diff --git a/camera/device/3.4/default/CameraDeviceSession.cpp b/camera/device/3.4/default/CameraDeviceSession.cpp
index 03b6050397..b4ebe22701 100644
--- a/camera/device/3.4/default/CameraDeviceSession.cpp
+++ b/camera/device/3.4/default/CameraDeviceSession.cpp
@@ -75,7 +75,7 @@ Return<void> CameraDeviceSession::configureStreams_3_4(
 void CameraDeviceSession::configureStreams_3_4_Impl(
         const StreamConfiguration& requestedConfiguration,
         ICameraDeviceSession::configureStreams_3_4_cb _hidl_cb,
-        uint32_t streamConfigCounter)  {
+        uint32_t streamConfigCounter, bool useOverriddenFields)  {
     Status status = initStatus();
     HalStreamConfiguration outStreams;
 
@@ -133,7 +133,8 @@ void CameraDeviceSession::configureStreams_3_4_Impl(
     mStreamConfigCounter = streamConfigCounter;
     hidl_vec<camera3_stream_t*> streams;
     stream_list.session_parameters = paramBuffer;
-    if (!preProcessConfigurationLocked_3_4(requestedConfiguration, &stream_list, &streams)) {
+    if (!preProcessConfigurationLocked_3_4(requestedConfiguration,
+            useOverriddenFields, &stream_list, &streams)) {
         _hidl_cb(Status::INTERNAL_ERROR, outStreams);
         return;
     }
@@ -164,7 +165,7 @@ void CameraDeviceSession::configureStreams_3_4_Impl(
 }
 
 bool CameraDeviceSession::preProcessConfigurationLocked_3_4(
-        const StreamConfiguration& requestedConfiguration,
+        const StreamConfiguration& requestedConfiguration, bool useOverriddenFields,
         camera3_stream_configuration_t *stream_list /*out*/,
         hidl_vec<camera3_stream_t*> *streams /*out*/) {
 
@@ -189,19 +190,31 @@ bool CameraDeviceSession::preProcessConfigurationLocked_3_4(
                     mStreamMap[id].data_space);
             mCirculatingBuffers.emplace(stream.mId, CirculatingBuffers{});
         } else {
-            // width/height/format must not change, but usage/rotation might need to change
+            // width/height/format must not change, but usage/rotation might need to change.
+            // format and data_space may change.
             if (mStreamMap[id].stream_type !=
                     (int) requestedConfiguration.streams[i].v3_2.streamType ||
                     mStreamMap[id].width != requestedConfiguration.streams[i].v3_2.width ||
                     mStreamMap[id].height != requestedConfiguration.streams[i].v3_2.height ||
-                    mStreamMap[id].format != (int) requestedConfiguration.streams[i].v3_2.format ||
-                    mStreamMap[id].data_space !=
-                            mapToLegacyDataspace( static_cast<android_dataspace_t> (
-                                    requestedConfiguration.streams[i].v3_2.dataSpace)) ||
                     mPhysicalCameraIdMap[id] != requestedConfiguration.streams[i].physicalCameraId) {
                 ALOGE("%s: stream %d configuration changed!", __FUNCTION__, id);
                 return false;
             }
+            if (useOverriddenFields) {
+                android_dataspace_t requestedDataSpace =
+                        mapToLegacyDataspace(static_cast<android_dataspace_t>(
+                        requestedConfiguration.streams[i].v3_2.dataSpace));
+                if (mStreamMap[id].format != (int) requestedConfiguration.streams[i].v3_2.format ||
+                        mStreamMap[id].data_space != requestedDataSpace) {
+                    ALOGE("%s: stream %d configuration changed!", __FUNCTION__, id);
+                    return false;
+                }
+            } else {
+                mStreamMap[id].format =
+                        (int) requestedConfiguration.streams[i].v3_2.format;
+                mStreamMap[id].data_space = (android_dataspace_t)
+                        requestedConfiguration.streams[i].v3_2.dataSpace;
+            }
             mStreamMap[id].rotation = (int) requestedConfiguration.streams[i].v3_2.rotation;
             mStreamMap[id].usage = (uint32_t) requestedConfiguration.streams[i].v3_2.usage;
         }
diff --git a/camera/device/3.4/default/include/device_v3_4_impl/CameraDeviceSession.h b/camera/device/3.4/default/include/device_v3_4_impl/CameraDeviceSession.h
index 1db7b41dec..280c4bec46 100644
--- a/camera/device/3.4/default/include/device_v3_4_impl/CameraDeviceSession.h
+++ b/camera/device/3.4/default/include/device_v3_4_impl/CameraDeviceSession.h
@@ -80,7 +80,7 @@ protected:
             ICameraDeviceSession::configureStreams_3_4_cb _hidl_cb);
 
     bool preProcessConfigurationLocked_3_4(
-            const StreamConfiguration& requestedConfiguration,
+            const StreamConfiguration& requestedConfiguration, bool useOverriddenFields,
             camera3_stream_configuration_t *stream_list /*out*/,
             hidl_vec<camera3_stream_t*> *streams /*out*/);
     void postProcessConfigurationLocked_3_4(const StreamConfiguration& requestedConfiguration);
@@ -91,7 +91,7 @@ protected:
             const StreamConfiguration& requestedConfiguration,
             ICameraDeviceSession::configureStreams_3_4_cb _hidl_cb,
             // Optional argument for ICameraDeviceSession@3.5 impl
-            uint32_t streamConfigCounter = 0);
+            uint32_t streamConfigCounter = 0, bool useOverriddenFields = true);
 
     Return<void> processCaptureRequest_3_4(
             const hidl_vec<V3_4::CaptureRequest>& requests,
diff --git a/camera/device/3.5/ICameraDeviceSession.hal b/camera/device/3.5/ICameraDeviceSession.hal
index d0cfe392ae..c868e1e96c 100644
--- a/camera/device/3.5/ICameraDeviceSession.hal
+++ b/camera/device/3.5/ICameraDeviceSession.hal
@@ -36,6 +36,12 @@ interface ICameraDeviceSession extends @3.4::ICameraDeviceSession {
      *
      * - a streamConfigCounter counter is provided to check for race condition
      *   between configureStreams_3_5 and signalStreamFlush call.
+     * - In case the HAL overrides dataspace or format for
+     *   IMPLEMENTATION_DEFINED pixel format, camera framework must use original
+     *   dataspace and format in subsequent configureStreams_3_5 calls for the same
+     *   stream. HAL is allowed to change the overriding behavior of format or
+     *   dataspace for reconfiguration of the same stream depending on the stream
+     *   combination.
      *
      * @return status Status code for the operation, one of:
      *     OK:
diff --git a/camera/device/3.5/default/CameraDeviceSession.cpp b/camera/device/3.5/default/CameraDeviceSession.cpp
index e812e50f5f..44d067d475 100644
--- a/camera/device/3.5/default/CameraDeviceSession.cpp
+++ b/camera/device/3.5/default/CameraDeviceSession.cpp
@@ -66,7 +66,7 @@ Return<void> CameraDeviceSession::configureStreams_3_5(
         const StreamConfiguration& requestedConfiguration,
         ICameraDeviceSession::configureStreams_3_5_cb _hidl_cb)  {
     configureStreams_3_4_Impl(requestedConfiguration.v3_4, _hidl_cb,
-            requestedConfiguration.streamConfigCounter);
+            requestedConfiguration.streamConfigCounter, false /*useOverriddenFields*/);
     return Void();
 }
 
diff --git a/current.txt b/current.txt
index 899048b350..d72ce4ac6b 100644
--- a/current.txt
+++ b/current.txt
@@ -455,6 +455,7 @@ f7431f3e3e4e3387fc6f27a6cf423eddcd824a395dc4349d302c995ab44a9895 android.hardwar
 09ab9b24994429d9bb32a3fb420b6f6be3e47eb655139a2c08c4e80d3f33ff95 android.hardware.camera.device@3.5::ICameraDevice
 06237de53c42890029e3f8fe7d1480d078469c0d07608e51c37b4d485d342992 android.hardware.camera.device@3.5::ICameraDeviceCallback
 08c68b196e2fc4e5ba67ba0d0917bde828a87cbe2cffec19d04733972da9eb49 android.hardware.camera.device@3.5::ICameraDeviceSession
+feabf0b7caa947757bf74375aceb4919a5aa99dd6a36216843553b6adec7eb5d android.hardware.camera.device@3.5::ICameraDeviceSession # b/131864007
 f9b8b388c0c76669e4b9189e4943efd2982f9bda5c10e276f96cc91bc8e818d6 android.hardware.camera.device@3.5::types
 f727d5f350f55a6d3354aad2feb64e43200de77c10d9d642465566bc260bb8ec android.hardware.camera.metadata@3.4::types
 0fb39a7809ad1c52b3efbbed5ef4749b06c2a4f1f19cdc3efa2e3d9b28f1205c android.hardware.camera.provider@2.5::ICameraProvider