diff --git a/automotive/vehicle/2.0/default/VehicleService.cpp b/automotive/vehicle/2.0/default/VehicleService.cpp
index e6d292e..ff112c6 100644
--- a/automotive/vehicle/2.0/default/VehicleService.cpp
+++ b/automotive/vehicle/2.0/default/VehicleService.cpp
@@ -33,7 +33,7 @@
     auto emulator = std::make_unique<impl::VehicleEmulator>(hal.get());
     auto service = std::make_unique<VehicleHalManager>(hal.get());
 
-    configureRpcThreadpool(1, true /* callerWillJoin */);
+    configureRpcThreadpool(4, true /* callerWillJoin */);
 
     ALOGI("Registering as service...");
     service->registerAsService();
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
index c4f935b..4835288 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/DefaultConfig.h
@@ -77,6 +77,8 @@
             .prop = toInt(VehicleProperty::PERF_VEHICLE_SPEED),
             .access = VehiclePropertyAccess::READ,
             .changeMode = VehiclePropertyChangeMode::ON_CHANGE,
+            .minSampleRate = 1.0f,
+            .maxSampleRate = 1000.0f,
         },
         .initialValue = { .floatValues = {0.0f} }
     },
@@ -95,8 +97,10 @@
             .prop = toInt(VehicleProperty::ENGINE_RPM),
             .access = VehiclePropertyAccess::READ,
             .changeMode = VehiclePropertyChangeMode::CONTINUOUS,
+            .minSampleRate = 1.0f,
+            .maxSampleRate = 1000.0f,
         },
-        .initialValue = { .floatValues = {0.0f} }
+        .initialValue = { .floatValues = {0.0f} },
     },
 
     {
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h
index c8bcd60..1a8cfe2 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h
@@ -52,8 +52,7 @@
 protected:
     VehicleEmulator* getEmulatorOrDie() {
         std::lock_guard<std::mutex> g(mEmulatorLock);
-        ALOGI("%s, emulator: %p", __func__, mEmulator);
-        assert(mEmulator != nullptr);
+        if (mEmulator == nullptr) abort();
         return mEmulator;
     }
 
diff --git a/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultConfig.h b/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultConfig.h
index aa9aa3c..0f10086 100644
--- a/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultConfig.h
+++ b/automotive/vehicle/2.1/default/impl/vhal_v2_1/DefaultConfig.h
@@ -42,6 +42,8 @@
         .prop = WHEEL_TICK,
         .access = V2_0::VehiclePropertyAccess::READ,
         .changeMode = V2_0::VehiclePropertyChangeMode::CONTINUOUS,
+        .minSampleRate = 1.0f,
+        .maxSampleRate = 100.0f,
     },
 
     {