diff --git a/packages/SystemUI/src/com/android/systemui/statusbar/phone/BarTransitions.java b/packages/SystemUI/src/com/android/systemui/statusbar/phone/BarTransitions.java
index 79056175b5950..211a40a91101b 100644
--- a/packages/SystemUI/src/com/android/systemui/statusbar/phone/BarTransitions.java
+++ b/packages/SystemUI/src/com/android/systemui/statusbar/phone/BarTransitions.java
@@ -70,7 +70,7 @@ public class BarTransitions {
 
     private final String mTag;
     private final View mView;
-    private final BarBackgroundDrawable mBarBackground;
+    protected final BarBackgroundDrawable mBarBackground;
 
     private int mMode;
     private boolean mAlwaysOpaque = false;
@@ -152,7 +152,7 @@ public class BarTransitions {
         return mode == MODE_LIGHTS_OUT || mode == MODE_LIGHTS_OUT_TRANSPARENT;
     }
 
-    private static class BarBackgroundDrawable extends Drawable {
+    protected static class BarBackgroundDrawable extends Drawable {
         private final int mOpaque;
         private final int mSemiTransparent;
         private final int mTransparent;
@@ -171,6 +171,7 @@ public class BarTransitions {
 
         private int mGradientAlphaStart;
         private int mColorStart;
+        private Rect mFrame;
 
 
         public BarBackgroundDrawable(Context context, int gradientResourceId) {
@@ -190,6 +191,10 @@ public class BarTransitions {
             mGradient = context.getDrawable(gradientResourceId);
         }
 
+        public void setFrame(Rect frame) {
+            mFrame = frame;
+        }
+
         @Override
         public void setAlpha(int alpha) {
             // noop
@@ -296,7 +301,11 @@ public class BarTransitions {
                 if (mTintFilter != null) {
                     mPaint.setColorFilter(mTintFilter);
                 }
-                canvas.drawPaint(mPaint);
+                if (mFrame != null) {
+                    canvas.drawRect(mFrame, mPaint);
+                } else {
+                    canvas.drawPaint(mPaint);
+                }
             }
             if (mAnimating) {
                 invalidateSelf();  // keep going
diff --git a/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarFragment.java b/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarFragment.java
index cbb5d5430e8db..94856234503ce 100644
--- a/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarFragment.java
+++ b/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarFragment.java
@@ -988,11 +988,11 @@ public class NavigationBarFragment extends LifecycleFragment implements Callback
                 if (Intent.ACTION_SCREEN_ON.equals(action)) {
                     // Enabled and screen is on, start it again if enabled
                     if (NavBarTintController.isEnabled(getContext())) {
-                        mNavigationBarView.getColorAdaptionController().start();
+                        mNavigationBarView.getTintController().start();
                     }
                 } else {
                     // Screen off disable it
-                    mNavigationBarView.getColorAdaptionController().stop();
+                    mNavigationBarView.getTintController().stop();
                 }
             }
             if (Intent.ACTION_USER_SWITCHED.equals(action)) {
diff --git a/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarTransitions.java b/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarTransitions.java
index 3984405f8e098..d4cec429dc908 100644
--- a/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarTransitions.java
+++ b/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarTransitions.java
@@ -17,6 +17,7 @@
 package com.android.systemui.statusbar.phone;
 
 import android.content.Context;
+import android.graphics.Rect;
 import android.os.Handler;
 import android.os.RemoteException;
 import android.os.ServiceManager;
@@ -105,6 +106,10 @@ public final class NavigationBarTransitions extends BarTransitions {
         applyLightsOut(true, false);
     }
 
+    void setBackgroundFrame(Rect frame) {
+        mBarBackground.setFrame(frame);
+    }
+
     @Override
     protected boolean isLightsOut(int mode) {
         return super.isLightsOut(mode) || (mAllowAutoDimWallpaperNotVisible && mAutoDim
@@ -119,6 +124,7 @@ public final class NavigationBarTransitions extends BarTransitions {
     protected void onTransition(int oldMode, int newMode, boolean animate) {
         super.onTransition(oldMode, newMode, animate);
         applyLightsOut(animate, false /*force*/);
+        mView.onBarTransition(newMode);
     }
 
     private void applyLightsOut(boolean animate, boolean force) {
diff --git a/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarView.java b/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarView.java
index f2d62414d51ed..f22ecf6792bc0 100644
--- a/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarView.java
+++ b/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarView.java
@@ -30,6 +30,7 @@ import static com.android.systemui.shared.system.NavigationBarCompat.HIT_TARGET_
 import static com.android.systemui.shared.system.NavigationBarCompat.HIT_TARGET_NONE;
 import static com.android.systemui.shared.system.NavigationBarCompat.HIT_TARGET_OVERVIEW;
 import static com.android.systemui.shared.system.NavigationBarCompat.HIT_TARGET_ROTATION;
+import static com.android.systemui.statusbar.phone.BarTransitions.MODE_OPAQUE;
 import static com.android.systemui.statusbar.phone.NavigationBarInflaterView.NAV_BAR_VIEWS;
 
 import android.animation.LayoutTransition;
@@ -172,7 +173,7 @@ public class NavigationBarView extends FrameLayout implements PluginListener<Nav
     private RecentsOnboarding mRecentsOnboarding;
     private NotificationPanelView mPanelView;
 
-    private NavBarTintController mColorAdaptionController;
+    private NavBarTintController mTintController;
     private boolean mAssistantAvailable;
     private NavigationPrototypeController mPrototypeController;
     private NavigationGestureAction[] mDefaultGestureMap;
@@ -309,9 +310,9 @@ public class NavigationBarView extends FrameLayout implements PluginListener<Nav
         @Override
         public void onColorAdaptChanged(boolean enabled) {
             if (enabled) {
-                mColorAdaptionController.start();
+                mTintController.start();
             } else {
-                mColorAdaptionController.stop();
+                mTintController.stop();
             }
         }
 
@@ -442,15 +443,15 @@ public class NavigationBarView extends FrameLayout implements PluginListener<Nav
         mPrototypeController = new NavigationPrototypeController(context);
         mPrototypeController.register();
         mPrototypeController.setOnPrototypeChangedListener(mPrototypeListener);
-        mColorAdaptionController = new NavBarTintController(this, getLightTransitionsController());
+        mTintController = new NavBarTintController(this, getLightTransitionsController());
 
         IntentFilter filter = new IntentFilter(ACTION_OVERLAY_CHANGED);
         filter.addDataScheme("package");
         context.registerReceiver(mOverlaysChangedReceiver, filter);
     }
 
-    public NavBarTintController getColorAdaptionController() {
-        return mColorAdaptionController;
+    public NavBarTintController getTintController() {
+        return mTintController;
     }
 
     public BarTransitions getBarTransitions() {
@@ -476,7 +477,7 @@ public class NavigationBarView extends FrameLayout implements PluginListener<Nav
     @Override
     protected void dispatchDraw(Canvas canvas) {
         super.dispatchDraw(canvas);
-        mColorAdaptionController.onDraw();
+        mTintController.onDraw();
     }
 
     private void updateNavigationGestures() {
@@ -557,6 +558,17 @@ public class NavigationBarView extends FrameLayout implements PluginListener<Nav
         return super.onTouchEvent(event);
     }
 
+    void onBarTransition(int newMode) {
+        if (newMode == MODE_OPAQUE) {
+            // If the nav bar background is opaque, stop auto tinting since we know the icons are
+            // showing over a dark background
+            mTintController.stop();
+            getLightTransitionsController().setIconsDark(false /* dark */, true /* animate */);
+        } else {
+            mTintController.start();
+        }
+    }
+
     private boolean shouldDeadZoneConsumeTouchEvents(MotionEvent event) {
         if (mDeadZone.onTouchEvent(event) || mDeadZoneConsuming) {
             switch (event.getActionMasked()) {
@@ -978,9 +990,9 @@ public class NavigationBarView extends FrameLayout implements PluginListener<Nav
 
         // Color adaption is tied with showing home handle, only avaliable if visible
         if (visible) {
-            mColorAdaptionController.start();
+            mTintController.start();
         } else {
-            mColorAdaptionController.stop();
+            mTintController.stop();
         }
     }
 
@@ -1206,6 +1218,19 @@ public class NavigationBarView extends FrameLayout implements PluginListener<Nav
             reorient();
             notifyVerticalChangedListener(newVertical);
         }
+
+        if (QuickStepContract.isGesturalMode(getContext())) {
+            // Update the nav bar background to match the height of the visible nav bar
+            int height = mIsVertical
+                    ? getResources().getDimensionPixelSize(
+                            com.android.internal.R.dimen.navigation_bar_height_landscape)
+                    : getResources().getDimensionPixelSize(
+                            com.android.internal.R.dimen.navigation_bar_height);
+            int frameHeight = getResources().getDimensionPixelSize(
+                    com.android.internal.R.dimen.navigation_bar_frame_height);
+            mBarTransitions.setBackgroundFrame(new Rect(0, frameHeight - height, w, h));
+        }
+
         super.onMeasure(widthMeasureSpec, heightMeasureSpec);
     }
 
@@ -1232,9 +1257,9 @@ public class NavigationBarView extends FrameLayout implements PluginListener<Nav
         }
 
         if (newConfig.orientation == Configuration.ORIENTATION_PORTRAIT) {
-            mColorAdaptionController.start();
+            mTintController.start();
         } else {
-            mColorAdaptionController.stop();
+            mTintController.stop();
         }
     }
 
@@ -1417,7 +1442,7 @@ public class NavigationBarView extends FrameLayout implements PluginListener<Nav
             mGestureHelper.dump(pw);
         }
         mRecentsOnboarding.dump(pw);
-        mColorAdaptionController.dump(pw);
+        mTintController.dump(pw);
     }
 
     @Override