diff --git a/quickstep/src/com/android/launcher3/taskbar/NavbarButtonsViewController.java b/quickstep/src/com/android/launcher3/taskbar/NavbarButtonsViewController.java
index 400a3df..b01168d 100644
--- a/quickstep/src/com/android/launcher3/taskbar/NavbarButtonsViewController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/NavbarButtonsViewController.java
@@ -785,17 +785,12 @@
     public void dumpLogs(String prefix, PrintWriter pw) {
         pw.println(prefix + "NavbarButtonsViewController:");
 
-        pw.println(String.format("%s\tmState=%s", prefix, getStateString(mState)));
-        pw.println(String.format(
-                "%s\tmLightIconColor=0x%s", prefix, Integer.toHexString(mLightIconColor)));
-        pw.println(String.format(
-                "%s\tmDarkIconColor=0x%s", prefix, Integer.toHexString(mDarkIconColor)));
-        pw.println(String.format(
-                "%s\tmFloatingRotationButtonBounds=%s", prefix, mFloatingRotationButtonBounds));
-        pw.println(String.format(
-                "%s\tmSysuiStateFlags=%s",
-                prefix,
-                QuickStepContract.getSystemUiStateString(mSysuiStateFlags)));
+        pw.println(prefix + "\tmState=" + getStateString(mState));
+        pw.println(prefix + "\tmLightIconColor=" + Integer.toHexString(mLightIconColor));
+        pw.println(prefix + "\tmDarkIconColor=" + Integer.toHexString(mDarkIconColor));
+        pw.println(prefix + "\tmFloatingRotationButtonBounds=" + mFloatingRotationButtonBounds);
+        pw.println(prefix + "\tmSysuiStateFlags=" + QuickStepContract.getSystemUiStateString(
+                mSysuiStateFlags));
     }
 
     private static String getStateString(int flags) {
diff --git a/quickstep/src/com/android/launcher3/taskbar/StashedHandleViewController.java b/quickstep/src/com/android/launcher3/taskbar/StashedHandleViewController.java
index f472427..800e162 100644
--- a/quickstep/src/com/android/launcher3/taskbar/StashedHandleViewController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/StashedHandleViewController.java
@@ -209,10 +209,9 @@
     public void dumpLogs(String prefix, PrintWriter pw) {
         pw.println(prefix + "StashedHandleViewController:");
 
-        pw.println(String.format(
-                "%s\tisStashedHandleVisible=%b", prefix, isStashedHandleVisible()));
-        pw.println(String.format("%s\tmStashedHandleWidth=%dpx", prefix, mStashedHandleWidth));
-        pw.println(String.format("%s\tmStashedHandleHeight=%dpx", prefix, mStashedHandleHeight));
+        pw.println(prefix + "\tisStashedHandleVisible=" + isStashedHandleVisible());
+        pw.println(prefix + "\tmStashedHandleWidth=" + mStashedHandleWidth);
+        pw.println(prefix + "\tmStashedHandleHeight=" + mStashedHandleHeight);
         mRegionSamplingHelper.dump(prefix, pw);
     }
 }
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarAutohideSuspendController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarAutohideSuspendController.java
index c5615c7..3cf9c99 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarAutohideSuspendController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarAutohideSuspendController.java
@@ -71,8 +71,7 @@
     public void dumpLogs(String prefix, PrintWriter pw) {
         pw.println(prefix + "TaskbarAutohideSuspendController:");
 
-        pw.println(String.format(
-                "%s\tmAutohideSuspendFlags=%s", prefix, getStateString(mAutohideSuspendFlags)));
+        pw.println(prefix + "\tmAutohideSuspendFlags=" + getStateString(mAutohideSuspendFlags));
     }
 
     private static String getStateString(int flags) {
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarDragController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarDragController.java
index 04fcc44..3a0f374 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarDragController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarDragController.java
@@ -559,13 +559,11 @@
     public void dumpLogs(String prefix, PrintWriter pw) {
         pw.println(prefix + "TaskbarDragController:");
 
-        pw.println(String.format("%s\tmDragIconSize=%dpx", prefix, mDragIconSize));
-        pw.println(String.format("%s\tmTempXY=%s", prefix, Arrays.toString(mTempXY)));
-        pw.println(String.format("%s\tmRegistrationX=%d", prefix, mRegistrationX));
-        pw.println(String.format("%s\tmRegistrationY=%d", prefix, mRegistrationY));
-        pw.println(String.format(
-                "%s\tmIsSystemDragInProgress=%b", prefix, mIsSystemDragInProgress));
-        pw.println(String.format(
-                "%s\tisInternalDragInProgess=%b", prefix, super.isDragging()));
+        pw.println(prefix + "\tmDragIconSize=" + mDragIconSize);
+        pw.println(prefix + "\tmTempXY=" + Arrays.toString(mTempXY));
+        pw.println(prefix + "\tmRegistrationX=" + mRegistrationX);
+        pw.println(prefix + "\tmRegistrationY=" + mRegistrationY);
+        pw.println(prefix + "\tmIsSystemDragInProgress=" + mIsSystemDragInProgress);
+        pw.println(prefix + "\tisInternalDragInProgess=" + super.isDragging());
     }
 }
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarDragLayerController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarDragLayerController.java
index 99c59a8..77ef83c 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarDragLayerController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarDragLayerController.java
@@ -144,10 +144,9 @@
     public void dumpLogs(String prefix, PrintWriter pw) {
         pw.println(prefix + "TaskbarDragLayerController:");
 
-        pw.println(String.format("%s\tmBgOffset=%.2f", prefix, mBgOffset.value));
-        pw.println(String.format("%s\tmFolderMargin=%dpx", prefix, mFolderMargin));
-        pw.println(String.format(
-                "%s\tmLastSetBackgroundAlpha=%.2f", prefix, mLastSetBackgroundAlpha));
+        pw.println(prefix + "\tmBgOffset=" + mBgOffset.value);
+        pw.println(prefix + "\tmFolderMargin=" + mFolderMargin);
+        pw.println(prefix + "\tmLastSetBackgroundAlpha=" + mLastSetBackgroundAlpha);
     }
 
     /**
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarEduController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarEduController.java
index e29b14b..32a3c10 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarEduController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarEduController.java
@@ -191,12 +191,10 @@
     public void dumpLogs(String prefix, PrintWriter pw) {
         pw.println(prefix + "TaskbarEduController:");
 
-        pw.println(String.format("%s\tisShowingEdu=%b", prefix, mTaskbarEduView != null));
-        pw.println(String.format("%s\tmWaveAnimTranslationY=%.2f", prefix, mWaveAnimTranslationY));
-        pw.println(String.format(
-                "%s\tmWaveAnimTranslationYReturnOvershoot=%.2f",
-                prefix,
-                mWaveAnimTranslationYReturnOvershoot));
+        pw.println(prefix + "\tisShowingEdu=" + (mTaskbarEduView != null));
+        pw.println(prefix + "\tmWaveAnimTranslationY=" + mWaveAnimTranslationY);
+        pw.println(prefix + "\tmWaveAnimTranslationYReturnOvershoot="
+                + mWaveAnimTranslationYReturnOvershoot);
     }
 
     /**
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarKeyguardController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarKeyguardController.java
index 56648ea..0808fab 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarKeyguardController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarKeyguardController.java
@@ -111,11 +111,9 @@
     public void dumpLogs(String prefix, PrintWriter pw) {
         pw.println(prefix + "TaskbarKeyguardController:");
 
-        pw.println(String.format(
-                "%s\tmKeyguardSysuiFlags=%s",
-                prefix,
-                QuickStepContract.getSystemUiStateString(mKeyguardSysuiFlags)));
-        pw.println(String.format("%s\tmBouncerShowing=%b", prefix, mBouncerShowing));
-        pw.println(String.format("%s\tmIsScreenOff=%b", prefix, mIsScreenOff));
+        pw.println(prefix + "\tmKeyguardSysuiFlags=" + QuickStepContract.getSystemUiStateString(
+                mKeyguardSysuiFlags));
+        pw.println(prefix + "\tmBouncerShowing=" + mBouncerShowing);
+        pw.println(prefix + "\tmIsScreenOff=" + mIsScreenOff);
     }
 }
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarLauncherStateController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarLauncherStateController.java
index ff11f67..85e76b2 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarLauncherStateController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarLauncherStateController.java
@@ -35,6 +35,7 @@
 import com.android.launcher3.LauncherState;
 import com.android.launcher3.QuickstepTransitionManager;
 import com.android.launcher3.Utilities;
+import com.android.launcher3.anim.AnimatorListeners;
 import com.android.launcher3.statemanager.StateManager;
 import com.android.launcher3.util.MultiValueAlpha;
 import com.android.quickstep.AnimatedFloat;
@@ -367,11 +368,14 @@
     private void playStateTransitionAnim(AnimatorSet animatorSet, long duration,
             boolean committed) {
         boolean isInStashedState = mLauncherState.isTaskbarStashed(mLauncher);
-        float toAlignment = mLauncherState.isTaskbarAlignedWithHotseat(mLauncher) ? 1 : 0;
+        boolean willStashVisually =
+                isInStashedState && mControllers.taskbarStashController.supportsVisualStashing();
+        float toAlignment =
+                mLauncherState.isTaskbarAlignedWithHotseat(mLauncher) && !willStashVisually ? 1 : 0;
 
-        TaskbarStashController controller = mControllers.taskbarStashController;
-        controller.updateStateForFlag(FLAG_IN_STASHED_LAUNCHER_STATE, isInStashedState);
-        Animator stashAnimator = controller.applyStateWithoutStart(duration);
+        TaskbarStashController stashController = mControllers.taskbarStashController;
+        stashController.updateStateForFlag(FLAG_IN_STASHED_LAUNCHER_STATE, isInStashedState);
+        Animator stashAnimator = stashController.applyStateWithoutStart(duration);
         if (stashAnimator != null) {
             stashAnimator.addListener(new AnimatorListenerAdapter() {
                 @Override
@@ -391,9 +395,13 @@
             });
             animatorSet.play(stashAnimator);
         }
-
-        // If we're already animating to the value, just leave it be instead of restarting it.
+        if (mIconAlignmentForLauncherState.value == toAlignment) {
+            // Already at expected value, but make sure we run the callback at the end.
+            animatorSet.addListener(AnimatorListeners.forEndCallback(
+                    this::onIconAlignmentRatioChangedForStateTransition));
+        }
         if (!mIconAlignmentForLauncherState.isAnimatingToValue(toAlignment)) {
+            // If we're already animating to the value, just leave it be instead of restarting it.
             mIconAlignmentForLauncherState.finishAnimation();
             animatorSet.play(mIconAlignmentForLauncherState.animateToValue(toAlignment)
                     .setDuration(duration));
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarNavButtonController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarNavButtonController.java
index 3392b6b..60f50a9 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarNavButtonController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarNavButtonController.java
@@ -18,7 +18,6 @@
 
 import static com.android.internal.app.AssistUtils.INVOCATION_TYPE_HOME_BUTTON_LONG_PRESS;
 import static com.android.internal.app.AssistUtils.INVOCATION_TYPE_KEY;
-import static com.android.systemui.shared.system.ActivityManagerWrapper.CLOSE_SYSTEM_WINDOWS_REASON_RECENTS;
 import static com.android.launcher3.logging.StatsLogManager.LauncherEvent.LAUNCHER_TASKBAR_A11Y_BUTTON_LONGPRESS;
 import static com.android.launcher3.logging.StatsLogManager.LauncherEvent.LAUNCHER_TASKBAR_A11Y_BUTTON_TAP;
 import static com.android.launcher3.logging.StatsLogManager.LauncherEvent.LAUNCHER_TASKBAR_BACK_BUTTON_LONGPRESS;
@@ -28,6 +27,7 @@
 import static com.android.launcher3.logging.StatsLogManager.LauncherEvent.LAUNCHER_TASKBAR_IME_SWITCHER_BUTTON_TAP;
 import static com.android.launcher3.logging.StatsLogManager.LauncherEvent.LAUNCHER_TASKBAR_OVERVIEW_BUTTON_LONGPRESS;
 import static com.android.launcher3.logging.StatsLogManager.LauncherEvent.LAUNCHER_TASKBAR_OVERVIEW_BUTTON_TAP;
+import static com.android.systemui.shared.system.ActivityManagerWrapper.CLOSE_SYSTEM_WINDOWS_REASON_RECENTS;
 import static com.android.systemui.shared.system.QuickStepContract.SYSUI_STATE_SCREEN_PINNING;
 
 import android.os.Bundle;
@@ -72,9 +72,8 @@
     public void dumpLogs(String prefix, PrintWriter pw) {
         pw.println(prefix + "TaskbarNavButtonController:");
 
-        pw.println(String.format(
-                "%s\tmLastScreenPinLongPress=%dms", prefix, mLastScreenPinLongPress));
-        pw.println(String.format("%s\tmScreenPinned=%b", prefix, mScreenPinned));
+        pw.println(prefix + "\tmLastScreenPinLongPress=" + mLastScreenPinLongPress);
+        pw.println(prefix + "\tmScreenPinned=" + mScreenPinned);
     }
 
     @Retention(RetentionPolicy.SOURCE)
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarScrimViewController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarScrimViewController.java
index 58ace17..c3b0f57 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarScrimViewController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarScrimViewController.java
@@ -98,6 +98,6 @@
     public void dumpLogs(String prefix, PrintWriter pw) {
         pw.println(prefix + "TaskbarScrimViewController:");
 
-        pw.println(String.format("%s\tmScrimAlpha.value=%.2f", prefix, mScrimAlpha.value));
+        pw.println(prefix + "\tmScrimAlpha.value=" + mScrimAlpha.value);
     }
 }
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarStashController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarStashController.java
index 2b8fdd1..513f1bb 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarStashController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarStashController.java
@@ -728,16 +728,14 @@
     public void dumpLogs(String prefix, PrintWriter pw) {
         pw.println(prefix + "TaskbarStashController:");
 
-        pw.println(String.format("%s\tmStashedHeight=%dpx", prefix, mStashedHeight));
-        pw.println(String.format("%s\tmUnstashedHeight=%dpx", prefix, mUnstashedHeight));
-        pw.println(String.format("%s\tmIsStashed=%b", prefix, mIsStashed));
-        pw.println(String.format(
-                "%s\tappliedState=%s", prefix, getStateString(mStatePropertyHolder.mPrevFlags)));
-        pw.println(String.format("%s\tmState=%s", prefix, getStateString(mState)));
-        pw.println(String.format(
-                "%s\tmIsSystemGestureInProgress=%b", prefix, mIsSystemGestureInProgress));
-        pw.println(String.format("%s\tmIsImeShowing=%b", prefix, mIsImeShowing));
-        pw.println(String.format("%s\tmIsImeSwitcherShowing=%b", prefix, mIsImeSwitcherShowing));
+        pw.println(prefix + "\tmStashedHeight=" + mStashedHeight);
+        pw.println(prefix + "\tmUnstashedHeight=" + mUnstashedHeight);
+        pw.println(prefix + "\tmIsStashed=" + mIsStashed);
+        pw.println(prefix + "\tappliedState=" + getStateString(mStatePropertyHolder.mPrevFlags));
+        pw.println(prefix + "\tmState=" + getStateString(mState));
+        pw.println(prefix + "\tmIsSystemGestureInProgress=" + mIsSystemGestureInProgress);
+        pw.println(prefix + "\tmIsImeShowing=" + mIsImeShowing);
+        pw.println(prefix + "\tmIsImeSwitcherShowing=" + mIsImeSwitcherShowing);
     }
 
     private static String getStateString(int flags) {
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarViewController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarViewController.java
index db7dc78..6d45fd2 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarViewController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarViewController.java
@@ -373,6 +373,19 @@
     @Override
     public void dumpLogs(String prefix, PrintWriter pw) {
         pw.println(prefix + "TaskbarViewController:");
+
+        mTaskbarIconAlpha.dump(
+                prefix + "\t",
+                pw,
+                "mTaskbarIconAlpha",
+                "ALPHA_INDEX_HOME",
+                "ALPHA_INDEX_KEYGUARD",
+                "ALPHA_INDEX_STASH",
+                "ALPHA_INDEX_RECENTS_DISABLED",
+                "ALPHA_INDEX_NOTIFICATION_EXPANDED",
+                "ALPHA_INDEX_ASSISTANT_INVOKED",
+                "ALPHA_INDEX_IME_BUTTON_NAV");
+
         mModelCallbacks.dumpLogs(prefix + "\t", pw);
     }
 
diff --git a/quickstep/src/com/android/launcher3/uioverrides/states/OverviewState.java b/quickstep/src/com/android/launcher3/uioverrides/states/OverviewState.java
index 6427e09..c4c9038 100644
--- a/quickstep/src/com/android/launcher3/uioverrides/states/OverviewState.java
+++ b/quickstep/src/com/android/launcher3/uioverrides/states/OverviewState.java
@@ -22,12 +22,10 @@
 import android.graphics.Rect;
 import android.os.SystemProperties;
 
-import com.android.launcher3.BaseQuickstepLauncher;
 import com.android.launcher3.DeviceProfile;
 import com.android.launcher3.Launcher;
 import com.android.launcher3.LauncherState;
 import com.android.launcher3.R;
-import com.android.launcher3.taskbar.LauncherTaskbarUIController;
 import com.android.launcher3.util.DisplayController;
 import com.android.launcher3.util.Themes;
 import com.android.quickstep.util.LayoutUtils;
@@ -95,13 +93,7 @@
 
     @Override
     public boolean isTaskbarStashed(Launcher launcher) {
-        if (launcher instanceof BaseQuickstepLauncher) {
-            LauncherTaskbarUIController uiController =
-                    ((BaseQuickstepLauncher) launcher).getTaskbarUIController();
-
-            return uiController != null && uiController.supportsVisualStashing();
-        }
-        return super.isTaskbarStashed(launcher);
+        return true;
     }
 
     @Override
diff --git a/src/com/android/launcher3/LauncherState.java b/src/com/android/launcher3/LauncherState.java
index ea6a919..8b5cdbd 100644
--- a/src/com/android/launcher3/LauncherState.java
+++ b/src/com/android/launcher3/LauncherState.java
@@ -208,14 +208,18 @@
         return (getVisibleElements(launcher) & elements) == elements;
     }
 
-    /** Returns whether taskbar is stashed and thus should replace hotseat with a handle */
+    /**
+     * Returns whether taskbar is stashed and thus should either:
+     * 1) replace hotseat or taskbar icons with a handle in gesture navigation mode or
+     * 2) fade out the hotseat or taskbar icons in 3-button navigation mode.
+     */
     public boolean isTaskbarStashed(Launcher launcher) {
         return false;
     }
 
     /** Returns whether taskbar is aligned with the hotseat vs position inside apps */
     public boolean isTaskbarAlignedWithHotseat(Launcher launcher) {
-        return !isTaskbarStashed(launcher);
+        return true;
     }
 
     /**
diff --git a/src/com/android/launcher3/util/MultiValueAlpha.java b/src/com/android/launcher3/util/MultiValueAlpha.java
index 11cd07c..4b46a0a 100644
--- a/src/com/android/launcher3/util/MultiValueAlpha.java
+++ b/src/com/android/launcher3/util/MultiValueAlpha.java
@@ -23,6 +23,7 @@
 
 import com.android.launcher3.anim.AlphaUpdateListener;
 
+import java.io.PrintWriter;
 import java.util.Arrays;
 import java.util.function.Consumer;
 
@@ -78,6 +79,29 @@
         mUpdateVisibility = updateVisibility;
     }
 
+    /**
+     * Dumps the alpha channel values to the given PrintWriter
+     *
+     * @param prefix String to be used before every line
+     * @param pw PrintWriter where the logs should be dumped
+     * @param label String used to help identify this object
+     * @param alphaIndexLabels Strings that represent each alpha channel, these should be entered
+     *                         in the order of the indexes they represent, starting from 0.
+     */
+    public void dump(String prefix, PrintWriter pw, String label, String... alphaIndexLabels) {
+        pw.println(prefix + label);
+
+        String innerPrefix = prefix + '\t';
+        for (int i = 0; i < alphaIndexLabels.length; i++) {
+            if (i >= mMyProperties.length) {
+                pw.println(innerPrefix + alphaIndexLabels[i] + " given for alpha index " + i
+                        + " however there are only " + mMyProperties.length + " alpha channels.");
+                continue;
+            }
+            pw.println(innerPrefix + alphaIndexLabels[i] + "=" + getProperty(i).getValue());
+        }
+    }
+
     public class AlphaProperty {
 
         private final int mMyMask;