diff --git a/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehiclePropertyStore.h b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehiclePropertyStore.h
index 6a02cf3cab..abbcd35f84 100644
--- a/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehiclePropertyStore.h
+++ b/automotive/vehicle/2.0/default/common/include/vhal_v2_0/VehiclePropertyStore.h
@@ -70,6 +70,16 @@ public:
      * example wasn't registered. */
     bool writeValue(const VehiclePropValue& propValue, bool updateStatus);
 
+    /*
+     * Stores provided value. Returns true if value was written returns false if config for
+     * example wasn't registered.
+     *
+     * The property value's timestamp will be set to the current ElapsedRealTimeNano.
+     */
+    bool writeValueWithCurrentTimestamp(VehiclePropValue* propValuePtr, bool updateStatus);
+
+    std::unique_ptr<VehiclePropValue> refreshTimestamp(int32_t propId, int32_t areaId);
+
     void removeValue(const VehiclePropValue& propValue);
     void removeValuesForProperty(int32_t propId);
 
@@ -94,6 +104,8 @@ private:
     std::unordered_map<int32_t /* VehicleProperty */, RecordConfig> mConfigs;
 
     PropertyMap mPropertyValues;  // Sorted map of RecordId : VehiclePropValue.
+
+    bool writeValueLocked(const VehiclePropValue& propValue, bool updateStatus);
 };
 
 }  // namespace V2_0
diff --git a/automotive/vehicle/2.0/default/common/src/VehiclePropertyStore.cpp b/automotive/vehicle/2.0/default/common/src/VehiclePropertyStore.cpp
index 6087bfa526..c12904ecbf 100644
--- a/automotive/vehicle/2.0/default/common/src/VehiclePropertyStore.cpp
+++ b/automotive/vehicle/2.0/default/common/src/VehiclePropertyStore.cpp
@@ -15,6 +15,7 @@
  */
 #define LOG_TAG "VehiclePropertyStore"
 #include <log/log.h>
+#include <utils/SystemClock.h>
 
 #include <common/include/vhal_v2_0/VehicleUtils.h>
 #include "VehiclePropertyStore.h"
@@ -41,9 +42,7 @@ void VehiclePropertyStore::registerProperty(const VehiclePropConfig& config,
     mConfigs.insert({ config.prop, RecordConfig { config, tokenFunc } });
 }
 
-bool VehiclePropertyStore::writeValue(const VehiclePropValue& propValue,
-                                        bool updateStatus) {
-    MuxGuard g(mLock);
+bool VehiclePropertyStore::writeValueLocked(const VehiclePropValue& propValue, bool updateStatus) {
     if (!mConfigs.count(propValue.prop)) return false;
 
     RecordId recId = getRecordIdLocked(propValue);
@@ -68,6 +67,36 @@ bool VehiclePropertyStore::writeValue(const VehiclePropValue& propValue,
     return true;
 }
 
+bool VehiclePropertyStore::writeValue(const VehiclePropValue& propValue, bool updateStatus) {
+    MuxGuard g(mLock);
+
+    return writeValueLocked(propValue, updateStatus);
+}
+
+bool VehiclePropertyStore::writeValueWithCurrentTimestamp(VehiclePropValue* propValuePtr,
+                                                          bool updateStatus) {
+    MuxGuard g(mLock);
+
+    propValuePtr->timestamp = elapsedRealtimeNano();
+    return writeValueLocked(*propValuePtr, updateStatus);
+}
+
+std::unique_ptr<VehiclePropValue> VehiclePropertyStore::refreshTimestamp(int32_t propId,
+                                                                         int32_t areaId) {
+    MuxGuard g(mLock);
+    RecordId recId = getRecordIdLocked(VehiclePropValue{
+            .prop = propId,
+            .areaId = areaId,
+    });
+    auto it = mPropertyValues.find(recId);
+    if (it == mPropertyValues.end()) {
+        return nullptr;
+    }
+
+    it->second.timestamp = elapsedRealtimeNano();
+    return std::make_unique<VehiclePropValue>(it->second);
+}
+
 void VehiclePropertyStore::removeValue(const VehiclePropValue& propValue) {
     MuxGuard g(mLock);
     RecordId recId = getRecordIdLocked(propValue);
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.cpp
index 318e9ddade..b56a1907c8 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.cpp
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultVehicleHal.cpp
@@ -57,12 +57,6 @@ const VehicleAreaConfig* getAreaConfig(const VehiclePropValue& propValue,
     return nullptr;
 }
 
-VehicleHal::VehiclePropValuePtr addTimestamp(VehicleHal::VehiclePropValuePtr v) {
-    if (v.get()) {
-        v->timestamp = elapsedRealtimeNano();
-    }
-    return v;
-}
 }  // namespace
 
 VehicleHal::VehiclePropValuePtr DefaultVehicleHal::createVhalHeartBeatProp() {
@@ -102,7 +96,7 @@ VehicleHal::VehiclePropValuePtr DefaultVehicleHal::getUserHalProp(
             *outStatus = StatusCode::INTERNAL_ERROR;
         }
     }
-    return addTimestamp(std::move(v));
+    return v;
 }
 
 VehicleHal::VehiclePropValuePtr DefaultVehicleHal::get(const VehiclePropValue& requestedPropValue,
@@ -118,13 +112,13 @@ VehicleHal::VehiclePropValuePtr DefaultVehicleHal::get(const VehiclePropValue& r
     if (propId == OBD2_FREEZE_FRAME) {
         v = getValuePool()->obtainComplex();
         *outStatus = fillObd2FreezeFrame(mPropStore, requestedPropValue, v.get());
-        return addTimestamp(std::move(v));
+        return v;
     }
 
     if (propId == OBD2_FREEZE_FRAME_INFO) {
         v = getValuePool()->obtainComplex();
         *outStatus = fillObd2DtcInfo(mPropStore, v.get());
-        return addTimestamp(std::move(v));
+        return v;
     }
 
     auto internalPropValue = mPropStore->readValueOrNull(requestedPropValue);
@@ -139,7 +133,7 @@ VehicleHal::VehiclePropValuePtr DefaultVehicleHal::get(const VehiclePropValue& r
     } else {
         *outStatus = StatusCode::TRY_AGAIN;
     }
-    return addTimestamp(std::move(v));
+    return v;
 }
 
 std::vector<VehiclePropConfig> DefaultVehicleHal::listProperties() {
@@ -486,26 +480,42 @@ VehicleHal::VehiclePropValuePtr DefaultVehicleHal::doInternalHealthCheck() {
 
 void DefaultVehicleHal::onContinuousPropertyTimer(const std::vector<int32_t>& properties) {
     auto& pool = *getValuePool();
-
     for (int32_t property : properties) {
-        VehiclePropValuePtr v;
+        std::vector<VehiclePropValuePtr> events;
         if (isContinuousProperty(property)) {
-            auto internalPropValue = mPropStore->readValueOrNull(property);
-            if (internalPropValue != nullptr) {
-                v = pool.obtain(*internalPropValue);
+            const VehiclePropConfig* config = mPropStore->getConfigOrNull(property);
+            std::vector<int32_t> areaIds;
+            if (isGlobalProp(property)) {
+                areaIds.push_back(0);
+            } else {
+                for (auto& c : config->areaConfigs) {
+                    areaIds.push_back(c.areaId);
+                }
+            }
+
+            for (int areaId : areaIds) {
+                auto v = pool.obtain(*mPropStore->refreshTimestamp(property, areaId));
+                if (v.get()) {
+                    events.push_back(std::move(v));
+                }
             }
         } else if (property == static_cast<int32_t>(VehicleProperty::VHAL_HEARTBEAT)) {
             // VHAL_HEARTBEAT is not a continuous value, but it needs to be updated periodically.
             // So, the update is done through onContinuousPropertyTimer.
-            v = doInternalHealthCheck();
+            auto v = doInternalHealthCheck();
+            if (!v.get()) {
+                // Internal health check failed.
+                continue;
+            }
+            mPropStore->writeValueWithCurrentTimestamp(v.get(), /*updateStatus=*/true);
+            events.push_back(std::move(v));
         } else {
             ALOGE("Unexpected onContinuousPropertyTimer for property: 0x%x", property);
             continue;
         }
 
-        if (v.get()) {
-            v->timestamp = elapsedRealtimeNano();
-            doHalEvent(std::move(v));
+        for (VehiclePropValuePtr& event : events) {
+            doHalEvent(std::move(event));
         }
     }
 }
@@ -556,7 +566,7 @@ bool DefaultVehicleHal::isContinuousProperty(int32_t propId) const {
 void DefaultVehicleHal::onPropertyValue(const VehiclePropValue& value, bool updateStatus) {
     VehiclePropValuePtr updatedPropValue = getValuePool()->obtain(value);
 
-    if (mPropStore->writeValue(*updatedPropValue, updateStatus)) {
+    if (mPropStore->writeValueWithCurrentTimestamp(updatedPropValue.get(), updateStatus)) {
         doHalEvent(std::move(updatedPropValue));
     }
 }
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/tests/DefaultVhalImpl_test.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/tests/DefaultVhalImpl_test.cpp
index ad3f4ac822..c876836783 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/tests/DefaultVhalImpl_test.cpp
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/tests/DefaultVhalImpl_test.cpp
@@ -81,8 +81,13 @@ using ::android::hardware::automotive::vehicle::V2_0::impl::OBD2_FREEZE_FRAME;
 using ::android::hardware::automotive::vehicle::V2_0::impl::OBD2_FREEZE_FRAME_CLEAR;
 using ::android::hardware::automotive::vehicle::V2_0::impl::OBD2_FREEZE_FRAME_INFO;
 using ::android::hardware::automotive::vehicle::V2_0::impl::OBD2_LIVE_FRAME;
+using ::android::hardware::automotive::vehicle::V2_0::impl::WHEEL_FRONT_LEFT;
+using ::android::hardware::automotive::vehicle::V2_0::impl::WHEEL_FRONT_RIGHT;
+using ::android::hardware::automotive::vehicle::V2_0::impl::WHEEL_REAR_LEFT;
+using ::android::hardware::automotive::vehicle::V2_0::impl::WHEEL_REAR_RIGHT;
 
 using ::testing::HasSubstr;
+using ::testing::UnorderedElementsAre;
 
 using VehiclePropValuePtr = recyclable_ptr<VehiclePropValue>;
 
@@ -346,6 +351,38 @@ TEST_F(DefaultVhalImplTest, testSubscribe) {
     EXPECT_EQ(1.0f, lastEvent->value.floatValues[0]);
 }
 
+TEST_F(DefaultVhalImplTest, testSubscribeContinuous_withMultipleAreaIds) {
+    // Clear existing events.
+    mEventQueue.flush();
+    int propId = toInt(VehicleProperty::TIRE_PRESSURE);
+
+    auto status = mHal->subscribe(propId, 1);
+
+    ASSERT_EQ(StatusCode::OK, status);
+
+    std::vector<VehiclePropValuePtr> receivedEvents;
+    // Wait for 2 updates, each for 4 area IDs.
+    waitForEvents(&receivedEvents, 4 * 2);
+
+    std::vector<int> areasForUpdate1;
+    std::vector<int> areasForUpdate2;
+
+    for (size_t i = 0; i < receivedEvents.size(); i++) {
+        ASSERT_EQ(receivedEvents[i]->prop, propId);
+
+        if (i < 4) {
+            areasForUpdate1.push_back(receivedEvents[i]->areaId);
+        } else {
+            areasForUpdate2.push_back(receivedEvents[i]->areaId);
+        }
+    }
+
+    ASSERT_THAT(areasForUpdate1, UnorderedElementsAre(WHEEL_FRONT_LEFT, WHEEL_FRONT_RIGHT,
+                                                      WHEEL_REAR_LEFT, WHEEL_REAR_RIGHT));
+    ASSERT_THAT(areasForUpdate2, UnorderedElementsAre(WHEEL_FRONT_LEFT, WHEEL_FRONT_RIGHT,
+                                                      WHEEL_REAR_LEFT, WHEEL_REAR_RIGHT));
+}
+
 TEST_F(DefaultVhalImplTest, testSubscribeInvalidProp) {
     EXPECT_EQ(StatusCode::INVALID_ARG, mHal->subscribe(toInt(VehicleProperty::INFO_MAKE), 10));
 }
@@ -1318,7 +1355,6 @@ TEST_F(DefaultVhalImplTest, testDebugSetInt) {
     ASSERT_EQ((size_t)1, events.size());
     ASSERT_EQ((size_t)1, events[0]->value.int32Values.size());
     EXPECT_EQ(2022, events[0]->value.int32Values[0]);
-    EXPECT_EQ(1000, events[0]->timestamp);
 
     VehiclePropValue value;
     StatusCode status;
@@ -1352,7 +1388,6 @@ TEST_F(DefaultVhalImplTest, testDebugSetBool) {
     ASSERT_EQ((size_t)1, events.size());
     EXPECT_EQ(0, events[0]->value.int32Values[0]);
     EXPECT_EQ(DOOR_1_LEFT, events[0]->areaId);
-    EXPECT_EQ(1000, events[0]->timestamp);
 
     VehiclePropValue value;
     StatusCode status;
@@ -1391,7 +1426,6 @@ TEST_F(DefaultVhalImplTest, testDebugSetFloat) {
     ASSERT_EQ((size_t)1, events.size());
     ASSERT_EQ((size_t)1, events[0]->value.floatValues.size());
     EXPECT_EQ(10.5, events[0]->value.floatValues[0]);
-    EXPECT_EQ(1000, events[0]->timestamp);
 
     VehiclePropValue value;
     StatusCode status;
diff --git a/automotive/vehicle/aidl/impl/utils/common/include/RecurrentTimer.h b/automotive/vehicle/aidl/impl/utils/common/include/RecurrentTimer.h
index cd2b72713c..712359a885 100644
--- a/automotive/vehicle/aidl/impl/utils/common/include/RecurrentTimer.h
+++ b/automotive/vehicle/aidl/impl/utils/common/include/RecurrentTimer.h
@@ -19,6 +19,8 @@
 
 #include <android-base/thread_annotations.h>
 
+#include <utils/Looper.h>
+#include <atomic>
 #include <memory>
 #include <mutex>
 #include <queue>
@@ -31,6 +33,9 @@ namespace hardware {
 namespace automotive {
 namespace vehicle {
 
+// Forward declaration
+class RecurrentMessageHandler;
+
 // A thread-safe recurrent timer.
 class RecurrentTimer final {
   public:
@@ -43,49 +48,44 @@ class RecurrentTimer final {
 
     // Registers a recurrent callback for a given interval.
     // Registering the same callback twice will override the interval provided before.
-    void registerTimerCallback(int64_t intervalInNano, std::shared_ptr<Callback> callback);
+    void registerTimerCallback(int64_t intervalInNanos, std::shared_ptr<Callback> callback);
 
     // Unregisters a previously registered recurrent callback.
     void unregisterTimerCallback(std::shared_ptr<Callback> callback);
 
   private:
-    // friend class for unit testing.
+    friend class RecurrentMessageHandler;
+
+    // For unit test
     friend class RecurrentTimerTest;
 
     struct CallbackInfo {
         std::shared_ptr<Callback> callback;
-        int64_t interval;
-        int64_t nextTime;
-        // A flag to indicate whether this CallbackInfo is already outdated and should be ignored.
-        // The reason we need this flag is because we cannot easily remove an element from a heap.
-        bool outdated = false;
-
-        static bool cmp(const std::unique_ptr<CallbackInfo>& lhs,
-                        const std::unique_ptr<CallbackInfo>& rhs);
+        int64_t intervalInNanos;
+        int64_t nextTimeInNanos;
     };
 
+    android::sp<Looper> mLooper;
+    android::sp<RecurrentMessageHandler> mHandler;
+
+    std::atomic<bool> mStopRequested = false;
+    std::atomic<int> mCallbackId = 0;
     std::mutex mLock;
     std::thread mThread;
-    std::condition_variable mCond;
-    bool mStopRequested GUARDED_BY(mLock) = false;
-    // A map to map each callback to its current active CallbackInfo in the mCallbackQueue.
-    std::unordered_map<std::shared_ptr<Callback>, CallbackInfo*> mCallbacks GUARDED_BY(mLock);
-    // A min-heap sorted by nextTime. Note that because we cannot remove arbitrary element from the
-    // heap, a single Callback can have multiple entries in this queue, all but one should be valid.
-    // The rest should be mark as outdated. The valid one is one stored in mCallbacks.
-    std::vector<std::unique_ptr<CallbackInfo>> mCallbackQueue GUARDED_BY(mLock);
+    std::unordered_map<std::shared_ptr<Callback>, int> mIdByCallback GUARDED_BY(mLock);
+    std::unordered_map<int, std::unique_ptr<CallbackInfo>> mCallbackInfoById GUARDED_BY(mLock);
 
-    void loop();
+    void handleMessage(const android::Message& message) EXCLUDES(mLock);
+    int getCallbackIdLocked(std::shared_ptr<Callback> callback) REQUIRES(mLock);
+};
 
-    // Mark the callbackInfo as outdated and should be ignored when popped from the heap.
-    void markOutdatedLocked(CallbackInfo* callback) REQUIRES(mLock);
-    // Remove all outdated callbackInfos from the top of the heap. This function must be called
-    // each time we might introduce outdated elements to the top. We must make sure the heap is
-    // always valid from the top.
-    void removeInvalidCallbackLocked() REQUIRES(mLock);
-    // Gets the next calblack to run (must be valid) from the heap, update its nextTime and put
-    // it back to the heap.
-    std::shared_ptr<Callback> getNextCallbackLocked(int64_t now) REQUIRES(mLock);
+class RecurrentMessageHandler final : public android::MessageHandler {
+  public:
+    RecurrentMessageHandler(RecurrentTimer* timer) { mTimer = timer; }
+    void handleMessage(const android::Message& message) override;
+
+  private:
+    RecurrentTimer* mTimer;
 };
 
 }  // namespace vehicle
diff --git a/automotive/vehicle/aidl/impl/utils/common/src/RecurrentTimer.cpp b/automotive/vehicle/aidl/impl/utils/common/src/RecurrentTimer.cpp
index c6d3687553..8dec695df1 100644
--- a/automotive/vehicle/aidl/impl/utils/common/src/RecurrentTimer.cpp
+++ b/automotive/vehicle/aidl/impl/utils/common/src/RecurrentTimer.cpp
@@ -17,6 +17,7 @@
 #include "RecurrentTimer.h"
 
 #include <utils/Log.h>
+#include <utils/Looper.h>
 #include <utils/SystemClock.h>
 
 #include <inttypes.h>
@@ -27,153 +28,119 @@ namespace hardware {
 namespace automotive {
 namespace vehicle {
 
+namespace {
+
 using ::android::base::ScopedLockAssertion;
 
+constexpr int INVALID_ID = -1;
+
+}  // namespace
+
 RecurrentTimer::RecurrentTimer() {
-    mThread = std::thread(&RecurrentTimer::loop, this);
+    mHandler = sp<RecurrentMessageHandler>::make(this);
+    mLooper = sp<Looper>::make(/*allowNonCallbacks=*/false);
+    mThread = std::thread([this] {
+        Looper::setForThread(mLooper);
+
+        while (!mStopRequested) {
+            mLooper->pollOnce(/*timeoutMillis=*/-1);
+        }
+    });
 }
 
 RecurrentTimer::~RecurrentTimer() {
-    {
-        std::scoped_lock<std::mutex> lockGuard(mLock);
-        mStopRequested = true;
-    }
-    mCond.notify_one();
+    mStopRequested = true;
+    mLooper->removeMessages(mHandler);
+    mLooper->wake();
     if (mThread.joinable()) {
         mThread.join();
     }
 }
 
-void RecurrentTimer::registerTimerCallback(int64_t intervalInNano,
+int RecurrentTimer::getCallbackIdLocked(std::shared_ptr<RecurrentTimer::Callback> callback) {
+    const auto& it = mIdByCallback.find(callback);
+    if (it != mIdByCallback.end()) {
+        return it->second;
+    }
+    return INVALID_ID;
+}
+
+void RecurrentTimer::registerTimerCallback(int64_t intervalInNanos,
                                            std::shared_ptr<RecurrentTimer::Callback> callback) {
     {
         std::scoped_lock<std::mutex> lockGuard(mLock);
 
+        int callbackId = getCallbackIdLocked(callback);
+
+        if (callbackId == INVALID_ID) {
+            callbackId = mCallbackId++;
+            mIdByCallback.insert({callback, callbackId});
+        } else {
+            ALOGI("Replacing an existing timer callback with a new interval, current: %" PRId64
+                  " ns, new: %" PRId64 " ns",
+                  mCallbackInfoById[callbackId]->intervalInNanos, intervalInNanos);
+            mLooper->removeMessages(mHandler, callbackId);
+        }
+
         // Aligns the nextTime to multiply of interval.
-        int64_t nextTime = ceil(uptimeNanos() / intervalInNano) * intervalInNano;
+        int64_t nextTimeInNanos = ceil(uptimeNanos() / intervalInNanos) * intervalInNanos;
 
         std::unique_ptr<CallbackInfo> info = std::make_unique<CallbackInfo>();
         info->callback = callback;
-        info->interval = intervalInNano;
-        info->nextTime = nextTime;
+        info->intervalInNanos = intervalInNanos;
+        info->nextTimeInNanos = nextTimeInNanos;
+        mCallbackInfoById.insert({callbackId, std::move(info)});
 
-        auto it = mCallbacks.find(callback);
-        if (it != mCallbacks.end()) {
-            ALOGI("Replacing an existing timer callback with a new interval, current: %" PRId64
-                  " ns, new: %" PRId64 " ns",
-                  it->second->interval, intervalInNano);
-            markOutdatedLocked(it->second);
-        }
-        mCallbacks[callback] = info.get();
-        mCallbackQueue.push_back(std::move(info));
-        // Insert the last element into the heap.
-        std::push_heap(mCallbackQueue.begin(), mCallbackQueue.end(), CallbackInfo::cmp);
+        mLooper->sendMessageAtTime(nextTimeInNanos, mHandler, Message(callbackId));
     }
-    mCond.notify_one();
 }
 
 void RecurrentTimer::unregisterTimerCallback(std::shared_ptr<RecurrentTimer::Callback> callback) {
     {
         std::scoped_lock<std::mutex> lockGuard(mLock);
 
-        auto it = mCallbacks.find(callback);
-        if (it == mCallbacks.end()) {
+        int callbackId = getCallbackIdLocked(callback);
+
+        if (callbackId == INVALID_ID) {
             ALOGE("No event found to unregister");
             return;
         }
 
-        markOutdatedLocked(it->second);
-        mCallbacks.erase(it);
-    }
-
-    mCond.notify_one();
-}
-
-void RecurrentTimer::markOutdatedLocked(RecurrentTimer::CallbackInfo* info) {
-    info->outdated = true;
-    info->callback = nullptr;
-    // Make sure the first element is always valid.
-    removeInvalidCallbackLocked();
-}
-
-void RecurrentTimer::removeInvalidCallbackLocked() {
-    while (mCallbackQueue.size() != 0 && mCallbackQueue[0]->outdated) {
-        std::pop_heap(mCallbackQueue.begin(), mCallbackQueue.end(), CallbackInfo::cmp);
-        mCallbackQueue.pop_back();
+        mLooper->removeMessages(mHandler, callbackId);
+        mCallbackInfoById.erase(callbackId);
+        mIdByCallback.erase(callback);
     }
 }
 
-std::shared_ptr<RecurrentTimer::Callback> RecurrentTimer::getNextCallbackLocked(int64_t now) {
-    std::pop_heap(mCallbackQueue.begin(), mCallbackQueue.end(), CallbackInfo::cmp);
-    auto& callbackInfo = mCallbackQueue[mCallbackQueue.size() - 1];
-    auto nextCallback = callbackInfo->callback;
-    // intervalCount is the number of interval we have to advance until we pass now.
-    size_t intervalCount = (now - callbackInfo->nextTime) / callbackInfo->interval + 1;
-    callbackInfo->nextTime += intervalCount * callbackInfo->interval;
-    std::push_heap(mCallbackQueue.begin(), mCallbackQueue.end(), CallbackInfo::cmp);
+void RecurrentTimer::handleMessage(const Message& message) {
+    std::shared_ptr<RecurrentTimer::Callback> callback;
+    {
+        std::scoped_lock<std::mutex> lockGuard(mLock);
 
-    // Make sure the first element is always valid.
-    removeInvalidCallbackLocked();
+        int callbackId = message.what;
 
-    return nextCallback;
-}
-
-void RecurrentTimer::loop() {
-    std::vector<std::shared_ptr<Callback>> callbacksToRun;
-    while (true) {
-        {
-            std::unique_lock<std::mutex> uniqueLock(mLock);
-            ScopedLockAssertion lockAssertion(mLock);
-            // Wait until the timer exits or we have at least one recurrent callback.
-            mCond.wait(uniqueLock, [this] {
-                ScopedLockAssertion lockAssertion(mLock);
-                return mStopRequested || mCallbackQueue.size() != 0;
-            });
-
-            int64_t interval;
-            if (mStopRequested) {
-                return;
-            }
-            // The first element is the nearest next event.
-            int64_t nextTime = mCallbackQueue[0]->nextTime;
-            int64_t now = uptimeNanos();
-
-            if (nextTime > now) {
-                interval = nextTime - now;
-            } else {
-                interval = 0;
-            }
-
-            // Wait for the next event or the timer exits.
-            if (mCond.wait_for(uniqueLock, std::chrono::nanoseconds(interval), [this] {
-                    ScopedLockAssertion lockAssertion(mLock);
-                    return mStopRequested;
-                })) {
-                return;
-            }
-
-            now = uptimeNanos();
-            callbacksToRun.clear();
-            while (mCallbackQueue.size() > 0) {
-                int64_t nextTime = mCallbackQueue[0]->nextTime;
-                if (nextTime > now) {
-                    break;
-                }
-
-                callbacksToRun.push_back(getNextCallbackLocked(now));
-            }
+        auto it = mCallbackInfoById.find(callbackId);
+        if (it == mCallbackInfoById.end()) {
+            ALOGW("The event for callback ID: %d is outdated, ignore", callbackId);
+            return;
         }
 
-        // Do not execute the callback while holding the lock.
-        for (size_t i = 0; i < callbacksToRun.size(); i++) {
-            (*callbacksToRun[i])();
-        }
+        CallbackInfo* callbackInfo = it->second.get();
+        callback = callbackInfo->callback;
+        int64_t nowNanos = uptimeNanos();
+        // intervalCount is the number of interval we have to advance until we pass now.
+        size_t intervalCount =
+                (nowNanos - callbackInfo->nextTimeInNanos) / callbackInfo->intervalInNanos + 1;
+        callbackInfo->nextTimeInNanos += intervalCount * callbackInfo->intervalInNanos;
+
+        mLooper->sendMessageAtTime(callbackInfo->nextTimeInNanos, mHandler, Message(callbackId));
     }
+
+    (*callback)();
 }
 
-bool RecurrentTimer::CallbackInfo::cmp(const std::unique_ptr<RecurrentTimer::CallbackInfo>& lhs,
-                                       const std::unique_ptr<RecurrentTimer::CallbackInfo>& rhs) {
-    return lhs->nextTime > rhs->nextTime;
+void RecurrentMessageHandler::handleMessage(const Message& message) {
+    mTimer->handleMessage(message);
 }
 
 }  // namespace vehicle
diff --git a/automotive/vehicle/aidl/impl/utils/common/test/RecurrentTimerTest.cpp b/automotive/vehicle/aidl/impl/utils/common/test/RecurrentTimerTest.cpp
index 62046f38dc..e8ac2a5b38 100644
--- a/automotive/vehicle/aidl/impl/utils/common/test/RecurrentTimerTest.cpp
+++ b/automotive/vehicle/aidl/impl/utils/common/test/RecurrentTimerTest.cpp
@@ -60,9 +60,14 @@ class RecurrentTimerTest : public testing::Test {
         mCallbacks.clear();
     }
 
-    size_t countTimerCallbackQueue(RecurrentTimer* timer) {
+    size_t countCallbackInfoById(RecurrentTimer* timer) {
         std::scoped_lock<std::mutex> lockGuard(timer->mLock);
-        return timer->mCallbackQueue.size();
+        return timer->mCallbackInfoById.size();
+    }
+
+    size_t countIdByCallback(RecurrentTimer* timer) {
+        std::scoped_lock<std::mutex> lockGuard(timer->mLock);
+        return timer->mIdByCallback.size();
     }
 
   private:
@@ -109,6 +114,9 @@ TEST_F(RecurrentTimerTest, testRegisterUnregisterRegister) {
             << "Not enough callbacks called before timeout";
 
     timer.unregisterTimerCallback(action);
+
+    ASSERT_EQ(countCallbackInfoById(&timer), 0u);
+    ASSERT_EQ(countIdByCallback(&timer), 0u);
 }
 
 TEST_F(RecurrentTimerTest, testDestroyTimerWithCallback) {
@@ -198,8 +206,8 @@ TEST_F(RecurrentTimerTest, testRegisterSameCallbackMultipleTimes) {
 
     timer.unregisterTimerCallback(action);
 
-    // Make sure there is no item in the callback queue.
-    ASSERT_EQ(countTimerCallbackQueue(&timer), static_cast<size_t>(0));
+    ASSERT_EQ(countCallbackInfoById(&timer), 0u);
+    ASSERT_EQ(countIdByCallback(&timer), 0u);
 }
 
 TEST_F(RecurrentTimerTest, testRegisterCallbackMultipleTimesNoDeadLock) {
diff --git a/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp b/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
index 63964efa54..a63cb846eb 100644
--- a/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
+++ b/automotive/vehicle/aidl/impl/vhal/test/DefaultVehicleHalTest.cpp
@@ -59,6 +59,7 @@ using ::aidl::android::hardware::automotive::vehicle::SetValueResult;
 using ::aidl::android::hardware::automotive::vehicle::SetValueResults;
 using ::aidl::android::hardware::automotive::vehicle::StatusCode;
 using ::aidl::android::hardware::automotive::vehicle::SubscribeOptions;
+using ::aidl::android::hardware::automotive::vehicle::VehicleAreaConfig;
 using ::aidl::android::hardware::automotive::vehicle::VehicleAreaWindow;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfig;
 using ::aidl::android::hardware::automotive::vehicle::VehiclePropConfigs;