diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index 85c7228f12..bf85da231c 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -300,7 +300,24 @@ const ConfigDeclaration kVehicleProperties[]{
                          .maxSampleRate = 10.0f,
                  },
          .initialValue = {.floatValues = {0.0f}}},
-
+        {.config =
+                 {
+                         .prop = toInt(VehicleProperty::PERF_STEERING_ANGLE),
+                         .access = VehiclePropertyAccess::READ,
+                         .changeMode = VehiclePropertyChangeMode::CONTINUOUS,
+                         .minSampleRate = 0.0f,
+                         .maxSampleRate = 10.0f,
+                 },
+         .initialValue = {.floatValues = {0.0f}}},
+        {.config =
+                 {
+                         .prop = toInt(VehicleProperty::PERF_REAR_STEERING_ANGLE),
+                         .access = VehiclePropertyAccess::READ,
+                         .changeMode = VehiclePropertyChangeMode::CONTINUOUS,
+                         .minSampleRate = 0.0f,
+                         .maxSampleRate = 10.0f,
+                 },
+         .initialValue = {.floatValues = {0.0f}}},
         {
                 .config =
                         {
diff --git a/automotive/vehicle/2.0/types.hal b/automotive/vehicle/2.0/types.hal
index 7e0aa25194..6145ea2710 100644
--- a/automotive/vehicle/2.0/types.hal
+++ b/automotive/vehicle/2.0/types.hal
@@ -362,7 +362,7 @@ enum VehicleProperty : int32_t {
         | VehicleArea:GLOBAL),
 
     /**
-     * Steering angle of the vehicle
+     * Front bicycle model steering angle for vehicle
      *
      * Angle is in degrees.  Left is negative.
      *
@@ -376,6 +376,21 @@ enum VehicleProperty : int32_t {
         | VehiclePropertyType:FLOAT
         | VehicleArea:GLOBAL),
 
+    /**
+     * Rear bicycle model steering angle for vehicle
+     *
+     * Angle is in degrees.  Left is negative.
+     *
+     * @change_mode VehiclePropertyChangeMode:CONTINUOUS
+     * @access VehiclePropertyAccess:READ
+     * @unit VehicleUnit:DEGREES
+     */
+    PERF_REAR_STEERING_ANGLE = (
+        0x0210
+        | VehiclePropertyGroup:SYSTEM
+        | VehiclePropertyType:FLOAT
+        | VehicleArea:GLOBAL),
+
     /**
      * Temperature of engine coolant
      *