diff --git a/fastboot/fastboot.cpp b/fastboot/fastboot.cpp
index 7994065..a1664a4 100644
--- a/fastboot/fastboot.cpp
+++ b/fastboot/fastboot.cpp
@@ -2231,7 +2231,9 @@
                                       {"version", no_argument, 0, 0},
                                       {0, 0, 0, 0}};
 
-    serial = getenv("ANDROID_SERIAL");
+    serial = getenv("FASTBOOT_DEVICE");
+    if (!serial)
+        serial = getenv("ANDROID_SERIAL");
 
     int c;
     while ((c = getopt_long(argc, argv, "a::hls:S:vw", longopts, &longindex)) != -1) {
diff --git a/fastboot/fastboot_driver.h b/fastboot/fastboot_driver.h
index 3d6c7b0..6ac26ce 100644
--- a/fastboot/fastboot_driver.h
+++ b/fastboot/fastboot_driver.h
@@ -28,6 +28,7 @@
 #pragma once
 #include <cstdlib>
 #include <deque>
+#include <functional>
 #include <limits>
 #include <string>
 #include <vector>
diff --git a/fastboot/storage.cpp b/fastboot/storage.cpp
index dc733b9..629ebc8 100644
--- a/fastboot/storage.cpp
+++ b/fastboot/storage.cpp
@@ -18,6 +18,7 @@
 #include <android-base/logging.h>
 
 #include <fstream>
+#include <iterator>
 
 #include "storage.h"
 #include "util.h"
@@ -62,4 +63,4 @@
         LOG(FATAL) << "Cannot create directory: " << home_fastboot_path_;
     }
     return FileLock(devices_lock_path_);
-}
\ No newline at end of file
+}
diff --git a/init/README.md b/init/README.md
index 6bdff4a..5fced19 100644
--- a/init/README.md
+++ b/init/README.md
@@ -344,11 +344,14 @@
   intended to be used with the `exec_start` builtin for any must-have checks during boot.
 
 `restart_period <seconds>`
-> If a non-oneshot service exits, it will be restarted at its start time plus
-  this period. It defaults to 5s to rate limit crashing services.
-  This can be increased for services that are meant to run periodically. For
-  example, it may be set to 3600 to indicate that the service should run every hour
-  or 86400 to indicate that the service should run every day.
+> If a non-oneshot service exits, it will be restarted at its previous start time plus this period.
+  The default value is 5s. This can be used to implement periodic services together with the
+  `timeout_period` command below. For example, it may be set to 3600 to indicate that the service
+  should run every hour or 86400 to indicate that the service should run every day. This can be set
+  to a value shorter than 5s for example 0, but the minimum 5s delay is enforced if the restart was
+  due to a crash. This is to rate limit persistentally crashing services. In other words,
+  `<seconds>` smaller than 5 is respected only when the service exits deliverately and successfully
+  (i.e. by calling exit(0)).
 
 `rlimit <resource> <cur> <max>`
 > This applies the given rlimit to the service. rlimits are inherited by child
diff --git a/init/reboot.cpp b/init/reboot.cpp
index 27a7876..3351c4c 100644
--- a/init/reboot.cpp
+++ b/init/reboot.cpp
@@ -680,8 +680,8 @@
                            << "': " << result.error();
             }
             s->SetShutdownCritical();
-        } else if (do_shutdown_animation) {
-            continue;
+        } else if (do_shutdown_animation && s->classnames().count("animation") > 0) {
+            // Need these for shutdown animations.
         } else if (s->IsShutdownCritical()) {
             // Start shutdown critical service if not started.
             if (auto result = s->Start(); !result.ok()) {
diff --git a/init/service.cpp b/init/service.cpp
index c152081..2945708 100644
--- a/init/service.cpp
+++ b/init/service.cpp
@@ -308,6 +308,7 @@
     pid_ = 0;
     flags_ &= (~SVC_RUNNING);
     start_order_ = 0;
+    was_last_exit_ok_ = siginfo.si_code == CLD_EXITED && siginfo.si_status == 0;
 
     // Oneshot processes go into the disabled state on exit,
     // except when manually restarted.
@@ -361,7 +362,8 @@
     // If we crash > 4 times in 'fatal_crash_window_' minutes or before boot_completed,
     // reboot into bootloader or set crashing property
     boot_clock::time_point now = boot_clock::now();
-    if (((flags_ & SVC_CRITICAL) || is_process_updatable) && !(flags_ & SVC_RESTART)) {
+    if (((flags_ & SVC_CRITICAL) || is_process_updatable) && !(flags_ & SVC_RESTART) &&
+        !was_last_exit_ok_) {
         bool boot_completed = GetBoolProperty("sys.boot_completed", false);
         if (now < time_crashed_ + fatal_crash_window_ || !boot_completed) {
             if (++crash_count_ > 4) {
diff --git a/init/service.h b/init/service.h
index ce7c0da..b858eef 100644
--- a/init/service.h
+++ b/init/service.h
@@ -19,6 +19,7 @@
 #include <signal.h>
 #include <sys/types.h>
 
+#include <algorithm>
 #include <chrono>
 #include <memory>
 #include <optional>
@@ -115,6 +116,7 @@
     pid_t pid() const { return pid_; }
     android::base::boot_clock::time_point time_started() const { return time_started_; }
     int crash_count() const { return crash_count_; }
+    int was_last_exit_ok() const { return was_last_exit_ok_; }
     uid_t uid() const { return proc_attr_.uid(); }
     gid_t gid() const { return proc_attr_.gid; }
     int namespace_flags() const { return namespaces_.flags; }
@@ -130,7 +132,15 @@
     bool process_cgroup_empty() const { return process_cgroup_empty_; }
     unsigned long start_order() const { return start_order_; }
     void set_sigstop(bool value) { sigstop_ = value; }
-    std::chrono::seconds restart_period() const { return restart_period_; }
+    std::chrono::seconds restart_period() const {
+        // If the service exited abnormally or due to timeout, late limit the restart even if
+        // restart_period is set to a very short value.
+        // If not, i.e. restart after a deliberate and successful exit, respect the period.
+        if (!was_last_exit_ok_) {
+            return std::max(restart_period_, default_restart_period_);
+        }
+        return restart_period_;
+    }
     std::optional<std::chrono::seconds> timeout_period() const { return timeout_period_; }
     const std::vector<std::string>& args() const { return args_; }
     bool is_updatable() const { return updatable_; }
@@ -172,6 +182,8 @@
     bool upgraded_mte_ = false;           // whether we upgraded async MTE -> sync MTE before
     std::chrono::minutes fatal_crash_window_ = 4min;  // fatal() when more than 4 crashes in it
     std::optional<std::string> fatal_reboot_target_;  // reboot target of fatal handler
+    bool was_last_exit_ok_ =
+            true;  // true if the service never exited, or exited with status code 0
 
     std::optional<CapSet> capabilities_;
     ProcessAttributes proc_attr_;
@@ -214,7 +226,8 @@
 
     bool sigstop_ = false;
 
-    std::chrono::seconds restart_period_ = 5s;
+    const std::chrono::seconds default_restart_period_ = 5s;
+    std::chrono::seconds restart_period_ = default_restart_period_;
     std::optional<std::chrono::seconds> timeout_period_;
 
     bool updatable_ = false;
diff --git a/init/service_parser.cpp b/init/service_parser.cpp
index d46e1f7..a1b2cc5 100644
--- a/init/service_parser.cpp
+++ b/init/service_parser.cpp
@@ -370,8 +370,8 @@
 
 Result<void> ServiceParser::ParseRestartPeriod(std::vector<std::string>&& args) {
     int period;
-    if (!ParseInt(args[1], &period, 5)) {
-        return Error() << "restart_period value must be an integer >= 5";
+    if (!ParseInt(args[1], &period, 0)) {
+        return Error() << "restart_period value must be an integer >= 0";
     }
     service_->restart_period_ = std::chrono::seconds(period);
     return {};
diff --git a/libmodprobe/libmodprobe.cpp b/libmodprobe/libmodprobe.cpp
index 1971f01..858b955 100644
--- a/libmodprobe/libmodprobe.cpp
+++ b/libmodprobe/libmodprobe.cpp
@@ -439,54 +439,58 @@
     return module_blocklist_.count(canonical_name) > 0;
 }
 
-// Another option to load kernel modules. load in independent modules in parallel
-// and then update dependency list of other remaining modules, repeat these steps
-// until all modules are loaded.
+// Another option to load kernel modules. load independent modules dependencies
+// in parallel and then update dependency list of other remaining modules,
+// repeat these steps until all modules are loaded.
+// Discard all blocklist.
+// Softdeps are taken care in InsmodWithDeps().
 bool Modprobe::LoadModulesParallel(int num_threads) {
     bool ret = true;
-    int count = -1;
-    std::map<std::string, std::set<std::string>> mod_with_deps;
+    std::unordered_map<std::string, std::vector<std::string>> mod_with_deps;
 
     // Get dependencies
     for (const auto& module : module_load_) {
+        // Skip blocklist modules
+        if (IsBlocklisted(module)) {
+            LOG(VERBOSE) << "LMP: Blocklist: Module " << module << " skipping...";
+            continue;
+        }
         auto dependencies = GetDependencies(MakeCanonical(module));
-
-        for (auto dep = dependencies.rbegin(); dep != dependencies.rend(); dep++) {
-            mod_with_deps[module].emplace(*dep);
+        if (dependencies.empty()) {
+            LOG(ERROR) << "LMP: Hard-dep: Module " << module
+                       << " not in .dep file";
+            return false;
         }
+        mod_with_deps[MakeCanonical(module)] = dependencies;
     }
 
-    // Get soft dependencies
-    for (const auto& [it_mod, it_softdep] : module_pre_softdep_) {
-        if (mod_with_deps.find(MakeCanonical(it_softdep)) != mod_with_deps.end()) {
-            mod_with_deps[MakeCanonical(it_mod)].emplace(
-                GetDependencies(MakeCanonical(it_softdep))[0]);
-        }
-    }
-
-    // Get soft post dependencies
-    for (const auto& [it_mod, it_softdep] : module_post_softdep_) {
-        if (mod_with_deps.find(MakeCanonical(it_softdep)) != mod_with_deps.end()) {
-            mod_with_deps[MakeCanonical(it_softdep)].emplace(
-                GetDependencies(MakeCanonical(it_mod))[0]);
-        }
-    }
-
-    while (!mod_with_deps.empty() &&  count != module_loaded_.size()) {
+    while (!mod_with_deps.empty()) {
         std::vector<std::thread> threads;
         std::vector<std::string> mods_path_to_load;
         std::mutex vector_lock;
-        count = module_loaded_.size();
 
         // Find independent modules
         for (const auto& [it_mod, it_dep] : mod_with_deps) {
-            if (it_dep.size() == 1) {
-                if (module_options_[it_mod].find("load_sequential=1") != std::string::npos) {
-                    if (!LoadWithAliases(it_mod, true) && !IsBlocklisted(it_mod)) {
-                      return false;
-                    }
-                } else {
-                    mods_path_to_load.emplace_back(it_mod);
+            auto itd_last = it_dep.rbegin();
+            if (itd_last == it_dep.rend())
+                continue;
+
+            auto cnd_last = MakeCanonical(*itd_last);
+            // Hard-dependencies cannot be blocklisted
+            if (IsBlocklisted(cnd_last)) {
+                LOG(ERROR) << "LMP: Blocklist: Module-dep " << cnd_last
+                           << " : failed to load module " << it_mod;
+                return false;
+            }
+
+            if (module_options_[cnd_last].find("load_sequential=1") != std::string::npos) {
+                if (!LoadWithAliases(cnd_last, true)) {
+                    return false;
+                }
+            } else {
+                if (std::find(mods_path_to_load.begin(), mods_path_to_load.end(),
+                            cnd_last) == mods_path_to_load.end()) {
+                    mods_path_to_load.emplace_back(cnd_last);
                 }
             }
         }
@@ -502,7 +506,7 @@
                 lk.unlock();
                 ret_load &= LoadWithAliases(mod_to_load, true);
                 lk.lock();
-                if (!ret_load && !IsBlocklisted(mod_to_load)) {
+                if (!ret_load) {
                     ret &= ret_load;
                 }
             }
@@ -521,13 +525,18 @@
         std::lock_guard guard(module_loaded_lock_);
         // Remove loaded module form mod_with_deps and soft dependencies of other modules
         for (const auto& module_loaded : module_loaded_) {
-            mod_with_deps.erase(module_loaded);
+            if (mod_with_deps.find(module_loaded) != mod_with_deps.end()) {
+                mod_with_deps.erase(module_loaded);
+            }
         }
 
         // Remove loaded module form dependencies of other modules which are not loaded yet
         for (const auto& module_loaded_path : module_loaded_paths_) {
             for (auto& [mod, deps] : mod_with_deps) {
-                deps.erase(module_loaded_path);
+                auto it = std::find(deps.begin(), deps.end(), module_loaded_path);
+                if (it != deps.end()) {
+                    deps.erase(it);
+                }
             }
         }
     }