diff --git a/audio/common/2.0/Android.bp b/audio/common/2.0/Android.bp
index 450e04f..679d6b0 100644
--- a/audio/common/2.0/Android.bp
+++ b/audio/common/2.0/Android.bp
@@ -15,9 +15,6 @@
     root: "android.hardware",
     // TODO(b/153609531): remove when no longer needed.
     native_bridge_supported: true,
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "types.hal",
     ],
diff --git a/automotive/evs/aidl/Android.bp b/automotive/evs/aidl/Android.bp
index 3bfe8f3..dfb15c6 100644
--- a/automotive/evs/aidl/Android.bp
+++ b/automotive/evs/aidl/Android.bp
@@ -42,9 +42,6 @@
             enabled: false,
         },
         ndk: {
-            vndk: {
-                enabled: false,
-            },
             min_sdk_version: "29",
         },
     },
diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
index d9c4c13..9081fdc 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -107,7 +107,7 @@
      *   An FHEV (Fully Hybrid Electric Vehicle) must not include FuelType::FUEL_TYPE_ELECTRIC in
      *   INFO_FUEL_TYPE's INT32_VEC value. So INFO_FUEL_TYPE can be populated as such:
      *     int32Values = { FuelType::FUEL_TYPE_UNLEADED }
-     *   On the other hand, a PHEV (Partially Hybrid Electric Vehicle) is plug in rechargeable, and
+     *   On the other hand, a PHEV (Plug-in Hybrid Electric Vehicle) is plug in rechargeable, and
      *   hence should include FuelType::FUEL_TYPE_ELECTRIC in INFO_FUEL_TYPE's INT32_VEC value. So
      *   INFO_FUEL_TYPE can be populated as such:
      *     int32Values = { FuelType::FUEL_TYPE_UNLEADED, FuelType::FUEL_TYPE_ELECTRIC }
@@ -120,12 +120,13 @@
     INFO_FUEL_TYPE = 0x0105 + 0x10000000 + 0x01000000
             + 0x00410000, // VehiclePropertyGroup:SYSTEM,VehicleArea:GLOBAL,VehiclePropertyType:INT32_VEC
     /**
-     * Nominal battery capacity for EV or hybrid vehicle
+     * Nominal usable battery capacity for EV or hybrid vehicle
      *
-     * Returns the nominal battery capacity, if EV or hybrid. This is the battery capacity when the
-     * vehicle is new. This value might be different from EV_CURRENT_BATTERY_CAPACITY because
-     * EV_CURRENT_BATTERY_CAPACITY returns the real-time battery capacity taking into account
-     * factors such as battery aging and temperature dependency.
+     * Returns the nominal battery capacity, if EV or hybrid. This is the total usable battery
+     * capacity when the vehicle is new. This value might be different from
+     * EV_CURRENT_BATTERY_CAPACITY because EV_CURRENT_BATTERY_CAPACITY returns the real-time usable
+     * battery capacity taking into account factors such as battery aging and temperature
+     * dependency.
      *
      * @change_mode VehiclePropertyChangeMode.STATIC
      * @access VehiclePropertyAccess.READ
@@ -409,12 +410,13 @@
     EV_BATTERY_LEVEL = 0x0309 + 0x10000000 + 0x01000000
             + 0x00600000, // VehiclePropertyGroup:SYSTEM,VehicleArea:GLOBAL,VehiclePropertyType:FLOAT
     /**
-     * Current battery capacity for EV or hybrid vehicle
+     * Current usable battery capacity for EV or hybrid vehicle
      *
      * Returns the actual value of battery capacity, if EV or hybrid. This property captures the
-     * real-time battery capacity taking into account factors such as battery aging and temperature
-     * dependency. Therefore, this value might be different from INFO_EV_BATTERY_CAPACITY because
-     * INFO_EV_BATTERY_CAPACITY returns the nominal battery capacity from when the vehicle was new.
+     * real-time usable battery capacity taking into account factors such as battery aging and
+     * temperature dependency. Therefore, this value might be different from
+     * INFO_EV_BATTERY_CAPACITY because INFO_EV_BATTERY_CAPACITY returns the nominal battery
+     * capacity from when the vehicle was new.
      *
      * @change_mode VehiclePropertyChangeMode.ON_CHANGE
      * @access VehiclePropertyAccess.READ
@@ -1621,6 +1623,11 @@
     /**
      * Outside temperature
      *
+     * This property must communicate the temperature reading of the environment outside the
+     * vehicle. If there are multiple sensors for measuring the outside temperature, this property
+     * should be populated with the mean or a meaningful weighted average of the readings that will
+     * best represent the temperature of the outside environment.
+     *
      * @change_mode VehiclePropertyChangeMode.CONTINUOUS
      * @access VehiclePropertyAccess.READ
      * @unit VehicleUnit.CELSIUS
diff --git a/common/aidl/Android.bp b/common/aidl/Android.bp
index 1457b8a..11de087 100644
--- a/common/aidl/Android.bp
+++ b/common/aidl/Android.bp
@@ -11,10 +11,7 @@
     name: "android.hardware.common",
     host_supported: true,
     vendor_available: true,
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
+    double_loadable: true,
     vndk_use_version: "2",
     srcs: [
         "android/hardware/common/*.aidl",
diff --git a/common/fmq/aidl/Android.bp b/common/fmq/aidl/Android.bp
index 6c37213..17c11ab 100644
--- a/common/fmq/aidl/Android.bp
+++ b/common/fmq/aidl/Android.bp
@@ -11,10 +11,7 @@
     name: "android.hardware.common.fmq",
     host_supported: true,
     vendor_available: true,
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
+    double_loadable: true,
     srcs: [
         "android/hardware/common/fmq/*.aidl",
     ],
diff --git a/configstore/1.0/Android.bp b/configstore/1.0/Android.bp
index 51fc44c..ef781d2 100644
--- a/configstore/1.0/Android.bp
+++ b/configstore/1.0/Android.bp
@@ -12,9 +12,6 @@
 hidl_interface {
     name: "android.hardware.configstore@1.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "types.hal",
         "ISurfaceFlingerConfigs.hal",
diff --git a/configstore/1.1/Android.bp b/configstore/1.1/Android.bp
index ec745dd..c8c3f5e 100644
--- a/configstore/1.1/Android.bp
+++ b/configstore/1.1/Android.bp
@@ -12,9 +12,6 @@
 hidl_interface {
     name: "android.hardware.configstore@1.1",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "types.hal",
         "ISurfaceFlingerConfigs.hal",
diff --git a/configstore/utils/Android.bp b/configstore/utils/Android.bp
index 7ed3f68..b62f1bc 100644
--- a/configstore/utils/Android.bp
+++ b/configstore/utils/Android.bp
@@ -26,13 +26,10 @@
 cc_library_shared {
     name: "android.hardware.configstore-utils",
     vendor_available: true,
-    vndk: {
-        enabled: true,
-    },
     double_loadable: true,
     defaults: ["hidl_defaults"],
 
-    srcs: [ "ConfigStoreUtils.cpp" ],
+    srcs: ["ConfigStoreUtils.cpp"],
 
     export_include_dirs: ["include"],
 
@@ -40,12 +37,12 @@
         "android.hardware.configstore@1.0",
         "android.hardware.configstore@1.1",
         "libbase",
-        "libhidlbase"
+        "libhidlbase",
     ],
     export_shared_lib_headers: [
         "android.hardware.configstore@1.0",
         "android.hardware.configstore@1.1",
         "libbase",
-        "libhidlbase"
+        "libhidlbase",
     ],
 }
diff --git a/confirmationui/support/Android.bp b/confirmationui/support/Android.bp
index 1200115..67cc04b 100644
--- a/confirmationui/support/Android.bp
+++ b/confirmationui/support/Android.bp
@@ -27,9 +27,6 @@
     name: "android.hardware.confirmationui-support-lib",
     vendor_available: true,
     host_supported: true,
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "src/cbor.cpp",
         "src/confirmationui_utils.cpp",
diff --git a/graphics/allocator/2.0/Android.bp b/graphics/allocator/2.0/Android.bp
index 36158e9..5d3f883 100644
--- a/graphics/allocator/2.0/Android.bp
+++ b/graphics/allocator/2.0/Android.bp
@@ -13,9 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.allocator@2.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "IAllocator.hal",
     ],
diff --git a/graphics/allocator/3.0/Android.bp b/graphics/allocator/3.0/Android.bp
index 0100f6f..767a79f 100644
--- a/graphics/allocator/3.0/Android.bp
+++ b/graphics/allocator/3.0/Android.bp
@@ -13,9 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.allocator@3.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "IAllocator.hal",
     ],
diff --git a/graphics/allocator/4.0/Android.bp b/graphics/allocator/4.0/Android.bp
index 5d7a4a9..590ecf4 100644
--- a/graphics/allocator/4.0/Android.bp
+++ b/graphics/allocator/4.0/Android.bp
@@ -13,9 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.allocator@4.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "IAllocator.hal",
     ],
diff --git a/graphics/allocator/aidl/Android.bp b/graphics/allocator/aidl/Android.bp
index 6e24edc..0b916bf 100644
--- a/graphics/allocator/aidl/Android.bp
+++ b/graphics/allocator/aidl/Android.bp
@@ -11,10 +11,7 @@
 aidl_interface {
     name: "android.hardware.graphics.allocator",
     vendor_available: true,
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
+    double_loadable: true,
     vndk_use_version: "2",
     srcs: ["android/hardware/graphics/allocator/*.aidl"],
     imports: [
@@ -34,9 +31,6 @@
                 "//apex_available:platform",
                 "com.android.media.swcodec",
             ],
-            vndk: {
-                enabled: true,
-            },
             min_sdk_version: "29",
         },
     },
diff --git a/graphics/bufferqueue/1.0/Android.bp b/graphics/bufferqueue/1.0/Android.bp
index fe46b5e..c7c6453 100644
--- a/graphics/bufferqueue/1.0/Android.bp
+++ b/graphics/bufferqueue/1.0/Android.bp
@@ -13,9 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.bufferqueue@1.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "IGraphicBufferProducer.hal",
         "IProducerListener.hal",
diff --git a/graphics/bufferqueue/2.0/Android.bp b/graphics/bufferqueue/2.0/Android.bp
index c2b0985..e9f75c1 100644
--- a/graphics/bufferqueue/2.0/Android.bp
+++ b/graphics/bufferqueue/2.0/Android.bp
@@ -13,9 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.bufferqueue@2.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "types.hal",
         "IGraphicBufferProducer.hal",
diff --git a/graphics/common/1.0/Android.bp b/graphics/common/1.0/Android.bp
index 786953b..b876bf3 100644
--- a/graphics/common/1.0/Android.bp
+++ b/graphics/common/1.0/Android.bp
@@ -13,10 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.common@1.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
     srcs: [
         "types.hal",
     ],
diff --git a/graphics/common/1.1/Android.bp b/graphics/common/1.1/Android.bp
index d857f80..ff6c9b7 100644
--- a/graphics/common/1.1/Android.bp
+++ b/graphics/common/1.1/Android.bp
@@ -13,10 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.common@1.1",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
     srcs: [
         "types.hal",
     ],
diff --git a/graphics/common/1.2/Android.bp b/graphics/common/1.2/Android.bp
index 17d0c20..b4663e5 100644
--- a/graphics/common/1.2/Android.bp
+++ b/graphics/common/1.2/Android.bp
@@ -13,10 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.common@1.2",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
     srcs: [
         "types.hal",
     ],
diff --git a/graphics/common/aidl/Android.bp b/graphics/common/aidl/Android.bp
index 570f735..33d0938 100644
--- a/graphics/common/aidl/Android.bp
+++ b/graphics/common/aidl/Android.bp
@@ -12,10 +12,7 @@
     name: "android.hardware.graphics.common",
     host_supported: true,
     vendor_available: true,
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
+    double_loadable: true,
     vndk_use_version: "5",
     srcs: [
         "android/hardware/graphics/common/*.aidl",
diff --git a/graphics/composer/aidl/Android.bp b/graphics/composer/aidl/Android.bp
index 87ecb16..fad70d8 100644
--- a/graphics/composer/aidl/Android.bp
+++ b/graphics/composer/aidl/Android.bp
@@ -28,10 +28,7 @@
     name: "android.hardware.graphics.composer3",
     host_supported: true,
     vendor_available: true,
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
+    double_loadable: true,
     frozen: true,
     vndk_use_version: "1",
     srcs: [
@@ -51,9 +48,6 @@
             enabled: false,
         },
         ndk: {
-            vndk: {
-                enabled: true,
-            },
         },
         rust: {
             enabled: true,
diff --git a/graphics/composer/aidl/android/hardware/graphics/composer3/CommandResultPayload.aidl b/graphics/composer/aidl/android/hardware/graphics/composer3/CommandResultPayload.aidl
index 106fd87..99c91aa 100644
--- a/graphics/composer/aidl/android/hardware/graphics/composer3/CommandResultPayload.aidl
+++ b/graphics/composer/aidl/android/hardware/graphics/composer3/CommandResultPayload.aidl
@@ -28,6 +28,10 @@
 union CommandResultPayload {
     /**
      * Indicates an error generated by a command.
+     *
+     * If there is an error from a command, the composer should only respond
+     * with the CommandError, and not with other results
+     * (e.g. ChangedCompositionTypes).
      */
     CommandError error;
 
diff --git a/graphics/mapper/2.0/Android.bp b/graphics/mapper/2.0/Android.bp
index 81040ab..07ca1cb 100644
--- a/graphics/mapper/2.0/Android.bp
+++ b/graphics/mapper/2.0/Android.bp
@@ -13,10 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.mapper@2.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
     srcs: [
         "types.hal",
         "IMapper.hal",
diff --git a/graphics/mapper/2.1/Android.bp b/graphics/mapper/2.1/Android.bp
index 1308a6c..f6e089a 100644
--- a/graphics/mapper/2.1/Android.bp
+++ b/graphics/mapper/2.1/Android.bp
@@ -13,10 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.mapper@2.1",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
     srcs: [
         "IMapper.hal",
     ],
diff --git a/graphics/mapper/3.0/Android.bp b/graphics/mapper/3.0/Android.bp
index b49806f..0e15af9 100644
--- a/graphics/mapper/3.0/Android.bp
+++ b/graphics/mapper/3.0/Android.bp
@@ -13,10 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.mapper@3.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
     srcs: [
         "types.hal",
         "IMapper.hal",
diff --git a/graphics/mapper/4.0/Android.bp b/graphics/mapper/4.0/Android.bp
index c07f73c..b2dd7d2 100644
--- a/graphics/mapper/4.0/Android.bp
+++ b/graphics/mapper/4.0/Android.bp
@@ -13,10 +13,6 @@
 hidl_interface {
     name: "android.hardware.graphics.mapper@4.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
     srcs: [
         "types.hal",
         "IMapper.hal",
diff --git a/media/1.0/Android.bp b/media/1.0/Android.bp
index 22a6d59..d5ef95a 100644
--- a/media/1.0/Android.bp
+++ b/media/1.0/Android.bp
@@ -12,9 +12,6 @@
 hidl_interface {
     name: "android.hardware.media@1.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "types.hal",
     ],
diff --git a/media/bufferpool/2.0/Android.bp b/media/bufferpool/2.0/Android.bp
index fd6f08b..470a11f 100644
--- a/media/bufferpool/2.0/Android.bp
+++ b/media/bufferpool/2.0/Android.bp
@@ -13,9 +13,6 @@
 hidl_interface {
     name: "android.hardware.media.bufferpool@2.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "types.hal",
         "IAccessor.hal",
diff --git a/media/omx/1.0/Android.bp b/media/omx/1.0/Android.bp
index ea63467..cd1b9b6 100644
--- a/media/omx/1.0/Android.bp
+++ b/media/omx/1.0/Android.bp
@@ -12,9 +12,6 @@
 hidl_interface {
     name: "android.hardware.media.omx@1.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "types.hal",
         "IGraphicBufferSource.hal",
diff --git a/memtrack/1.0/Android.bp b/memtrack/1.0/Android.bp
index bf8db3f..1aeec59 100644
--- a/memtrack/1.0/Android.bp
+++ b/memtrack/1.0/Android.bp
@@ -12,9 +12,6 @@
 hidl_interface {
     name: "android.hardware.memtrack@1.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "types.hal",
         "IMemtrack.hal",
diff --git a/memtrack/aidl/Android.bp b/memtrack/aidl/Android.bp
index 0d1c241..4973d1e 100644
--- a/memtrack/aidl/Android.bp
+++ b/memtrack/aidl/Android.bp
@@ -34,9 +34,6 @@
             enabled: false,
         },
         ndk: {
-            vndk: {
-                enabled: true,
-            },
         },
     },
     frozen: true,
diff --git a/renderscript/1.0/Android.bp b/renderscript/1.0/Android.bp
index 1f2ac15..c699141 100644
--- a/renderscript/1.0/Android.bp
+++ b/renderscript/1.0/Android.bp
@@ -14,10 +14,6 @@
     root: "android.hardware",
     // TODO(b/153609531): remove when no longer needed.
     native_bridge_supported: true,
-    vndk: {
-        enabled: true,
-        support_system_process: true,
-    },
     srcs: [
         "types.hal",
         "IContext.hal",
diff --git a/soundtrigger/2.0/Android.bp b/soundtrigger/2.0/Android.bp
index 996105c..828b9ec 100644
--- a/soundtrigger/2.0/Android.bp
+++ b/soundtrigger/2.0/Android.bp
@@ -12,9 +12,6 @@
 hidl_interface {
     name: "android.hardware.soundtrigger@2.0",
     root: "android.hardware",
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "types.hal",
         "ISoundTriggerHw.hal",
diff --git a/soundtrigger/2.0/default/Android.bp b/soundtrigger/2.0/default/Android.bp
index 8236e30..2cbf041 100644
--- a/soundtrigger/2.0/default/Android.bp
+++ b/soundtrigger/2.0/default/Android.bp
@@ -26,9 +26,6 @@
     name: "android.hardware.soundtrigger@2.0-core",
     defaults: ["hidl_defaults"],
     vendor_available: true,
-    vndk: {
-        enabled: true,
-    },
     srcs: [
         "SoundTriggerHalImpl.cpp",
     ],
diff --git a/uwb/aidl/default/src/uwb_chip.rs b/uwb/aidl/default/src/uwb_chip.rs
index 62fe229..878aa64 100644
--- a/uwb/aidl/default/src/uwb_chip.rs
+++ b/uwb/aidl/default/src/uwb_chip.rs
@@ -241,6 +241,7 @@
                 // Read the payload bytes.
                 read_exact(reader.get_mut(), &mut buffer[UWB_HEADER_SIZE..]).unwrap();
 
+                log::debug!(" <-- {:?}", buffer);
                 client_callbacks.onUciMessage(&buffer).unwrap();
             }
         });
@@ -295,10 +296,13 @@
         log::debug!("sendUciMessage");
 
         if let State::Opened { ref mut serial, .. } = &mut *self.state.lock().await {
-            serial
-                .write(data)
-                .map(|written| written as i32)
-                .map_err(|_| binder::StatusCode::UNKNOWN_ERROR.into())
+            log::debug!(" --> {:?}", data);
+            let result = serial
+                .write_all(data)
+                .map(|_| data.len() as i32)
+                .map_err(|_| binder::StatusCode::UNKNOWN_ERROR.into());
+            log::debug!(" status: {:?}", result);
+            result
         } else {
             Err(binder::ExceptionCode::ILLEGAL_STATE.into())
         }