diff --git a/automotive/remoteaccess/hal/default/Android.bp b/automotive/remoteaccess/hal/default/Android.bp
index a2bf86c9e5..f27b8f86e6 100644
--- a/automotive/remoteaccess/hal/default/Android.bp
+++ b/automotive/remoteaccess/hal/default/Android.bp
@@ -18,11 +18,9 @@ package {
     default_applicable_licenses: ["Android-Apache-2.0"],
 }
 
-cc_binary {
-    name: "android.hardware.automotive.remoteaccess@V1-default-service",
+cc_defaults {
+    name: "remote-access-hal-defaults",
     vendor: true,
-    vintf_fragments: ["remoteaccess-default-service.xml"],
-    init_rc: ["remoteaccess-default-service.rc"],
     relative_install_path: "hw",
     srcs: ["src/RemoteAccessImpl.cpp"],
     whole_static_libs: [
@@ -41,10 +39,29 @@ cc_binary {
     ],
     cflags: [
         "-Wno-unused-parameter",
+    ],
+}
+
+cc_binary {
+    name: "android.hardware.automotive.remoteaccess@V1-default-service",
+    defaults: ["remote-access-hal-defaults"],
+    vintf_fragments: ["remoteaccess-default-service.xml"],
+    init_rc: ["remoteaccess-default-service.rc"],
+    cflags: [
         "-DGRPC_SERVICE_ADDRESS=\"localhost:50051\"",
     ],
 }
 
+cc_binary {
+    name: "android.hardware.automotive.remoteaccess@V1-tcu-test-service",
+    defaults: ["remote-access-hal-defaults"],
+    vintf_fragments: ["remoteaccess-default-service.xml"],
+    init_rc: ["remoteaccess-tcu-test-service.rc"],
+    cflags: [
+        "-DGRPC_SERVICE_ADDRESS=\"10.10.10.1:50051\"",
+    ],
+}
+
 cc_library {
     name: "RemoteAccessService",
     vendor_available: true,
diff --git a/automotive/remoteaccess/hal/default/remoteaccess-tcu-test-service.rc b/automotive/remoteaccess/hal/default/remoteaccess-tcu-test-service.rc
new file mode 100644
index 0000000000..6437d70f08
--- /dev/null
+++ b/automotive/remoteaccess/hal/default/remoteaccess-tcu-test-service.rc
@@ -0,0 +1,4 @@
+service vendor.remoteaccess-default /vendor/bin/hw/android.hardware.automotive.remoteaccess@V1-tcu-test-service
+    class hal
+    user vehicle_network
+    group system inet
diff --git a/automotive/remoteaccess/hal/default/src/RemoteAccessService.cpp b/automotive/remoteaccess/hal/default/src/RemoteAccessService.cpp
index 5cd58d3bba..4be30a20fa 100644
--- a/automotive/remoteaccess/hal/default/src/RemoteAccessService.cpp
+++ b/automotive/remoteaccess/hal/default/src/RemoteAccessService.cpp
@@ -111,7 +111,9 @@ void RemoteAccessService::maybeStopTaskLoop() {
         // Try to stop the reading stream.
         if (mGetRemoteTasksContext) {
             mGetRemoteTasksContext->TryCancel();
-            mGetRemoteTasksContext.reset();
+            // Don't reset mGetRemoteTaskContext here since the read stream might still be affective
+            // and might still be using it. This will cause reader->Read to return false and
+            // mGetRemoteTasksContext will be cleared after reader->Finish() is called.
         }
         mTaskWaitStopped = true;
         mCv.notify_all();
@@ -155,6 +157,7 @@ void RemoteAccessService::runTaskLoop() {
             }
         }
         Status status = reader->Finish();
+        mGetRemoteTasksContext.reset();
 
         ALOGE("GetRemoteTasks stream breaks, code: %d, message: %s, sleeping for 10s and retry",
               status.error_code(), status.error_message().c_str());
diff --git a/automotive/remoteaccess/test_grpc_server/README.md b/automotive/remoteaccess/test_grpc_server/README.md
index 6bc1829388..af3d54ac5b 100644
--- a/automotive/remoteaccess/test_grpc_server/README.md
+++ b/automotive/remoteaccess/test_grpc_server/README.md
@@ -75,11 +75,18 @@ following behavior:
 
 * Under android root: `source build/envsetup.sh`
 
+* Add
+  ```
+  PRODUCT_SOONG_NAMESPACES += hardware/interfaces/automotive/remoteaccess/test_grpc_server/lib`
+  ```
+
+  to `device/generic/car/common/car.mk`.
+
 * `lunch sdk_car_x86_64-userdebug`
 
 * `make -j TestWakeupClientServer`
 
-* `make -j ApPowerControlLib`
+* `make -j ApPOwerControlLib`
 
 ## How to push the test wakeup client to a TCU which runs Android.
 
@@ -99,7 +106,7 @@ following behavior:
 
 * `adb push vendor/bin/TestWakeupClientServer /vendor/bin`
 
-* `adb push vendor/lib/ApPowerControlLib.so /vendor/lib`
+* `adb push vendor/lib64/ApPowerControlLib.so /vendor/lib64`
 
 * `adb shell`
 
@@ -116,6 +123,13 @@ interface.
 
 * Under android root, `source build/envsetup.sh`
 
+* Add
+  ```
+  PRODUCT_SOONG_NAMESPACES += hardware/interfaces/automotive/remoteaccess/test_grpc_server/lib`
+  ```
+
+  to `device/generic/car/common/car.mk`.
+
 * `lunch sdk_car_x86_64-userdebug`
 
 * `m -j`
@@ -150,8 +164,12 @@ interface.
 
 * `make -j TestWakeupClientServer`
 
+* `make -j ApPOwerControlLib`
+
 * `adb push $ANDROID_PRODUCT_OUT/vendor/bin/TestWakeupClientServer /vendor/bin`
 
+* `adb push $ANDROID_PRODUCT_OUT/vendor/lib64/ApPowerControlLib.so /vendor/lib64`
+
 * `adb shell`
 
 * `emulator_car_x86_64:/ # su`