diff --git a/audio/aidl/common/StreamWorker.cpp b/audio/aidl/common/StreamWorker.cpp
index 0d2121c..8107655 100644
--- a/audio/aidl/common/StreamWorker.cpp
+++ b/audio/aidl/common/StreamWorker.cpp
@@ -106,6 +106,9 @@
         std::lock_guard<std::mutex> lock(mWorkerLock);
         mWorkerState = error.empty() ? WorkerState::RUNNING : WorkerState::STOPPED;
         mError = error;
+#if defined(__ANDROID__)
+        mTid = pthread_gettid_np(pthread_self());
+#endif
     }
     mWorkerCv.notify_one();
     if (!error.empty()) return;
diff --git a/audio/aidl/common/include/StreamWorker.h b/audio/aidl/common/include/StreamWorker.h
index e9c1070..efdcc81 100644
--- a/audio/aidl/common/include/StreamWorker.h
+++ b/audio/aidl/common/include/StreamWorker.h
@@ -16,6 +16,8 @@
 
 #pragma once
 
+#include <sys/types.h>
+
 #include <atomic>
 #include <condition_variable>
 #include <mutex>
@@ -52,6 +54,10 @@
         std::lock_guard<std::mutex> lock(mWorkerLock);
         return mError;
     }
+    pid_t getTid() {
+        std::lock_guard<std::mutex> lock(mWorkerLock);
+        return mTid;
+    }
     void stop();
     // Direct use of 'join' assumes that the StreamLogic is not intended
     // to run forever, and is guaranteed to exit by itself. This normally
@@ -78,6 +84,7 @@
     std::condition_variable mWorkerCv;
     WorkerState mWorkerState GUARDED_BY(mWorkerLock) = WorkerState::INITIAL;
     std::string mError GUARDED_BY(mWorkerLock);
+    pid_t mTid GUARDED_BY(mWorkerLock) = -1;
     // The atomic lock-free variable is used to prevent priority inversions
     // that can occur when a high priority worker tries to acquire the lock
     // which has been taken by a lower priority control thread which in its turn
@@ -143,6 +150,7 @@
     void resume() { mThread.resume(); }
     bool hasError() { return mThread.hasError(); }
     std::string getError() { return mThread.getError(); }
+    pid_t getTid() { return mThread.getTid(); }
     void stop() { mThread.stop(); }
     void join() { mThread.join(); }
     bool waitForAtLeastOneCycle() { return mThread.waitForAtLeastOneCycle(); }
diff --git a/audio/aidl/common/tests/streamworker_tests.cpp b/audio/aidl/common/tests/streamworker_tests.cpp
index f7a30b9..2b65740 100644
--- a/audio/aidl/common/tests/streamworker_tests.cpp
+++ b/audio/aidl/common/tests/streamworker_tests.cpp
@@ -87,6 +87,7 @@
 TEST_P(StreamWorkerInvalidTest, Uninitialized) {
     EXPECT_FALSE(worker.hasWorkerCycleCalled());
     EXPECT_FALSE(worker.hasError());
+    EXPECT_LE(worker.getTid(), 0);
 }
 
 TEST_P(StreamWorkerInvalidTest, UninitializedPauseIgnored) {
@@ -105,6 +106,9 @@
     EXPECT_FALSE(worker.start());
     EXPECT_FALSE(worker.hasWorkerCycleCalled());
     EXPECT_TRUE(worker.hasError());
+#if defined(__ANDROID__)
+    EXPECT_GT(worker.getTid(), 0);
+#endif
 }
 
 TEST_P(StreamWorkerInvalidTest, PauseIgnored) {
@@ -136,12 +140,16 @@
 TEST_P(StreamWorkerTest, Uninitialized) {
     EXPECT_FALSE(worker.hasWorkerCycleCalled());
     EXPECT_FALSE(worker.hasError());
+    EXPECT_LE(worker.getTid(), 0);
 }
 
 TEST_P(StreamWorkerTest, Start) {
     ASSERT_TRUE(worker.start());
     EXPECT_TRUE(worker.waitForAtLeastOneCycle());
     EXPECT_FALSE(worker.hasError());
+#if defined(__ANDROID__)
+    EXPECT_GT(worker.getTid(), 0);
+#endif
 }
 
 TEST_P(StreamWorkerTest, StartStop) {
diff --git a/audio/aidl/default/Configuration.cpp b/audio/aidl/default/Configuration.cpp
index d05d214..0fbf55b 100644
--- a/audio/aidl/default/Configuration.cpp
+++ b/audio/aidl/default/Configuration.cpp
@@ -450,14 +450,17 @@
 // Mix ports:
 //  * "test output", 1 max open, 1 max active stream
 //    - profile PCM 24-bit; MONO, STEREO; 8000, 11025, 16000, 32000, 44100, 48000
-//  * "compressed offload", DIRECT|COMPRESS_OFFLOAD|NON_BLOCKING, 1 max open, 1 max active stream
+//  * "test fast output", 1 max open, 1 max active stream
+//    - profile PCM 24-bit; STEREO; 44100, 48000
+//  * "test compressed offload", DIRECT|COMPRESS_OFFLOAD|NON_BLOCKING, 1 max open, 1 max active
+//  stream
 //    - profile MP3; MONO, STEREO; 44100, 48000
 //  * "test input", 2 max open, 2 max active streams
 //    - profile PCM 24-bit; MONO, STEREO, FRONT_BACK;
 //        8000, 11025, 16000, 22050, 32000, 44100, 48000
 //
 // Routes:
-//  "test output", "compressed offload" -> "Test Out"
+//  "test output", "test fast output", "test compressed offload" -> "Test Out"
 //  "Test In" -> "test input"
 //
 // Initial port configs:
@@ -496,8 +499,15 @@
                               {8000, 11025, 16000, 32000, 44100, 48000}));
         c.ports.push_back(testOutMix);
 
+        AudioPort testFastOutMix = createPort(c.nextPortId++, "test fast output",
+                                              makeBitPositionFlagMask({AudioOutputFlags::FAST}),
+                                              false, createPortMixExt(1, 1));
+        testFastOutMix.profiles.push_back(createProfile(
+                PcmType::INT_24_BIT, {AudioChannelLayout::LAYOUT_STEREO}, {44100, 48000}));
+        c.ports.push_back(testFastOutMix);
+
         AudioPort compressedOffloadOutMix =
-                createPort(c.nextPortId++, "compressed offload",
+                createPort(c.nextPortId++, "test compressed offload",
                            makeBitPositionFlagMask({AudioOutputFlags::DIRECT,
                                                     AudioOutputFlags::COMPRESS_OFFLOAD,
                                                     AudioOutputFlags::NON_BLOCKING}),
@@ -522,7 +532,8 @@
                               {8000, 11025, 16000, 22050, 32000, 44100, 48000}));
         c.ports.push_back(testInMIx);
 
-        c.routes.push_back(createRoute({testOutMix, compressedOffloadOutMix}, testOutDevice));
+        c.routes.push_back(
+                createRoute({testOutMix, testFastOutMix, compressedOffloadOutMix}, testOutDevice));
         c.routes.push_back(createRoute({testInDevice}, testInMIx));
 
         c.portConfigs.insert(c.portConfigs.end(), c.initialConfigs.begin(), c.initialConfigs.end());
diff --git a/audio/aidl/default/Stream.cpp b/audio/aidl/default/Stream.cpp
index 196ab2f..af89f5f 100644
--- a/audio/aidl/default/Stream.cpp
+++ b/audio/aidl/default/Stream.cpp
@@ -27,12 +27,16 @@
 using aidl::android::hardware::audio::common::AudioOffloadMetadata;
 using aidl::android::hardware::audio::common::getChannelCount;
 using aidl::android::hardware::audio::common::getFrameSizeInBytes;
+using aidl::android::hardware::audio::common::isBitPositionFlagSet;
 using aidl::android::hardware::audio::common::SinkMetadata;
 using aidl::android::hardware::audio::common::SourceMetadata;
 using aidl::android::media::audio::common::AudioDevice;
 using aidl::android::media::audio::common::AudioDualMonoMode;
+using aidl::android::media::audio::common::AudioInputFlags;
+using aidl::android::media::audio::common::AudioIoFlags;
 using aidl::android::media::audio::common::AudioLatencyMode;
 using aidl::android::media::audio::common::AudioOffloadInfo;
+using aidl::android::media::audio::common::AudioOutputFlags;
 using aidl::android::media::audio::common::AudioPlaybackRate;
 using aidl::android::media::audio::common::MicrophoneDynamicInfo;
 using aidl::android::media::audio::common::MicrophoneInfo;
@@ -610,8 +614,30 @@
 ndk::ScopedAStatus StreamCommonImpl::initInstance(
         const std::shared_ptr<StreamCommonInterface>& delegate) {
     mCommon = ndk::SharedRefBase::make<StreamCommonDelegator>(delegate);
-    return mWorker->start() ? ndk::ScopedAStatus::ok()
-                            : ndk::ScopedAStatus::fromExceptionCode(EX_ILLEGAL_STATE);
+    if (!mWorker->start()) {
+        return ndk::ScopedAStatus::fromExceptionCode(EX_ILLEGAL_STATE);
+    }
+    if (auto flags = getContext().getFlags();
+        (flags.getTag() == AudioIoFlags::Tag::input &&
+         isBitPositionFlagSet(flags.template get<AudioIoFlags::Tag::input>(),
+                              AudioInputFlags::FAST)) ||
+        (flags.getTag() == AudioIoFlags::Tag::output &&
+         isBitPositionFlagSet(flags.template get<AudioIoFlags::Tag::output>(),
+                              AudioOutputFlags::FAST))) {
+        // FAST workers should be run with a SCHED_FIFO scheduler, however the host process
+        // might be lacking the capability to request it, thus a failure to set is not an error.
+        pid_t workerTid = mWorker->getTid();
+        if (workerTid > 0) {
+            struct sched_param param;
+            param.sched_priority = 3;  // Must match SchedulingPolicyService.PRIORITY_MAX (Java).
+            if (sched_setscheduler(workerTid, SCHED_FIFO | SCHED_RESET_ON_FORK, &param) != 0) {
+                PLOG(WARNING) << __func__ << ": failed to set FIFO scheduler for a fast thread";
+            }
+        } else {
+            LOG(WARNING) << __func__ << ": invalid worker tid: " << workerTid;
+        }
+    }
+    return ndk::ScopedAStatus::ok();
 }
 
 ndk::ScopedAStatus StreamCommonImpl::getStreamCommonCommon(
diff --git a/audio/aidl/default/android.hardware.audio.service-aidl.example.rc b/audio/aidl/default/android.hardware.audio.service-aidl.example.rc
index 2068735..757976f 100644
--- a/audio/aidl/default/android.hardware.audio.service-aidl.example.rc
+++ b/audio/aidl/default/android.hardware.audio.service-aidl.example.rc
@@ -3,7 +3,7 @@
     user audioserver
     # media gid needed for /dev/fm (radio) and for /data/misc/media (tee)
     group audio camera drmrpc inet media mediadrm net_bt net_bt_admin net_bw_acct wakelock context_hub
-    capabilities BLOCK_SUSPEND
+    capabilities BLOCK_SUSPEND SYS_NICE
     # setting RLIMIT_RTPRIO allows binder RT priority inheritance
     rlimit rtprio 10 10
     ioprio rt 4
diff --git a/audio/aidl/default/include/core-impl/Stream.h b/audio/aidl/default/include/core-impl/Stream.h
index e9fd6df..a02655f 100644
--- a/audio/aidl/default/include/core-impl/Stream.h
+++ b/audio/aidl/default/include/core-impl/Stream.h
@@ -262,6 +262,7 @@
     virtual void setIsConnected(bool isConnected) = 0;
     virtual StreamDescriptor::State setClosed() = 0;
     virtual bool start() = 0;
+    virtual pid_t getTid() = 0;
     virtual void stop() = 0;
 };
 
@@ -277,8 +278,10 @@
     void setIsConnected(bool isConnected) override { WorkerImpl::setIsConnected(isConnected); }
     StreamDescriptor::State setClosed() override { return WorkerImpl::setClosed(); }
     bool start() override {
-        return WorkerImpl::start(WorkerImpl::kThreadName, ANDROID_PRIORITY_AUDIO);
+        // This is an "audio service thread," must have elevated priority.
+        return WorkerImpl::start(WorkerImpl::kThreadName, ANDROID_PRIORITY_URGENT_AUDIO);
     }
+    pid_t getTid() override { return WorkerImpl::getTid(); }
     void stop() override { return WorkerImpl::stop(); }
 };
 
diff --git a/automotive/audiocontrol/aidl/default/audiocontrol-default.xml b/automotive/audiocontrol/aidl/default/audiocontrol-default.xml
index e82f6fa..3452ae9 100644
--- a/automotive/audiocontrol/aidl/default/audiocontrol-default.xml
+++ b/automotive/audiocontrol/aidl/default/audiocontrol-default.xml
@@ -1,5 +1,6 @@
 <manifest version="2.0" type="device">
     <hal format="aidl">
+        <version>2</version>
         <name>android.hardware.automotive.audiocontrol</name>
         <fqname>IAudioControl/default</fqname>
     </hal>
diff --git a/bluetooth/audio/utils/aidl_session/BluetoothAudioSession.cpp b/bluetooth/audio/utils/aidl_session/BluetoothAudioSession.cpp
index b46b62c..1777f77 100644
--- a/bluetooth/audio/utils/aidl_session/BluetoothAudioSession.cpp
+++ b/bluetooth/audio/utils/aidl_session/BluetoothAudioSession.cpp
@@ -503,6 +503,16 @@
 void BluetoothAudioSession::ReportLowLatencyModeAllowedChanged(bool allowed) {
   std::lock_guard<std::recursive_mutex> guard(mutex_);
   low_latency_allowed_ = allowed;
+  // TODO(b/294498919): Remove this after there is API to update latency mode
+  // after audio session started. If low_latency_allowed_ is true, the session
+  // can support LOW_LATENCY and FREE LatencyMode.
+  if (low_latency_allowed_) {
+    if (std::find(latency_modes_.begin(), latency_modes_.end(),
+                  LatencyMode::LOW_LATENCY) == latency_modes_.end()) {
+      LOG(INFO) << __func__ << " - insert LOW_LATENCY LatencyMode";
+      latency_modes_.push_back(LatencyMode::LOW_LATENCY);
+    }
+  }
   if (observers_.empty()) {
     LOG(WARNING) << __func__ << " - SessionType=" << toString(session_type_)
                  << " has NO port state observer";
diff --git a/compatibility_matrices/compatibility_matrix.7.xml b/compatibility_matrices/compatibility_matrix.7.xml
index 33c3148..e20fcec 100644
--- a/compatibility_matrices/compatibility_matrix.7.xml
+++ b/compatibility_matrices/compatibility_matrix.7.xml
@@ -43,6 +43,7 @@
     </hal>
     <hal format="aidl" optional="true">
         <name>android.hardware.automotive.audiocontrol</name>
+        <version>1-2</version>
         <interface>
             <name>IAudioControl</name>
             <instance>default</instance>
diff --git a/compatibility_matrices/compatibility_matrix.8.xml b/compatibility_matrices/compatibility_matrix.8.xml
index 41d7ed1..09d3fda 100644
--- a/compatibility_matrices/compatibility_matrix.8.xml
+++ b/compatibility_matrices/compatibility_matrix.8.xml
@@ -62,6 +62,7 @@
     </hal>
     <hal format="aidl" optional="true">
         <name>android.hardware.automotive.audiocontrol</name>
+        <version>2</version>
         <interface>
             <name>IAudioControl</name>
             <instance>default</instance>
diff --git a/compatibility_matrices/compatibility_matrix.9.xml b/compatibility_matrices/compatibility_matrix.9.xml
index f616bdb..77e5cb4 100644
--- a/compatibility_matrices/compatibility_matrix.9.xml
+++ b/compatibility_matrices/compatibility_matrix.9.xml
@@ -70,6 +70,7 @@
     </hal>
     <hal format="aidl" optional="true">
         <name>android.hardware.automotive.audiocontrol</name>
+        <version>2</version>
         <interface>
             <name>IAudioControl</name>
             <instance>default</instance>
diff --git a/compatibility_matrices/exclude/fcm_exclude.cpp b/compatibility_matrices/exclude/fcm_exclude.cpp
index ccce449..cfc8345 100644
--- a/compatibility_matrices/exclude/fcm_exclude.cpp
+++ b/compatibility_matrices/exclude/fcm_exclude.cpp
@@ -24,9 +24,7 @@
 namespace android::vintf::details {
 
 // The predicate to VintfObject::checkMissingHalsInMatrices.
-bool ShouldCheckMissingHalsInFcm(const std::string& package) {
-    using std::placeholders::_1;
-
+bool ShouldCheckMissingHidlHalsInFcm(const std::string& packageAndVersion) {
     static std::vector<std::string> included_prefixes{
             // Other AOSP HALs (e.g. android.frameworks.*) are not added because only framework
             // matrix is checked.
@@ -51,28 +49,11 @@
             "android.hardware.media.bufferpool@1.0",
             "android.hardware.media.bufferpool@2.0",
             "android.hardware.radio.config@1.2",
-            // AIDL
-            "android.hardware.audio.common",
-            "android.hardware.audio.core.sounddose",
-            "android.hardware.biometrics.common",
-            "android.hardware.camera.metadata",
-            "android.hardware.camera.device",
-            "android.hardware.camera.common",
-            "android.hardware.common",
-            "android.hardware.common.fmq",
-            "android.hardware.graphics.common",
-            "android.hardware.input.common",
-            "android.hardware.keymaster",
-            "android.hardware.media.bufferpool2",
-            "android.hardware.radio",
-            "android.hardware.uwb.fira_android",
 
             // Fastboot HAL is only used by recovery. Recovery is owned by OEM. Framework
             // does not depend on this HAL, hence it is not declared in any manifests or matrices.
             "android.hardware.fastboot@1.0",
             "android.hardware.fastboot@1.1",
-            // Fastboot AIDL
-            "android.hardware.fastboot",
 
             // Deprecated HALs.
             // HIDL
@@ -106,6 +87,60 @@
     };
 
     auto package_has_prefix = [&](const std::string& prefix) {
+        return android::base::StartsWith(packageAndVersion, prefix);
+    };
+
+    // Only check packageAndVersions that are in the include list and not in the exclude list.
+    if (!std::any_of(included_prefixes.begin(), included_prefixes.end(), package_has_prefix)) {
+        return false;
+    }
+
+    if (std::find(excluded_exact.begin(), excluded_exact.end(), packageAndVersion) !=
+        excluded_exact.end()) {
+        return false;
+    }
+
+    return !std::any_of(excluded_prefixes.begin(), excluded_prefixes.end(), package_has_prefix);
+}
+
+// The predicate to VintfObject::checkMissingHalsInMatrices.
+bool ShouldCheckMissingAidlHalsInFcm(const std::string& package) {
+    static std::vector<std::string> included_prefixes{
+            // Other AOSP HALs (e.g. android.frameworks.*) are not added because only framework
+            // matrix is checked.
+            "android.hardware.",
+    };
+
+    static std::vector<std::string> excluded_prefixes{
+            // Test packages are exempted.
+            "android.hardware.tests.",
+    };
+
+    static std::vector<std::string> excluded_exact{
+            // Packages without top level interfaces (including types-only packages) are exempted.
+
+            // AIDL
+            "android.hardware.audio.common",
+            "android.hardware.audio.core.sounddose",
+            "android.hardware.biometrics.common",
+            "android.hardware.camera.metadata",
+            "android.hardware.camera.device",
+            "android.hardware.camera.common",
+            "android.hardware.common",
+            "android.hardware.common.fmq",
+            "android.hardware.graphics.common",
+            "android.hardware.input.common",
+            "android.hardware.keymaster",
+            "android.hardware.media.bufferpool2",
+            "android.hardware.radio",
+            "android.hardware.uwb.fira_android",
+
+            // Fastboot HAL is only used by recovery. Recovery is owned by OEM. Framework
+            // does not depend on this HAL, hence it is not declared in any manifests or matrices.
+            "android.hardware.fastboot",
+    };
+
+    auto package_has_prefix = [&](const std::string& prefix) {
         return android::base::StartsWith(package, prefix);
     };
 
diff --git a/compatibility_matrices/exclude/include/vintf/fcm_exclude.h b/compatibility_matrices/exclude/include/vintf/fcm_exclude.h
index f74c217..9ee057b 100644
--- a/compatibility_matrices/exclude/include/vintf/fcm_exclude.h
+++ b/compatibility_matrices/exclude/include/vintf/fcm_exclude.h
@@ -25,6 +25,7 @@
 // |package| can be a HIDL package and version like
 // "android.hardware.foo@1.0", or an AIDL package name like
 // "android.hardware.foo".
-bool ShouldCheckMissingHalsInFcm(const std::string& package);
+bool ShouldCheckMissingHidlHalsInFcm(const std::string& packageAndVersion);
+bool ShouldCheckMissingAidlHalsInFcm(const std::string& package);
 
 }  // namespace android::vintf::details