diff --git a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
index c33f3e91d3..c431d85eef 100644
--- a/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
+++ b/automotive/vehicle/vts/src/VtsHalAutomotiveVehicle_TargetTest.cpp
@@ -30,6 +30,7 @@
 #include <hidl/ServiceManagement.h>
 #include <inttypes.h>
 #include <utils/Log.h>
+#include <utils/SystemClock.h>
 
 #include <chrono>
 #include <mutex>
@@ -67,6 +68,7 @@ class VtsVehicleCallback final : public ISubscriptionCallback {
   private:
     std::mutex mLock;
     std::unordered_map<int32_t, size_t> mEventsCount GUARDED_BY(mLock);
+    std::unordered_map<int32_t, std::vector<int64_t>> mEventTimestamps GUARDED_BY(mLock);
     std::condition_variable mEventCond;
 
   public:
@@ -74,7 +76,9 @@ class VtsVehicleCallback final : public ISubscriptionCallback {
         {
             std::lock_guard<std::mutex> lockGuard(mLock);
             for (auto& value : values) {
-                mEventsCount[value->getPropId()] += 1;
+                int32_t propId = value->getPropId();
+                mEventsCount[propId] += 1;
+                mEventTimestamps[propId].push_back(value->getTimestamp());
             }
         }
         mEventCond.notify_one();
@@ -94,6 +98,13 @@ class VtsVehicleCallback final : public ISubscriptionCallback {
         });
     }
 
+    std::vector<int64_t> getEventTimestamps(int32_t propId) {
+        {
+            std::lock_guard<std::mutex> lockGuard(mLock);
+            return mEventTimestamps[propId];
+        }
+    }
+
     void reset() {
         std::lock_guard<std::mutex> lockGuard(mLock);
         mEventsCount.clear();
@@ -285,19 +296,59 @@ TEST_P(VtsHalAutomotiveVehicleTargetTest, subscribeAndUnsubscribe) {
 
     int32_t propId = toInt(VehicleProperty::PERF_VEHICLE_SPEED);
 
-    std::vector<SubscribeOptions> options = {
-            SubscribeOptions{.propId = propId, .sampleRate = 10.0}};
+    auto propConfigsResult = mVhalClient->getPropConfigs({propId});
+
+    ASSERT_TRUE(propConfigsResult.ok()) << "Failed to get property config for PERF_VEHICLE_SPEED: "
+                                        << "error: " << propConfigsResult.error().message();
+    ASSERT_EQ(propConfigsResult.value().size(), 1u)
+            << "Expect to return 1 config for PERF_VEHICLE_SPEED";
+    auto& propConfig = propConfigsResult.value()[0];
+    float minSampleRate = propConfig->getMinSampleRate();
+    float maxSampleRate = propConfig->getMaxSampleRate();
+
+    if (minSampleRate < 1) {
+        GTEST_SKIP() << "Sample rate for vehicle speed < 1 times/sec, skip test since it would "
+                        "take too long";
+    }
 
     auto client = mVhalClient->getSubscriptionClient(mCallback);
     ASSERT_NE(client, nullptr) << "Failed to get subscription client";
 
-    auto result = client->subscribe(options);
+    auto result = client->subscribe({{.propId = propId, .sampleRate = minSampleRate}});
 
     ASSERT_TRUE(result.ok()) << StringPrintf("Failed to subscribe to property: %" PRId32
                                              ", error: %s",
                                              propId, result.error().message().c_str());
-    ASSERT_TRUE(mCallback->waitForExpectedEvents(propId, 10, std::chrono::seconds(10)))
-            << "Didn't get enough events for subscription";
+
+    if (mVhalClient->isAidlVhal()) {
+        // Skip checking timestamp for HIDL because the behavior for sample rate and timestamp is
+        // only specified clearly for AIDL.
+
+        // Timeout is 2 seconds, which gives a 1 second buffer.
+        ASSERT_TRUE(mCallback->waitForExpectedEvents(propId, std::floor(minSampleRate),
+                                                     std::chrono::seconds(2)))
+                << "Didn't get enough events for subscribing to minSampleRate";
+    }
+
+    result = client->subscribe({{.propId = propId, .sampleRate = maxSampleRate}});
+
+    ASSERT_TRUE(result.ok()) << StringPrintf("Failed to subscribe to property: %" PRId32
+                                             ", error: %s",
+                                             propId, result.error().message().c_str());
+
+    if (mVhalClient->isAidlVhal()) {
+        ASSERT_TRUE(mCallback->waitForExpectedEvents(propId, std::floor(maxSampleRate),
+                                                     std::chrono::seconds(2)))
+                << "Didn't get enough events for subscribing to maxSampleRate";
+
+        std::unordered_set<int64_t> timestamps;
+        // Event event should have a different timestamp.
+        for (const int64_t& eventTimestamp : mCallback->getEventTimestamps(propId)) {
+            ASSERT_TRUE(timestamps.find(eventTimestamp) == timestamps.end())
+                    << "two events for the same property must not have the same timestamp";
+            timestamps.insert(eventTimestamp);
+        }
+    }
 
     result = client->unsubscribe({propId});
     ASSERT_TRUE(result.ok()) << StringPrintf("Failed to unsubscribe to property: %" PRId32
@@ -325,6 +376,49 @@ TEST_P(VtsHalAutomotiveVehicleTargetTest, subscribeInvalidProp) {
                                               kInvalidProp);
 }
 
+// Test the timestamp returned in GetValues results is the timestamp when the value is retrieved.
+TEST_P(VtsHalAutomotiveVehicleTargetTest, testGetValuesTimestampAIDL) {
+    if (!mVhalClient->isAidlVhal()) {
+        GTEST_SKIP() << "Skip checking timestamp for HIDL because the behavior is only specified "
+                        "for AIDL";
+    }
+
+    int32_t propId = toInt(VehicleProperty::PARKING_BRAKE_ON);
+    auto prop = mVhalClient->createHalPropValue(propId);
+
+    auto result = mVhalClient->getValueSync(*prop);
+
+    ASSERT_TRUE(result.ok()) << StringPrintf("Failed to get value for property: %" PRId32
+                                             ", error: %s",
+                                             propId, result.error().message().c_str());
+    ASSERT_NE(result.value(), nullptr) << "Result value must not be null";
+    ASSERT_EQ(result.value()->getInt32Values().size(), 1u) << "Result must contain 1 int value";
+
+    bool parkBrakeOnValue1 = (result.value()->getInt32Values()[0] == 1);
+    int64_t timestampValue1 = result.value()->getTimestamp();
+
+    result = mVhalClient->getValueSync(*prop);
+
+    ASSERT_TRUE(result.ok()) << StringPrintf("Failed to get value for property: %" PRId32
+                                             ", error: %s",
+                                             propId, result.error().message().c_str());
+    ASSERT_NE(result.value(), nullptr) << "Result value must not be null";
+    ASSERT_EQ(result.value()->getInt32Values().size(), 1u) << "Result must contain 1 int value";
+
+    bool parkBarkeOnValue2 = (result.value()->getInt32Values()[0] == 1);
+    int64_t timestampValue2 = result.value()->getTimestamp();
+
+    if (parkBarkeOnValue2 == parkBrakeOnValue1) {
+        ASSERT_EQ(timestampValue2, timestampValue1)
+                << "getValue result must contain a timestamp updated when the value was updated, if"
+                   "the value does not change, expect the same timestamp";
+    } else {
+        ASSERT_GT(timestampValue2, timestampValue1)
+                << "getValue result must contain a timestamp updated when the value was updated, if"
+                   "the value changes, expect the newer value has a larger timestamp";
+    }
+}
+
 std::vector<ServiceDescriptor> getDescriptors() {
     std::vector<ServiceDescriptor> descriptors;
     for (std::string name : getAidlHalInstanceNames(IVehicle::descriptor)) {