
 Effect::~Effect() {
     ATRACE_CALL();
-    close();
+    (void)close();
     if (mProcessThread.get()) {
         ATRACE_NAME("mProcessThread->join");
         status_t status = mProcessThread->join();
@@ -154,8 +154,10 @@
     }
     mInBuffer.clear();
     mOutBuffer.clear();
+#if MAJOR_VERSION <= 5
     int status = EffectRelease(mHandle);
     ALOGW_IF(status, "Error releasing effect %p: %s", mHandle, strerror(-status));
+#endif
     EffectMap::getInstance().remove(mHandle);
     mHandle = 0;
 }
@@ -699,15 +701,20 @@
 }
 
 Return<Result> Effect::close() {
-    if (mIsClosed) return Result::INVALID_STATE;
-    mIsClosed = true;
-    if (mProcessThread.get()) {
-        mStopProcessThread.store(true, std::memory_order_release);
+    if (mStopProcessThread.load(std::memory_order_relaxed)) {  // only this thread modifies
+        return Result::INVALID_STATE;
     }
+    mStopProcessThread.store(true, std::memory_order_release);
     if (mEfGroup) {
         mEfGroup->wake(static_cast<uint32_t>(MessageQueueFlagBits::REQUEST_QUIT));
     }
+#if MAJOR_VERSION <= 5
     return Result::OK;
+#elif MAJOR_VERSION >= 6
+    // No need to join the processing thread, it is part of the API contract that the client
+    // must finish processing before closing the effect.
+    return analyzeStatus("EffectRelease", "", sContextCallFunction, EffectRelease(mHandle));
+#endif
 }
 
 Return<void> Effect::debug(const hidl_handle& fd, const hidl_vec<hidl_string>& /* options */) {
diff --git a/audio/effect/all-versions/default/Effect.h b/audio/effect/all-versions/default/Effect.h
index 3d99a0e..181e542 100644
--- a/audio/effect/all-versions/default/Effect.h
+++ b/audio/effect/all-versions/default/Effect.h
@@ -170,7 +170,6 @@
     static const char* sContextCallToCommand;
     static const char* sContextCallFunction;
 
-    bool mIsClosed;
     effect_handle_t mHandle;
     sp<AudioBufferWrapper> mInBuffer;
     sp<AudioBufferWrapper> mOutBuffer;