diff --git a/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/BufferAheadResult.aidl b/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/BufferAheadResult.aidl
new file mode 100644
index 0000000..94fd91b
--- /dev/null
+++ b/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/BufferAheadResult.aidl
@@ -0,0 +1,44 @@
+/**
+ * Copyright (c) 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+///////////////////////////////////////////////////////////////////////////////
+// THIS FILE IS IMMUTABLE. DO NOT EDIT IN ANY CASE.                          //
+///////////////////////////////////////////////////////////////////////////////
+
+// This file is a snapshot of an AIDL file. Do not edit it manually. There are
+// two cases:
+// 1). this is a frozen version file - do not edit this in any case.
+// 2). this is a 'current' file. If you make a backwards compatible change to
+//     the interface (from the latest frozen version), the build system will
+//     prompt you to update this file with `m <name>-update-api`.
+//
+// You must not make a backward incompatible change to any AIDL file built
+// with the aidl_interface module type with versions property set. The module
+// type is used to build AIDL files in a way that they can be used across
+// independently updatable components of the system. If a device is shipped
+// with such a backward incompatible change, it has a high risk of breaking
+// later when a module using the interface is updated, e.g., Mainline modules.
+
+package android.hardware.graphics.composer3;
+@VintfStability
+parcelable BufferAheadResult {
+  long display;
+  android.hardware.graphics.composer3.BufferAheadResult.Layer[] layers;
+  @VintfStability
+  parcelable Layer {
+    long layer;
+    boolean presented;
+  }
+}
diff --git a/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/Capability.aidl b/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/Capability.aidl
index 9c49583..e989b6c 100644
--- a/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/Capability.aidl
+++ b/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/Capability.aidl
@@ -39,4 +39,5 @@
   SKIP_CLIENT_COLOR_TRANSFORM = 2,
   PRESENT_FENCE_IS_NOT_RELIABLE = 3,
   SKIP_VALIDATE = 4,
+  BUFFER_AHEAD = 5,
 }
diff --git a/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/CommandResultPayload.aidl b/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/CommandResultPayload.aidl
index ebbb31e..fb39172 100644
--- a/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/CommandResultPayload.aidl
+++ b/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/CommandResultPayload.aidl
@@ -39,6 +39,7 @@
   android.hardware.graphics.composer3.DisplayRequest displayRequest;
   android.hardware.graphics.composer3.PresentFence presentFence;
   android.hardware.graphics.composer3.ReleaseFences releaseFences;
+  android.hardware.graphics.composer3.BufferAheadResult bufferAheadResult;
   android.hardware.graphics.composer3.PresentOrValidate presentOrValidateResult;
   android.hardware.graphics.composer3.ClientTargetPropertyWithNits clientTargetProperty;
 }
diff --git a/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/LayerCommand.aidl b/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/LayerCommand.aidl
index c1c0117..1429c35 100644
--- a/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/LayerCommand.aidl
+++ b/graphics/composer/aidl/aidl_api/android.hardware.graphics.composer3/current/android/hardware/graphics/composer3/LayerCommand.aidl
@@ -37,6 +37,7 @@
   long layer;
   @nullable android.hardware.graphics.common.Point cursorPosition;
   @nullable android.hardware.graphics.composer3.Buffer buffer;
+  @nullable android.hardware.graphics.composer3.Buffer bufferAhead;
   @nullable android.hardware.graphics.common.Rect[] damage;
   @nullable android.hardware.graphics.composer3.ParcelableBlendMode blendMode;
   @nullable android.hardware.graphics.composer3.Color color;
diff --git a/graphics/composer/aidl/android/hardware/graphics/composer3/BufferAheadResult.aidl b/graphics/composer/aidl/android/hardware/graphics/composer3/BufferAheadResult.aidl
new file mode 100644
index 0000000..7ca4578
--- /dev/null
+++ b/graphics/composer/aidl/android/hardware/graphics/composer3/BufferAheadResult.aidl
@@ -0,0 +1,46 @@
+/**
+ * Copyright (c) 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package android.hardware.graphics.composer3;
+
+@VintfStability
+parcelable BufferAheadResult {
+    /**
+     * The display which this commands refers to.
+     * @see IComposer.createDisplay
+     */
+    long display;
+
+    @VintfStability
+    parcelable Layer {
+        /**
+         * The layer which this commands refers to.
+         * @see IComposer.createLayer
+         */
+        long layer;
+
+        /**
+         * Represents whether BufferAhead was presented as part of the last
+         * present or not.
+         */
+        boolean presented;
+    }
+
+    /**
+     * The layers which has BufferAheadResult populated.
+     */
+    Layer[] layers;
+}
diff --git a/graphics/composer/aidl/android/hardware/graphics/composer3/Capability.aidl b/graphics/composer/aidl/android/hardware/graphics/composer3/Capability.aidl
index ea619ae..77ad1e0 100644
--- a/graphics/composer/aidl/android/hardware/graphics/composer3/Capability.aidl
+++ b/graphics/composer/aidl/android/hardware/graphics/composer3/Capability.aidl
@@ -57,4 +57,9 @@
      * validateDisplay step is needed.
      */
     SKIP_VALIDATE = 4,
+    /**
+     * Specifies that a device is able to use the LayerCommand.bufferAhead
+     * when provided.
+     */
+    BUFFER_AHEAD = 5
 }
diff --git a/graphics/composer/aidl/android/hardware/graphics/composer3/CommandResultPayload.aidl b/graphics/composer/aidl/android/hardware/graphics/composer3/CommandResultPayload.aidl
index f2de68e..fd1e4cc 100644
--- a/graphics/composer/aidl/android/hardware/graphics/composer3/CommandResultPayload.aidl
+++ b/graphics/composer/aidl/android/hardware/graphics/composer3/CommandResultPayload.aidl
@@ -16,6 +16,7 @@
 
 package android.hardware.graphics.composer3;
 
+import android.hardware.graphics.composer3.BufferAheadResult;
 import android.hardware.graphics.composer3.ChangedCompositionTypes;
 import android.hardware.graphics.composer3.ClientTargetPropertyWithNits;
 import android.hardware.graphics.composer3.CommandError;
@@ -78,6 +79,13 @@
     ReleaseFences releaseFences;
 
     /**
+     * Represents the result of the LayerCommand.bufferAhead that was
+     * sent in the last presentDisplay call. That is, the presentDisplay
+     * call prior to this presentDisplay.
+     */
+    BufferAheadResult bufferAheadResult;
+
+    /**
      * Sets the state of PRESENT_OR_VALIDATE_DISPLAY command.
      */
     PresentOrValidate presentOrValidateResult;
diff --git a/graphics/composer/aidl/android/hardware/graphics/composer3/LayerCommand.aidl b/graphics/composer/aidl/android/hardware/graphics/composer3/LayerCommand.aidl
index 6f6894f..ab93794 100644
--- a/graphics/composer/aidl/android/hardware/graphics/composer3/LayerCommand.aidl
+++ b/graphics/composer/aidl/android/hardware/graphics/composer3/LayerCommand.aidl
@@ -70,6 +70,30 @@
     @nullable Buffer buffer;
 
     /**
+     * Sets a buffer handle to be displayed for this layer and a file descriptor
+     * referring to an acquire sync fence object, which must be signaled when it is
+     * safe to read from the given buffer.
+     *
+     * When bufferAhead is provided, the implementation should try to
+     * present it on the next scanout as long as its acquire sync fence
+     * is signaled by that time. Otherwise the bufferAhead should be dropped.
+     * This allows the client to set an
+     * unsignaled buffer on the layer without causing the entire display to miss
+     * an update if the buffer is not ready by the next scanout time.
+     *
+     * In case bufferAhead is dropped and LayerCommand.buffer is provided, LayerCommand.buffer
+     * should be used as the next layer buffer.
+     *
+     * The implementation is expected to populate the CommandResultPayload.bufferAheadResult
+     * with information about whether bufferAhead was presented or dropped.
+     * Since this information is not known at the current presentDisplay call
+     * of frame N (as the scanout happens after the call returns),
+     * the implementation should populate it when presentDisplay is
+     * called for frame N+1.
+     */
+    @nullable Buffer bufferAhead;
+
+    /**
      * Provides the region of the source buffer which has been modified since
      * the last frame. This region does not need to be validated before
      * calling presentDisplay.
diff --git a/graphics/composer/aidl/android/hardware/graphics/composer3/vts/functional/VtsHalGraphicsComposer3_TargetTest.cpp b/graphics/composer/aidl/android/hardware/graphics/composer3/vts/functional/VtsHalGraphicsComposer3_TargetTest.cpp
index 32a8ea8..026a431 100644
--- a/graphics/composer/aidl/android/hardware/graphics/composer3/vts/functional/VtsHalGraphicsComposer3_TargetTest.cpp
+++ b/graphics/composer/aidl/android/hardware/graphics/composer3/vts/functional/VtsHalGraphicsComposer3_TargetTest.cpp
@@ -1205,6 +1205,7 @@
         const auto errors = mReader.takeErrors();
         ASSERT_TRUE(mReader.takeErrors().empty());
         ASSERT_TRUE(mReader.takeChangedCompositionTypes(mPrimaryDisplay).empty());
+        ASSERT_TRUE(mReader.takeBufferAheadResultLayers(mPrimaryDisplay).empty());
 
         ASSERT_NO_FATAL_FAILURE(GraphicsComposerAidlTest::TearDown());
     }
diff --git a/graphics/composer/aidl/include/android/hardware/graphics/composer3/ComposerClientReader.h b/graphics/composer/aidl/include/android/hardware/graphics/composer3/ComposerClientReader.h
index f9e35e9..8f8c98f 100644
--- a/graphics/composer/aidl/include/android/hardware/graphics/composer3/ComposerClientReader.h
+++ b/graphics/composer/aidl/include/android/hardware/graphics/composer3/ComposerClientReader.h
@@ -77,6 +77,10 @@
                     parseSetClientTargetProperty(std::move(
                             result.get<CommandResultPayload::Tag::clientTargetProperty>()));
                     break;
+                case CommandResultPayload::Tag::bufferAheadResult:
+                    parseSetBufferAheadResultLayers(
+                            result.get<CommandResultPayload::Tag::bufferAheadResult>());
+                    break;
             }
         }
     }
@@ -168,6 +172,16 @@
         return std::move(data.clientTargetProperty);
     }
 
+    std::vector<BufferAheadResult::Layer> takeBufferAheadResultLayers(int64_t display) {
+        const auto found = mReturnData.find(display);
+
+        if (found == mReturnData.end()) {
+            return {};
+        }
+
+        return std::move(found->second.bufferAheadResultLayers);
+    }
+
   private:
     void resetData() {
         mErrors.clear();
@@ -206,12 +220,18 @@
         data.clientTargetProperty = std::move(clientTargetProperty);
     }
 
+    void parseSetBufferAheadResultLayers(const BufferAheadResult& bufferAheadResult) {
+        auto& data = mReturnData[bufferAheadResult.display];
+        data.bufferAheadResultLayers = std::move(bufferAheadResult.layers);
+    }
+
     struct ReturnData {
         DisplayRequest displayRequests;
         std::vector<ChangedCompositionLayer> changedLayers;
         ndk::ScopedFileDescriptor presentFence;
         std::vector<ReleaseFences::Layer> releasedLayers;
         PresentOrValidate::Result presentOrValidateState;
+        std::vector<BufferAheadResult::Layer> bufferAheadResultLayers;
 
         ClientTargetPropertyWithNits clientTargetProperty = {
                 .clientTargetProperty = {common::PixelFormat::RGBA_8888, Dataspace::UNKNOWN},
diff --git a/graphics/composer/aidl/include/android/hardware/graphics/composer3/ComposerClientWriter.h b/graphics/composer/aidl/include/android/hardware/graphics/composer3/ComposerClientWriter.h
index d3266e7..d429b76 100644
--- a/graphics/composer/aidl/include/android/hardware/graphics/composer3/ComposerClientWriter.h
+++ b/graphics/composer/aidl/include/android/hardware/graphics/composer3/ComposerClientWriter.h
@@ -131,6 +131,11 @@
         getLayerCommand(display, layer).buffer = getBuffer(slot, buffer, acquireFence);
     }
 
+    void setLayerBufferAhead(int64_t display, int64_t layer, uint32_t slot,
+                             const native_handle_t* buffer, int acquireFence) {
+        getLayerCommand(display, layer).bufferAhead = getBuffer(slot, buffer, acquireFence);
+    }
+
     void setLayerSurfaceDamage(int64_t display, int64_t layer, const std::vector<Rect>& damage) {
         getLayerCommand(display, layer).damage.emplace(damage.begin(), damage.end());
     }
diff --git a/nfc/aidl/Android.bp b/nfc/aidl/Android.bp
index d390c7e..30365f6 100644
--- a/nfc/aidl/Android.bp
+++ b/nfc/aidl/Android.bp
@@ -12,6 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
 aidl_interface {
     name: "android.hardware.nfc",
     vendor_available: true,
diff --git a/nfc/aidl/default/Android.bp b/nfc/aidl/default/Android.bp
index 907d23d..6daebe5 100644
--- a/nfc/aidl/default/Android.bp
+++ b/nfc/aidl/default/Android.bp
@@ -1,3 +1,12 @@
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
 cc_binary {
     name: "android.hardware.nfc-service.example",
     relative_install_path: "hw",
diff --git a/sensors/common/default/2.X/multihal/HalProxy.cpp b/sensors/common/default/2.X/multihal/HalProxy.cpp
index 73b0594..f44f5c4 100644
--- a/sensors/common/default/2.X/multihal/HalProxy.cpp
+++ b/sensors/common/default/2.X/multihal/HalProxy.cpp
@@ -261,8 +261,8 @@
         Result currRes = mSubHalList[i]->initialize(this, this, i);
         if (currRes != Result::OK) {
             result = currRes;
-            ALOGE("Subhal '%s' failed to initialize.", mSubHalList[i]->getName().c_str());
-            break;
+            ALOGE("Subhal '%s' failed to initialize with reason %" PRId32 ".",
+                  mSubHalList[i]->getName().c_str(), static_cast<int32_t>(currRes));
         }
     }
 
diff --git a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionSetAppConfigCmdParams.aidl b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionSetAppConfigCmdParams.aidl
index f449c60..0d53431 100644
--- a/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionSetAppConfigCmdParams.aidl
+++ b/uwb/aidl/aidl_api/android.hardware.uwb.fira_android/current/android/hardware/uwb/fira_android/UwbVendorSessionSetAppConfigCmdParams.aidl
@@ -34,6 +34,8 @@
 package android.hardware.uwb.fira_android;
 @Backing(type="int") @VintfStability
 enum UwbVendorSessionSetAppConfigCmdParams {
+  CCC_HOP_MODE_KEY = 160,
+  CCC_UWB_TIME0 = 161,
   CCC_RANGING_PROTOCOL_VER = 163,
   CCC_UWB_CONFIG_ID = 164,
   CCC_PULSESHAPE_COMBO = 165,
diff --git a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorSessionSetAppConfigCmdParams.aidl b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorSessionSetAppConfigCmdParams.aidl
index f5e02c0..eb1f5ac 100644
--- a/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorSessionSetAppConfigCmdParams.aidl
+++ b/uwb/aidl/android/hardware/uwb/fira_android/UwbVendorSessionSetAppConfigCmdParams.aidl
@@ -33,9 +33,17 @@
      * Added in vendor version 0.
      * Range 0xA0 - 0xDF reserved for CCC use.
      */
+    /** 16 byte data */
+    CCC_HOP_MODE_KEY = 0xA0,
+    /** 8 byte data */
+    CCC_UWB_TIME0 = 0xA1,
+    /** 2 byte data */
     CCC_RANGING_PROTOCOL_VER = 0xA3,
+    /** 2 byte data */
     CCC_UWB_CONFIG_ID = 0xA4,
+    /** 1 byte data */
     CCC_PULSESHAPE_COMBO = 0xA5,
+    /** 2 byte data */
     CCC_URSK_TTL = 0xA6,
 
     /**
@@ -51,7 +59,10 @@
      * Supported only if the value returned by getSupportedAndroidCapabilities()
      * has the bit of UwbAndroidCapabilities.ANTENNAE_INTERLEAVING set to 1.
      */
+    /** 2 byte data */
     NB_OF_RANGE_MEASUREMENTS = 0xE3,
+    /** 2 byte data */
     NB_OF_AZIMUTH_MEASUREMENTS = 0xE4,
+    /** 2 byte data */
     NB_OF_ELEVATION_MEASUREMENTS = 0xE5,
 }
diff --git a/wifi/supplicant/aidl/aidl_api/android.hardware.wifi.supplicant/current/android/hardware/wifi/supplicant/ISupplicantP2pIface.aidl b/wifi/supplicant/aidl/aidl_api/android.hardware.wifi.supplicant/current/android/hardware/wifi/supplicant/ISupplicantP2pIface.aidl
index ca7be73..f1332d9 100644
--- a/wifi/supplicant/aidl/aidl_api/android.hardware.wifi.supplicant/current/android/hardware/wifi/supplicant/ISupplicantP2pIface.aidl
+++ b/wifi/supplicant/aidl/aidl_api/android.hardware.wifi.supplicant/current/android/hardware/wifi/supplicant/ISupplicantP2pIface.aidl
@@ -81,6 +81,7 @@
   void setSsidPostfix(in byte[] postfix);
   void setWfdDeviceInfo(in byte[] info);
   void setWfdR2DeviceInfo(in byte[] info);
+  void removeClient(in byte[] peerAddress, in boolean isLegacyClient);
   void setWpsConfigMethods(in android.hardware.wifi.supplicant.WpsConfigMethods configMethods);
   void setWpsDeviceName(in String name);
   void setWpsDeviceType(in byte[] type);
diff --git a/wifi/supplicant/aidl/android/hardware/wifi/supplicant/ISupplicantP2pIface.aidl b/wifi/supplicant/aidl/android/hardware/wifi/supplicant/ISupplicantP2pIface.aidl
index 64839e7..11cdc8b 100644
--- a/wifi/supplicant/aidl/android/hardware/wifi/supplicant/ISupplicantP2pIface.aidl
+++ b/wifi/supplicant/aidl/android/hardware/wifi/supplicant/ISupplicantP2pIface.aidl
@@ -643,6 +643,17 @@
     void setWfdR2DeviceInfo(in byte[] info);
 
     /**
+     * Remove the client with the MAC address from the group.
+     *
+     * @param peerAddress Mac address of the client.
+     * @param isLegacyClient Indicate if client is a legacy client or not.
+     * @throws ServiceSpecificException with one of the following values:
+     *         |SupplicantStatusCode.FAILURE_UNKNOWN|,
+     *         |SupplicantStatusCode.FAILURE_IFACE_INVALID|
+     */
+    void removeClient(in byte[/*6*/] peerAddress, in boolean isLegacyClient);
+
+    /**
      * Set the list of supported config methods for WPS operations.
      *
      * @param configMethods Mask of WPS configuration methods supported by the