diff --git a/bluetooth/bt_vendor_overlay_caiman.conf b/bluetooth/bt_vendor_overlay_caiman.conf
index c793d675..9381aab1 100644
--- a/bluetooth/bt_vendor_overlay_caiman.conf
+++ b/bluetooth/bt_vendor_overlay_caiman.conf
@@ -32,3 +32,5 @@ BtOpusEnabled = true
 AccelBtDisable = false
 
 BtHalRecoveryByRestart = true
+
+BtHalBqrEnable = true
diff --git a/bluetooth/bt_vendor_overlay_komodo.conf b/bluetooth/bt_vendor_overlay_komodo.conf
index c793d675..9381aab1 100644
--- a/bluetooth/bt_vendor_overlay_komodo.conf
+++ b/bluetooth/bt_vendor_overlay_komodo.conf
@@ -32,3 +32,5 @@ BtOpusEnabled = true
 AccelBtDisable = false
 
 BtHalRecoveryByRestart = true
+
+BtHalBqrEnable = true
diff --git a/bluetooth/bt_vendor_overlay_tokay.conf b/bluetooth/bt_vendor_overlay_tokay.conf
index c793d675..9381aab1 100644
--- a/bluetooth/bt_vendor_overlay_tokay.conf
+++ b/bluetooth/bt_vendor_overlay_tokay.conf
@@ -32,3 +32,5 @@ BtOpusEnabled = true
 AccelBtDisable = false
 
 BtHalRecoveryByRestart = true
+
+BtHalBqrEnable = true
diff --git a/caiman/uwb/configuration.conf b/caiman/uwb/configuration.conf
index 56b6f778..bcc5c1a4 100644
--- a/caiman/uwb/configuration.conf
+++ b/caiman/uwb/configuration.conf
@@ -6,22 +6,22 @@
 [FIRA]ant_sets.ch9.range.rx_ant_set_ranging = 2
 [FIRA]ant_sets.ch9.range.tx_ant_set_nonranging = 2
 [FIRA]ant_sets.ch9.range.tx_ant_set_ranging = 2
-[FIRA]ant_sets.ch5.azimuth.rx_ant_set_nonranging = 1
-[FIRA]ant_sets.ch5.azimuth.rx_ant_set_ranging = 1
+[FIRA]ant_sets.ch5.azimuth.rx_ant_set_nonranging = 3
+[FIRA]ant_sets.ch5.azimuth.rx_ant_set_ranging = 3
 [FIRA]ant_sets.ch5.azimuth.tx_ant_set_nonranging = 1
 [FIRA]ant_sets.ch5.azimuth.tx_ant_set_ranging = 1
-[FIRA]ant_sets.ch9.azimuth.rx_ant_set_nonranging = 1
-[FIRA]ant_sets.ch9.azimuth.rx_ant_set_ranging = 1
+[FIRA]ant_sets.ch9.azimuth.rx_ant_set_nonranging = 3
+[FIRA]ant_sets.ch9.azimuth.rx_ant_set_ranging = 3
 [FIRA]ant_sets.ch9.azimuth.tx_ant_set_nonranging = 1
 [FIRA]ant_sets.ch9.azimuth.tx_ant_set_ranging = 1
-[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_nonranging = 1
-[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_ranging_azimuth = 1
-[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_ranging_elevation = 0
+[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_nonranging = 3
+[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_ranging_azimuth = 3
+[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_ranging_elevation = 3
 [FIRA]ant_sets.ch5.azimuth_elevation.tx_ant_set_nonranging = 1
 [FIRA]ant_sets.ch5.azimuth_elevation.tx_ant_set_ranging = 1
-[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_nonranging = 1
-[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_ranging_azimuth = 1
-[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_ranging_elevation = 0
+[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_nonranging = 3
+[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_ranging_azimuth = 3
+[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_ranging_elevation = 3
 [FIRA]ant_sets.ch9.azimuth_elevation.tx_ant_set_nonranging = 1
 [FIRA]ant_sets.ch9.azimuth_elevation.tx_ant_set_ranging = 1
 
@@ -96,20 +96,24 @@ ant_grp2.lna_rxb=01
 ant_grp2.rx_config=01
 ant_grp2.tx_power_control=00
 
-# Patch Antenna TX / One Chain Operation 
+# Patch Antenna TX / Two Chain Operation - DPD Corrected
 ant_grp3.rf_config.rfoff=00
 ant_grp3.rf_config.tx=03
 ant_grp3.rf_config.tx_aoa=03
-ant_grp3.rf_config.rx_ip=06
-ant_grp3.rf_config.rx_sts0=06
-ant_grp3.rf_config.rx_sts1=06
-ant_grp3.rf_config.rx_sts2=06
-ant_grp3.rf_config.rx_sts3=06
-ant_grp3.ext_sw_config=01
+ant_grp3.rf_config.rx_ip=0e
+ant_grp3.rf_config.rx_sts0=0e
+ant_grp3.rf_config.rx_sts1=0e
+ant_grp3.rf_config.rx_sts2=0e
+ant_grp3.rf_config.rx_sts3=0e
+ant_grp3.ext_sw_config=00
 ant_grp3.lna_rxa=01
-ant_grp3.lna_rxb=00
-ant_grp3.rx_config=00
+ant_grp3.lna_rxb=01
+ant_grp3.rx_config=04
+ant_grp3.pdoa_segments=02:07:00:00:00:00
+ant_grp3.pdoa_type=00:00:00
 ant_grp3.tx_power_control=00
+ant_grp3.ch5.pdoa.axisx.lut_id=00
+ant_grp3.ch9.pdoa.axisy.lut_id=01
 
 pdoa_lut0.data=de:e6:6f:f3:8b:e8:6f:f3:38:ea:6f:f3:e5:eb:6f:f3:92:ed:6f:f3:3f:ef:72:f6:ec:f0:11:f8:99:f2:4a:f9:45:f4:54:fa:f2:f5:44:fb:9f:f7:22:fc:4c:f9:f3:fc:f9:fa:bd:fd:a6:fc:81:fe:53:fe:41:ff:00:00:00:00:ad:01:bf:00:5a:03:7f:01:07:05:43:02:b4:06:0d:03:61:08:de:03:0e:0a:bc:04:bb:0b:ac:05:67:0d:b6:06:14:0f:ef:07:c1:10:8e:09:6e:12:91:0c:1b:14:91:0c:c8:15:91:0c:75:17:91:0c:22:19:91:0c
 pdoa_lut1.data=de:e6:6f:f3:8b:e8:6f:f3:38:ea:6f:f3:e5:eb:6f:f3:92:ed:6f:f3:3f:ef:6f:f3:ec:f0:6f:f3:99:f2:6d:f6:45:f4:63:f8:f2:f5:d1:f9:9f:f7:08:fb:4c:f9:21:fc:f9:fa:26:fd:a6:fc:1f:fe:53:fe:11:ff:00:00:00:00:ad:01:ef:00:5a:03:e1:01:07:05:da:02:b4:06:df:03:61:08:f8:04:0e:0a:2f:06:bb:0b:9d:07:67:0d:93:09:14:0f:91:0c:c1:10:91:0c:6e:12:91:0c:1b:14:91:0c:c8:15:91:0c:75:17:91:0c:22:19:91:0c
@@ -145,3 +149,8 @@ post_tx.pattern_repetitions=0x0000
 
 # Ipatov / STS time difference threshold
 ip_sts_sanity_thres_q2=0x0A
+
+wifi_coex_mode=01
+wifi_coex_time_gap=01
+ch5.wifi_coex_enabled=01
+ch9.wifi_coex_enabled=01
diff --git a/komodo/uwb/configuration.conf b/komodo/uwb/configuration.conf
index 56b6f778..bcc5c1a4 100644
--- a/komodo/uwb/configuration.conf
+++ b/komodo/uwb/configuration.conf
@@ -6,22 +6,22 @@
 [FIRA]ant_sets.ch9.range.rx_ant_set_ranging = 2
 [FIRA]ant_sets.ch9.range.tx_ant_set_nonranging = 2
 [FIRA]ant_sets.ch9.range.tx_ant_set_ranging = 2
-[FIRA]ant_sets.ch5.azimuth.rx_ant_set_nonranging = 1
-[FIRA]ant_sets.ch5.azimuth.rx_ant_set_ranging = 1
+[FIRA]ant_sets.ch5.azimuth.rx_ant_set_nonranging = 3
+[FIRA]ant_sets.ch5.azimuth.rx_ant_set_ranging = 3
 [FIRA]ant_sets.ch5.azimuth.tx_ant_set_nonranging = 1
 [FIRA]ant_sets.ch5.azimuth.tx_ant_set_ranging = 1
-[FIRA]ant_sets.ch9.azimuth.rx_ant_set_nonranging = 1
-[FIRA]ant_sets.ch9.azimuth.rx_ant_set_ranging = 1
+[FIRA]ant_sets.ch9.azimuth.rx_ant_set_nonranging = 3
+[FIRA]ant_sets.ch9.azimuth.rx_ant_set_ranging = 3
 [FIRA]ant_sets.ch9.azimuth.tx_ant_set_nonranging = 1
 [FIRA]ant_sets.ch9.azimuth.tx_ant_set_ranging = 1
-[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_nonranging = 1
-[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_ranging_azimuth = 1
-[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_ranging_elevation = 0
+[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_nonranging = 3
+[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_ranging_azimuth = 3
+[FIRA]ant_sets.ch5.azimuth_elevation.rx_ant_set_ranging_elevation = 3
 [FIRA]ant_sets.ch5.azimuth_elevation.tx_ant_set_nonranging = 1
 [FIRA]ant_sets.ch5.azimuth_elevation.tx_ant_set_ranging = 1
-[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_nonranging = 1
-[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_ranging_azimuth = 1
-[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_ranging_elevation = 0
+[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_nonranging = 3
+[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_ranging_azimuth = 3
+[FIRA]ant_sets.ch9.azimuth_elevation.rx_ant_set_ranging_elevation = 3
 [FIRA]ant_sets.ch9.azimuth_elevation.tx_ant_set_nonranging = 1
 [FIRA]ant_sets.ch9.azimuth_elevation.tx_ant_set_ranging = 1
 
@@ -96,20 +96,24 @@ ant_grp2.lna_rxb=01
 ant_grp2.rx_config=01
 ant_grp2.tx_power_control=00
 
-# Patch Antenna TX / One Chain Operation 
+# Patch Antenna TX / Two Chain Operation - DPD Corrected
 ant_grp3.rf_config.rfoff=00
 ant_grp3.rf_config.tx=03
 ant_grp3.rf_config.tx_aoa=03
-ant_grp3.rf_config.rx_ip=06
-ant_grp3.rf_config.rx_sts0=06
-ant_grp3.rf_config.rx_sts1=06
-ant_grp3.rf_config.rx_sts2=06
-ant_grp3.rf_config.rx_sts3=06
-ant_grp3.ext_sw_config=01
+ant_grp3.rf_config.rx_ip=0e
+ant_grp3.rf_config.rx_sts0=0e
+ant_grp3.rf_config.rx_sts1=0e
+ant_grp3.rf_config.rx_sts2=0e
+ant_grp3.rf_config.rx_sts3=0e
+ant_grp3.ext_sw_config=00
 ant_grp3.lna_rxa=01
-ant_grp3.lna_rxb=00
-ant_grp3.rx_config=00
+ant_grp3.lna_rxb=01
+ant_grp3.rx_config=04
+ant_grp3.pdoa_segments=02:07:00:00:00:00
+ant_grp3.pdoa_type=00:00:00
 ant_grp3.tx_power_control=00
+ant_grp3.ch5.pdoa.axisx.lut_id=00
+ant_grp3.ch9.pdoa.axisy.lut_id=01
 
 pdoa_lut0.data=de:e6:6f:f3:8b:e8:6f:f3:38:ea:6f:f3:e5:eb:6f:f3:92:ed:6f:f3:3f:ef:72:f6:ec:f0:11:f8:99:f2:4a:f9:45:f4:54:fa:f2:f5:44:fb:9f:f7:22:fc:4c:f9:f3:fc:f9:fa:bd:fd:a6:fc:81:fe:53:fe:41:ff:00:00:00:00:ad:01:bf:00:5a:03:7f:01:07:05:43:02:b4:06:0d:03:61:08:de:03:0e:0a:bc:04:bb:0b:ac:05:67:0d:b6:06:14:0f:ef:07:c1:10:8e:09:6e:12:91:0c:1b:14:91:0c:c8:15:91:0c:75:17:91:0c:22:19:91:0c
 pdoa_lut1.data=de:e6:6f:f3:8b:e8:6f:f3:38:ea:6f:f3:e5:eb:6f:f3:92:ed:6f:f3:3f:ef:6f:f3:ec:f0:6f:f3:99:f2:6d:f6:45:f4:63:f8:f2:f5:d1:f9:9f:f7:08:fb:4c:f9:21:fc:f9:fa:26:fd:a6:fc:1f:fe:53:fe:11:ff:00:00:00:00:ad:01:ef:00:5a:03:e1:01:07:05:da:02:b4:06:df:03:61:08:f8:04:0e:0a:2f:06:bb:0b:9d:07:67:0d:93:09:14:0f:91:0c:c1:10:91:0c:6e:12:91:0c:1b:14:91:0c:c8:15:91:0c:75:17:91:0c:22:19:91:0c
@@ -145,3 +149,8 @@ post_tx.pattern_repetitions=0x0000
 
 # Ipatov / STS time difference threshold
 ip_sts_sanity_thres_q2=0x0A
+
+wifi_coex_mode=01
+wifi_coex_time_gap=01
+ch5.wifi_coex_enabled=01
+ch9.wifi_coex_enabled=01
diff --git a/rro_overlays/WifiOverlay/res/values/config.xml b/rro_overlays/WifiOverlay/res/values/config.xml
index 68a8832c..9d1fe50c 100644
--- a/rro_overlays/WifiOverlay/res/values/config.xml
+++ b/rro_overlays/WifiOverlay/res/values/config.xml
@@ -191,4 +191,10 @@
          If equals to 0, it means there's no limit on the max number of channels to include per network.-->
     <integer translatable="false" name="config_wifiInitialPartialScanMaxNewChannelsPerNetwork">3</integer>
 
+    <!-- Boolean indicating whether to disable firmware roaming when the device goes into idle mode.
+         true: firmware roaming will be disabled when the device goes into idle mode, and then
+               re-activated when the device exits idle mode.
+         false: firmware roaming will not be affected. -->
+    <bool translatable="false" name ="config_wifiDisableFirmwareRoamingInIdleMode">true</bool>
+
 </resources>