diff --git a/automotive/remoteaccess/impl/default/client/Android.bp b/automotive/remoteaccess/hal/default/Android.bp
similarity index 96%
rename from automotive/remoteaccess/impl/default/client/Android.bp
rename to automotive/remoteaccess/hal/default/Android.bp
index 6327637..25bda3e 100644
--- a/automotive/remoteaccess/impl/default/client/Android.bp
+++ b/automotive/remoteaccess/hal/default/Android.bp
@@ -37,6 +37,7 @@
     ],
     cflags: [
         "-Wno-unused-parameter",
+        "-DGRPC_SERVICE_ADDRESS=\"localhost:50051\"",
     ],
 }
 
diff --git a/automotive/remoteaccess/impl/default/client/include/RemoteAccessService.h b/automotive/remoteaccess/hal/default/include/RemoteAccessService.h
similarity index 100%
rename from automotive/remoteaccess/impl/default/client/include/RemoteAccessService.h
rename to automotive/remoteaccess/hal/default/include/RemoteAccessService.h
diff --git a/automotive/remoteaccess/impl/default/proto/Android.bp b/automotive/remoteaccess/hal/default/proto/Android.bp
similarity index 100%
rename from automotive/remoteaccess/impl/default/proto/Android.bp
rename to automotive/remoteaccess/hal/default/proto/Android.bp
diff --git a/automotive/remoteaccess/impl/default/proto/wakeup_client.proto b/automotive/remoteaccess/hal/default/proto/wakeup_client.proto
similarity index 100%
rename from automotive/remoteaccess/impl/default/proto/wakeup_client.proto
rename to automotive/remoteaccess/hal/default/proto/wakeup_client.proto
diff --git a/automotive/remoteaccess/impl/default/client/remoteaccess-default-service.rc b/automotive/remoteaccess/hal/default/remoteaccess-default-service.rc
similarity index 100%
rename from automotive/remoteaccess/impl/default/client/remoteaccess-default-service.rc
rename to automotive/remoteaccess/hal/default/remoteaccess-default-service.rc
diff --git a/automotive/remoteaccess/impl/default/client/remoteaccess-default-service.xml b/automotive/remoteaccess/hal/default/remoteaccess-default-service.xml
similarity index 100%
rename from automotive/remoteaccess/impl/default/client/remoteaccess-default-service.xml
rename to automotive/remoteaccess/hal/default/remoteaccess-default-service.xml
diff --git a/automotive/remoteaccess/impl/default/client/src/RemoteAccessImpl.cpp b/automotive/remoteaccess/hal/default/src/RemoteAccessImpl.cpp
similarity index 70%
rename from automotive/remoteaccess/impl/default/client/src/RemoteAccessImpl.cpp
rename to automotive/remoteaccess/hal/default/src/RemoteAccessImpl.cpp
index 7431898..8720c2f 100644
--- a/automotive/remoteaccess/impl/default/client/src/RemoteAccessImpl.cpp
+++ b/automotive/remoteaccess/hal/default/src/RemoteAccessImpl.cpp
@@ -20,27 +20,35 @@
 
 #include <android/binder_manager.h>
 #include <android/binder_process.h>
+#include <grpcpp/create_channel.h>
+#include <stdlib.h>
 #include <utils/Log.h>
 
+constexpr char SERVICE_NAME[] = "android.hardware.automotive.remoteaccess.IRemoteAccess/default";
+
 int main(int /* argc */, char* /* argv */[]) {
     ALOGI("Registering RemoteAccessService as service...");
 
-    // TODO(b/241483300): Create GrpcClientStub here.
+#ifndef GRPC_SERVICE_ADDRESS
+    ALOGE("GRPC_SERVICE_ADDRESS is not defined, exiting");
+    exit(1);
+#endif
+    auto channel = grpc::CreateChannel(GRPC_SERVICE_ADDRESS, grpc::InsecureChannelCredentials());
+    auto clientStub = android::hardware::automotive::remoteaccess::WakeupClient::NewStub(channel);
     auto service = ndk::SharedRefBase::make<
-            android::hardware::automotive::remoteaccess::RemoteAccessService>(nullptr);
+            android::hardware::automotive::remoteaccess::RemoteAccessService>(clientStub.get());
 
-    binder_exception_t err = AServiceManager_addService(
-            service->asBinder().get(), "android.hardware.automotive.remote.IRemoteAccess/default");
+    binder_exception_t err = AServiceManager_addService(service->asBinder().get(), SERVICE_NAME);
     if (err != EX_NONE) {
         ALOGE("failed to register android.hardware.automotive.remote.IRemoteAccess service, "
               "exception: %d",
               err);
-        return 1;
+        exit(1);
     }
 
     if (!ABinderProcess_setThreadPoolMaxThreadCount(1)) {
         ALOGE("%s", "failed to set thread pool max thread count");
-        return 1;
+        exit(1);
     }
     ABinderProcess_startThreadPool();
 
diff --git a/automotive/remoteaccess/impl/default/client/src/RemoteAccessService.cpp b/automotive/remoteaccess/hal/default/src/RemoteAccessService.cpp
similarity index 95%
rename from automotive/remoteaccess/impl/default/client/src/RemoteAccessService.cpp
rename to automotive/remoteaccess/hal/default/src/RemoteAccessService.cpp
index 6b97840..6c297e3 100644
--- a/automotive/remoteaccess/impl/default/client/src/RemoteAccessService.cpp
+++ b/automotive/remoteaccess/hal/default/src/RemoteAccessService.cpp
@@ -104,14 +104,19 @@
         }
         GetRemoteTasksResponse response;
         while (reader->Read(&response)) {
+            ALOGI("Receiving one task from remote task client");
+
             std::shared_ptr<IRemoteTaskCallback> callback;
             {
                 std::lock_guard<std::mutex> lockGuard(mLock);
                 callback = mRemoteTaskCallback;
             }
             if (callback == nullptr) {
+                ALOGD("No callback registered, task ignored");
                 continue;
             }
+            ALOGD("Calling onRemoteTaskRequested callback for client ID: %s",
+                  response.clientid().c_str());
             ScopedAStatus callbackStatus = callback->onRemoteTaskRequested(
                     response.clientid(), stringToBytes(response.data()));
             if (!callbackStatus.isOk()) {
diff --git a/automotive/remoteaccess/impl/default/test/Android.bp b/automotive/remoteaccess/hal/default/test/Android.bp
similarity index 100%
rename from automotive/remoteaccess/impl/default/test/Android.bp
rename to automotive/remoteaccess/hal/default/test/Android.bp
diff --git a/automotive/remoteaccess/impl/default/test/RemoteAccessServiceUnitTest.cpp b/automotive/remoteaccess/hal/default/test/RemoteAccessServiceUnitTest.cpp
similarity index 100%
rename from automotive/remoteaccess/impl/default/test/RemoteAccessServiceUnitTest.cpp
rename to automotive/remoteaccess/hal/default/test/RemoteAccessServiceUnitTest.cpp
diff --git a/automotive/remoteaccess/test_grpc_server/README.md b/automotive/remoteaccess/test_grpc_server/README.md
new file mode 100644
index 0000000..deea764
--- /dev/null
+++ b/automotive/remoteaccess/test_grpc_server/README.md
@@ -0,0 +1,7 @@
+# Test GRPC Server.
+
+A test GRPC server that implements wakeup_client.proto. This test server acts
+as a reference implementation for a remote wakeup client running on TCU. This
+reference server also implements wakeup_client_debug.proto which is the
+debugging interface. It is recommended that the actual implementation also
+implements this test interface for easier end-to-end testing.
diff --git a/automotive/remoteaccess/test_grpc_server/impl/Android.bp b/automotive/remoteaccess/test_grpc_server/impl/Android.bp
new file mode 100644
index 0000000..5332c92
--- /dev/null
+++ b/automotive/remoteaccess/test_grpc_server/impl/Android.bp
@@ -0,0 +1,34 @@
+// Copyright (C) 2022 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.
+
+cc_binary {
+    name: "TestWakeupClientServer",
+    vendor: true,
+    srcs: ["src/*.cpp"],
+    local_include_dirs: ["include"],
+    shared_libs: [
+        "libbase",
+        "liblog",
+        "libutils",
+        "libgrpc++",
+        "libprotobuf-cpp-full",
+    ],
+    whole_static_libs: [
+        "wakeup_client_protos",
+    ],
+    cflags: [
+        "-Wno-unused-parameter",
+        "-DGRPC_SERVICE_ADDRESS=\"localhost:50051\"",
+    ],
+}
diff --git a/automotive/remoteaccess/test_grpc_server/impl/include/TestWakeupClientServiceImpl.h b/automotive/remoteaccess/test_grpc_server/impl/include/TestWakeupClientServiceImpl.h
new file mode 100644
index 0000000..4c440b8
--- /dev/null
+++ b/automotive/remoteaccess/test_grpc_server/impl/include/TestWakeupClientServiceImpl.h
@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) 2022 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.
+ */
+
+#pragma once
+
+#include <android-base/thread_annotations.h>
+#include <wakeup_client.grpc.pb.h>
+#include <condition_variable>
+#include <mutex>
+#include <queue>
+#include <string>
+#include <thread>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace remoteaccess {
+
+// A class to generate fake task for testing. Not required for real implementation. In real
+// implementation, the task should come from remote task server. This class is thread-safe.
+class FakeTaskGenerator final {
+  public:
+    GetRemoteTasksResponse generateTask();
+
+  private:
+    // Simulates the client ID for each task.
+    std::atomic<int> mCurrentClientId = 0;
+    constexpr static uint8_t DATA[] = {0xde, 0xad, 0xbe, 0xef};
+};
+
+// TaskQueue is thread-safe.
+class TaskQueue final {
+  public:
+    void add(const GetRemoteTasksResponse& response);
+    std::optional<GetRemoteTasksResponse> maybePopOne();
+    void waitForTask();
+    void stopWait();
+
+  private:
+    std::mutex mLock;
+    std::queue<GetRemoteTasksResponse> mTasks GUARDED_BY(mLock);
+    // A variable to notify mTasks is not empty.
+    std::condition_variable mTasksNotEmptyCv;
+    bool mStopped GUARDED_BY(mLock);
+};
+
+class TestWakeupClientServiceImpl final : public WakeupClient::Service {
+  public:
+    TestWakeupClientServiceImpl();
+
+    ~TestWakeupClientServiceImpl();
+
+    grpc::Status GetRemoteTasks(grpc::ServerContext* context, const GetRemoteTasksRequest* request,
+                                grpc::ServerWriter<GetRemoteTasksResponse>* writer) override;
+
+    grpc::Status NotifyWakeupRequired(grpc::ServerContext* context,
+                                      const NotifyWakeupRequiredRequest* request,
+                                      NotifyWakeupRequiredResponse* response) override;
+
+  private:
+    // This is a thread for communicating with remote wakeup server (via network) and receive tasks
+    // from it.
+    std::thread mThread;
+    // A variable to notify server is stopping.
+    std::condition_variable mServerStoppedCv;
+    std::mutex mLock;
+    bool mServerStopped GUARDED_BY(mLock);
+
+    // Thread-safe. For test impl only.
+    FakeTaskGenerator mFakeTaskGenerator;
+    // Thread-sfae.
+    TaskQueue mTaskQueue;
+
+    void fakeTaskGenerateLoop();
+};
+
+}  // namespace remoteaccess
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/remoteaccess/test_grpc_server/impl/src/TestWakeupClientServiceImpl.cpp b/automotive/remoteaccess/test_grpc_server/impl/src/TestWakeupClientServiceImpl.cpp
new file mode 100644
index 0000000..1eb87e2
--- /dev/null
+++ b/automotive/remoteaccess/test_grpc_server/impl/src/TestWakeupClientServiceImpl.cpp
@@ -0,0 +1,152 @@
+/*
+ * Copyright (C) 2022 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.
+ */
+
+#include "TestWakeupClientServiceImpl.h"
+
+#include <android-base/stringprintf.h>
+#include <utils/Log.h>
+#include <chrono>
+#include <thread>
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace remoteaccess {
+
+namespace {
+
+using ::android::base::ScopedLockAssertion;
+using ::android::base::StringPrintf;
+using ::grpc::ServerContext;
+using ::grpc::ServerWriter;
+using ::grpc::Status;
+
+constexpr int kTaskIntervalInSec = 5;
+
+}  // namespace
+
+GetRemoteTasksResponse FakeTaskGenerator::generateTask() {
+    int clientId = mCurrentClientId++;
+    GetRemoteTasksResponse response;
+    response.set_data(std::string(reinterpret_cast<const char*>(DATA), sizeof(DATA)));
+    std::string clientIdStr = StringPrintf("%d", clientId);
+    response.set_clientid(clientIdStr);
+    return response;
+}
+
+std::optional<GetRemoteTasksResponse> TaskQueue::maybePopOne() {
+    std::lock_guard<std::mutex> lockGuard(mLock);
+    if (mTasks.size() == 0) {
+        return std::nullopt;
+    }
+    GetRemoteTasksResponse response = mTasks.front();
+    mTasks.pop();
+    return std::move(response);
+}
+void TaskQueue::add(const GetRemoteTasksResponse& task) {
+    // TODO (b/246841306): add timeout to tasks.
+    std::lock_guard<std::mutex> lockGuard(mLock);
+    mTasks.push(task);
+    mTasksNotEmptyCv.notify_all();
+}
+
+void TaskQueue::waitForTask() {
+    std::unique_lock<std::mutex> lock(mLock);
+    mTasksNotEmptyCv.wait(lock, [this] {
+        ScopedLockAssertion lockAssertion(mLock);
+        return mTasks.size() > 0 || mStopped;
+    });
+}
+
+void TaskQueue::stopWait() {
+    std::lock_guard<std::mutex> lockGuard(mLock);
+    mStopped = true;
+    mTasksNotEmptyCv.notify_all();
+}
+
+TestWakeupClientServiceImpl::TestWakeupClientServiceImpl() {
+    mThread = std::thread([this] { fakeTaskGenerateLoop(); });
+}
+
+TestWakeupClientServiceImpl::~TestWakeupClientServiceImpl() {
+    {
+        std::lock_guard<std::mutex> lockGuard(mLock);
+        mServerStopped = true;
+        mServerStoppedCv.notify_all();
+    }
+    mTaskQueue.stopWait();
+    if (mThread.joinable()) {
+        mThread.join();
+    }
+}
+
+void TestWakeupClientServiceImpl::fakeTaskGenerateLoop() {
+    // In actual implementation, this should communicate with the remote server and receives tasks
+    // from it. Here we simulate receiving one remote task every {kTaskIntervalInSec}s.
+    while (true) {
+        mTaskQueue.add(mFakeTaskGenerator.generateTask());
+        ALOGI("Sleeping for %d seconds until next task", kTaskIntervalInSec);
+
+        std::unique_lock lk(mLock);
+        if (mServerStoppedCv.wait_for(lk, std::chrono::seconds(kTaskIntervalInSec), [this] {
+                ScopedLockAssertion lockAssertion(mLock);
+                return mServerStopped;
+            })) {
+            // If the stopped flag is set, we are quitting, exit the loop.
+            return;
+        }
+    }
+}
+
+Status TestWakeupClientServiceImpl::GetRemoteTasks(ServerContext* context,
+                                                   const GetRemoteTasksRequest* request,
+                                                   ServerWriter<GetRemoteTasksResponse>* writer) {
+    ALOGD("GetRemoteTasks called");
+    while (true) {
+        mTaskQueue.waitForTask();
+
+        while (true) {
+            auto maybeTask = mTaskQueue.maybePopOne();
+            if (!maybeTask.has_value()) {
+                // No task left, loop again and wait for another task(s).
+                break;
+            }
+            // Loop through all the task in the queue but obtain lock for each element so we don't
+            // hold lock while writing the response.
+            const GetRemoteTasksResponse& response = maybeTask.value();
+            if (!writer->Write(response)) {
+                // Broken stream, maybe the client is shutting down.
+                ALOGW("Failed to deliver remote task to remote access HAL");
+                // The task failed to be sent, add it back to the queue. The order might change, but
+                // it is okay.
+                mTaskQueue.add(response);
+                return Status::CANCELLED;
+            }
+        }
+    }
+    return Status::OK;
+}
+
+Status TestWakeupClientServiceImpl::NotifyWakeupRequired(ServerContext* context,
+                                                         const NotifyWakeupRequiredRequest* request,
+                                                         NotifyWakeupRequiredResponse* response) {
+    return Status::OK;
+}
+
+}  // namespace remoteaccess
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/remoteaccess/test_grpc_server/impl/src/main.cpp b/automotive/remoteaccess/test_grpc_server/impl/src/main.cpp
new file mode 100644
index 0000000..bb03e70
--- /dev/null
+++ b/automotive/remoteaccess/test_grpc_server/impl/src/main.cpp
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2022 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.
+ */
+
+#include <string>
+
+#include "TestWakeupClientServiceImpl.h"
+
+#include <grpc/grpc.h>
+#include <grpcpp/security/server_credentials.h>
+#include <grpcpp/server.h>
+#include <grpcpp/server_builder.h>
+#include <utils/Log.h>
+
+using ::android::hardware::automotive::remoteaccess::TestWakeupClientServiceImpl;
+using ::grpc::Server;
+using ::grpc::ServerBuilder;
+using ::grpc::ServerWriter;
+
+void RunServer() {
+    std::string serverAddress(GRPC_SERVICE_ADDRESS);
+    std::shared_ptr<TestWakeupClientServiceImpl> service =
+            std::make_unique<TestWakeupClientServiceImpl>();
+
+    ServerBuilder builder;
+    builder.AddListeningPort(serverAddress, grpc::InsecureServerCredentials());
+    builder.RegisterService(service.get());
+    std::unique_ptr<Server> server(builder.BuildAndStart());
+    ALOGI("Test Remote Access GRPC Server listening on %s", serverAddress.c_str());
+    server->Wait();
+}
+
+int main(int argc, char** argv) {
+    RunServer();
+    return 0;
+}