diff --git a/sensors/common/vts/2_X/Android.bp b/sensors/common/vts/2_X/Android.bp
index 8cdb5d1..e5eceb5 100644
--- a/sensors/common/vts/2_X/Android.bp
+++ b/sensors/common/vts/2_X/Android.bp
@@ -29,11 +29,6 @@
         "libbinder",
     ],
     static_libs: [
-        "android.hardware.graphics.allocator@2.0",
-        "android.hardware.graphics.allocator@3.0",
-        "android.hardware.graphics.mapper@2.0",
-        "android.hardware.graphics.mapper@2.1",
-        "android.hardware.graphics.mapper@3.0",
         "android.hardware.sensors@1.0",
         "android.hardware.sensors@1.0-convert",
         "android.hardware.sensors@2.0",
diff --git a/sensors/common/vts/utils/Android.bp b/sensors/common/vts/utils/Android.bp
index ca4346a..baaed6c 100644
--- a/sensors/common/vts/utils/Android.bp
+++ b/sensors/common/vts/utils/Android.bp
@@ -31,13 +31,17 @@
         "libutils",
     ],
     static_libs: [
-        "android.hardware.graphics.allocator@2.0",
-        "android.hardware.graphics.allocator@3.0",
-        "android.hardware.graphics.mapper@2.0",
-        "android.hardware.graphics.mapper@2.1",
-        "android.hardware.graphics.mapper@3.0",
         "android.hardware.sensors@1.0",
         "android.hardware.sensors@2.0",
         "android.hardware.sensors@2.1",
     ],
+    whole_static_libs: [
+        "android.hardware.graphics.allocator@2.0",
+        "android.hardware.graphics.allocator@3.0",
+        "android.hardware.graphics.allocator@4.0",
+        "android.hardware.graphics.mapper@2.0",
+        "android.hardware.graphics.mapper@2.1",
+        "android.hardware.graphics.mapper@3.0",
+        "android.hardware.graphics.mapper@4.0",
+    ],
 }
diff --git a/sensors/common/vts/utils/GrallocWrapper.cpp b/sensors/common/vts/utils/GrallocWrapper.cpp
index e63faa2..47d1f42 100644
--- a/sensors/common/vts/utils/GrallocWrapper.cpp
+++ b/sensors/common/vts/utils/GrallocWrapper.cpp
@@ -18,9 +18,11 @@
 
 #include <android/hardware/graphics/allocator/2.0/IAllocator.h>
 #include <android/hardware/graphics/allocator/3.0/IAllocator.h>
+#include <android/hardware/graphics/allocator/4.0/IAllocator.h>
 #include <android/hardware/graphics/mapper/2.0/IMapper.h>
 #include <android/hardware/graphics/mapper/2.1/IMapper.h>
 #include <android/hardware/graphics/mapper/3.0/IMapper.h>
+#include <android/hardware/graphics/mapper/4.0/IMapper.h>
 
 #include <utils/Log.h>
 
@@ -29,19 +31,19 @@
 
 using IAllocator2 = ::android::hardware::graphics::allocator::V2_0::IAllocator;
 using IAllocator3 = ::android::hardware::graphics::allocator::V3_0::IAllocator;
+using IAllocator4 = ::android::hardware::graphics::allocator::V4_0::IAllocator;
 using IMapper2 = ::android::hardware::graphics::mapper::V2_0::IMapper;
 using IMapper2_1 = ::android::hardware::graphics::mapper::V2_1::IMapper;
 using IMapper3 = ::android::hardware::graphics::mapper::V3_0::IMapper;
+using IMapper4 = ::android::hardware::graphics::mapper::V4_0::IMapper;
 
 using Error2 = ::android::hardware::graphics::mapper::V2_0::Error;
 using Error3 = ::android::hardware::graphics::mapper::V3_0::Error;
+using Error4 = ::android::hardware::graphics::mapper::V4_0::Error;
 
 using ::android::hardware::graphics::common::V1_0::BufferUsage;
 using ::android::hardware::graphics::common::V1_0::PixelFormat;
 
-// This is a typedef to the same underlying type across v2.0 and v3.0
-using ::android::hardware::graphics::mapper::V2_0::BufferDescriptor;
-
 using ::android::hardware::hidl_handle;
 using ::android::hardware::hidl_string;
 using ::android::hardware::hidl_vec;
@@ -58,7 +60,6 @@
     virtual ~IGrallocHalWrapper() = default;
 
     // IAllocator
-    virtual std::string dumpDebugInfo() = 0;
     virtual native_handle_t* allocate(uint32_t size) = 0;
     virtual void freeBuffer(native_handle_t* bufferHandle) = 0;
 
@@ -75,6 +76,24 @@
 bool failed(Error3 error) {
     return (error != Error3::NONE);
 }
+bool failed(Error4 error) {
+    return (error != Error4::NONE);
+}
+
+template <typename>
+struct FirstArg;
+
+// Template specialization for pointer to a non-static member function, which exposes
+// the type of the first argument given to said function
+template <typename ReturnType, typename ClassT, typename Arg1, typename... OtherArgs>
+struct FirstArg<ReturnType (ClassT::*)(Arg1, OtherArgs...)> {
+    using type = Arg1;
+};
+
+// Alias to FirstArg which also removes any reference type and const associated
+template <typename T>
+using BaseTypeOfFirstArg = typename std::remove_const<
+        typename std::remove_reference<typename FirstArg<T>::type>::type>::type;
 
 // Since all the type and function names are the same for the things we use across the major HAL
 // versions, we use template magic to avoid repeating ourselves.
@@ -88,7 +107,6 @@
         }
     }
 
-    virtual std::string dumpDebugInfo() override;
     virtual native_handle_t* allocate(uint32_t size) override;
     virtual void freeBuffer(native_handle_t* bufferHandle) override;
 
@@ -101,21 +119,19 @@
     sp<AllocatorT> mAllocator;
     sp<MapperT> mMapper;
 
-    BufferDescriptor getDescriptor(uint32_t size);
+    // v2.0 and v3.0 use vec<uint32_t> for BufferDescriptor, but v4.0 uses vec<uint8_t>, so use
+    // some template magic to deduce the right type based off of the first argument to allocate(),
+    // which is always the version-specific BufferDescriptor type
+    typedef BaseTypeOfFirstArg<decltype(&AllocatorT::allocate)> BufferDescriptorT;
+
+    BufferDescriptorT getDescriptor(uint32_t size);
     native_handle_t* importBuffer(const hidl_handle& rawHandle);
 };
 
 template <typename AllocatorT, typename MapperT>
-std::string GrallocHalWrapper<AllocatorT, MapperT>::dumpDebugInfo() {
-    std::string debugInfo;
-    mAllocator->dumpDebugInfo([&](const hidl_string& tmpDebugInfo) { debugInfo = tmpDebugInfo; });
-    return debugInfo;
-}
-
-template <typename AllocatorT, typename MapperT>
 native_handle_t* GrallocHalWrapper<AllocatorT, MapperT>::allocate(uint32_t size) {
     constexpr uint32_t kBufferCount = 1;
-    BufferDescriptor descriptor = getDescriptor(size);
+    BufferDescriptorT descriptor = getDescriptor(size);
     native_handle_t* bufferHandle = nullptr;
 
     auto callback = [&](auto error, uint32_t /*stride*/, const hidl_vec<hidl_handle>& buffers) {
@@ -142,7 +158,8 @@
 }
 
 template <typename AllocatorT, typename MapperT>
-BufferDescriptor GrallocHalWrapper<AllocatorT, MapperT>::getDescriptor(uint32_t size) {
+typename GrallocHalWrapper<AllocatorT, MapperT>::BufferDescriptorT
+GrallocHalWrapper<AllocatorT, MapperT>::getDescriptor(uint32_t size) {
     typename MapperT::BufferDescriptorInfo descriptorInfo = {
             .width = size,
             .height = 1,
@@ -151,8 +168,8 @@
             .usage = kBufferUsage,
     };
 
-    BufferDescriptor descriptor;
-    auto callback = [&](auto error, const BufferDescriptor& tmpDescriptor) {
+    BufferDescriptorT descriptor;
+    auto callback = [&](auto error, const BufferDescriptorT& tmpDescriptor) {
         if (failed(error)) {
             ALOGE("Failed to create descriptor: %" PRId32, static_cast<int32_t>(error));
         } else {
@@ -189,7 +206,7 @@
 
     void* data = nullptr;
     mMapper->lock(bufferHandle, kBufferUsage, accessRegion, acquireFenceHandle,
-                  [&](auto error, void* tmpData, ...) {  // V3_0 passes extra args we don't use
+                  [&](auto error, void* tmpData, ...) {  // V3/4 pass extra args we don't use
                       if (failed(error)) {
                           ALOGE("Failed to lock buffer %p: %" PRId32, bufferHandle,
                                 static_cast<int32_t>(error));
@@ -214,28 +231,40 @@
 }  // anonymous namespace
 
 GrallocWrapper::GrallocWrapper() {
-    sp<IAllocator3> allocator3 = IAllocator3::getService();
-    sp<IMapper3> mapper3 = IMapper3::getService();
+    sp<IAllocator4> allocator4 = IAllocator4::getService();
+    sp<IMapper4> mapper4 = IMapper4::getService();
 
-    if (allocator3 != nullptr && mapper3 != nullptr) {
+    if (allocator4 != nullptr && mapper4 != nullptr) {
+        ALOGD("Using IAllocator/IMapper v4.0");
         mGrallocHal = std::unique_ptr<IGrallocHalWrapper>(
-                new GrallocHalWrapper<IAllocator3, IMapper3>(allocator3, mapper3));
+                new GrallocHalWrapper<IAllocator4, IMapper4>(allocator4, mapper4));
     } else {
-        ALOGD("Graphics HALs 3.0 not found (allocator %d mapper %d), falling back to 2.x",
-              (allocator3 != nullptr), (mapper3 != nullptr));
+        ALOGD("Graphics HALs 4.0 not found (allocator %d mapper %d), falling back to 3.0",
+              (allocator4 != nullptr), (mapper4 != nullptr));
 
-        sp<IAllocator2> allocator2 = IAllocator2::getService();
-        sp<IMapper2> mapper2 = IMapper2_1::getService();
-        if (mapper2 == nullptr) {
-            mapper2 = IMapper2::getService();
-        }
+        sp<IAllocator3> allocator3 = IAllocator3::getService();
+        sp<IMapper3> mapper3 = IMapper3::getService();
 
-        if (allocator2 != nullptr && mapper2 != nullptr) {
+        if (allocator3 != nullptr && mapper3 != nullptr) {
             mGrallocHal = std::unique_ptr<IGrallocHalWrapper>(
-                    new GrallocHalWrapper<IAllocator2, IMapper2>(allocator2, mapper2));
+                    new GrallocHalWrapper<IAllocator3, IMapper3>(allocator3, mapper3));
         } else {
-            ALOGE("Couldn't open 2.x/3.0 graphics HALs (2.x allocator %d mapper %d)",
-                  (allocator2 != nullptr), (mapper2 != nullptr));
+            ALOGD("Graphics HALs 3.0 not found (allocator %d mapper %d), falling back to 2.x",
+                  (allocator3 != nullptr), (mapper3 != nullptr));
+
+            sp<IAllocator2> allocator2 = IAllocator2::getService();
+            sp<IMapper2> mapper2 = IMapper2_1::getService();
+            if (mapper2 == nullptr) {
+                mapper2 = IMapper2::getService();
+            }
+
+            if (allocator2 != nullptr && mapper2 != nullptr) {
+                mGrallocHal = std::unique_ptr<IGrallocHalWrapper>(
+                        new GrallocHalWrapper<IAllocator2, IMapper2>(allocator2, mapper2));
+            } else {
+                ALOGE("Couldn't open graphics HALs (2.x allocator %d mapper %d)",
+                      (allocator2 != nullptr), (mapper2 != nullptr));
+            }
         }
     }
 }
@@ -248,10 +277,6 @@
     mAllocatedBuffers.clear();
 }
 
-std::string GrallocWrapper::dumpDebugInfo() {
-    return mGrallocHal->dumpDebugInfo();
-}
-
 std::pair<native_handle_t*, void*> GrallocWrapper::allocate(uint32_t size) {
     native_handle_t* bufferHandle = mGrallocHal->allocate(size);
     void* buffer = nullptr;
diff --git a/sensors/common/vts/utils/include/sensors-vts-utils/GrallocWrapper.h b/sensors/common/vts/utils/include/sensors-vts-utils/GrallocWrapper.h
index 41e6334..ebbcb2c 100644
--- a/sensors/common/vts/utils/include/sensors-vts-utils/GrallocWrapper.h
+++ b/sensors/common/vts/utils/include/sensors-vts-utils/GrallocWrapper.h
@@ -37,8 +37,6 @@
     // returns false, other methods are not safe to call.
     bool isInitialized() const { return (mGrallocHal != nullptr); };
 
-    std::string dumpDebugInfo();
-
     // Allocates a gralloc buffer suitable for direct channel sensors usage with the given size.
     // The buffer should be freed using freeBuffer when it's not needed anymore; otherwise it'll
     // be freed when this object is destroyed.