diff --git a/automotive/vehicle/aidl/aidl_test/AidlHidlCompatibilityTest.cpp b/automotive/vehicle/aidl/aidl_test/AidlHidlCompatibilityTest.cpp
new file mode 100644
index 0000000..f4f3f28
--- /dev/null
+++ b/automotive/vehicle/aidl/aidl_test/AidlHidlCompatibilityTest.cpp
@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2021 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 <VehicleHalTypes.h>
+#include <VehicleUtils.h>
+
+#include <android/binder_enums.h>
+#include <android/hardware/automotive/vehicle/2.0/types.h>
+#include <gtest/gtest.h>
+#include <hidl/HidlSupport.h>
+
+namespace hidl_vehicle = ::android::hardware::automotive::vehicle::V2_0;
+namespace aidl_vehicle = ::aidl::android::hardware::automotive::vehicle;
+using ::android::hardware::hidl_enum_range;
+using ::ndk::enum_range;
+
+TEST(AidlHidlCompatibilityTest, testHidlPropertiesDefinedInAidl) {
+    for (const auto prop : hidl_enum_range<hidl_vehicle::VehicleProperty>()) {
+        int propInt = ::android::hardware::automotive::vehicle::toInt(prop);
+        auto aidlProperties = enum_range<aidl_vehicle::VehicleProperty>();
+
+        ASSERT_NE(std::find(aidlProperties.begin(), aidlProperties.end(),
+                            static_cast<aidl_vehicle::VehicleProperty>(propInt)),
+                  aidlProperties.end())
+                << "property: " << propInt << " defined in HIDL, but not defined in AIDL";
+    }
+}
diff --git a/automotive/vehicle/aidl/aidl_test/Android.bp b/automotive/vehicle/aidl/aidl_test/Android.bp
new file mode 100644
index 0000000..4337ac7
--- /dev/null
+++ b/automotive/vehicle/aidl/aidl_test/Android.bp
@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2021 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.
+ */
+
+package {
+    default_applicable_licenses: ["Android-Apache-2.0"],
+}
+
+cc_test {
+    name: "VehicleHalAidlHidlCompatibilityTest",
+    srcs: ["*.cpp"],
+    shared_libs: [
+        "libbinder_ndk",
+        "libhidlbase",
+    ],
+    static_libs: [
+        "VehicleHalUtils",
+        "android.hardware.automotive.vehicle@2.0",
+        "libgtest",
+        "libgmock",
+    ],
+    defaults: ["VehicleHalDefaults"],
+    test_suites: ["general-tests"],
+    vendor: true,
+}
diff --git a/automotive/vehicle/aidl/impl/utils/TEST_MAPPING b/automotive/vehicle/aidl/impl/utils/TEST_MAPPING
deleted file mode 100644
index d3d00ab..0000000
--- a/automotive/vehicle/aidl/impl/utils/TEST_MAPPING
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "presubmit": [
-    {
-      "name": "VehicleHalVehicleUtilsTest"
-    }
-  ]
-}