diff --git a/automotive/evs/aidl/Android.bp b/automotive/evs/aidl/Android.bp
index dfb15c6..5b2f82f 100644
--- a/automotive/evs/aidl/Android.bp
+++ b/automotive/evs/aidl/Android.bp
@@ -44,6 +44,9 @@
         ndk: {
             min_sdk_version: "29",
         },
+        rust: {
+            enabled: true,
+        },
     },
     versions_with_info: [
         {
diff --git a/automotive/evs/aidl/rust_impl/Android.bp b/automotive/evs/aidl/rust_impl/Android.bp
new file mode 100644
index 0000000..ac8b90f
--- /dev/null
+++ b/automotive/evs/aidl/rust_impl/Android.bp
@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2024 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.
+ */
+
+rust_binary {
+    name: "android.hardware.automotive.evs-aidl-rust-service",
+    relative_install_path: "hw",
+    vendor: true,
+    srcs: ["src/*.rs"],
+    crate_root: "src/main.rs",
+    vintf_fragments: ["manifest_evs-rust-service.xml"],
+    init_rc: ["evs-rust-service.rc"],
+    rustlibs: [
+        "android.hardware.automotive.evs-V2-rust",
+        "libbinder_rs",
+        "liblog_rust",
+    ],
+}
diff --git a/automotive/evs/aidl/rust_impl/README.md b/automotive/evs/aidl/rust_impl/README.md
new file mode 100644
index 0000000..bf00aed
--- /dev/null
+++ b/automotive/evs/aidl/rust_impl/README.md
@@ -0,0 +1,21 @@
+# Rust Skeleton EVS HAL implementation.
+
+WARNING: This is not a reference EVS HAL implementation and therefore does not
+provide any actual functionality.
+
+This folder contains a skeleton EVS HAL implementation in Rust to demonstrate
+how vendors could implement their EVS HAL in Rust. To compile and run this
+implementation, please include below package to the device build script:
+
+* `android.hardware.automotive.evs-aidl-rust-service`
+
+Please note that this service will attempt to register the service as
+`IEvsEnumerator/rust/0` and therefore is also required to be declared in the
+service context by adding below line to a proper `service_contexts` file:
+
+> android.hardware.automotive.evs.IEvsEnumerator/rust/0 u:object_r:hal_evs_service:s0
+
+This implementation intentionally returns `binder::StatusCode::UNKNOWN_ERROR`
+for any API call except deprecated API for ultrasonics; the process will be
+panicked on these methods instead. Hence, this implementation does not comply
+with VTS tests and vendors must replace each method with actual implementation.
diff --git a/automotive/evs/aidl/rust_impl/evs-rust-service.rc b/automotive/evs/aidl/rust_impl/evs-rust-service.rc
new file mode 100644
index 0000000..3741b21
--- /dev/null
+++ b/automotive/evs/aidl/rust_impl/evs-rust-service.rc
@@ -0,0 +1,8 @@
+service vendor.evs-hal-rust-default /vendor/bin/hw/android.hardware.automotive.evs-aidl-rust-service
+    class early_hal
+    priority -20
+    user graphics
+    group automotive_evs camera
+    onrestart restart cardisplayproxyd
+    onrestart restart evsmanagerd
+    disabled
diff --git a/automotive/evs/aidl/rust_impl/manifest_evs-rust-service.xml b/automotive/evs/aidl/rust_impl/manifest_evs-rust-service.xml
new file mode 100644
index 0000000..813cbb2
--- /dev/null
+++ b/automotive/evs/aidl/rust_impl/manifest_evs-rust-service.xml
@@ -0,0 +1,7 @@
+<manifest version="2.0" type="device">
+    <hal format="aidl">
+        <name>android.hardware.automotive.evs</name>
+        <version>2</version>
+        <fqname>IEvsEnumerator/rust/0</fqname>
+    </hal>
+</manifest>
diff --git a/automotive/evs/aidl/rust_impl/src/default_evs_hal.rs b/automotive/evs/aidl/rust_impl/src/default_evs_hal.rs
new file mode 100644
index 0000000..72b2d53
--- /dev/null
+++ b/automotive/evs/aidl/rust_impl/src/default_evs_hal.rs
@@ -0,0 +1,113 @@
+//
+// Copyright (C) 2024 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.
+//
+
+use android_hardware_automotive_evs::aidl::android::hardware::automotive::evs::{
+    CameraDesc::CameraDesc, DisplayState::DisplayState, IEvsCamera::IEvsCamera,
+    IEvsDisplay::IEvsDisplay, IEvsEnumerator::IEvsEnumerator,
+    IEvsEnumeratorStatusCallback::IEvsEnumeratorStatusCallback,
+    IEvsUltrasonicsArray::IEvsUltrasonicsArray, Stream::Stream,
+    UltrasonicsArrayDesc::UltrasonicsArrayDesc,
+};
+
+pub struct DefaultEvsHal {}
+
+impl binder::Interface for DefaultEvsHal {}
+
+impl IEvsEnumerator for DefaultEvsHal {
+    fn closeCamera(
+        &self,
+        _: &binder::Strong<(dyn IEvsCamera + 'static)>,
+    ) -> std::result::Result<(), binder::Status> {
+        Err(binder::StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn closeDisplay(
+        &self,
+        _: &binder::Strong<(dyn IEvsDisplay + 'static)>,
+    ) -> std::result::Result<(), binder::Status> {
+        Err(binder::StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn closeUltrasonicsArray(
+        &self,
+        _: &binder::Strong<(dyn IEvsUltrasonicsArray + 'static)>,
+    ) -> std::result::Result<(), binder::Status> {
+        unimplemented!()
+    }
+
+    fn getCameraList(&self) -> std::result::Result<std::vec::Vec<CameraDesc>, binder::Status> {
+        Err(binder::StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn getDisplayIdList(&self) -> std::result::Result<std::vec::Vec<u8>, binder::Status> {
+        Err(binder::StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn getDisplayState(&self) -> std::result::Result<DisplayState, binder::Status> {
+        Err(binder::StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn getStreamList(
+        &self,
+        _: &CameraDesc,
+    ) -> std::result::Result<std::vec::Vec<Stream>, binder::Status> {
+        Err(binder::StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn getUltrasonicsArrayList(
+        &self,
+    ) -> std::result::Result<std::vec::Vec<UltrasonicsArrayDesc>, binder::Status> {
+        unimplemented!()
+    }
+
+    fn isHardware(&self) -> std::result::Result<bool, binder::Status> {
+        Err(binder::StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn openCamera(
+        &self,
+        _: &str,
+        _: &Stream,
+    ) -> std::result::Result<binder::Strong<(dyn IEvsCamera + 'static)>, binder::Status> {
+        Err(binder::StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn openDisplay(
+        &self,
+        _: i32,
+    ) -> std::result::Result<binder::Strong<(dyn IEvsDisplay + 'static)>, binder::Status> {
+        Err(binder::StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn openUltrasonicsArray(
+        &self,
+        _: &str,
+    ) -> std::result::Result<binder::Strong<(dyn IEvsUltrasonicsArray + 'static)>, binder::Status>
+    {
+        unimplemented!()
+    }
+
+    fn registerStatusCallback(
+        &self,
+        _: &binder::Strong<(dyn IEvsEnumeratorStatusCallback + 'static)>,
+    ) -> std::result::Result<(), binder::Status> {
+        Err(binder::StatusCode::UNKNOWN_ERROR.into())
+    }
+
+    fn getDisplayStateById(&self, _: i32) -> std::result::Result<DisplayState, binder::Status> {
+        Err(binder::StatusCode::UNKNOWN_ERROR.into())
+    }
+}
diff --git a/automotive/evs/aidl/rust_impl/src/main.rs b/automotive/evs/aidl/rust_impl/src/main.rs
new file mode 100644
index 0000000..df312c0
--- /dev/null
+++ b/automotive/evs/aidl/rust_impl/src/main.rs
@@ -0,0 +1,42 @@
+//
+// Copyright (C) 2024 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.
+//
+
+mod default_evs_hal;
+
+use crate::default_evs_hal::DefaultEvsHal;
+
+use android_hardware_automotive_evs::aidl::android::hardware::automotive::evs::IEvsEnumerator::BnEvsEnumerator;
+
+use log::info;
+
+fn main() {
+    binder::ProcessState::start_thread_pool();
+
+    let service = DefaultEvsHal {};
+
+    // Register HAL implementation as rust/0 instance.
+    let service_name = "android.hardware.automotive.evs.IEvsEnumerator/rust/0";
+    let service_binder = BnEvsEnumerator::new_binder(service, binder::BinderFeatures::default());
+
+    binder::add_service(service_name, service_binder.as_binder())
+        .expect(format!("Failed to register {}.", service_name).as_str());
+    info!("EVS Hardware Enumerator is ready");
+
+    binder::ProcessState::join_thread_pool();
+
+    // In normal operation, we don't expect the thread pool to exit.
+    info!("EVS Hardware Enumerator is shutting down");
+}
diff --git a/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h b/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
index fa2a310..b58d0f5 100644
--- a/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
+++ b/automotive/vehicle/aidl/impl/vhal/include/DefaultVehicleHal.h
@@ -31,6 +31,7 @@
 #include <android-base/thread_annotations.h>
 #include <android/binder_auto_utils.h>
 
+#include <functional>
 #include <memory>
 #include <mutex>
 #include <shared_mutex>
@@ -138,12 +139,11 @@
     // Only used for testing.
     int32_t mTestInterfaceVersion = 0;
 
-    // mConfigsByPropId and mConfigFile is lazy initialized.
-    mutable std::mutex mConfigInitLock;
-    mutable bool mConfigInit GUARDED_BY(mConfigInitLock) = false;
+    mutable std::atomic<bool> mConfigInit = false;
+    mutable std::shared_timed_mutex mConfigLock;
     mutable std::unordered_map<int32_t, aidlvhal::VehiclePropConfig> mConfigsByPropId
-            GUARDED_BY(mConfigInitLock);
-    mutable std::unique_ptr<ndk::ScopedFileDescriptor> mConfigFile GUARDED_BY(mConfigInitLock);
+            GUARDED_BY(mConfigLock);
+    mutable std::unique_ptr<ndk::ScopedFileDescriptor> mConfigFile GUARDED_BY(mConfigLock);
 
     std::mutex mLock;
     std::unordered_map<const AIBinder*, std::unique_ptr<OnBinderDiedContext>> mOnBinderDiedContexts
@@ -175,7 +175,10 @@
 
     android::base::Result<std::vector<int64_t>> checkDuplicateRequests(
             const std::vector<aidlvhal::SetValueRequest>& requests);
-    VhalResult<void> checkSubscribeOptions(const std::vector<aidlvhal::SubscribeOptions>& options);
+    VhalResult<void> checkSubscribeOptions(
+            const std::vector<aidlvhal::SubscribeOptions>& options,
+            const std::unordered_map<int32_t, aidlvhal::VehiclePropConfig>& configsByPropId)
+            REQUIRES_SHARED(mConfigLock);
 
     VhalResult<void> checkPermissionHelper(const aidlvhal::VehiclePropValue& value,
                                            aidlvhal::VehiclePropertyAccess accessToTest) const;
@@ -184,7 +187,7 @@
 
     VhalResult<void> checkWritePermission(const aidlvhal::VehiclePropValue& value) const;
 
-    android::base::Result<const aidlvhal::VehiclePropConfig*> getConfig(int32_t propId) const;
+    android::base::Result<aidlvhal::VehiclePropConfig> getConfig(int32_t propId) const;
 
     void onBinderDiedWithContext(const AIBinder* clientId);
 
@@ -196,7 +199,7 @@
 
     bool checkDumpPermission();
 
-    bool getAllPropConfigsFromHardwareLocked() const REQUIRES(mConfigInitLock);
+    bool getAllPropConfigsFromHardwareLocked() const EXCLUDES(mConfigLock);
 
     // The looping handler function to process all onBinderDied or onBinderUnlinked events in
     // mBinderEvents.
@@ -209,10 +212,12 @@
 
     int32_t getVhalInterfaceVersion() const;
 
-    // Gets mConfigsByPropId, lazy init it if necessary.
-    const std::unordered_map<int32_t, aidlvhal::VehiclePropConfig>& getConfigsByPropId() const;
-    // Gets mConfigFile, lazy init it if necessary.
-    const ndk::ScopedFileDescriptor* getConfigFile() const;
+    // Gets mConfigsByPropId, lazy init it if necessary. Note that the reference is only valid in
+    // the scope of the callback and it is guaranteed that read lock is obtained during the
+    // callback.
+    void getConfigsByPropId(
+            std::function<void(const std::unordered_map<int32_t, aidlvhal::VehiclePropConfig>&)>
+                    callback) const EXCLUDES(mConfigLock);
 
     // Puts the property change events into a queue so that they can handled in batch.
     static void batchPropertyChangeEvent(
@@ -239,6 +244,12 @@
 
     static void onBinderUnlinked(void* cookie);
 
+    static void parseSubscribeOptions(
+            const std::vector<aidlvhal::SubscribeOptions>& options,
+            const std::unordered_map<int32_t, aidlvhal::VehiclePropConfig>& configsByPropId,
+            std::vector<aidlvhal::SubscribeOptions>& onChangeSubscriptions,
+            std::vector<aidlvhal::SubscribeOptions>& continuousSubscriptions);
+
     // Test-only
     // Set the default timeout for pending requests.
     void setTimeout(int64_t timeoutInNano);
diff --git a/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp b/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
index 9dc039d..e062a28 100644
--- a/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/src/DefaultVehicleHal.cpp
@@ -95,6 +95,18 @@
     return sampleRateHz;
 }
 
+class SCOPED_CAPABILITY SharedScopedLockAssertion {
+  public:
+    SharedScopedLockAssertion(std::shared_timed_mutex& mutex) ACQUIRE_SHARED(mutex) {}
+    ~SharedScopedLockAssertion() RELEASE() {}
+};
+
+class SCOPED_CAPABILITY UniqueScopedLockAssertion {
+  public:
+    UniqueScopedLockAssertion(std::shared_timed_mutex& mutex) ACQUIRE(mutex) {}
+    ~UniqueScopedLockAssertion() RELEASE() {}
+};
+
 }  // namespace
 
 DefaultVehicleHal::DefaultVehicleHal(std::unique_ptr<IVehicleHardware> vehicleHardware)
@@ -355,68 +367,82 @@
         }
         filteredConfigs.push_back(std::move(config));
     }
-    for (auto& config : filteredConfigs) {
-        mConfigsByPropId[config.prop] = config;
-    }
-    VehiclePropConfigs vehiclePropConfigs;
-    vehiclePropConfigs.payloads = std::move(filteredConfigs);
-    auto result = LargeParcelableBase::parcelableToStableLargeParcelable(vehiclePropConfigs);
-    if (!result.ok()) {
-        ALOGE("failed to convert configs to shared memory file, error: %s, code: %d",
-              result.error().message().c_str(), static_cast<int>(result.error().code()));
-        mConfigFile = nullptr;
-        return false;
+
+    {
+        std::unique_lock<std::shared_timed_mutex> configWriteLock(mConfigLock);
+        UniqueScopedLockAssertion lockAssertion(mConfigLock);
+
+        for (auto& config : filteredConfigs) {
+            mConfigsByPropId[config.prop] = config;
+        }
+        VehiclePropConfigs vehiclePropConfigs;
+        vehiclePropConfigs.payloads = std::move(filteredConfigs);
+        auto result = LargeParcelableBase::parcelableToStableLargeParcelable(vehiclePropConfigs);
+        if (!result.ok()) {
+            ALOGE("failed to convert configs to shared memory file, error: %s, code: %d",
+                  result.error().message().c_str(), static_cast<int>(result.error().code()));
+            mConfigFile = nullptr;
+            return false;
+        }
+
+        if (result.value() != nullptr) {
+            mConfigFile = std::move(result.value());
+        }
     }
 
-    if (result.value() != nullptr) {
-        mConfigFile = std::move(result.value());
-    }
+    mConfigInit = true;
     return true;
 }
 
-const ScopedFileDescriptor* DefaultVehicleHal::getConfigFile() const {
-    std::scoped_lock lockGuard(mConfigInitLock);
+void DefaultVehicleHal::getConfigsByPropId(
+        std::function<void(const std::unordered_map<int32_t, VehiclePropConfig>&)> callback) const {
     if (!mConfigInit) {
         CHECK(getAllPropConfigsFromHardwareLocked())
                 << "Failed to get property configs from hardware";
-        mConfigInit = true;
     }
-    return mConfigFile.get();
-}
 
-const std::unordered_map<int32_t, VehiclePropConfig>& DefaultVehicleHal::getConfigsByPropId()
-        const {
-    std::scoped_lock lockGuard(mConfigInitLock);
-    if (!mConfigInit) {
-        CHECK(getAllPropConfigsFromHardwareLocked())
-                << "Failed to get property configs from hardware";
-        mConfigInit = true;
-    }
-    return mConfigsByPropId;
+    std::shared_lock<std::shared_timed_mutex> configReadLock(mConfigLock);
+    SharedScopedLockAssertion lockAssertion(mConfigLock);
+
+    callback(mConfigsByPropId);
 }
 
 ScopedAStatus DefaultVehicleHal::getAllPropConfigs(VehiclePropConfigs* output) {
-    const ScopedFileDescriptor* configFile = getConfigFile();
-    const auto& configsByPropId = getConfigsByPropId();
-    if (configFile != nullptr) {
+    if (!mConfigInit) {
+        CHECK(getAllPropConfigsFromHardwareLocked())
+                << "Failed to get property configs from hardware";
+    }
+
+    std::shared_lock<std::shared_timed_mutex> configReadLock(mConfigLock);
+    SharedScopedLockAssertion lockAssertion(mConfigLock);
+
+    if (mConfigFile != nullptr) {
         output->payloads.clear();
-        output->sharedMemoryFd.set(dup(configFile->get()));
+        output->sharedMemoryFd.set(dup(mConfigFile->get()));
         return ScopedAStatus::ok();
     }
-    output->payloads.reserve(configsByPropId.size());
-    for (const auto& [_, config] : configsByPropId) {
+
+    output->payloads.reserve(mConfigsByPropId.size());
+    for (const auto& [_, config] : mConfigsByPropId) {
         output->payloads.push_back(config);
     }
     return ScopedAStatus::ok();
 }
 
-Result<const VehiclePropConfig*> DefaultVehicleHal::getConfig(int32_t propId) const {
-    const auto& configsByPropId = getConfigsByPropId();
-    auto it = configsByPropId.find(propId);
-    if (it == configsByPropId.end()) {
-        return Error() << "no config for property, ID: " << propId;
-    }
-    return &(it->second);
+Result<VehiclePropConfig> DefaultVehicleHal::getConfig(int32_t propId) const {
+    Result<VehiclePropConfig> result;
+    getConfigsByPropId([this, &result, propId](const auto& configsByPropId) {
+        SharedScopedLockAssertion lockAssertion(mConfigLock);
+
+        auto it = configsByPropId.find(propId);
+        if (it == configsByPropId.end()) {
+            result = Error() << "no config for property, ID: " << propId;
+            return;
+        }
+        // Copy the VehiclePropConfig
+        result = it->second;
+    });
+    return result;
 }
 
 Result<void> DefaultVehicleHal::checkProperty(const VehiclePropValue& propValue) {
@@ -425,15 +451,15 @@
     if (!result.ok()) {
         return result.error();
     }
-    const VehiclePropConfig* config = result.value();
-    const VehicleAreaConfig* areaConfig = getAreaConfig(propValue, *config);
+    const VehiclePropConfig& config = result.value();
+    const VehicleAreaConfig* areaConfig = getAreaConfig(propValue, config);
     if (!isGlobalProp(propId) && areaConfig == nullptr) {
         // Ignore areaId for global property. For non global property, check whether areaId is
         // allowed. areaId must appear in areaConfig.
         return Error() << "invalid area ID: " << propValue.areaId << " for prop ID: " << propId
                        << ", not listed in config";
     }
-    if (auto result = checkPropValue(propValue, config); !result.ok()) {
+    if (auto result = checkPropValue(propValue, &config); !result.ok()) {
         return Error() << "invalid property value: " << propValue.toString()
                        << ", error: " << getErrorMsg(result);
     }
@@ -659,17 +685,27 @@
 ScopedAStatus DefaultVehicleHal::getPropConfigs(const std::vector<int32_t>& props,
                                                 VehiclePropConfigs* output) {
     std::vector<VehiclePropConfig> configs;
-    const auto& configsByPropId = getConfigsByPropId();
-    for (int32_t prop : props) {
-        auto it = configsByPropId.find(prop);
-        if (it != configsByPropId.end()) {
-            configs.push_back(it->second);
-        } else {
-            return ScopedAStatus::fromServiceSpecificErrorWithMessage(
-                    toInt(StatusCode::INVALID_ARG),
-                    StringPrintf("no config for property, ID: %" PRId32, prop).c_str());
+    ScopedAStatus status = ScopedAStatus::ok();
+    getConfigsByPropId([this, &configs, &status, &props](const auto& configsByPropId) {
+        SharedScopedLockAssertion lockAssertion(mConfigLock);
+
+        for (int32_t prop : props) {
+            auto it = configsByPropId.find(prop);
+            if (it != configsByPropId.end()) {
+                configs.push_back(it->second);
+            } else {
+                status = ScopedAStatus::fromServiceSpecificErrorWithMessage(
+                        toInt(StatusCode::INVALID_ARG),
+                        StringPrintf("no config for property, ID: %" PRId32, prop).c_str());
+                return;
+            }
         }
+    });
+
+    if (!status.isOk()) {
+        return status;
     }
+
     return vectorToStableLargeParcelable(std::move(configs), output);
 }
 
@@ -691,8 +727,8 @@
 }
 
 VhalResult<void> DefaultVehicleHal::checkSubscribeOptions(
-        const std::vector<SubscribeOptions>& options) {
-    const auto& configsByPropId = getConfigsByPropId();
+        const std::vector<SubscribeOptions>& options,
+        const std::unordered_map<int32_t, VehiclePropConfig>& configsByPropId) {
     for (const auto& option : options) {
         int32_t propId = option.propId;
         auto it = configsByPropId.find(propId);
@@ -757,23 +793,15 @@
             }
         }
     }
+
     return {};
 }
 
-ScopedAStatus DefaultVehicleHal::subscribe(const CallbackType& callback,
-                                           const std::vector<SubscribeOptions>& options,
-                                           [[maybe_unused]] int32_t maxSharedMemoryFileCount) {
-    // TODO(b/205189110): Use shared memory file count.
-    if (callback == nullptr) {
-        return ScopedAStatus::fromExceptionCode(EX_NULL_POINTER);
-    }
-    if (auto result = checkSubscribeOptions(options); !result.ok()) {
-        ALOGE("subscribe: invalid subscribe options: %s", getErrorMsg(result).c_str());
-        return toScopedAStatus(result);
-    }
-    std::vector<SubscribeOptions> onChangeSubscriptions;
-    std::vector<SubscribeOptions> continuousSubscriptions;
-    const auto& configsByPropId = getConfigsByPropId();
+void DefaultVehicleHal::parseSubscribeOptions(
+        const std::vector<SubscribeOptions>& options,
+        const std::unordered_map<int32_t, VehiclePropConfig>& configsByPropId,
+        std::vector<SubscribeOptions>& onChangeSubscriptions,
+        std::vector<SubscribeOptions>& continuousSubscriptions) {
     for (const auto& option : options) {
         int32_t propId = option.propId;
         // We have already validate config exists.
@@ -831,6 +859,34 @@
             onChangeSubscriptions.push_back(std::move(optionCopy));
         }
     }
+}
+
+ScopedAStatus DefaultVehicleHal::subscribe(const CallbackType& callback,
+                                           const std::vector<SubscribeOptions>& options,
+                                           [[maybe_unused]] int32_t maxSharedMemoryFileCount) {
+    // TODO(b/205189110): Use shared memory file count.
+    if (callback == nullptr) {
+        return ScopedAStatus::fromExceptionCode(EX_NULL_POINTER);
+    }
+    std::vector<SubscribeOptions> onChangeSubscriptions;
+    std::vector<SubscribeOptions> continuousSubscriptions;
+    ScopedAStatus returnStatus = ScopedAStatus::ok();
+    getConfigsByPropId([this, &returnStatus, &options, &onChangeSubscriptions,
+                        &continuousSubscriptions](const auto& configsByPropId) {
+        SharedScopedLockAssertion lockAssertion(mConfigLock);
+
+        if (auto result = checkSubscribeOptions(options, configsByPropId); !result.ok()) {
+            ALOGE("subscribe: invalid subscribe options: %s", getErrorMsg(result).c_str());
+            returnStatus = toScopedAStatus(result);
+            return;
+        }
+        parseSubscribeOptions(options, configsByPropId, onChangeSubscriptions,
+                              continuousSubscriptions);
+    });
+
+    if (!returnStatus.isOk()) {
+        return returnStatus;
+    }
 
     {
         // Lock to make sure onBinderDied would not be called concurrently.
@@ -891,13 +947,13 @@
         return StatusError(StatusCode::INVALID_ARG) << getErrorMsg(result);
     }
 
-    const VehiclePropConfig* config = result.value();
-    const VehicleAreaConfig* areaConfig = getAreaConfig(value, *config);
+    const VehiclePropConfig& config = result.value();
+    const VehicleAreaConfig* areaConfig = getAreaConfig(value, config);
 
     if (areaConfig == nullptr && !isGlobalProp(propId)) {
         return StatusError(StatusCode::INVALID_ARG) << "no config for area ID: " << value.areaId;
     }
-    if (!hasRequiredAccess(config->access, accessToTest) &&
+    if (!hasRequiredAccess(config.access, accessToTest) &&
         (areaConfig == nullptr || !hasRequiredAccess(areaConfig->access, accessToTest))) {
         return StatusError(StatusCode::ACCESS_DENIED)
                << StringPrintf("Property %" PRId32 " does not have the following access: %" PRId32,
@@ -966,7 +1022,6 @@
     }
     DumpResult result = mVehicleHardware->dump(options);
     if (result.refreshPropertyConfigs) {
-        std::scoped_lock lockGuard(mConfigInitLock);
         getAllPropConfigsFromHardwareLocked();
     }
     dprintf(fd, "%s", (result.buffer + "\n").c_str());
@@ -974,11 +1029,16 @@
         return STATUS_OK;
     }
     dprintf(fd, "Vehicle HAL State: \n");
-    const auto& configsByPropId = getConfigsByPropId();
+    std::unordered_map<int32_t, VehiclePropConfig> configsByPropIdCopy;
+    getConfigsByPropId([this, &configsByPropIdCopy](const auto& configsByPropId) {
+        SharedScopedLockAssertion lockAssertion(mConfigLock);
+
+        configsByPropIdCopy = configsByPropId;
+    });
     {
         std::scoped_lock<std::mutex> lockGuard(mLock);
         dprintf(fd, "Interface version: %" PRId32 "\n", getVhalInterfaceVersion());
-        dprintf(fd, "Containing %zu property configs\n", configsByPropId.size());
+        dprintf(fd, "Containing %zu property configs\n", configsByPropIdCopy.size());
         dprintf(fd, "Currently have %zu getValues clients\n", mGetValuesClients.size());
         dprintf(fd, "Currently have %zu setValues clients\n", mSetValuesClients.size());
         dprintf(fd, "Currently have %zu subscribe clients\n", countSubscribeClients());
diff --git a/camera/common/aidl/Android.bp b/camera/common/aidl/Android.bp
index 8f7d19d..b59c92e 100644
--- a/camera/common/aidl/Android.bp
+++ b/camera/common/aidl/Android.bp
@@ -10,6 +10,7 @@
 
 aidl_interface {
     name: "android.hardware.camera.common",
+    host_supported: true,
     vendor_available: true,
     srcs: ["android/hardware/camera/common/*.aidl"],
     frozen: true,
diff --git a/camera/device/aidl/Android.bp b/camera/device/aidl/Android.bp
index 78aefac..f3a3681 100644
--- a/camera/device/aidl/Android.bp
+++ b/camera/device/aidl/Android.bp
@@ -10,6 +10,7 @@
 
 aidl_interface {
     name: "android.hardware.camera.device",
+    host_supported: true,
     vendor_available: true,
     srcs: ["android/hardware/camera/device/*.aidl"],
     frozen: true,
diff --git a/camera/device/aidl/android/hardware/camera/device/ICameraDeviceSession.aidl b/camera/device/aidl/android/hardware/camera/device/ICameraDeviceSession.aidl
index 62a19cf..63ae320 100644
--- a/camera/device/aidl/android/hardware/camera/device/ICameraDeviceSession.aidl
+++ b/camera/device/aidl/android/hardware/camera/device/ICameraDeviceSession.aidl
@@ -575,6 +575,11 @@
      * This can be called at any point after 'processCaptureRequest' in response
      * to camera clients disabling an active repeating request.
      *
+     * Note: The frame number parameter is the latest possible frame number at which the
+     * ongoing repeating request will end. It is possible that the repeating request may end
+     * before the specified frame number due to reasons such as the camera client abandoning
+     * buffers, which is timing dependent.
+     *
      * Performance requirements:
      * The call must not be blocked for extensive periods and should be extremely lightweight. There
      * must be no frame rate degradation or frame jitter introduced.
diff --git a/camera/metadata/aidl/Android.bp b/camera/metadata/aidl/Android.bp
index ae8ba14..a9c1a1a 100644
--- a/camera/metadata/aidl/Android.bp
+++ b/camera/metadata/aidl/Android.bp
@@ -10,6 +10,7 @@
 
 aidl_interface {
     name: "android.hardware.camera.metadata",
+    host_supported: true,
     vendor_available: true,
     srcs: ["android/hardware/camera/metadata/*.aidl"],
     frozen: true,
diff --git a/camera/provider/aidl/Android.bp b/camera/provider/aidl/Android.bp
index 38a8936..c055caa 100644
--- a/camera/provider/aidl/Android.bp
+++ b/camera/provider/aidl/Android.bp
@@ -10,6 +10,7 @@
 
 aidl_interface {
     name: "android.hardware.camera.provider",
+    host_supported: true,
     vendor_available: true,
     srcs: [
         "android/hardware/camera/provider/*.aidl",
diff --git a/gnss/aidl/android/hardware/gnss/IGnss.aidl b/gnss/aidl/android/hardware/gnss/IGnss.aidl
index 8a22d6e..aaafe7f 100644
--- a/gnss/aidl/android/hardware/gnss/IGnss.aidl
+++ b/gnss/aidl/android/hardware/gnss/IGnss.aidl
@@ -217,10 +217,6 @@
      * Starts a location output stream using the IGnssCallback gnssLocationCb(), following the
      * settings from the most recent call to setPositionMode().
      *
-     * When a location output stream is in progress, calling setPositionMode() does not change the
-     * settings of the current location output stream. stop() and start() must be called to make the
-     * new settings effective.
-     *
      * This output must operate independently of any GNSS location batching operations,
      * see the IGnssBatching for details.
      */
@@ -310,10 +306,6 @@
     /**
      * Sets the GnssPositionMode parameter, its associated recurrence value, the time between fixes,
      * requested fix accuracy, time to first fix.
-     *
-     * If a location output stream is in progress, calling this method does not affect the settings
-     * of current location output stream. stop() and start() must be called to make the new settings
-     * effective.
      */
     void setPositionMode(in PositionModeOptions options);
 
diff --git a/nfc/aidl/vts/functional/Android.bp b/nfc/aidl/vts/functional/Android.bp
index d0b684b..d2508ce 100644
--- a/nfc/aidl/vts/functional/Android.bp
+++ b/nfc/aidl/vts/functional/Android.bp
@@ -49,6 +49,7 @@
 cc_test {
     name: "VtsNfcBehaviorChangesTest",
     defaults: [
+        "aconfig_lib_cc_shared_link.defaults",
         "VtsHalTargetTestDefaults",
         "use_libaidlvintf_gtest_helper_static",
     ],
@@ -65,6 +66,7 @@
         "system/nfc/utils/include",
     ],
     shared_libs: [
+        "liblog",
         "libbinder",
         "libbinder_ndk",
         "libnativehelper",
diff --git a/radio/aidl/vts/Android.bp b/radio/aidl/vts/Android.bp
index e83a7c1..9521068 100644
--- a/radio/aidl/vts/Android.bp
+++ b/radio/aidl/vts/Android.bp
@@ -25,6 +25,7 @@
 cc_test {
     name: "VtsHalRadioTargetTest",
     defaults: [
+        "aconfig_lib_cc_shared_link.defaults",
         "VtsHalTargetTestDefaults",
         "use_libaidlvintf_gtest_helper_static",
     ],
diff --git a/sensors/aidl/default/include/sensors-impl/Sensors.h b/sensors/aidl/default/include/sensors-impl/Sensors.h
index 2adbc9d..c90db69 100644
--- a/sensors/aidl/default/include/sensors-impl/Sensors.h
+++ b/sensors/aidl/default/include/sensors-impl/Sensors.h
@@ -97,9 +97,13 @@
             return;
         }
         if (mEventQueue->write(&events.front(), events.size())) {
+            if (mEventQueueFlag == nullptr) {
+                // Don't take the wake lock if we can't wake the receiver to avoid holding it
+                // indefinitely.
+                return;
+            }
             mEventQueueFlag->wake(
                     static_cast<uint32_t>(BnSensors::EVENT_QUEUE_FLAG_BITS_READ_AND_PROCESS));
-
             if (wakeup) {
                 // Keep track of the number of outstanding WAKE_UP events in order to properly hold
                 // a wake lock until the framework has secured a wake lock
diff --git a/tests/extension/vibrator/aidl/Android.bp b/tests/extension/vibrator/aidl/Android.bp
index 0306dca..9d6fdbc 100644
--- a/tests/extension/vibrator/aidl/Android.bp
+++ b/tests/extension/vibrator/aidl/Android.bp
@@ -37,6 +37,12 @@
         java: {
             enabled: false,
         },
+        ndk: {
+            enabled: true,
+        },
+        cpp: {
+            enabled: false,
+        },
     },
     frozen: true,
     versions_with_info: [
diff --git a/tests/extension/vibrator/aidl/client/Android.bp b/tests/extension/vibrator/aidl/client/Android.bp
index 284ac74..00510b7 100644
--- a/tests/extension/vibrator/aidl/client/Android.bp
+++ b/tests/extension/vibrator/aidl/client/Android.bp
@@ -16,16 +16,10 @@
     srcs: [
         // system code has the option to use the unstable C++ libbinder API
         // or the NDK one. For maximum code portability, using the ndk client
-        // makes the most sense, but both are provided here as an example.
-        "test-cpp-client.cpp",
+        // makes the most sense.
         "test-ndk-client.cpp",
     ],
     shared_libs: [
-        "libbinder",
-        "libutils",
-        "android.hardware.vibrator-V2-cpp",
-        "android.hardware.tests.extension.vibrator-V1-cpp",
-
         "libbinder_ndk",
         "android.hardware.vibrator-V2-ndk",
         "android.hardware.tests.extension.vibrator-V1-ndk",
diff --git a/tests/extension/vibrator/aidl/client/test-cpp-client.cpp b/tests/extension/vibrator/aidl/client/test-cpp-client.cpp
deleted file mode 100644
index 015a345..0000000
--- a/tests/extension/vibrator/aidl/client/test-cpp-client.cpp
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
- * Copyright (C) 2019 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 <android/hardware/tests/extension/vibrator/ICustomVibrator.h>
-#include <android/hardware/vibrator/IVibrator.h>
-#include <binder/IInterface.h>
-#include <binder/IServiceManager.h>
-#include <gtest/gtest.h>
-
-using android::checked_interface_cast;
-using android::IBinder;
-using android::IInterface;
-using android::OK;
-using android::sp;
-using android::waitForVintfService;
-using android::hardware::tests::extension::vibrator::Directionality;
-using android::hardware::tests::extension::vibrator::ICustomVibrator;
-using android::hardware::vibrator::IVibrator;
-
-TEST(Cpp, CallRootMethod) {
-    sp<IVibrator> vib = waitForVintfService<IVibrator>();
-    ASSERT_NE(nullptr, vib.get());
-    ASSERT_TRUE(vib->off().isOk());
-}
-
-TEST(Cpp, CallExtMethod) {
-    // normally you would want to cache this
-    sp<IVibrator> vib = waitForVintfService<IVibrator>();
-    ASSERT_NE(nullptr, vib.get());
-
-    // getting the extension
-    sp<IBinder> ext;
-    ASSERT_EQ(OK, IInterface::asBinder(vib)->getExtension(&ext));
-    sp<ICustomVibrator> cvib = checked_interface_cast<ICustomVibrator>(ext);
-    ASSERT_NE(nullptr, cvib.get());
-
-    // calling extension method
-    ASSERT_TRUE(cvib->setDirectionality(Directionality::TRANSVERSE).isOk());
-}
diff --git a/tests/extension/vibrator/aidl/client/test-ndk-client.cpp b/tests/extension/vibrator/aidl/client/test-ndk-client.cpp
index c846495..4dd86e8 100644
--- a/tests/extension/vibrator/aidl/client/test-ndk-client.cpp
+++ b/tests/extension/vibrator/aidl/client/test-ndk-client.cpp
@@ -28,7 +28,7 @@
 static const std::string kInstance = std::string() + IVibrator::descriptor + "/default";
 
 TEST(Ndk, CallRootMethod) {
-    SpAIBinder vibBinder = SpAIBinder(AServiceManager_getService(kInstance.c_str()));
+    SpAIBinder vibBinder = SpAIBinder(AServiceManager_waitForService(kInstance.c_str()));
     ASSERT_NE(nullptr, vibBinder.get());
     std::shared_ptr<IVibrator> vib = IVibrator::fromBinder(vibBinder);
     ASSERT_NE(nullptr, vib.get());
@@ -38,7 +38,7 @@
 TEST(Ndk, CallExtMethod) {
     // normally you would want to cache this
     //
-    SpAIBinder vibBinder = SpAIBinder(AServiceManager_getService(kInstance.c_str()));
+    SpAIBinder vibBinder = SpAIBinder(AServiceManager_waitForService(kInstance.c_str()));
     ASSERT_NE(nullptr, vibBinder.get());
     std::shared_ptr<IVibrator> vib = IVibrator::fromBinder(vibBinder);
     ASSERT_NE(nullptr, vib.get());
diff --git a/vibrator/aidl/Android.bp b/vibrator/aidl/Android.bp
index b5199e2..fe76450 100644
--- a/vibrator/aidl/Android.bp
+++ b/vibrator/aidl/Android.bp
@@ -20,6 +20,12 @@
         java: {
             sdk_version: "system_current",
         },
+        ndk: {
+            enabled: true,
+        },
+        cpp: {
+            enabled: false,
+        },
     },
     versions: [
         "1",
diff --git a/vibrator/aidl/vts/Android.bp b/vibrator/aidl/vts/Android.bp
index b6d2fb2..166b30b 100644
--- a/vibrator/aidl/vts/Android.bp
+++ b/vibrator/aidl/vts/Android.bp
@@ -17,10 +17,10 @@
     tidy_timeout_srcs: ["VtsHalVibratorTargetTest.cpp"],
     srcs: ["VtsHalVibratorTargetTest.cpp"],
     shared_libs: [
-        "libbinder",
+        "libbinder_ndk",
     ],
     static_libs: [
-        "android.hardware.vibrator-V2-cpp",
+        "android.hardware.vibrator-V2-ndk",
     ],
     test_suites: [
         "general-tests",
@@ -36,10 +36,10 @@
     ],
     srcs: ["VtsHalVibratorManagerTargetTest.cpp"],
     shared_libs: [
-        "libbinder",
+        "libbinder_ndk",
     ],
     static_libs: [
-        "android.hardware.vibrator-V2-cpp",
+        "android.hardware.vibrator-V2-ndk",
     ],
     test_suites: [
         "general-tests",
diff --git a/vibrator/aidl/vts/VtsHalVibratorManagerTargetTest.cpp b/vibrator/aidl/vts/VtsHalVibratorManagerTargetTest.cpp
index e8ed26a..3c2a360 100644
--- a/vibrator/aidl/vts/VtsHalVibratorManagerTargetTest.cpp
+++ b/vibrator/aidl/vts/VtsHalVibratorManagerTargetTest.cpp
@@ -15,42 +15,40 @@
  */
 #include <aidl/Gtest.h>
 #include <aidl/Vintf.h>
+#include <aidl/android/hardware/vibrator/BnVibratorCallback.h>
+#include <aidl/android/hardware/vibrator/IVibrator.h>
+#include <aidl/android/hardware/vibrator/IVibratorManager.h>
 
-#include <android/hardware/vibrator/BnVibratorCallback.h>
-#include <android/hardware/vibrator/IVibrator.h>
-#include <android/hardware/vibrator/IVibratorManager.h>
-#include <binder/IServiceManager.h>
-#include <binder/ProcessState.h>
+#include <android/binder_manager.h>
+#include <android/binder_process.h>
 
 #include <cmath>
 #include <future>
 
-using android::ProcessState;
-using android::sp;
-using android::String16;
-using android::binder::Status;
-using android::hardware::vibrator::BnVibratorCallback;
-using android::hardware::vibrator::CompositeEffect;
-using android::hardware::vibrator::CompositePrimitive;
-using android::hardware::vibrator::Effect;
-using android::hardware::vibrator::EffectStrength;
-using android::hardware::vibrator::IVibrator;
-using android::hardware::vibrator::IVibratorManager;
+#include "test_utils.h"
+
+using aidl::android::hardware::vibrator::BnVibratorCallback;
+using aidl::android::hardware::vibrator::CompositeEffect;
+using aidl::android::hardware::vibrator::CompositePrimitive;
+using aidl::android::hardware::vibrator::Effect;
+using aidl::android::hardware::vibrator::EffectStrength;
+using aidl::android::hardware::vibrator::IVibrator;
+using aidl::android::hardware::vibrator::IVibratorManager;
 using std::chrono::high_resolution_clock;
 
-const std::vector<Effect> kEffects{android::enum_range<Effect>().begin(),
-                                   android::enum_range<Effect>().end()};
-const std::vector<EffectStrength> kEffectStrengths{android::enum_range<EffectStrength>().begin(),
-                                                   android::enum_range<EffectStrength>().end()};
-const std::vector<CompositePrimitive> kPrimitives{android::enum_range<CompositePrimitive>().begin(),
-                                                  android::enum_range<CompositePrimitive>().end()};
+const std::vector<Effect> kEffects{ndk::enum_range<Effect>().begin(),
+                                   ndk::enum_range<Effect>().end()};
+const std::vector<EffectStrength> kEffectStrengths{ndk::enum_range<EffectStrength>().begin(),
+                                                   ndk::enum_range<EffectStrength>().end()};
+const std::vector<CompositePrimitive> kPrimitives{ndk::enum_range<CompositePrimitive>().begin(),
+                                                  ndk::enum_range<CompositePrimitive>().end()};
 
 class CompletionCallback : public BnVibratorCallback {
   public:
     CompletionCallback(const std::function<void()>& callback) : mCallback(callback) {}
-    Status onComplete() override {
+    ndk::ScopedAStatus onComplete() override {
         mCallback();
-        return Status::ok();
+        return ndk::ScopedAStatus::ok();
     }
 
   private:
@@ -60,55 +58,50 @@
 class VibratorAidl : public testing::TestWithParam<std::string> {
   public:
     virtual void SetUp() override {
-        manager = android::waitForDeclaredService<IVibratorManager>(String16(GetParam().c_str()));
+        auto serviceName = GetParam().c_str();
+        manager = IVibratorManager::fromBinder(
+                ndk::SpAIBinder(AServiceManager_waitForService(serviceName)));
         ASSERT_NE(manager, nullptr);
-        ASSERT_TRUE(manager->getCapabilities(&capabilities).isOk());
-        EXPECT_TRUE(manager->getVibratorIds(&vibratorIds).isOk());
+        EXPECT_OK(manager->getCapabilities(&capabilities));
+        EXPECT_OK(manager->getVibratorIds(&vibratorIds));
     }
 
-    sp<IVibratorManager> manager;
+    std::shared_ptr<IVibratorManager> manager;
     int32_t capabilities;
     std::vector<int32_t> vibratorIds;
 };
 
-inline bool isUnknownOrUnsupported(Status status) {
-    return status.exceptionCode() == Status::EX_UNSUPPORTED_OPERATION ||
-           status.transactionError() == android::UNKNOWN_TRANSACTION;
-}
-
 TEST_P(VibratorAidl, ValidateExistingVibrators) {
-    sp<IVibrator> vibrator;
-    for (auto& id : vibratorIds) {
-        EXPECT_TRUE(manager->getVibrator(id, &vibrator).isOk());
+    std::shared_ptr<IVibrator> vibrator;
+    for (int32_t id : vibratorIds) {
+        EXPECT_OK(manager->getVibrator(id, &vibrator));
         ASSERT_NE(vibrator, nullptr);
     }
 }
 
 TEST_P(VibratorAidl, GetVibratorWithInvalidId) {
     int32_t invalidId = *max_element(vibratorIds.begin(), vibratorIds.end()) + 1;
-    sp<IVibrator> vibrator;
-    EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
-              manager->getVibrator(invalidId, &vibrator).exceptionCode());
+    std::shared_ptr<IVibrator> vibrator;
+    EXPECT_ILLEGAL_ARGUMENT(manager->getVibrator(invalidId, &vibrator));
     ASSERT_EQ(vibrator, nullptr);
 }
 
 TEST_P(VibratorAidl, ValidatePrepareSyncedExistingVibrators) {
     if (!(capabilities & IVibratorManager::CAP_SYNC)) return;
     if (vibratorIds.empty()) return;
-    EXPECT_TRUE(manager->prepareSynced(vibratorIds).isOk());
-    EXPECT_TRUE(manager->cancelSynced().isOk());
+    EXPECT_OK(manager->prepareSynced(vibratorIds));
+    EXPECT_OK(manager->cancelSynced());
 }
 
 TEST_P(VibratorAidl, PrepareSyncedEmptySetIsInvalid) {
     if (!(capabilities & IVibratorManager::CAP_SYNC)) return;
     std::vector<int32_t> emptyIds;
-    EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT, manager->prepareSynced(emptyIds).exceptionCode());
+    EXPECT_ILLEGAL_ARGUMENT(manager->prepareSynced(emptyIds));
 }
 
 TEST_P(VibratorAidl, PrepareSyncedNotSupported) {
     if (!(capabilities & IVibratorManager::CAP_SYNC)) {
-        Status status = manager->prepareSynced(vibratorIds);
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(manager->prepareSynced(vibratorIds));
     }
 }
 
@@ -117,15 +110,14 @@
     if (!(capabilities & IVibratorManager::CAP_SYNC)) return;
     if (!(capabilities & IVibratorManager::CAP_PREPARE_ON)) {
         uint32_t durationMs = 250;
-        EXPECT_TRUE(manager->prepareSynced(vibratorIds).isOk());
-        sp<IVibrator> vibrator;
-        for (auto& id : vibratorIds) {
-            EXPECT_TRUE(manager->getVibrator(id, &vibrator).isOk());
+        EXPECT_OK(manager->prepareSynced(vibratorIds));
+        std::shared_ptr<IVibrator> vibrator;
+        for (int32_t id : vibratorIds) {
+            EXPECT_OK(manager->getVibrator(id, &vibrator));
             ASSERT_NE(vibrator, nullptr);
-            Status status = vibrator->on(durationMs, nullptr);
-            EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+            EXPECT_UNKNOWN_OR_UNSUPPORTED(vibrator->on(durationMs, nullptr));
         }
-        EXPECT_TRUE(manager->cancelSynced().isOk());
+        EXPECT_OK(manager->cancelSynced());
     }
 }
 
@@ -133,16 +125,16 @@
     if (vibratorIds.empty()) return;
     if (!(capabilities & IVibratorManager::CAP_SYNC)) return;
     if (!(capabilities & IVibratorManager::CAP_PREPARE_ON)) {
-        EXPECT_TRUE(manager->prepareSynced(vibratorIds).isOk());
-        sp<IVibrator> vibrator;
-        for (auto& id : vibratorIds) {
-            EXPECT_TRUE(manager->getVibrator(id, &vibrator).isOk());
+        EXPECT_OK(manager->prepareSynced(vibratorIds));
+        std::shared_ptr<IVibrator> vibrator;
+        for (int32_t id : vibratorIds) {
+            EXPECT_OK(manager->getVibrator(id, &vibrator));
             ASSERT_NE(vibrator, nullptr);
             int32_t lengthMs = 0;
-            Status status = vibrator->perform(kEffects[0], kEffectStrengths[0], nullptr, &lengthMs);
-            EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+            EXPECT_UNKNOWN_OR_UNSUPPORTED(
+                    vibrator->perform(kEffects[0], kEffectStrengths[0], nullptr, &lengthMs));
         }
-        EXPECT_TRUE(manager->cancelSynced().isOk());
+        EXPECT_OK(manager->cancelSynced());
     }
 }
 
@@ -157,15 +149,14 @@
         effect.scale = 1.0f;
         composite.emplace_back(effect);
 
-        EXPECT_TRUE(manager->prepareSynced(vibratorIds).isOk());
-        sp<IVibrator> vibrator;
-        for (auto& id : vibratorIds) {
-            EXPECT_TRUE(manager->getVibrator(id, &vibrator).isOk());
+        EXPECT_OK(manager->prepareSynced(vibratorIds));
+        std::shared_ptr<IVibrator> vibrator;
+        for (int32_t id : vibratorIds) {
+            EXPECT_OK(manager->getVibrator(id, &vibrator));
             ASSERT_NE(vibrator, nullptr);
-            Status status = vibrator->compose(composite, nullptr);
-            EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+            EXPECT_UNKNOWN_OR_UNSUPPORTED(vibrator->compose(composite, nullptr));
         }
-        EXPECT_TRUE(manager->cancelSynced().isOk());
+        EXPECT_OK(manager->cancelSynced());
     }
 }
 
@@ -177,51 +168,58 @@
 
     std::promise<void> completionPromise;
     std::future<void> completionFuture{completionPromise.get_future()};
-    sp<CompletionCallback> callback =
-            new CompletionCallback([&completionPromise] { completionPromise.set_value(); });
+    auto callback = ndk::SharedRefBase::make<CompletionCallback>(
+            [&completionPromise] { completionPromise.set_value(); });
     uint32_t durationMs = 250;
     std::chrono::milliseconds timeout{durationMs * 2};
 
-    EXPECT_TRUE(manager->prepareSynced(vibratorIds).isOk());
-    sp<IVibrator> vibrator;
-    for (auto& id : vibratorIds) {
-        EXPECT_TRUE(manager->getVibrator(id, &vibrator).isOk());
+    EXPECT_OK(manager->prepareSynced(vibratorIds));
+    std::shared_ptr<IVibrator> vibrator;
+    for (int32_t id : vibratorIds) {
+        EXPECT_OK(manager->getVibrator(id, &vibrator));
         ASSERT_NE(vibrator, nullptr);
-        EXPECT_TRUE(vibrator->on(durationMs, nullptr).isOk());
+        EXPECT_OK(vibrator->on(durationMs, nullptr));
     }
 
-    EXPECT_TRUE(manager->triggerSynced(callback).isOk());
+    EXPECT_OK(manager->triggerSynced(callback));
     EXPECT_EQ(completionFuture.wait_for(timeout), std::future_status::ready);
-    EXPECT_TRUE(manager->cancelSynced().isOk());
+    EXPECT_OK(manager->cancelSynced());
 }
 
 TEST_P(VibratorAidl, TriggerSyncNotSupported) {
     if (!(capabilities & IVibratorManager::CAP_SYNC)) {
-        Status status = manager->triggerSynced(nullptr);
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(manager->triggerSynced(nullptr));
     }
 }
 
 TEST_P(VibratorAidl, TriggerCallbackNotSupported) {
     if (!(capabilities & IVibratorManager::CAP_SYNC)) return;
     if (!(capabilities & IVibratorManager::CAP_TRIGGER_CALLBACK)) {
-        sp<CompletionCallback> callback = new CompletionCallback([] {});
-        EXPECT_TRUE(manager->prepareSynced(vibratorIds).isOk());
-        Status status = manager->triggerSynced(callback);
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
-        EXPECT_TRUE(manager->cancelSynced().isOk());
+        auto callback = ndk::SharedRefBase::make<CompletionCallback>([] {});
+        EXPECT_OK(manager->prepareSynced(vibratorIds));
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(manager->triggerSynced(callback));
+        EXPECT_OK(manager->cancelSynced());
     }
 }
 
+std::vector<std::string> FindVibratorManagerNames() {
+    std::vector<std::string> names;
+    constexpr auto callback = [](const char* instance, void* context) {
+        std::string fullName = std::string(IVibratorManager::descriptor) + "/" + instance;
+        static_cast<std::vector<std::string>*>(context)->emplace_back(fullName);
+    };
+    AServiceManager_forEachDeclaredInstance(IVibratorManager::descriptor,
+                                            static_cast<void*>(&names), callback);
+    return names;
+}
+
 GTEST_ALLOW_UNINSTANTIATED_PARAMETERIZED_TEST(VibratorAidl);
-INSTANTIATE_TEST_SUITE_P(
-        Vibrator, VibratorAidl,
-        testing::ValuesIn(android::getAidlHalInstanceNames(IVibratorManager::descriptor)),
-        android::PrintInstanceNameToString);
+INSTANTIATE_TEST_SUITE_P(Vibrator, VibratorAidl, testing::ValuesIn(FindVibratorManagerNames()),
+                         android::PrintInstanceNameToString);
 
 int main(int argc, char** argv) {
     ::testing::InitGoogleTest(&argc, argv);
-    ProcessState::self()->setThreadPoolMaxThreadCount(1);
-    ProcessState::self()->startThreadPool();
+    ABinderProcess_setThreadPoolMaxThreadCount(1);
+    ABinderProcess_startThreadPool();
     return RUN_ALL_TESTS();
 }
diff --git a/vibrator/aidl/vts/VtsHalVibratorTargetTest.cpp b/vibrator/aidl/vts/VtsHalVibratorTargetTest.cpp
index db474d6..65a1e84 100644
--- a/vibrator/aidl/vts/VtsHalVibratorTargetTest.cpp
+++ b/vibrator/aidl/vts/VtsHalVibratorTargetTest.cpp
@@ -15,38 +15,37 @@
  */
 #include <aidl/Gtest.h>
 #include <aidl/Vintf.h>
-#include <android/hardware/vibrator/BnVibratorCallback.h>
-#include <android/hardware/vibrator/IVibrator.h>
-#include <android/hardware/vibrator/IVibratorManager.h>
-#include <binder/IServiceManager.h>
-#include <binder/ProcessState.h>
+#include <aidl/android/hardware/vibrator/BnVibratorCallback.h>
+#include <aidl/android/hardware/vibrator/IVibrator.h>
+#include <aidl/android/hardware/vibrator/IVibratorManager.h>
+
+#include <android/binder_manager.h>
+#include <android/binder_process.h>
 
 #include <cmath>
 #include <future>
 
-using android::ProcessState;
-using android::sp;
-using android::String16;
-using android::binder::Status;
-using android::hardware::vibrator::ActivePwle;
-using android::hardware::vibrator::BnVibratorCallback;
-using android::hardware::vibrator::Braking;
-using android::hardware::vibrator::BrakingPwle;
-using android::hardware::vibrator::CompositeEffect;
-using android::hardware::vibrator::CompositePrimitive;
-using android::hardware::vibrator::Effect;
-using android::hardware::vibrator::EffectStrength;
-using android::hardware::vibrator::IVibrator;
-using android::hardware::vibrator::IVibratorManager;
-using android::hardware::vibrator::PrimitivePwle;
+#include "test_utils.h"
+
+using aidl::android::hardware::vibrator::ActivePwle;
+using aidl::android::hardware::vibrator::BnVibratorCallback;
+using aidl::android::hardware::vibrator::Braking;
+using aidl::android::hardware::vibrator::BrakingPwle;
+using aidl::android::hardware::vibrator::CompositeEffect;
+using aidl::android::hardware::vibrator::CompositePrimitive;
+using aidl::android::hardware::vibrator::Effect;
+using aidl::android::hardware::vibrator::EffectStrength;
+using aidl::android::hardware::vibrator::IVibrator;
+using aidl::android::hardware::vibrator::IVibratorManager;
+using aidl::android::hardware::vibrator::PrimitivePwle;
 using std::chrono::high_resolution_clock;
 
 using namespace ::std::chrono_literals;
 
-const std::vector<Effect> kEffects{android::enum_range<Effect>().begin(),
-                                   android::enum_range<Effect>().end()};
-const std::vector<EffectStrength> kEffectStrengths{android::enum_range<EffectStrength>().begin(),
-                                                   android::enum_range<EffectStrength>().end()};
+const std::vector<Effect> kEffects{ndk::enum_range<Effect>().begin(),
+                                   ndk::enum_range<Effect>().end()};
+const std::vector<EffectStrength> kEffectStrengths{ndk::enum_range<EffectStrength>().begin(),
+                                                   ndk::enum_range<EffectStrength>().end()};
 
 const std::vector<Effect> kInvalidEffects = {
     static_cast<Effect>(static_cast<int32_t>(kEffects.front()) - 1),
@@ -59,8 +58,7 @@
 };
 
 const std::vector<CompositePrimitive> kCompositePrimitives{
-    android::enum_range<CompositePrimitive>().begin(),
-    android::enum_range<CompositePrimitive>().end()};
+        ndk::enum_range<CompositePrimitive>().begin(), ndk::enum_range<CompositePrimitive>().end()};
 
 const std::vector<CompositePrimitive> kRequiredPrimitives = {
         CompositePrimitive::CLICK,      CompositePrimitive::LIGHT_TICK,
@@ -74,14 +72,36 @@
 };
 
 // Timeout to wait for vibration callback completion.
-static constexpr auto VIBRATION_CALLBACK_TIMEOUT = 100ms;
+static constexpr std::chrono::milliseconds VIBRATION_CALLBACK_TIMEOUT = 100ms;
+
+static std::vector<std::string> findVibratorManagerNames() {
+    std::vector<std::string> names;
+    constexpr auto callback = [](const char* instance, void* context) {
+        auto fullName = std::string(IVibratorManager::descriptor) + "/" + instance;
+        static_cast<std::vector<std::string>*>(context)->emplace_back(fullName);
+    };
+    AServiceManager_forEachDeclaredInstance(IVibratorManager::descriptor,
+                                            static_cast<void*>(&names), callback);
+    return names;
+}
+
+static std::vector<std::string> findUnmanagedVibratorNames() {
+    std::vector<std::string> names;
+    constexpr auto callback = [](const char* instance, void* context) {
+        auto fullName = std::string(IVibrator::descriptor) + "/" + instance;
+        static_cast<std::vector<std::string>*>(context)->emplace_back(fullName);
+    };
+    AServiceManager_forEachDeclaredInstance(IVibrator::descriptor, static_cast<void*>(&names),
+                                            callback);
+    return names;
+}
 
 class CompletionCallback : public BnVibratorCallback {
   public:
     CompletionCallback(const std::function<void()> &callback) : mCallback(callback) {}
-    Status onComplete() override {
+    ndk::ScopedAStatus onComplete() override {
         mCallback();
-        return Status::ok();
+        return ndk::ScopedAStatus::ok();
     }
 
   private:
@@ -93,88 +113,87 @@
     virtual void SetUp() override {
         int32_t managerIdx = std::get<0>(GetParam());
         int32_t vibratorId = std::get<1>(GetParam());
-        auto managerAidlNames = android::getAidlHalInstanceNames(IVibratorManager::descriptor);
 
         if (managerIdx < 0) {
             // Testing a unmanaged vibrator, using vibratorId as index from registered HALs
-            auto vibratorAidlNames = android::getAidlHalInstanceNames(IVibrator::descriptor);
-            ASSERT_LT(vibratorId, vibratorAidlNames.size());
-            auto vibratorName = String16(vibratorAidlNames[vibratorId].c_str());
-            vibrator = android::waitForDeclaredService<IVibrator>(vibratorName);
+            std::vector<std::string> vibratorNames = findUnmanagedVibratorNames();
+            ASSERT_LT(vibratorId, vibratorNames.size());
+            vibrator = IVibrator::fromBinder(ndk::SpAIBinder(
+                    AServiceManager_waitForService(vibratorNames[vibratorId].c_str())));
         } else {
             // Testing a managed vibrator, using vibratorId to retrieve it from the manager
-            ASSERT_LT(managerIdx, managerAidlNames.size());
-            auto managerName = String16(managerAidlNames[managerIdx].c_str());
-            auto vibratorManager = android::waitForDeclaredService<IVibratorManager>(managerName);
-            auto vibratorResult = vibratorManager->getVibrator(vibratorId, &vibrator);
-            ASSERT_TRUE(vibratorResult.isOk());
+            std::vector<std::string> managerNames = findVibratorManagerNames();
+            ASSERT_LT(managerIdx, managerNames.size());
+            auto vibratorManager = IVibratorManager::fromBinder(ndk::SpAIBinder(
+                    AServiceManager_waitForService(managerNames[managerIdx].c_str())));
+            EXPECT_OK(vibratorManager->getVibrator(vibratorId, &vibrator))
+                    << "\n  For vibrator id: " << vibratorId;
         }
 
         ASSERT_NE(vibrator, nullptr);
-        ASSERT_TRUE(vibrator->getCapabilities(&capabilities).isOk());
+        EXPECT_OK(vibrator->getCapabilities(&capabilities));
     }
 
     virtual void TearDown() override {
         // Reset vibrator state between tests.
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_OK(vibrator->off());
     }
 
-    sp<IVibrator> vibrator;
+    std::shared_ptr<IVibrator> vibrator;
     int32_t capabilities;
 };
 
-inline bool isUnknownOrUnsupported(Status status) {
-    return status.exceptionCode() == Status::EX_UNSUPPORTED_OPERATION ||
-           status.transactionError() == android::UNKNOWN_TRANSACTION;
-}
-
-static float getResonantFrequencyHz(sp<IVibrator> vibrator, int32_t capabilities) {
+static float getResonantFrequencyHz(const std::shared_ptr<IVibrator>& vibrator,
+                                    int32_t capabilities) {
     float resonantFrequencyHz;
-    Status status = vibrator->getResonantFrequency(&resonantFrequencyHz);
+    ndk::ScopedAStatus status = vibrator->getResonantFrequency(&resonantFrequencyHz);
     if (capabilities & IVibrator::CAP_GET_RESONANT_FREQUENCY) {
+        EXPECT_OK(std::move(status));
         EXPECT_GT(resonantFrequencyHz, 0);
-        EXPECT_EQ(status.exceptionCode(), Status::EX_NONE);
     } else {
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status));
     }
     return resonantFrequencyHz;
 }
 
-static float getFrequencyResolutionHz(sp<IVibrator> vibrator, int32_t capabilities) {
+static float getFrequencyResolutionHz(const std::shared_ptr<IVibrator>& vibrator,
+                                      int32_t capabilities) {
     float freqResolutionHz;
-    Status status = vibrator->getFrequencyResolution(&freqResolutionHz);
+    ndk::ScopedAStatus status = vibrator->getFrequencyResolution(&freqResolutionHz);
     if (capabilities & IVibrator::CAP_FREQUENCY_CONTROL) {
+        EXPECT_OK(std::move(status));
         EXPECT_GT(freqResolutionHz, 0);
-        EXPECT_EQ(status.exceptionCode(), Status::EX_NONE);
     } else {
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status));
     }
     return freqResolutionHz;
 }
 
-static float getFrequencyMinimumHz(sp<IVibrator> vibrator, int32_t capabilities) {
+static float getFrequencyMinimumHz(const std::shared_ptr<IVibrator>& vibrator,
+                                   int32_t capabilities) {
     float freqMinimumHz;
-    Status status = vibrator->getFrequencyMinimum(&freqMinimumHz);
+    ndk::ScopedAStatus status = vibrator->getFrequencyMinimum(&freqMinimumHz);
     if (capabilities & IVibrator::CAP_FREQUENCY_CONTROL) {
-        EXPECT_EQ(status.exceptionCode(), Status::EX_NONE);
+        EXPECT_OK(std::move(status));
 
         float resonantFrequencyHz = getResonantFrequencyHz(vibrator, capabilities);
 
         EXPECT_GT(freqMinimumHz, 0);
         EXPECT_LE(freqMinimumHz, resonantFrequencyHz);
     } else {
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status));
     }
     return freqMinimumHz;
 }
 
-static float getFrequencyMaximumHz(sp<IVibrator> vibrator, int32_t capabilities) {
+static float getFrequencyMaximumHz(const std::shared_ptr<IVibrator>& vibrator,
+                                   int32_t capabilities) {
     std::vector<float> bandwidthAmplitudeMap;
-    Status status = vibrator->getBandwidthAmplitudeMap(&bandwidthAmplitudeMap);
+    ndk::ScopedAStatus status = vibrator->getBandwidthAmplitudeMap(&bandwidthAmplitudeMap);
     if (capabilities & IVibrator::CAP_FREQUENCY_CONTROL) {
-        EXPECT_EQ(status.exceptionCode(), Status::EX_NONE);
+        EXPECT_OK(std::move(status));
     } else {
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status));
     }
 
     float freqMaximumHz = ((bandwidthAmplitudeMap.size() - 1) *
@@ -191,7 +210,8 @@
     return 1.0;
 }
 
-static ActivePwle composeValidActivePwle(sp<IVibrator> vibrator, int32_t capabilities) {
+static ActivePwle composeValidActivePwle(const std::shared_ptr<IVibrator>& vibrator,
+                                         int32_t capabilities) {
     float frequencyHz;
     if (capabilities & IVibrator::CAP_GET_RESONANT_FREQUENCY) {
         frequencyHz = getResonantFrequencyHz(vibrator, capabilities);
@@ -212,9 +232,9 @@
 }
 
 TEST_P(VibratorAidl, OnThenOffBeforeTimeout) {
-    EXPECT_TRUE(vibrator->on(2000, nullptr /*callback*/).isOk());
+    EXPECT_OK(vibrator->on(2000, nullptr /*callback*/));
     sleep(1);
-    EXPECT_TRUE(vibrator->off().isOk());
+    EXPECT_OK(vibrator->off());
 }
 
 TEST_P(VibratorAidl, OnWithCallback) {
@@ -223,26 +243,25 @@
 
     std::promise<void> completionPromise;
     std::future<void> completionFuture{completionPromise.get_future()};
-    sp<CompletionCallback> callback =
-        new CompletionCallback([&completionPromise] { completionPromise.set_value(); });
+    auto callback = ndk::SharedRefBase::make<CompletionCallback>(
+            [&completionPromise] { completionPromise.set_value(); });
     uint32_t durationMs = 250;
     auto timeout = std::chrono::milliseconds(durationMs) + VIBRATION_CALLBACK_TIMEOUT;
-    EXPECT_TRUE(vibrator->on(durationMs, callback).isOk());
+    EXPECT_OK(vibrator->on(durationMs, callback));
     EXPECT_EQ(completionFuture.wait_for(timeout), std::future_status::ready);
-    EXPECT_TRUE(vibrator->off().isOk());
+    EXPECT_OK(vibrator->off());
 }
 
 TEST_P(VibratorAidl, OnCallbackNotSupported) {
     if (!(capabilities & IVibrator::CAP_ON_CALLBACK)) {
-        sp<CompletionCallback> callback = new CompletionCallback([] {});
-        Status status = vibrator->on(250, callback);
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        auto callback = ndk::SharedRefBase::make<CompletionCallback>([] {});
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(vibrator->on(250, callback));
     }
 }
 
 TEST_P(VibratorAidl, ValidateEffect) {
     std::vector<Effect> supported;
-    ASSERT_TRUE(vibrator->getSupportedEffects(&supported).isOk());
+    EXPECT_OK(vibrator->getSupportedEffects(&supported));
 
     for (Effect effect : kEffects) {
         bool isEffectSupported =
@@ -250,15 +269,18 @@
 
         for (EffectStrength strength : kEffectStrengths) {
             int32_t lengthMs = 0;
-            Status status = vibrator->perform(effect, strength, nullptr /*callback*/, &lengthMs);
+            ndk::ScopedAStatus status =
+                    vibrator->perform(effect, strength, nullptr /*callback*/, &lengthMs);
 
             if (isEffectSupported) {
-                EXPECT_TRUE(status.isOk()) << toString(effect) << " " << toString(strength);
+                EXPECT_OK(std::move(status))
+                        << "\n  For effect: " << toString(effect) << " " << toString(strength);
                 EXPECT_GT(lengthMs, 0);
                 usleep(lengthMs * 1000);
+                EXPECT_OK(vibrator->off());
             } else {
-                EXPECT_TRUE(isUnknownOrUnsupported(status))
-                        << status << " " << toString(effect) << " " << toString(strength);
+                EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status))
+                        << "\n  For effect: " << toString(effect) << " " << toString(strength);
             }
         }
     }
@@ -269,7 +291,7 @@
         return;
 
     std::vector<Effect> supported;
-    ASSERT_TRUE(vibrator->getSupportedEffects(&supported).isOk());
+    EXPECT_OK(vibrator->getSupportedEffects(&supported));
 
     for (Effect effect : kEffects) {
         bool isEffectSupported =
@@ -278,25 +300,26 @@
         for (EffectStrength strength : kEffectStrengths) {
             std::promise<void> completionPromise;
             std::future<void> completionFuture{completionPromise.get_future()};
-            sp<CompletionCallback> callback =
-                new CompletionCallback([&completionPromise] { completionPromise.set_value(); });
+            auto callback = ndk::SharedRefBase::make<CompletionCallback>(
+                    [&completionPromise] { completionPromise.set_value(); });
             int lengthMs = 0;
-            Status status = vibrator->perform(effect, strength, callback, &lengthMs);
+            ndk::ScopedAStatus status = vibrator->perform(effect, strength, callback, &lengthMs);
 
             if (isEffectSupported) {
-                EXPECT_TRUE(status.isOk());
+                EXPECT_OK(std::move(status))
+                        << "\n  For effect: " << toString(effect) << " " << toString(strength);
                 EXPECT_GT(lengthMs, 0);
             } else {
-                EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+                EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status))
+                        << "\n  For effect: " << toString(effect) << " " << toString(strength);
             }
 
-            if (!status.isOk())
-                continue;
+            if (lengthMs <= 0) continue;
 
             auto timeout = std::chrono::milliseconds(lengthMs) + VIBRATION_CALLBACK_TIMEOUT;
             EXPECT_EQ(completionFuture.wait_for(timeout), std::future_status::ready);
 
-            EXPECT_TRUE(vibrator->off().isOk());
+            EXPECT_OK(vibrator->off());
         }
     }
 }
@@ -307,10 +330,10 @@
 
     for (Effect effect : kEffects) {
         for (EffectStrength strength : kEffectStrengths) {
-            sp<CompletionCallback> callback = new CompletionCallback([] {});
+            auto callback = ndk::SharedRefBase::make<CompletionCallback>([] {});
             int lengthMs;
-            Status status = vibrator->perform(effect, strength, callback, &lengthMs);
-            EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+            EXPECT_UNKNOWN_OR_UNSUPPORTED(vibrator->perform(effect, strength, callback, &lengthMs))
+                    << "\n  For effect: " << toString(effect) << " " << toString(strength);
         }
     }
 }
@@ -319,53 +342,52 @@
     for (Effect effect : kInvalidEffects) {
         for (EffectStrength strength : kEffectStrengths) {
             int32_t lengthMs;
-            Status status = vibrator->perform(effect, strength, nullptr /*callback*/, &lengthMs);
-            EXPECT_TRUE(isUnknownOrUnsupported(status))
-                    << status << toString(effect) << " " << toString(strength);
+            EXPECT_UNKNOWN_OR_UNSUPPORTED(
+                    vibrator->perform(effect, strength, nullptr /*callback*/, &lengthMs))
+                    << "\n  For effect: " << toString(effect) << " " << toString(strength);
         }
     }
     for (Effect effect : kEffects) {
         for (EffectStrength strength : kInvalidEffectStrengths) {
             int32_t lengthMs;
-            Status status = vibrator->perform(effect, strength, nullptr /*callback*/, &lengthMs);
-            EXPECT_TRUE(isUnknownOrUnsupported(status))
-                    << status << " " << toString(effect) << " " << toString(strength);
+            EXPECT_UNKNOWN_OR_UNSUPPORTED(
+                    vibrator->perform(effect, strength, nullptr /*callback*/, &lengthMs))
+                    << "\n  For effect: " << toString(effect) << " " << toString(strength);
         }
     }
 }
 
 TEST_P(VibratorAidl, ChangeVibrationAmplitude) {
     if (capabilities & IVibrator::CAP_AMPLITUDE_CONTROL) {
-        EXPECT_EQ(Status::EX_NONE, vibrator->setAmplitude(0.1f).exceptionCode());
-        EXPECT_TRUE(vibrator->on(2000, nullptr /*callback*/).isOk());
-        EXPECT_EQ(Status::EX_NONE, vibrator->setAmplitude(0.5f).exceptionCode());
+        EXPECT_OK(vibrator->setAmplitude(0.1f));
+        EXPECT_OK(vibrator->on(2000, nullptr /*callback*/));
+        EXPECT_OK(vibrator->setAmplitude(0.5f));
         sleep(1);
-        EXPECT_EQ(Status::EX_NONE, vibrator->setAmplitude(1.0f).exceptionCode());
+        EXPECT_OK(vibrator->setAmplitude(1.0f));
         sleep(1);
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_OK(vibrator->off());
     }
 }
 
 TEST_P(VibratorAidl, AmplitudeOutsideRangeFails) {
     if (capabilities & IVibrator::CAP_AMPLITUDE_CONTROL) {
-        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT, vibrator->setAmplitude(-1).exceptionCode());
-        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT, vibrator->setAmplitude(0).exceptionCode());
-        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT, vibrator->setAmplitude(1.1).exceptionCode());
+        EXPECT_ILLEGAL_ARGUMENT(vibrator->setAmplitude(-1));
+        EXPECT_ILLEGAL_ARGUMENT(vibrator->setAmplitude(0));
+        EXPECT_ILLEGAL_ARGUMENT(vibrator->setAmplitude(1.1));
     }
 }
 
 TEST_P(VibratorAidl, AmplitudeReturnsUnsupportedMatchingCapabilities) {
     if ((capabilities & IVibrator::CAP_AMPLITUDE_CONTROL) == 0) {
-        Status status = vibrator->setAmplitude(1);
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(vibrator->setAmplitude(1));
     }
 }
 
 TEST_P(VibratorAidl, ChangeVibrationExternalControl) {
     if (capabilities & IVibrator::CAP_EXTERNAL_CONTROL) {
-        EXPECT_TRUE(vibrator->setExternalControl(true).isOk());
+        EXPECT_OK(vibrator->setExternalControl(true));
         sleep(1);
-        EXPECT_TRUE(vibrator->setExternalControl(false).isOk());
+        EXPECT_OK(vibrator->setExternalControl(false));
         sleep(1);
     }
 }
@@ -375,15 +397,15 @@
         (capabilities & IVibrator::CAP_EXTERNAL_AMPLITUDE_CONTROL) > 0;
 
     if (capabilities & IVibrator::CAP_EXTERNAL_CONTROL) {
-        EXPECT_TRUE(vibrator->setExternalControl(true).isOk());
+        EXPECT_OK(vibrator->setExternalControl(true));
 
-        Status amplitudeStatus = vibrator->setAmplitude(0.5);
         if (supportsExternalAmplitudeControl) {
-            EXPECT_TRUE(amplitudeStatus.isOk());
+            EXPECT_OK(vibrator->setAmplitude(0.5));
         } else {
-            EXPECT_TRUE(isUnknownOrUnsupported(amplitudeStatus)) << amplitudeStatus;
+            EXPECT_UNKNOWN_OR_UNSUPPORTED(vibrator->setAmplitude(0.5));
         }
-        EXPECT_TRUE(vibrator->setExternalControl(false).isOk());
+
+        EXPECT_OK(vibrator->setExternalControl(false));
     } else {
         EXPECT_FALSE(supportsExternalAmplitudeControl);
     }
@@ -391,18 +413,16 @@
 
 TEST_P(VibratorAidl, ExternalControlUnsupportedMatchingCapabilities) {
     if ((capabilities & IVibrator::CAP_EXTERNAL_CONTROL) == 0) {
-        Status status = vibrator->setExternalControl(true);
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(vibrator->setExternalControl(true));
     }
 }
 
 TEST_P(VibratorAidl, GetSupportedPrimitives) {
     if (capabilities & IVibrator::CAP_COMPOSE_EFFECTS) {
         std::vector<CompositePrimitive> supported;
+        EXPECT_OK(vibrator->getSupportedPrimitives(&supported));
 
-        EXPECT_EQ(Status::EX_NONE, vibrator->getSupportedPrimitives(&supported).exceptionCode());
-
-        for (auto primitive : kCompositePrimitives) {
+        for (CompositePrimitive primitive : kCompositePrimitives) {
             bool isPrimitiveSupported =
                 std::find(supported.begin(), supported.end(), primitive) != supported.end();
             bool isPrimitiveRequired =
@@ -417,22 +437,23 @@
 TEST_P(VibratorAidl, GetPrimitiveDuration) {
     if (capabilities & IVibrator::CAP_COMPOSE_EFFECTS) {
         std::vector<CompositePrimitive> supported;
-        ASSERT_TRUE(vibrator->getSupportedPrimitives(&supported).isOk());
+        EXPECT_OK(vibrator->getSupportedPrimitives(&supported));
 
-        for (auto primitive : kCompositePrimitives) {
+        for (CompositePrimitive primitive : kCompositePrimitives) {
             bool isPrimitiveSupported =
                 std::find(supported.begin(), supported.end(), primitive) != supported.end();
             int32_t duration;
 
-            Status status = vibrator->getPrimitiveDuration(primitive, &duration);
-
             if (isPrimitiveSupported) {
-                EXPECT_EQ(Status::EX_NONE, status.exceptionCode());
+                EXPECT_OK(vibrator->getPrimitiveDuration(primitive, &duration))
+                        << "\n  For primitive: " << toString(primitive) << " " << duration;
                 if (primitive != CompositePrimitive::NOOP) {
-                    ASSERT_GT(duration, 0) << toString(primitive) << " " << duration;
+                    ASSERT_GT(duration, 0)
+                            << "\n  For primitive: " << toString(primitive) << " " << duration;
                 }
             } else {
-                EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+                EXPECT_UNKNOWN_OR_UNSUPPORTED(vibrator->getPrimitiveDuration(primitive, &duration))
+                        << "\n  For primitive: " << toString(primitive);
             }
         }
     }
@@ -446,14 +467,14 @@
     std::vector<CompositePrimitive> supported;
     int32_t maxDelay, maxSize;
 
-    ASSERT_TRUE(vibrator->getSupportedPrimitives(&supported).isOk());
-    EXPECT_EQ(Status::EX_NONE, vibrator->getCompositionDelayMax(&maxDelay).exceptionCode());
-    EXPECT_EQ(Status::EX_NONE, vibrator->getCompositionSizeMax(&maxSize).exceptionCode());
+    EXPECT_OK(vibrator->getSupportedPrimitives(&supported));
+    EXPECT_OK(vibrator->getCompositionDelayMax(&maxDelay));
+    EXPECT_OK(vibrator->getCompositionSizeMax(&maxSize));
 
     std::vector<CompositeEffect> composite;
 
     for (int i = 0; i < supported.size(); i++) {
-        auto primitive = supported[i];
+        CompositePrimitive primitive = supported[i];
         float t = static_cast<float>(i + 1) / supported.size();
         CompositeEffect effect;
 
@@ -467,8 +488,8 @@
     }
 
     if (composite.size() != 0) {
-        EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_OK(vibrator->compose(composite, nullptr));
+        EXPECT_OK(vibrator->off());
     }
 }
 
@@ -477,12 +498,12 @@
         GTEST_SKIP() << "CAP_COMPOSE_EFFECTS not supported";
     }
 
-    auto unsupported = kInvalidPrimitives;
+    std::vector<CompositePrimitive> unsupported(kInvalidPrimitives);
     std::vector<CompositePrimitive> supported;
 
-    ASSERT_TRUE(vibrator->getSupportedPrimitives(&supported).isOk());
+    EXPECT_OK(vibrator->getSupportedPrimitives(&supported));
 
-    for (auto primitive : kCompositePrimitives) {
+    for (CompositePrimitive primitive : kCompositePrimitives) {
         bool isPrimitiveSupported =
                 std::find(supported.begin(), supported.end(), primitive) != supported.end();
 
@@ -491,16 +512,15 @@
         }
     }
 
-    for (auto primitive : unsupported) {
+    for (CompositePrimitive primitive : unsupported) {
         std::vector<CompositeEffect> composite(1);
 
-        for (auto& effect : composite) {
+        for (CompositeEffect& effect : composite) {
             effect.delayMs = 0;
             effect.primitive = primitive;
             effect.scale = 1.0f;
         }
-        Status status = vibrator->compose(composite, nullptr);
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(vibrator->compose(composite, nullptr));
     }
 }
 
@@ -516,18 +536,18 @@
     effect.primitive = CompositePrimitive::CLICK;
 
     effect.scale = std::nextafter(0.0f, -1.0f);
-    EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT, vibrator->compose(composite, nullptr).exceptionCode());
+    EXPECT_ILLEGAL_ARGUMENT(vibrator->compose(composite, nullptr));
 
     effect.scale = 0.0f;
-    EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());
-    EXPECT_TRUE(vibrator->off().isOk());
+    EXPECT_OK(vibrator->compose(composite, nullptr));
+    EXPECT_OK(vibrator->off());
 
     effect.scale = 1.0f;
-    EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());
-    EXPECT_TRUE(vibrator->off().isOk());
+    EXPECT_OK(vibrator->compose(composite, nullptr));
+    EXPECT_OK(vibrator->off());
 
     effect.scale = std::nextafter(1.0f, 2.0f);
-    EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT, vibrator->compose(composite, nullptr).exceptionCode());
+    EXPECT_ILLEGAL_ARGUMENT(vibrator->compose(composite, nullptr));
 }
 
 TEST_P(VibratorAidl, ComposeDelayBoundary) {
@@ -537,7 +557,7 @@
 
     int32_t maxDelay;
 
-    EXPECT_EQ(Status::EX_NONE, vibrator->getCompositionDelayMax(&maxDelay).exceptionCode());
+    EXPECT_OK(vibrator->getCompositionDelayMax(&maxDelay));
 
     std::vector<CompositeEffect> composite(1);
     CompositeEffect& effect = composite[0];
@@ -546,19 +566,19 @@
     effect.scale = 1.0f;
 
     effect.delayMs = 0;
-    EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());
-    EXPECT_TRUE(vibrator->off().isOk());
+    EXPECT_OK(vibrator->compose(composite, nullptr));
+    EXPECT_OK(vibrator->off());
 
     effect.delayMs = 1;
-    EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());
-    EXPECT_TRUE(vibrator->off().isOk());
+    EXPECT_OK(vibrator->compose(composite, nullptr));
+    EXPECT_OK(vibrator->off());
 
     effect.delayMs = maxDelay;
-    EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());
-    EXPECT_TRUE(vibrator->off().isOk());
+    EXPECT_OK(vibrator->compose(composite, nullptr));
+    EXPECT_OK(vibrator->off());
 
     effect.delayMs = maxDelay + 1;
-    EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT, vibrator->compose(composite, nullptr).exceptionCode());
+    EXPECT_ILLEGAL_ARGUMENT(vibrator->compose(composite, nullptr));
 }
 
 TEST_P(VibratorAidl, ComposeSizeBoundary) {
@@ -568,7 +588,7 @@
 
     int32_t maxSize;
 
-    EXPECT_EQ(Status::EX_NONE, vibrator->getCompositionSizeMax(&maxSize).exceptionCode());
+    EXPECT_OK(vibrator->getCompositionSizeMax(&maxSize));
 
     std::vector<CompositeEffect> composite(maxSize);
     CompositeEffect effect;
@@ -578,11 +598,11 @@
     effect.scale = 1.0f;
 
     std::fill(composite.begin(), composite.end(), effect);
-    EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, nullptr).exceptionCode());
-    EXPECT_TRUE(vibrator->off().isOk());
+    EXPECT_OK(vibrator->compose(composite, nullptr));
+    EXPECT_OK(vibrator->off());
 
     composite.emplace_back(effect);
-    EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT, vibrator->compose(composite, nullptr).exceptionCode());
+    EXPECT_ILLEGAL_ARGUMENT(vibrator->compose(composite, nullptr));
 }
 
 TEST_P(VibratorAidl, ComposeCallback) {
@@ -591,18 +611,17 @@
     }
 
     std::vector<CompositePrimitive> supported;
+    EXPECT_OK(vibrator->getSupportedPrimitives(&supported));
 
-    ASSERT_TRUE(vibrator->getSupportedPrimitives(&supported).isOk());
-
-    for (auto primitive : supported) {
+    for (CompositePrimitive primitive : supported) {
         if (primitive == CompositePrimitive::NOOP) {
             continue;
         }
 
         std::promise<void> completionPromise;
         std::future<void> completionFuture{completionPromise.get_future()};
-        sp<CompletionCallback> callback =
-                new CompletionCallback([&completionPromise] { completionPromise.set_value(); });
+        auto callback = ndk::SharedRefBase::make<CompletionCallback>(
+                [&completionPromise] { completionPromise.set_value(); });
         CompositeEffect effect;
         std::vector<CompositeEffect> composite;
         int32_t durationMs;
@@ -615,50 +634,50 @@
         effect.scale = 1.0f;
         composite.emplace_back(effect);
 
-        EXPECT_EQ(Status::EX_NONE,
-                  vibrator->getPrimitiveDuration(primitive, &durationMs).exceptionCode())
-                << toString(primitive);
+        EXPECT_OK(vibrator->getPrimitiveDuration(primitive, &durationMs))
+                << "\n  For primitive: " << toString(primitive);
         duration = std::chrono::milliseconds(durationMs);
 
         start = high_resolution_clock::now();
-        EXPECT_EQ(Status::EX_NONE, vibrator->compose(composite, callback).exceptionCode())
-                << toString(primitive);
+        EXPECT_OK(vibrator->compose(composite, callback))
+                << "\n  For primitive: " << toString(primitive);
 
         EXPECT_EQ(completionFuture.wait_for(duration + VIBRATION_CALLBACK_TIMEOUT),
                   std::future_status::ready)
-                << toString(primitive);
+                << "\n  For primitive: " << toString(primitive);
         end = high_resolution_clock::now();
 
         elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(end - start);
-        EXPECT_GE(elapsed.count(), duration.count()) << toString(primitive);
+        EXPECT_GE(elapsed.count(), duration.count())
+                << "\n  For primitive: " << toString(primitive);
 
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_OK(vibrator->off()) << "\n  For primitive: " << toString(primitive);
     }
 }
 
 TEST_P(VibratorAidl, AlwaysOn) {
     if (capabilities & IVibrator::CAP_ALWAYS_ON_CONTROL) {
         std::vector<Effect> supported;
-        ASSERT_TRUE(vibrator->getSupportedAlwaysOnEffects(&supported).isOk());
+        EXPECT_OK(vibrator->getSupportedAlwaysOnEffects(&supported));
 
         for (Effect effect : kEffects) {
             bool isEffectSupported =
                 std::find(supported.begin(), supported.end(), effect) != supported.end();
 
             for (EffectStrength strength : kEffectStrengths) {
-                Status status = vibrator->alwaysOnEnable(0, effect, strength);
+                ndk::ScopedAStatus status = vibrator->alwaysOnEnable(0, effect, strength);
 
                 if (isEffectSupported) {
-                    EXPECT_EQ(Status::EX_NONE, status.exceptionCode())
-                        << toString(effect) << " " << toString(strength);
+                    EXPECT_OK(std::move(status))
+                            << "\n  For effect: " << toString(effect) << " " << toString(strength);
                 } else {
-                    EXPECT_TRUE(isUnknownOrUnsupported(status))
-                            << status << " " << toString(effect) << " " << toString(strength);
+                    EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status))
+                            << "\n  For effect: " << toString(effect) << " " << toString(strength);
                 }
             }
         }
 
-        EXPECT_EQ(Status::EX_NONE, vibrator->alwaysOnDisable(0).exceptionCode());
+        EXPECT_OK(vibrator->alwaysOnDisable(0));
     }
 }
 
@@ -668,12 +687,12 @@
 
 TEST_P(VibratorAidl, GetQFactor) {
     float qFactor;
-    Status status = vibrator->getQFactor(&qFactor);
+    ndk::ScopedAStatus status = vibrator->getQFactor(&qFactor);
     if (capabilities & IVibrator::CAP_GET_Q_FACTOR) {
+        EXPECT_OK(std::move(status));
         ASSERT_GT(qFactor, 0);
-        EXPECT_EQ(status.exceptionCode(), Status::EX_NONE);
     } else {
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status));
     }
 }
 
@@ -687,9 +706,9 @@
 
 TEST_P(VibratorAidl, GetBandwidthAmplitudeMap) {
     std::vector<float> bandwidthAmplitudeMap;
-    Status status = vibrator->getBandwidthAmplitudeMap(&bandwidthAmplitudeMap);
+    ndk::ScopedAStatus status = vibrator->getBandwidthAmplitudeMap(&bandwidthAmplitudeMap);
     if (capabilities & IVibrator::CAP_FREQUENCY_CONTROL) {
-        EXPECT_EQ(status.exceptionCode(), Status::EX_NONE);
+        EXPECT_OK(std::move(status));
         ASSERT_FALSE(bandwidthAmplitudeMap.empty());
 
         int minMapSize = (getResonantFrequencyHz(vibrator, capabilities) -
@@ -702,42 +721,42 @@
             ASSERT_LE(e, 1.0);
         }
     } else {
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status));
     }
 }
 
 TEST_P(VibratorAidl, GetPwlePrimitiveDurationMax) {
     int32_t durationMs;
-    Status status = vibrator->getPwlePrimitiveDurationMax(&durationMs);
+    ndk::ScopedAStatus status = vibrator->getPwlePrimitiveDurationMax(&durationMs);
     if (capabilities & IVibrator::CAP_COMPOSE_PWLE_EFFECTS) {
+        EXPECT_OK(std::move(status));
         ASSERT_NE(durationMs, 0);
-        EXPECT_EQ(status.exceptionCode(), Status::EX_NONE);
     } else {
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status));
     }
 }
 
 TEST_P(VibratorAidl, GetPwleCompositionSizeMax) {
     int32_t maxSize;
-    Status status = vibrator->getPwleCompositionSizeMax(&maxSize);
+    ndk::ScopedAStatus status = vibrator->getPwleCompositionSizeMax(&maxSize);
     if (capabilities & IVibrator::CAP_COMPOSE_PWLE_EFFECTS) {
+        EXPECT_OK(std::move(status));
         ASSERT_NE(maxSize, 0);
-        EXPECT_EQ(status.exceptionCode(), Status::EX_NONE);
     } else {
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status));
     }
 }
 
 TEST_P(VibratorAidl, GetSupportedBraking) {
     std::vector<Braking> supported;
-    Status status = vibrator->getSupportedBraking(&supported);
+    ndk::ScopedAStatus status = vibrator->getSupportedBraking(&supported);
     if (capabilities & IVibrator::CAP_COMPOSE_PWLE_EFFECTS) {
         bool isDefaultNoneSupported =
             std::find(supported.begin(), supported.end(), Braking::NONE) != supported.end();
+        EXPECT_OK(std::move(status));
         ASSERT_TRUE(isDefaultNoneSupported);
-        EXPECT_EQ(status.exceptionCode(), Status::EX_NONE);
     } else {
-        EXPECT_TRUE(isUnknownOrUnsupported(status)) << status;
+        EXPECT_UNKNOWN_OR_UNSUPPORTED(std::move(status));
     }
 }
 
@@ -746,7 +765,7 @@
         ActivePwle firstActive = composeValidActivePwle(vibrator, capabilities);
 
         std::vector<Braking> supported;
-        ASSERT_TRUE(vibrator->getSupportedBraking(&supported).isOk());
+        EXPECT_OK(vibrator->getSupportedBraking(&supported));
         bool isClabSupported =
             std::find(supported.begin(), supported.end(), Braking::CLAB) != supported.end();
         BrakingPwle firstBraking;
@@ -765,11 +784,11 @@
         secondBraking.braking = Braking::NONE;
         secondBraking.duration = 10;
 
-        auto pwleQueue =
-            std::vector<PrimitivePwle>{firstActive, firstBraking, secondActive, secondBraking};
+        std::vector<PrimitivePwle> pwleQueue = {firstActive, firstBraking, secondActive,
+                                                secondBraking};
 
-        EXPECT_EQ(Status::EX_NONE, vibrator->composePwle(pwleQueue, nullptr).exceptionCode());
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_OK(vibrator->composePwle(pwleQueue, nullptr));
+        EXPECT_OK(vibrator->off());
     }
 }
 
@@ -780,8 +799,8 @@
 
     std::promise<void> completionPromise;
     std::future<void> completionFuture{completionPromise.get_future()};
-    sp<CompletionCallback> callback =
-        new CompletionCallback([&completionPromise] { completionPromise.set_value(); });
+    auto callback = ndk::SharedRefBase::make<CompletionCallback>(
+            [&completionPromise] { completionPromise.set_value(); });
     int32_t segmentDurationMaxMs;
     vibrator->getPwlePrimitiveDurationMax(&segmentDurationMaxMs);
     uint32_t durationMs = segmentDurationMaxMs * 2 + 100;  // Sum of 2 active and 1 braking below
@@ -790,27 +809,25 @@
     ActivePwle active = composeValidActivePwle(vibrator, capabilities);
 
     std::vector<Braking> supported;
-    ASSERT_TRUE(vibrator->getSupportedBraking(&supported).isOk());
+    EXPECT_OK(vibrator->getSupportedBraking(&supported));
     bool isClabSupported =
         std::find(supported.begin(), supported.end(), Braking::CLAB) != supported.end();
     BrakingPwle braking;
     braking.braking = isClabSupported ? Braking::CLAB : Braking::NONE;
     braking.duration = 100;
 
-    auto pwleQueue = std::vector<PrimitivePwle>{active, braking, active};
+    std::vector<PrimitivePwle> pwleQueue = {active, braking, active};
 
-    EXPECT_TRUE(vibrator->composePwle(pwleQueue, callback).isOk());
+    EXPECT_OK(vibrator->composePwle(pwleQueue, callback));
     EXPECT_EQ(completionFuture.wait_for(timeout), std::future_status::ready);
-    EXPECT_TRUE(vibrator->off().isOk());
+    EXPECT_OK(vibrator->off());
 }
 
 TEST_P(VibratorAidl, ComposePwleSegmentBoundary) {
     if (capabilities & IVibrator::CAP_COMPOSE_PWLE_EFFECTS) {
         std::vector<PrimitivePwle> pwleQueue;
         // test empty queue
-        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
-                  vibrator->composePwle(pwleQueue, nullptr).exceptionCode());
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_ILLEGAL_ARGUMENT(vibrator->composePwle(pwleQueue, nullptr));
 
         ActivePwle active = composeValidActivePwle(vibrator, capabilities);
 
@@ -824,9 +841,7 @@
             pwleQueue.emplace_back(std::move(pwle));
         }
 
-        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
-                  vibrator->composePwle(pwleQueue, nullptr).exceptionCode());
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_ILLEGAL_ARGUMENT(vibrator->composePwle(pwleQueue, nullptr));
     }
 }
 
@@ -836,20 +851,16 @@
         active.startAmplitude = getAmplitudeMax() + 1.0;  // Amplitude greater than allowed
         active.endAmplitude = getAmplitudeMax() + 1.0;    // Amplitude greater than allowed
 
-        auto pwleQueueGreater = std::vector<PrimitivePwle>{active};
+        std::vector<PrimitivePwle> pwleQueueGreater = {active};
 
-        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
-                  vibrator->composePwle(pwleQueueGreater, nullptr).exceptionCode());
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_ILLEGAL_ARGUMENT(vibrator->composePwle(pwleQueueGreater, nullptr));
 
         active.startAmplitude = getAmplitudeMin() - 1.0;  // Amplitude less than allowed
         active.endAmplitude = getAmplitudeMin() - 1.0;    // Amplitude less than allowed
 
-        auto pwleQueueLess = std::vector<PrimitivePwle>{active};
+        std::vector<PrimitivePwle> pwleQueueLess = {active};
 
-        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
-                  vibrator->composePwle(pwleQueueLess, nullptr).exceptionCode());
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_ILLEGAL_ARGUMENT(vibrator->composePwle(pwleQueueLess, nullptr));
     }
 }
 
@@ -865,20 +876,16 @@
             freqMaximumHz + freqResolutionHz;                    // Frequency greater than allowed
         active.endFrequency = freqMaximumHz + freqResolutionHz;  // Frequency greater than allowed
 
-        auto pwleQueueGreater = std::vector<PrimitivePwle>{active};
+        std::vector<PrimitivePwle> pwleQueueGreater = {active};
 
-        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
-                  vibrator->composePwle(pwleQueueGreater, nullptr).exceptionCode());
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_ILLEGAL_ARGUMENT(vibrator->composePwle(pwleQueueGreater, nullptr));
 
         active.startFrequency = freqMinimumHz - freqResolutionHz;  // Frequency less than allowed
         active.endFrequency = freqMinimumHz - freqResolutionHz;    // Frequency less than allowed
 
-        auto pwleQueueLess = std::vector<PrimitivePwle>{active};
+        std::vector<PrimitivePwle> pwleQueueLess = {active};
 
-        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
-                  vibrator->composePwle(pwleQueueLess, nullptr).exceptionCode());
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_ILLEGAL_ARGUMENT(vibrator->composePwle(pwleQueueLess, nullptr));
     }
 }
 
@@ -890,32 +897,30 @@
         vibrator->getPwlePrimitiveDurationMax(&segmentDurationMaxMs);
         active.duration = segmentDurationMaxMs + 10;  // Segment duration greater than allowed
 
-        auto pwleQueue = std::vector<PrimitivePwle>{active};
+        std::vector<PrimitivePwle> pwleQueue = {active};
 
-        EXPECT_EQ(Status::EX_ILLEGAL_ARGUMENT,
-                  vibrator->composePwle(pwleQueue, nullptr).exceptionCode());
-        EXPECT_TRUE(vibrator->off().isOk());
+        EXPECT_ILLEGAL_ARGUMENT(vibrator->composePwle(pwleQueue, nullptr));
     }
 }
 
 std::vector<std::tuple<int32_t, int32_t>> GenerateVibratorMapping() {
     std::vector<std::tuple<int32_t, int32_t>> tuples;
-    auto managerAidlNames = android::getAidlHalInstanceNames(IVibratorManager::descriptor);
-    std::vector<int32_t> vibratorIds;
 
-    for (int i = 0; i < managerAidlNames.size(); i++) {
-        auto managerName = String16(managerAidlNames[i].c_str());
-        auto vibratorManager = android::waitForDeclaredService<IVibratorManager>(managerName);
+    std::vector<std::string> managerNames = findVibratorManagerNames();
+    std::vector<int32_t> vibratorIds;
+    for (int i = 0; i < managerNames.size(); i++) {
+        auto vibratorManager = IVibratorManager::fromBinder(
+                ndk::SpAIBinder(AServiceManager_waitForService(managerNames[i].c_str())));
         if (vibratorManager->getVibratorIds(&vibratorIds).isOk()) {
-            for (auto &vibratorId : vibratorIds) {
-                tuples.push_back(std::make_tuple(i, vibratorId));
+            for (int32_t vibratorId : vibratorIds) {
+                tuples.emplace_back(i, vibratorId);
             }
         }
     }
 
-    auto vibratorAidlNames = android::getAidlHalInstanceNames(IVibrator::descriptor);
-    for (int i = 0; i < vibratorAidlNames.size(); i++) {
-        tuples.push_back(std::make_tuple(-1, i));
+    std::vector<std::string> vibratorNames = findUnmanagedVibratorNames();
+    for (int i = 0; i < vibratorNames.size(); i++) {
+        tuples.emplace_back(-1, i);
     }
 
     return tuples;
@@ -936,7 +941,7 @@
 
 int main(int argc, char **argv) {
     ::testing::InitGoogleTest(&argc, argv);
-    ProcessState::self()->setThreadPoolMaxThreadCount(1);
-    ProcessState::self()->startThreadPool();
+    ABinderProcess_setThreadPoolMaxThreadCount(1);
+    ABinderProcess_startThreadPool();
     return RUN_ALL_TESTS();
 }
diff --git a/vibrator/aidl/vts/test_utils.h b/vibrator/aidl/vts/test_utils.h
new file mode 100644
index 0000000..aaf3211
--- /dev/null
+++ b/vibrator/aidl/vts/test_utils.h
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2024 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.
+ */
+#ifndef VIBRATOR_HAL_TEST_UTILS_H
+#define VIBRATOR_HAL_TEST_UTILS_H
+
+#include <android/binder_auto_utils.h>
+#include <gtest/gtest.h>
+
+#if !defined(EXPECT_OK)
+#define EXPECT_OK(expression)                                                \
+    GTEST_AMBIGUOUS_ELSE_BLOCKER_                                            \
+    if (const ::ndk::ScopedAStatus&& _status = (expression); _status.isOk()) \
+        ;                                                                    \
+    else                                                                     \
+        ADD_FAILURE() << "Expected STATUS_OK for: " << #expression << "\n  Actual: " << _status
+#else
+#error Macro EXPECT_OK already defined unexpectedly
+#endif
+
+#if !defined(EXPECT_UNKNOWN_OR_UNSUPPORTED)
+#define EXPECT_UNKNOWN_OR_UNSUPPORTED(expression)                                                \
+    GTEST_AMBIGUOUS_ELSE_BLOCKER_                                                                \
+    if (const ::ndk::ScopedAStatus&& _status = (expression);                                     \
+        _status.getExceptionCode() == EX_UNSUPPORTED_OPERATION ||                                \
+        _status.getStatus() == STATUS_UNKNOWN_TRANSACTION)                                       \
+        ;                                                                                        \
+    else                                                                                         \
+        ADD_FAILURE() << "Expected STATUS_UNKNOWN_TRANSACTION or EX_UNSUPPORTED_OPERATION for: " \
+                      << #expression << "\n  Actual: " << _status
+#else
+#error Macro EXPECT_UNKNOWN_OR_UNSUPPORTED already defined unexpectedly
+#endif
+
+#if !defined(EXPECT_ILLEGAL_ARGUMENT)
+#define EXPECT_ILLEGAL_ARGUMENT(expression)                                  \
+    GTEST_AMBIGUOUS_ELSE_BLOCKER_                                            \
+    if (const ::ndk::ScopedAStatus&& _status = (expression);                 \
+        _status.getExceptionCode() == EX_ILLEGAL_ARGUMENT)                   \
+        ;                                                                    \
+    else                                                                     \
+        ADD_FAILURE() << "Expected EX_ILLEGAL_ARGUMENT for: " << #expression \
+                      << "\n  Actual: " << _status
+#else
+#error Macro EXPECT_ILLEGAL_ARGUMENT already defined unexpectedly
+#endif
+
+#endif  // VIBRATOR_HAL_TEST_UTILS_H
diff --git a/vibrator/bench/Android.bp b/vibrator/bench/Android.bp
index 87bdab4..b31c719 100644
--- a/vibrator/bench/Android.bp
+++ b/vibrator/bench/Android.bp
@@ -30,12 +30,12 @@
         "benchmark.cpp",
     ],
     shared_libs: [
-        "android.hardware.vibrator-V2-cpp",
+        "android.hardware.vibrator-V2-ndk",
         "android.hardware.vibrator@1.0",
         "android.hardware.vibrator@1.1",
         "android.hardware.vibrator@1.2",
         "android.hardware.vibrator@1.3",
-        "libbinder",
+        "libbinder_ndk",
         "libhardware",
         "libhidlbase",
         "libutils",
diff --git a/vibrator/bench/benchmark.cpp b/vibrator/bench/benchmark.cpp
index deaa6f2..8fe9cf7 100644
--- a/vibrator/bench/benchmark.cpp
+++ b/vibrator/bench/benchmark.cpp
@@ -16,15 +16,14 @@
 
 #include "benchmark/benchmark.h"
 
+#include <aidl/android/hardware/vibrator/BnVibratorCallback.h>
+#include <aidl/android/hardware/vibrator/IVibrator.h>
+
+#include <android/binder_manager.h>
+#include <android/binder_process.h>
 #include <android/hardware/vibrator/1.3/IVibrator.h>
-#include <android/hardware/vibrator/BnVibratorCallback.h>
-#include <android/hardware/vibrator/IVibrator.h>
-#include <binder/IServiceManager.h>
-#include <binder/ProcessState.h>
 #include <future>
 
-using ::android::enum_range;
-using ::android::sp;
 using ::android::hardware::hidl_enum_range;
 using ::android::hardware::Return;
 using ::android::hardware::details::hidl_enum_values;
@@ -33,10 +32,11 @@
 using ::benchmark::kMicrosecond;
 using ::benchmark::State;
 using ::benchmark::internal::Benchmark;
+using ::ndk::enum_range;
 
 using namespace ::std::chrono_literals;
 
-namespace Aidl = ::android::hardware::vibrator;
+namespace Aidl = ::aidl::android::hardware::vibrator;
 namespace V1_0 = ::android::hardware::vibrator::V1_0;
 namespace V1_1 = ::android::hardware::vibrator::V1_1;
 namespace V1_2 = ::android::hardware::vibrator::V1_2;
@@ -56,8 +56,8 @@
 class BaseBench : public Fixture {
   public:
     void SetUp(State& /*state*/) override {
-        android::ProcessState::self()->setThreadPoolMaxThreadCount(1);
-        android::ProcessState::self()->startThreadPool();
+        ABinderProcess_setThreadPoolMaxThreadCount(1);
+        ABinderProcess_startThreadPool();
     }
 
     void TearDown(State& /*state*/) override {
@@ -75,7 +75,7 @@
     auto getOtherArg(const State& state, std::size_t index) const { return state.range(index + 0); }
 
   protected:
-    sp<I> mVibrator;
+    std::shared_ptr<I> mVibrator;
 };
 
 template <typename I>
@@ -83,7 +83,12 @@
   public:
     void SetUp(State& state) override {
         BaseBench<I>::SetUp(state);
-        this->mVibrator = I::getService();
+        auto service = I::getService();
+        if (service) {
+            this->mVibrator = std::shared_ptr<I>(service.release());
+        } else {
+            this->mVibrator = nullptr;
+        }
     }
 
   protected:
@@ -356,7 +361,9 @@
   public:
     void SetUp(State& state) override {
         BaseBench::SetUp(state);
-        this->mVibrator = android::waitForVintfService<Aidl::IVibrator>();
+        auto serviceName = std::string(Aidl::IVibrator::descriptor) + "/default";
+        this->mVibrator = Aidl::IVibrator::fromBinder(
+                ndk::SpAIBinder(AServiceManager_waitForService(serviceName.c_str())));
     }
 
     void TearDown(State& state) override {
@@ -373,14 +380,24 @@
         return (deviceCapabilities & capabilities) == capabilities;
     }
 
-    bool shouldSkipWithError(State& state, const android::binder::Status&& status) {
+    bool shouldSkipWithError(State& state, const ndk::ScopedAStatus&& status) {
         if (!status.isOk()) {
-            state.SkipWithError(status.toString8().c_str());
+            state.SkipWithError(status.getMessage());
             return true;
         }
         return false;
     }
 
+    void waitForComplete(std::future<void>& callbackFuture) {
+        // Wait until the HAL has finished processing previous vibration before starting a new one,
+        // so the HAL state is consistent on each run and metrics are less noisy. Some of the newest
+        // HAL implementations are waiting on previous vibration cleanup and might be significantly
+        // slower, so make sure we measure vibrations on a clean slate.
+        if (callbackFuture.valid()) {
+            callbackFuture.wait_for(VIBRATION_CALLBACK_TIMEOUT);
+        }
+    }
+
     static void SlowBenchConfig(Benchmark* b) { b->Iterations(VIBRATION_ITERATIONS); }
 };
 
@@ -397,18 +414,12 @@
     HalCallback() = default;
     ~HalCallback() = default;
 
-    android::binder::Status onComplete() override {
+    ndk::ScopedAStatus onComplete() override {
         mPromise.set_value();
-        return android::binder::Status::ok();
+        return ndk::ScopedAStatus::ok();
     }
 
-    void waitForComplete() {
-        // Wait until the HAL has finished processing previous vibration before starting a new one,
-        // so the HAL state is consistent on each run and metrics are less noisy. Some of the newest
-        // HAL implementations are waiting on previous vibration cleanup and might be significantly
-        // slower, so make sure we measure vibrations on a clean slate.
-        mPromise.get_future().wait_for(VIBRATION_CALLBACK_TIMEOUT);
-    }
+    std::future<void> getFuture() { return mPromise.get_future(); }
 
   private:
     std::promise<void> mPromise;
@@ -418,7 +429,11 @@
     auto ms = MAX_ON_DURATION_MS;
 
     for (auto _ : state) {
-        auto cb = hasCapabilities(Aidl::IVibrator::CAP_ON_CALLBACK) ? new HalCallback() : nullptr;
+        auto cb = hasCapabilities(Aidl::IVibrator::CAP_ON_CALLBACK)
+                          ? ndk::SharedRefBase::make<HalCallback>()
+                          : nullptr;
+        // Grab the future before callback promise is destroyed by the HAL.
+        auto cbFuture = cb ? cb->getFuture() : std::future<void>();
 
         // Test
         if (shouldSkipWithError(state, mVibrator->on(ms, cb))) {
@@ -430,9 +445,7 @@
         if (shouldSkipWithError(state, mVibrator->off())) {
             return;
         }
-        if (cb) {
-            cb->waitForComplete();
-        }
+        waitForComplete(cbFuture);
         state.ResumeTiming();
     }
 });
@@ -441,7 +454,11 @@
     auto ms = MAX_ON_DURATION_MS;
 
     for (auto _ : state) {
-        auto cb = hasCapabilities(Aidl::IVibrator::CAP_ON_CALLBACK) ? new HalCallback() : nullptr;
+        auto cb = hasCapabilities(Aidl::IVibrator::CAP_ON_CALLBACK)
+                          ? ndk::SharedRefBase::make<HalCallback>()
+                          : nullptr;
+        // Grab the future before callback promise is destroyed by the HAL.
+        auto cbFuture = cb ? cb->getFuture() : std::future<void>();
 
         // Setup
         state.PauseTiming();
@@ -457,9 +474,7 @@
 
         // Cleanup
         state.PauseTiming();
-        if (cb) {
-            cb->waitForComplete();
-        }
+        waitForComplete(cbFuture);
         state.ResumeTiming();
     }
 });
@@ -483,7 +498,9 @@
         return;
     }
 
-    auto cb = hasCapabilities(Aidl::IVibrator::CAP_ON_CALLBACK) ? new HalCallback() : nullptr;
+    auto cb = hasCapabilities(Aidl::IVibrator::CAP_ON_CALLBACK)
+                      ? ndk::SharedRefBase::make<HalCallback>()
+                      : nullptr;
     if (shouldSkipWithError(state, mVibrator->on(ms, cb))) {
         return;
     }
@@ -685,8 +702,11 @@
     int32_t lengthMs = 0;
 
     for (auto _ : state) {
-        auto cb = hasCapabilities(Aidl::IVibrator::CAP_PERFORM_CALLBACK) ? new HalCallback()
-                                                                         : nullptr;
+        auto cb = hasCapabilities(Aidl::IVibrator::CAP_PERFORM_CALLBACK)
+                          ? ndk::SharedRefBase::make<HalCallback>()
+                          : nullptr;
+        // Grab the future before callback promise is destroyed by the HAL.
+        auto cbFuture = cb ? cb->getFuture() : std::future<void>();
 
         // Test
         if (shouldSkipWithError(state, mVibrator->perform(effect, strength, cb, &lengthMs))) {
@@ -698,9 +718,7 @@
         if (shouldSkipWithError(state, mVibrator->off())) {
             return;
         }
-        if (cb) {
-            cb->waitForComplete();
-        }
+        waitForComplete(cbFuture);
         state.ResumeTiming();
     }
 });
@@ -799,7 +817,9 @@
     effects.push_back(effect);
 
     for (auto _ : state) {
-        auto cb = new HalCallback();
+        auto cb = ndk::SharedRefBase::make<HalCallback>();
+        // Grab the future before callback promise is moved and destroyed by the HAL.
+        auto cbFuture = cb->getFuture();
 
         // Test
         if (shouldSkipWithError(state, mVibrator->compose(effects, cb))) {
@@ -811,7 +831,7 @@
         if (shouldSkipWithError(state, mVibrator->off())) {
             return;
         }
-        cb->waitForComplete();
+        waitForComplete(cbFuture);
         state.ResumeTiming();
     }
 });