diff --git a/sensors/common/vts/utils/Android.bp b/sensors/common/vts/utils/Android.bp
index 44bed6e..08b6afa 100644
--- a/sensors/common/vts/utils/Android.bp
+++ b/sensors/common/vts/utils/Android.bp
@@ -23,6 +23,23 @@
     default_applicable_licenses: ["hardware_interfaces_license"],
 }
 
+// Prefer to use these defaults to pull in VtsHalSensorsTargetTestUtils + its
+// dependencies
+cc_defaults {
+    name: "VtsHalSensorsDefaults",
+    shared_libs: [
+        "android.hardware.graphics.allocator-V1-ndk",
+        "android.hardware.graphics.common-V3-ndk",
+        "libbinder_ndk",
+        "libutils",
+        "libvndksupport",
+    ],
+    static_libs: [
+        "libaidlcommonsupport",
+        "VtsHalSensorsTargetTestUtils",
+    ],
+}
+
 cc_library_static {
     name: "VtsHalSensorsTargetTestUtils",
     defaults: ["VtsHalTargetTestDefaults"],
@@ -36,13 +53,19 @@
     local_include_dirs: [
         "include/sensors-vts-utils",
     ],
+    // Targets that depend on us need to also include these
     shared_libs: [
+        "android.hardware.graphics.allocator-V1-ndk",
+        "android.hardware.graphics.common-V3-ndk",
+        "libbinder_ndk",
         "libutils",
+        "libvndksupport",
     ],
     static_libs: [
         "android.hardware.sensors@1.0",
         "android.hardware.sensors@2.0",
         "android.hardware.sensors@2.1",
+        "libaidlcommonsupport",
     ],
     whole_static_libs: [
         "android.hardware.graphics.allocator@2.0",
diff --git a/sensors/common/vts/utils/GrallocWrapper.cpp b/sensors/common/vts/utils/GrallocWrapper.cpp
index 47d1f42..e6e0888 100644
--- a/sensors/common/vts/utils/GrallocWrapper.cpp
+++ b/sensors/common/vts/utils/GrallocWrapper.cpp
@@ -16,6 +16,9 @@
 
 #include "GrallocWrapper.h"
 
+#include <aidl/android/hardware/graphics/allocator/IAllocator.h>
+#include <aidlcommonsupport/NativeHandle.h>
+#include <android/binder_manager.h>
 #include <android/hardware/graphics/allocator/2.0/IAllocator.h>
 #include <android/hardware/graphics/allocator/3.0/IAllocator.h>
 #include <android/hardware/graphics/allocator/4.0/IAllocator.h>
@@ -27,8 +30,10 @@
 #include <utils/Log.h>
 
 #include <cinttypes>
+#include <memory>
 #include <type_traits>
 
+using IAllocatorAidl = ::aidl::android::hardware::graphics::allocator::IAllocator;
 using IAllocator2 = ::android::hardware::graphics::allocator::V2_0::IAllocator;
 using IAllocator3 = ::android::hardware::graphics::allocator::V3_0::IAllocator;
 using IAllocator4 = ::android::hardware::graphics::allocator::V4_0::IAllocator;
@@ -41,6 +46,9 @@
 using Error3 = ::android::hardware::graphics::mapper::V3_0::Error;
 using Error4 = ::android::hardware::graphics::mapper::V4_0::Error;
 
+using ::aidl::android::hardware::common::NativeHandle;
+using ::aidl::android::hardware::graphics::allocator::AllocationResult;
+
 using ::android::hardware::graphics::common::V1_0::BufferUsage;
 using ::android::hardware::graphics::common::V1_0::PixelFormat;
 
@@ -97,10 +105,11 @@
 
 // Since all the type and function names are the same for the things we use across the major HAL
 // versions, we use template magic to avoid repeating ourselves.
-template <typename AllocatorT, typename MapperT>
+template <typename AllocatorT, typename MapperT,
+          template <typename> typename AllocatorWrapperT = sp>
 class GrallocHalWrapper : public IGrallocHalWrapper {
   public:
-    GrallocHalWrapper(const sp<AllocatorT>& allocator, const sp<MapperT>& mapper)
+    GrallocHalWrapper(const AllocatorWrapperT<AllocatorT>& allocator, const sp<MapperT>& mapper)
         : mAllocator(allocator), mMapper(mapper) {
         if (mapper->isRemote()) {
             ALOGE("Mapper is in passthrough mode");
@@ -116,7 +125,7 @@
   private:
     static constexpr uint64_t kBufferUsage =
             static_cast<uint64_t>(BufferUsage::SENSOR_DIRECT_DATA | BufferUsage::CPU_READ_OFTEN);
-    sp<AllocatorT> mAllocator;
+    AllocatorWrapperT<AllocatorT> mAllocator;
     sp<MapperT> mMapper;
 
     // v2.0 and v3.0 use vec<uint32_t> for BufferDescriptor, but v4.0 uses vec<uint8_t>, so use
@@ -128,8 +137,34 @@
     native_handle_t* importBuffer(const hidl_handle& rawHandle);
 };
 
-template <typename AllocatorT, typename MapperT>
-native_handle_t* GrallocHalWrapper<AllocatorT, MapperT>::allocate(uint32_t size) {
+template <>
+native_handle_t* GrallocHalWrapper<IAllocatorAidl, IMapper4, std::shared_ptr>::allocate(
+        uint32_t size) {
+    constexpr uint32_t kBufferCount = 1;
+    BufferDescriptorT descriptor = getDescriptor(size);
+    native_handle_t* bufferHandle = nullptr;
+
+    AllocationResult result;
+    auto status = mAllocator->allocate(descriptor, kBufferCount, &result);
+    if (!status.isOk()) {
+        status_t error = status.getExceptionCode();
+        ALOGE("Failed to allocate buffer: %" PRId32, static_cast<int32_t>(error));
+    } else if (result.buffers.size() != kBufferCount) {
+        ALOGE("Invalid buffer array size (got %zu, expected %" PRIu32 ")", result.buffers.size(),
+              kBufferCount);
+    } else {
+        // Convert from AIDL NativeHandle to native_handle_t to hidl_handle
+        hidl_handle hidlHandle;
+        hidlHandle.setTo(dupFromAidl(result.buffers[0]), /*shouldOwn*/ true);
+        bufferHandle = importBuffer(hidlHandle);
+    }
+
+    return bufferHandle;
+}
+
+template <typename AllocatorT, typename MapperT, template <typename> typename AllocatorWrapperT>
+native_handle_t* GrallocHalWrapper<AllocatorT, MapperT, AllocatorWrapperT>::allocate(
+        uint32_t size) {
     constexpr uint32_t kBufferCount = 1;
     BufferDescriptorT descriptor = getDescriptor(size);
     native_handle_t* bufferHandle = nullptr;
@@ -149,17 +184,18 @@
     return bufferHandle;
 }
 
-template <typename AllocatorT, typename MapperT>
-void GrallocHalWrapper<AllocatorT, MapperT>::freeBuffer(native_handle_t* bufferHandle) {
+template <typename AllocatorT, typename MapperT, template <typename> typename AllocatorWrapperT>
+void GrallocHalWrapper<AllocatorT, MapperT, AllocatorWrapperT>::freeBuffer(
+        native_handle_t* bufferHandle) {
     auto error = mMapper->freeBuffer(bufferHandle);
     if (!error.isOk() || failed(error)) {
         ALOGE("Failed to free buffer %p", bufferHandle);
     }
 }
 
-template <typename AllocatorT, typename MapperT>
-typename GrallocHalWrapper<AllocatorT, MapperT>::BufferDescriptorT
-GrallocHalWrapper<AllocatorT, MapperT>::getDescriptor(uint32_t size) {
+template <typename AllocatorT, typename MapperT, template <typename> typename AllocatorWrapperT>
+typename GrallocHalWrapper<AllocatorT, MapperT, AllocatorWrapperT>::BufferDescriptorT
+GrallocHalWrapper<AllocatorT, MapperT, AllocatorWrapperT>::getDescriptor(uint32_t size) {
     typename MapperT::BufferDescriptorInfo descriptorInfo = {
             .width = size,
             .height = 1,
@@ -181,8 +217,8 @@
     return descriptor;
 }
 
-template <typename AllocatorT, typename MapperT>
-native_handle_t* GrallocHalWrapper<AllocatorT, MapperT>::importBuffer(
+template <typename AllocatorT, typename MapperT, template <typename> typename AllocatorWrapperT>
+native_handle_t* GrallocHalWrapper<AllocatorT, MapperT, AllocatorWrapperT>::importBuffer(
         const hidl_handle& rawHandle) {
     native_handle_t* bufferHandle = nullptr;
 
@@ -198,8 +234,9 @@
     return bufferHandle;
 }
 
-template <typename AllocatorT, typename MapperT>
-void* GrallocHalWrapper<AllocatorT, MapperT>::lock(native_handle_t* bufferHandle) {
+template <typename AllocatorT, typename MapperT, template <typename> typename AllocatorWrapperT>
+void* GrallocHalWrapper<AllocatorT, MapperT, AllocatorWrapperT>::lock(
+        native_handle_t* bufferHandle) {
     // Per the HAL, all-zeros Rect means the entire buffer
     typename MapperT::Rect accessRegion = {};
     hidl_handle acquireFenceHandle;  // No fence needed, already safe to lock
@@ -218,8 +255,9 @@
     return data;
 }
 
-template <typename AllocatorT, typename MapperT>
-void GrallocHalWrapper<AllocatorT, MapperT>::unlock(native_handle_t* bufferHandle) {
+template <typename AllocatorT, typename MapperT, template <typename> typename AllocatorWrapperT>
+void GrallocHalWrapper<AllocatorT, MapperT, AllocatorWrapperT>::unlock(
+        native_handle_t* bufferHandle) {
     mMapper->unlock(bufferHandle, [&](auto error, const hidl_handle& /*releaseFence*/) {
         if (failed(error)) {
             ALOGE("Failed to unlock buffer %p: %" PRId32, bufferHandle,
@@ -234,8 +272,22 @@
     sp<IAllocator4> allocator4 = IAllocator4::getService();
     sp<IMapper4> mapper4 = IMapper4::getService();
 
-    if (allocator4 != nullptr && mapper4 != nullptr) {
-        ALOGD("Using IAllocator/IMapper v4.0");
+    const auto kAllocatorSvc = std::string(IAllocatorAidl::descriptor) + "/default";
+    std::shared_ptr<IAllocatorAidl> allocatorAidl;
+    if (AServiceManager_isDeclared(kAllocatorSvc.c_str())) {
+        allocatorAidl = IAllocatorAidl::fromBinder(
+                ndk::SpAIBinder(AServiceManager_checkService(kAllocatorSvc.c_str())));
+    }
+
+    // As of T, AIDL Allocator is supported only with HIDL Mapper4
+    // (ref: VtsHalGraphicsAllocatorAidl_TargetTest.cpp)
+    if (allocatorAidl != nullptr && mapper4 != nullptr) {
+        ALOGD("Using AIDL IAllocator + HIDL IMapper v4.0");
+        mGrallocHal = std::unique_ptr<IGrallocHalWrapper>(
+                new GrallocHalWrapper<IAllocatorAidl, IMapper4, std::shared_ptr>(allocatorAidl,
+                                                                                 mapper4));
+    } else if (allocator4 != nullptr && mapper4 != nullptr) {
+        ALOGD("AIDL IAllocator not found, using HIDL IAllocator/IMapper v4.0");
         mGrallocHal = std::unique_ptr<IGrallocHalWrapper>(
                 new GrallocHalWrapper<IAllocator4, IMapper4>(allocator4, mapper4));
     } else {