diff --git a/automotive/vehicle/aidl/impl/grpc/Android.bp b/automotive/vehicle/aidl/impl/grpc/Android.bp
index e8f0970c4d..06c9600100 100644
--- a/automotive/vehicle/aidl/impl/grpc/Android.bp
+++ b/automotive/vehicle/aidl/impl/grpc/Android.bp
@@ -100,3 +100,27 @@ cc_library_static {
         "-Wno-unused-parameter",
     ],
 }
+
+cc_library_static {
+    name: "android.hardware.automotive.vehicle@default-grpc-server-lib",
+    defaults: ["VehicleHalDefaults"],
+    vendor: true,
+    srcs: [
+        "GRPCVehicleProxyServer.cpp",
+    ],
+    whole_static_libs: [
+        "android.hardware.automotive.vehicle@default-grpc-libgrpc",
+        "VehicleHalProtoMessageConverter",
+    ],
+    header_libs: [
+        "IVehicleHardware",
+    ],
+    shared_libs: [
+        "libgrpc++",
+        "libprotobuf-cpp-full",
+    ],
+    export_include_dirs: ["."],
+    cflags: [
+        "-Wno-unused-parameter",
+    ],
+}
diff --git a/automotive/vehicle/aidl/impl/grpc/GRPCVehicleHardware.cpp b/automotive/vehicle/aidl/impl/grpc/GRPCVehicleHardware.cpp
index 015157d425..07422835d2 100644
--- a/automotive/vehicle/aidl/impl/grpc/GRPCVehicleHardware.cpp
+++ b/automotive/vehicle/aidl/impl/grpc/GRPCVehicleHardware.cpp
@@ -152,21 +152,49 @@ void GRPCVehicleHardware::registerOnPropertySetErrorEvent(
     mOnSetErr = std::move(callback);
 }
 
-DumpResult GRPCVehicleHardware::dump(const std::vector<std::string>& /* options */) {
-    // TODO(chenhaosjtuacm): To be implemented.
-    return {};
+DumpResult GRPCVehicleHardware::dump(const std::vector<std::string>& options) {
+    ::grpc::ClientContext context;
+    proto::DumpOptions protoDumpOptions;
+    proto::DumpResult protoDumpResult;
+    for (const auto& option : options) {
+        protoDumpOptions.add_options(option);
+    }
+    auto grpc_status = mGrpcStub->Dump(&context, protoDumpOptions, &protoDumpResult);
+    if (!grpc_status.ok()) {
+        LOG(ERROR) << __func__ << ": GRPC Dump Failed: " << grpc_status.error_message();
+        return {};
+    }
+    return {
+            .callerShouldDumpState = protoDumpResult.caller_should_dump_state(),
+            .buffer = protoDumpResult.buffer(),
+    };
 }
 
 aidlvhal::StatusCode GRPCVehicleHardware::checkHealth() {
-    // TODO(chenhaosjtuacm): To be implemented.
-    return aidlvhal::StatusCode::OK;
+    ::grpc::ClientContext context;
+    proto::VehicleHalCallStatus protoStatus;
+    auto grpc_status = mGrpcStub->CheckHealth(&context, ::google::protobuf::Empty(), &protoStatus);
+    if (!grpc_status.ok()) {
+        LOG(ERROR) << __func__ << ": GRPC CheckHealth Failed: " << grpc_status.error_message();
+        return aidlvhal::StatusCode::INTERNAL_ERROR;
+    }
+    return static_cast<aidlvhal::StatusCode>(protoStatus.status_code());
 }
 
-aidlvhal::StatusCode GRPCVehicleHardware::updateSampleRate(int32_t /* propId */,
-                                                           int32_t /* areaId */,
-                                                           float /* sampleRate */) {
-    // TODO(chenhaosjtuacm): To be implemented.
-    return aidlvhal::StatusCode::OK;
+aidlvhal::StatusCode GRPCVehicleHardware::updateSampleRate(int32_t propId, int32_t areaId,
+                                                           float sampleRate) {
+    ::grpc::ClientContext context;
+    proto::UpdateSampleRateRequest request;
+    proto::VehicleHalCallStatus protoStatus;
+    request.set_prop(propId);
+    request.set_area_id(areaId);
+    request.set_sample_rate(sampleRate);
+    auto grpc_status = mGrpcStub->UpdateSampleRate(&context, request, &protoStatus);
+    if (!grpc_status.ok()) {
+        LOG(ERROR) << __func__ << ": GRPC UpdateSampleRate Failed: " << grpc_status.error_message();
+        return aidlvhal::StatusCode::INTERNAL_ERROR;
+    }
+    return static_cast<aidlvhal::StatusCode>(protoStatus.status_code());
 }
 
 bool GRPCVehicleHardware::waitForConnected(std::chrono::milliseconds waitTime) {
diff --git a/automotive/vehicle/aidl/impl/grpc/GRPCVehicleProxyServer.cpp b/automotive/vehicle/aidl/impl/grpc/GRPCVehicleProxyServer.cpp
new file mode 100644
index 0000000000..af3dd595a1
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/grpc/GRPCVehicleProxyServer.cpp
@@ -0,0 +1,296 @@
+/*
+ * Copyright (C) 2023 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "GRPCVehicleProxyServer.h"
+
+#include "ProtoMessageConverter.h"
+
+#include <grpc++/grpc++.h>
+
+#include <android-base/logging.h>
+
+#include <algorithm>
+#include <condition_variable>
+#include <mutex>
+#include <unordered_set>
+#include <utility>
+#include <vector>
+
+namespace android::hardware::automotive::vehicle::virtualization {
+
+std::atomic<uint64_t> GrpcVehicleProxyServer::ConnectionDescriptor::connection_id_counter_{0};
+
+static std::shared_ptr<::grpc::ServerCredentials> getServerCredentials() {
+    // TODO(chenhaosjtuacm): get secured credentials here
+    return ::grpc::InsecureServerCredentials();
+}
+
+GrpcVehicleProxyServer::GrpcVehicleProxyServer(std::string serverAddr,
+                                               std::unique_ptr<IVehicleHardware>&& hardware)
+    : mServiceAddr(std::move(serverAddr)), mHardware(std::move(hardware)) {
+    mHardware->registerOnPropertyChangeEvent(
+            std::make_unique<const IVehicleHardware::PropertyChangeCallback>(
+                    [this](std::vector<aidlvhal::VehiclePropValue> values) {
+                        OnVehiclePropChange(values);
+                    }));
+}
+
+::grpc::Status GrpcVehicleProxyServer::GetAllPropertyConfig(
+        ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+        ::grpc::ServerWriter<proto::VehiclePropConfig>* stream) {
+    for (const auto& config : mHardware->getAllPropertyConfigs()) {
+        proto::VehiclePropConfig protoConfig;
+        proto_msg_converter::aidlToProto(config, &protoConfig);
+        if (!stream->Write(protoConfig)) {
+            return ::grpc::Status(::grpc::StatusCode::ABORTED, "Connection lost.");
+        }
+    }
+    return ::grpc::Status::OK;
+}
+
+::grpc::Status GrpcVehicleProxyServer::SetValues(::grpc::ServerContext* context,
+                                                 const proto::VehiclePropValueRequests* requests,
+                                                 proto::SetValueResults* results) {
+    std::vector<aidlvhal::SetValueRequest> aidlRequests;
+    for (const auto& protoRequest : requests->requests()) {
+        auto& aidlRequest = aidlRequests.emplace_back();
+        aidlRequest.requestId = protoRequest.request_id();
+        proto_msg_converter::protoToAidl(protoRequest.value(), &aidlRequest.value);
+    }
+    auto waitMtx = std::make_shared<std::mutex>();
+    auto waitCV = std::make_shared<std::condition_variable>();
+    auto complete = std::make_shared<bool>(false);
+    auto tmpResults = std::make_shared<proto::SetValueResults>();
+    auto aidlStatus = mHardware->setValues(
+            std::make_shared<const IVehicleHardware::SetValuesCallback>(
+                    [waitMtx, waitCV, complete,
+                     tmpResults](std::vector<aidlvhal::SetValueResult> setValueResults) {
+                        for (const auto& aidlResult : setValueResults) {
+                            auto& protoResult = *tmpResults->add_results();
+                            protoResult.set_request_id(aidlResult.requestId);
+                            protoResult.set_status(
+                                    static_cast<proto::StatusCode>(aidlResult.status));
+                        }
+                        {
+                            std::lock_guard lck(*waitMtx);
+                            *complete = true;
+                        }
+                        waitCV->notify_all();
+                    }),
+            aidlRequests);
+    if (aidlStatus != aidlvhal::StatusCode::OK) {
+        return ::grpc::Status(::grpc::StatusCode::INTERNAL,
+                              "The underlying hardware fails to set values, VHAL status: " +
+                                      toString(aidlStatus));
+    }
+    std::unique_lock lck(*waitMtx);
+    bool success = waitCV->wait_for(lck, kHardwareOpTimeout, [complete] { return *complete; });
+    if (!success) {
+        return ::grpc::Status(::grpc::StatusCode::INTERNAL,
+                              "The underlying hardware set values timeout.");
+    }
+    *results = std::move(*tmpResults);
+    return ::grpc::Status::OK;
+}
+
+::grpc::Status GrpcVehicleProxyServer::GetValues(::grpc::ServerContext* context,
+                                                 const proto::VehiclePropValueRequests* requests,
+                                                 proto::GetValueResults* results) {
+    std::vector<aidlvhal::GetValueRequest> aidlRequests;
+    for (const auto& protoRequest : requests->requests()) {
+        auto& aidlRequest = aidlRequests.emplace_back();
+        aidlRequest.requestId = protoRequest.request_id();
+        proto_msg_converter::protoToAidl(protoRequest.value(), &aidlRequest.prop);
+    }
+    auto waitMtx = std::make_shared<std::mutex>();
+    auto waitCV = std::make_shared<std::condition_variable>();
+    auto complete = std::make_shared<bool>(false);
+    auto tmpResults = std::make_shared<proto::GetValueResults>();
+    auto aidlStatus = mHardware->getValues(
+            std::make_shared<const IVehicleHardware::GetValuesCallback>(
+                    [waitMtx, waitCV, complete,
+                     tmpResults](std::vector<aidlvhal::GetValueResult> getValueResults) {
+                        for (const auto& aidlResult : getValueResults) {
+                            auto& protoResult = *tmpResults->add_results();
+                            protoResult.set_request_id(aidlResult.requestId);
+                            protoResult.set_status(
+                                    static_cast<proto::StatusCode>(aidlResult.status));
+                            if (aidlResult.prop) {
+                                auto* valuePtr = protoResult.mutable_value();
+                                proto_msg_converter::aidlToProto(*aidlResult.prop, valuePtr);
+                            }
+                        }
+                        {
+                            std::lock_guard lck(*waitMtx);
+                            *complete = true;
+                        }
+                        waitCV->notify_all();
+                    }),
+            aidlRequests);
+    if (aidlStatus != aidlvhal::StatusCode::OK) {
+        return ::grpc::Status(::grpc::StatusCode::INTERNAL,
+                              "The underlying hardware fails to get values, VHAL status: " +
+                                      toString(aidlStatus));
+    }
+    std::unique_lock lck(*waitMtx);
+    bool success = waitCV->wait_for(lck, kHardwareOpTimeout, [complete] { return *complete; });
+    if (!success) {
+        return ::grpc::Status(::grpc::StatusCode::INTERNAL,
+                              "The underlying hardware get values timeout.");
+    }
+    *results = std::move(*tmpResults);
+    return ::grpc::Status::OK;
+}
+
+::grpc::Status GrpcVehicleProxyServer::UpdateSampleRate(
+        ::grpc::ServerContext* context, const proto::UpdateSampleRateRequest* request,
+        proto::VehicleHalCallStatus* status) {
+    const auto status_code = mHardware->updateSampleRate(request->prop(), request->area_id(),
+                                                         request->sample_rate());
+    status->set_status_code(static_cast<proto::StatusCode>(status_code));
+    return ::grpc::Status::OK;
+}
+
+::grpc::Status GrpcVehicleProxyServer::CheckHealth(::grpc::ServerContext* context,
+                                                   const ::google::protobuf::Empty*,
+                                                   proto::VehicleHalCallStatus* status) {
+    status->set_status_code(static_cast<proto::StatusCode>(mHardware->checkHealth()));
+    return ::grpc::Status::OK;
+}
+
+::grpc::Status GrpcVehicleProxyServer::Dump(::grpc::ServerContext* context,
+                                            const proto::DumpOptions* options,
+                                            proto::DumpResult* result) {
+    std::vector<std::string> dumpOptionStrings(options->options().begin(),
+                                               options->options().end());
+    auto dumpResult = mHardware->dump(dumpOptionStrings);
+    result->set_caller_should_dump_state(dumpResult.callerShouldDumpState);
+    result->set_buffer(dumpResult.buffer);
+    return ::grpc::Status::OK;
+}
+
+::grpc::Status GrpcVehicleProxyServer::StartPropertyValuesStream(
+        ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+        ::grpc::ServerWriter<proto::VehiclePropValues>* stream) {
+    auto conn = std::make_shared<ConnectionDescriptor>(stream);
+    {
+        std::lock_guard lck(mConnectionMutex);
+        mValueStreamingConnections.push_back(conn);
+    }
+    conn->Wait();
+    LOG(ERROR) << __func__ << ": Stream lost, ID : " << conn->ID();
+    return ::grpc::Status(::grpc::StatusCode::ABORTED, "Connection lost.");
+}
+
+void GrpcVehicleProxyServer::OnVehiclePropChange(
+        const std::vector<aidlvhal::VehiclePropValue>& values) {
+    std::unordered_set<uint64_t> brokenConn;
+    proto::VehiclePropValues protoValues;
+    for (const auto& value : values) {
+        auto* protoValuePtr = protoValues.add_values();
+        proto_msg_converter::aidlToProto(value, protoValuePtr);
+    }
+    {
+        std::shared_lock read_lock(mConnectionMutex);
+        for (auto& connection : mValueStreamingConnections) {
+            auto writeOK = connection->Write(protoValues);
+            if (!writeOK) {
+                LOG(ERROR) << __func__
+                           << ": Server Write failed, connection lost. ID: " << connection->ID();
+                brokenConn.insert(connection->ID());
+            }
+        }
+    }
+    if (brokenConn.empty()) {
+        return;
+    }
+    std::unique_lock write_lock(mConnectionMutex);
+    mValueStreamingConnections.erase(
+            std::remove_if(mValueStreamingConnections.begin(), mValueStreamingConnections.end(),
+                           [&brokenConn](const auto& conn) {
+                               return brokenConn.find(conn->ID()) != brokenConn.end();
+                           }),
+            mValueStreamingConnections.end());
+}
+
+GrpcVehicleProxyServer& GrpcVehicleProxyServer::Start() {
+    if (mServer) {
+        LOG(WARNING) << __func__ << ": GrpcVehicleProxyServer has already started.";
+        return *this;
+    }
+    ::grpc::ServerBuilder builder;
+    builder.RegisterService(this);
+    builder.AddListeningPort(mServiceAddr, getServerCredentials());
+    mServer = builder.BuildAndStart();
+    CHECK(mServer) << __func__ << ": failed to create the GRPC server, "
+                   << "please make sure the configuration and permissions are correct";
+    return *this;
+}
+
+GrpcVehicleProxyServer& GrpcVehicleProxyServer::Shutdown() {
+    std::shared_lock read_lock(mConnectionMutex);
+    for (auto& conn : mValueStreamingConnections) {
+        conn->Shutdown();
+    }
+    if (mServer) {
+        mServer->Shutdown();
+    }
+    return *this;
+}
+
+void GrpcVehicleProxyServer::Wait() {
+    if (mServer) {
+        mServer->Wait();
+    }
+    mServer.reset();
+}
+
+GrpcVehicleProxyServer::ConnectionDescriptor::~ConnectionDescriptor() {
+    Shutdown();
+}
+
+bool GrpcVehicleProxyServer::ConnectionDescriptor::Write(const proto::VehiclePropValues& values) {
+    if (!mStream) {
+        LOG(ERROR) << __func__ << ": Empty stream. ID: " << ID();
+        Shutdown();
+        return false;
+    }
+    {
+        std::lock_guard lck(*mMtx);
+        if (!mShutdownFlag && mStream->Write(values)) {
+            return true;
+        } else {
+            LOG(ERROR) << __func__ << ": Server Write failed, connection lost. ID: " << ID();
+        }
+    }
+    Shutdown();
+    return false;
+}
+
+void GrpcVehicleProxyServer::ConnectionDescriptor::Wait() {
+    std::unique_lock lck(*mMtx);
+    mCV->wait(lck, [this] { return mShutdownFlag; });
+}
+
+void GrpcVehicleProxyServer::ConnectionDescriptor::Shutdown() {
+    {
+        std::lock_guard lck(*mMtx);
+        mShutdownFlag = true;
+    }
+    mCV->notify_all();
+}
+
+}  // namespace android::hardware::automotive::vehicle::virtualization
diff --git a/automotive/vehicle/aidl/impl/grpc/GRPCVehicleProxyServer.h b/automotive/vehicle/aidl/impl/grpc/GRPCVehicleProxyServer.h
new file mode 100644
index 0000000000..3596354539
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/grpc/GRPCVehicleProxyServer.h
@@ -0,0 +1,122 @@
+/*
+ * Copyright (C) 2023 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "IVehicleHardware.h"
+
+#include "VehicleServer.grpc.pb.h"
+#include "VehicleServer.pb.h"
+
+#include <grpc++/grpc++.h>
+
+#include <atomic>
+#include <chrono>
+#include <cstdint>
+#include <functional>
+#include <memory>
+#include <shared_mutex>
+#include <string>
+#include <utility>
+
+namespace android::hardware::automotive::vehicle::virtualization {
+
+namespace aidlvhal = ::aidl::android::hardware::automotive::vehicle;
+
+// Connect other GRPC vehicle hardware(s) to the underlying vehicle hardware.
+class GrpcVehicleProxyServer : public proto::VehicleServer::Service {
+  public:
+    GrpcVehicleProxyServer(std::string serverAddr, std::unique_ptr<IVehicleHardware>&& hardware);
+
+    ::grpc::Status GetAllPropertyConfig(
+            ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+            ::grpc::ServerWriter<proto::VehiclePropConfig>* stream) override;
+
+    ::grpc::Status SetValues(::grpc::ServerContext* context,
+                             const proto::VehiclePropValueRequests* requests,
+                             proto::SetValueResults* results) override;
+
+    ::grpc::Status GetValues(::grpc::ServerContext* context,
+                             const proto::VehiclePropValueRequests* requests,
+                             proto::GetValueResults* results) override;
+
+    ::grpc::Status UpdateSampleRate(::grpc::ServerContext* context,
+                                    const proto::UpdateSampleRateRequest* request,
+                                    proto::VehicleHalCallStatus* status) override;
+
+    ::grpc::Status CheckHealth(::grpc::ServerContext* context, const ::google::protobuf::Empty*,
+                               proto::VehicleHalCallStatus* status) override;
+
+    ::grpc::Status Dump(::grpc::ServerContext* context, const proto::DumpOptions* options,
+                        proto::DumpResult* result) override;
+
+    ::grpc::Status StartPropertyValuesStream(
+            ::grpc::ServerContext* context, const ::google::protobuf::Empty* request,
+            ::grpc::ServerWriter<proto::VehiclePropValues>* stream) override;
+
+    GrpcVehicleProxyServer& Start();
+
+    GrpcVehicleProxyServer& Shutdown();
+
+    void Wait();
+
+  private:
+    void OnVehiclePropChange(const std::vector<aidlvhal::VehiclePropValue>& values);
+
+    // We keep long-lasting connection for streaming the prop values.
+    struct ConnectionDescriptor {
+        explicit ConnectionDescriptor(::grpc::ServerWriter<proto::VehiclePropValues>* stream)
+            : mStream(stream),
+              mConnectionID(connection_id_counter_.fetch_add(1) + 1),
+              mMtx(std::make_unique<std::mutex>()),
+              mCV(std::make_unique<std::condition_variable>()) {}
+
+        ConnectionDescriptor(const ConnectionDescriptor&) = delete;
+        ConnectionDescriptor(ConnectionDescriptor&& cd) = default;
+        ConnectionDescriptor& operator=(const ConnectionDescriptor&) = delete;
+        ConnectionDescriptor& operator=(ConnectionDescriptor&& cd) = default;
+
+        ~ConnectionDescriptor();
+
+        uint64_t ID() const { return mConnectionID; }
+
+        bool Write(const proto::VehiclePropValues& values);
+
+        void Wait();
+
+        void Shutdown();
+
+      private:
+        ::grpc::ServerWriter<proto::VehiclePropValues>* mStream;
+        uint64_t mConnectionID{0};
+        std::unique_ptr<std::mutex> mMtx;
+        std::unique_ptr<std::condition_variable> mCV;
+        bool mShutdownFlag{false};
+
+        static std::atomic<uint64_t> connection_id_counter_;
+    };
+
+    std::string mServiceAddr;
+    std::unique_ptr<::grpc::Server> mServer{nullptr};
+    std::unique_ptr<IVehicleHardware> mHardware;
+
+    std::shared_mutex mConnectionMutex;
+    std::vector<std::shared_ptr<ConnectionDescriptor>> mValueStreamingConnections;
+
+    static constexpr auto kHardwareOpTimeout = std::chrono::seconds(1);
+};
+
+}  // namespace android::hardware::automotive::vehicle::virtualization
diff --git a/automotive/vehicle/aidl/impl/grpc/proto/VehicleServer.proto b/automotive/vehicle/aidl/impl/grpc/proto/VehicleServer.proto
index 349019595b..22b11d8c87 100644
--- a/automotive/vehicle/aidl/impl/grpc/proto/VehicleServer.proto
+++ b/automotive/vehicle/aidl/impl/grpc/proto/VehicleServer.proto
@@ -18,20 +18,14 @@ syntax = "proto3";
 
 package android.hardware.automotive.vehicle.proto;
 
+import "android/hardware/automotive/vehicle/DumpOptions.proto";
+import "android/hardware/automotive/vehicle/DumpResult.proto";
 import "android/hardware/automotive/vehicle/StatusCode.proto";
 import "android/hardware/automotive/vehicle/VehiclePropConfig.proto";
 import "android/hardware/automotive/vehicle/VehiclePropValue.proto";
 import "android/hardware/automotive/vehicle/VehiclePropValueRequest.proto";
 import "google/protobuf/empty.proto";
 
-message VehicleHalCallStatus {
-    StatusCode status_code = 1;
-}
-
-message VehiclePropValues {
-    repeated VehiclePropValue values = 1;
-}
-
 service VehicleServer {
     rpc GetAllPropertyConfig(google.protobuf.Empty) returns (stream VehiclePropConfig) {}
 
@@ -39,5 +33,11 @@ service VehicleServer {
 
     rpc GetValues(VehiclePropValueRequests) returns (GetValueResults) {}
 
+    rpc UpdateSampleRate(UpdateSampleRateRequest) returns (VehicleHalCallStatus) {}
+
+    rpc CheckHealth(google.protobuf.Empty) returns (VehicleHalCallStatus) {}
+
+    rpc Dump(DumpOptions) returns (DumpResult) {}
+
     rpc StartPropertyValuesStream(google.protobuf.Empty) returns (stream VehiclePropValues) {}
 }
diff --git a/automotive/vehicle/aidl/impl/grpc/test/Android.bp b/automotive/vehicle/aidl/impl/grpc/test/Android.bp
index efdf4ca3c1..e53826f7f3 100644
--- a/automotive/vehicle/aidl/impl/grpc/test/Android.bp
+++ b/automotive/vehicle/aidl/impl/grpc/test/Android.bp
@@ -44,3 +44,31 @@ cc_test {
     ],
     test_suites: ["device-tests"],
 }
+
+cc_test {
+    name: "GRPCVehicleProxyServerUnitTest",
+    vendor: true,
+    srcs: ["GRPCVehicleProxyServerUnitTest.cpp"],
+    header_libs: [
+        "IVehicleHardware",
+    ],
+    static_libs: [
+        "android.hardware.automotive.vehicle@default-grpc-hardware-lib",
+        "android.hardware.automotive.vehicle@default-grpc-server-lib",
+        "libgtest",
+        "libgmock",
+    ],
+    shared_libs: [
+        "libgrpc++",
+        "libprotobuf-cpp-full",
+    ],
+    // libgrpc++.so is installed as root, require root to access it.
+    require_root: true,
+    defaults: [
+        "VehicleHalDefaults",
+    ],
+    cflags: [
+        "-Wno-unused-parameter",
+    ],
+    test_suites: ["device-tests"],
+}
diff --git a/automotive/vehicle/aidl/impl/grpc/test/GRPCVehicleProxyServerUnitTest.cpp b/automotive/vehicle/aidl/impl/grpc/test/GRPCVehicleProxyServerUnitTest.cpp
new file mode 100644
index 0000000000..49e6fc9d21
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/grpc/test/GRPCVehicleProxyServerUnitTest.cpp
@@ -0,0 +1,147 @@
+// Copyright (C) 2023 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//       http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "GRPCVehicleHardware.h"
+#include "GRPCVehicleProxyServer.h"
+#include "IVehicleHardware.h"
+#include "VehicleServer.grpc.pb.h"
+#include "VehicleServer.pb.h"
+
+#include <gmock/gmock.h>
+#include <grpc++/grpc++.h>
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <memory>
+#include <string>
+#include <thread>
+#include <utility>
+
+namespace android::hardware::automotive::vehicle::virtualization {
+
+const std::string kFakeServerAddr = "0.0.0.0:54321";
+
+class VehicleHardwareForTest : public IVehicleHardware {
+  public:
+    void registerOnPropertyChangeEvent(
+            std::unique_ptr<const PropertyChangeCallback> callback) override {
+        mOnProp = std::move(callback);
+    }
+
+    void onPropertyEvent(
+            std::vector<aidl::android::hardware::automotive::vehicle::VehiclePropValue> values) {
+        if (mOnProp) {
+            (*mOnProp)(std::move(values));
+        }
+    }
+
+    // Functions that we do not care.
+    std::vector<aidl::android::hardware::automotive::vehicle::VehiclePropConfig>
+    getAllPropertyConfigs() const override {
+        return {};
+    }
+
+    aidl::android::hardware::automotive::vehicle::StatusCode setValues(
+            std::shared_ptr<const SetValuesCallback> callback,
+            const std::vector<aidl::android::hardware::automotive::vehicle::SetValueRequest>&
+                    requests) override {
+        return aidl::android::hardware::automotive::vehicle::StatusCode::OK;
+    }
+
+    aidl::android::hardware::automotive::vehicle::StatusCode getValues(
+            std::shared_ptr<const GetValuesCallback> callback,
+            const std::vector<aidl::android::hardware::automotive::vehicle::GetValueRequest>&
+                    requests) const override {
+        return aidl::android::hardware::automotive::vehicle::StatusCode::OK;
+    }
+
+    DumpResult dump(const std::vector<std::string>& options) override { return {}; }
+
+    aidl::android::hardware::automotive::vehicle::StatusCode checkHealth() override {
+        return aidl::android::hardware::automotive::vehicle::StatusCode::OK;
+    }
+
+    void registerOnPropertySetErrorEvent(
+            std::unique_ptr<const PropertySetErrorCallback> callback) override {}
+
+  private:
+    std::unique_ptr<const PropertyChangeCallback> mOnProp;
+};
+
+TEST(GRPCVehicleProxyServerUnitTest, ClientConnectDisconnect) {
+    auto testHardware = std::make_unique<VehicleHardwareForTest>();
+    // HACK: manipulate the underlying hardware via raw pointer for testing.
+    auto* testHardwareRaw = testHardware.get();
+    auto vehicleServer =
+            std::make_unique<GrpcVehicleProxyServer>(kFakeServerAddr, std::move(testHardware));
+    vehicleServer->Start();
+
+    constexpr auto kWaitForConnectionMaxTime = std::chrono::seconds(5);
+    constexpr auto kWaitForStreamStartTime = std::chrono::seconds(1);
+    constexpr auto kWaitForUpdateDeliveryTime = std::chrono::milliseconds(100);
+
+    auto updateReceived1 = std::make_shared<bool>(false);
+    auto vehicleHardware1 = std::make_unique<GRPCVehicleHardware>(kFakeServerAddr);
+    vehicleHardware1->registerOnPropertyChangeEvent(
+            std::make_unique<const IVehicleHardware::PropertyChangeCallback>(
+                    [updateReceived1](const auto&) { *updateReceived1 = true; }));
+    EXPECT_TRUE(vehicleHardware1->waitForConnected(kWaitForConnectionMaxTime));
+    std::this_thread::sleep_for(kWaitForStreamStartTime);
+
+    // Client hardware 1 received update from the server.
+    EXPECT_FALSE(*updateReceived1);
+    testHardwareRaw->onPropertyEvent({});
+    // Wait for the update delivery.
+    std::this_thread::sleep_for(kWaitForUpdateDeliveryTime);
+    EXPECT_TRUE(*updateReceived1);
+
+    // Reset.
+    *updateReceived1 = false;
+
+    auto updateReceived2 = std::make_shared<bool>(false);
+    auto vehicleHardware2 = std::make_unique<GRPCVehicleHardware>(kFakeServerAddr);
+    vehicleHardware2->registerOnPropertyChangeEvent(
+            std::make_unique<const IVehicleHardware::PropertyChangeCallback>(
+                    [updateReceived2](const auto&) { *updateReceived2 = true; }));
+    EXPECT_TRUE(vehicleHardware2->waitForConnected(kWaitForConnectionMaxTime));
+    std::this_thread::sleep_for(kWaitForStreamStartTime);
+
+    // Both client hardware 1 and 2 received update from the server.
+    EXPECT_FALSE(*updateReceived1);
+    EXPECT_FALSE(*updateReceived2);
+    testHardwareRaw->onPropertyEvent({});
+    // Wait for the update delivery.
+    std::this_thread::sleep_for(kWaitForUpdateDeliveryTime);
+    EXPECT_TRUE(*updateReceived1);
+    EXPECT_TRUE(*updateReceived2);
+
+    // Reset.
+    *updateReceived1 = false;
+    *updateReceived2 = false;
+
+    vehicleHardware1.reset();
+
+    // Client 1 exited, only client hardware 2 received update from the server.
+    EXPECT_FALSE(*updateReceived1);
+    EXPECT_FALSE(*updateReceived2);
+    testHardwareRaw->onPropertyEvent({});
+    // Wait for the update delivery.
+    std::this_thread::sleep_for(kWaitForUpdateDeliveryTime);
+    EXPECT_FALSE(*updateReceived1);
+    EXPECT_TRUE(*updateReceived2);
+
+    vehicleServer->Shutdown().Wait();
+}
+
+}  // namespace android::hardware::automotive::vehicle::virtualization
diff --git a/automotive/vehicle/aidl/impl/proto/Android.bp b/automotive/vehicle/aidl/impl/proto/Android.bp
index 709307d3e1..56fad7ed91 100644
--- a/automotive/vehicle/aidl/impl/proto/Android.bp
+++ b/automotive/vehicle/aidl/impl/proto/Android.bp
@@ -40,6 +40,7 @@ genrule {
         ":VehicleHalProtoFiles",
     ],
     out: [
+        "android/hardware/automotive/vehicle/DumpOptions.pb.h",
         "android/hardware/automotive/vehicle/DumpResult.pb.h",
         "android/hardware/automotive/vehicle/StatusCode.pb.h",
         "android/hardware/automotive/vehicle/VehicleAreaConfig.pb.h",
@@ -63,6 +64,7 @@ genrule {
         ":VehicleHalProtoFiles",
     ],
     out: [
+        "android/hardware/automotive/vehicle/DumpOptions.pb.cc",
         "android/hardware/automotive/vehicle/DumpResult.pb.cc",
         "android/hardware/automotive/vehicle/StatusCode.pb.cc",
         "android/hardware/automotive/vehicle/VehicleAreaConfig.pb.cc",
diff --git a/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/DumpOptions.proto b/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/DumpOptions.proto
new file mode 100644
index 0000000000..4bed927288
--- /dev/null
+++ b/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/DumpOptions.proto
@@ -0,0 +1,23 @@
+/*
+ * Copyright (C) 2023 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+syntax = "proto3";
+
+package android.hardware.automotive.vehicle.proto;
+
+message DumpOptions {
+    repeated string options = 1;
+}
diff --git a/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/StatusCode.proto b/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/StatusCode.proto
index 97cb0f88b2..63d7933e7d 100644
--- a/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/StatusCode.proto
+++ b/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/StatusCode.proto
@@ -39,3 +39,7 @@ enum StatusCode {
     /* Something unexpected has happened in Vehicle HAL */
     INTERNAL_ERROR = 5;
 };
+
+message VehicleHalCallStatus {
+    StatusCode status_code = 1;
+}
diff --git a/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/VehiclePropValue.proto b/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/VehiclePropValue.proto
index 80c73cbb77..dda9ff5119 100644
--- a/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/VehiclePropValue.proto
+++ b/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/VehiclePropValue.proto
@@ -52,3 +52,7 @@ message VehiclePropValue {
     /* This is used for properties of type VehiclePropertyType#STRING */
     string string_value = 9;
 };
+
+message VehiclePropValues {
+    repeated VehiclePropValue values = 1;
+}
diff --git a/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/VehiclePropValueRequest.proto b/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/VehiclePropValueRequest.proto
index 749ad6adc8..c347a800c3 100644
--- a/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/VehiclePropValueRequest.proto
+++ b/automotive/vehicle/aidl/impl/proto/android/hardware/automotive/vehicle/VehiclePropValueRequest.proto
@@ -26,6 +26,17 @@ message VehiclePropValueRequest {
     VehiclePropValue value = 2;
 };
 
+message UpdateSampleRateRequest {
+    /* Property identifier */
+    int32 prop = 1;
+
+    /* Area type(s) for non-global property it must be one of the value from
+     * VehicleArea* enums or 0 for global properties. */
+    int32 area_id = 2;
+
+    float sample_rate = 3;
+};
+
 message SetValueResult {
     int64 request_id = 1;
     StatusCode status = 2;