diff --git a/core/java/com/android/internal/policy/PhoneWindow.java b/core/java/com/android/internal/policy/PhoneWindow.java
index 1875ecf69ea03..a14e9a7cf516d 100644
--- a/core/java/com/android/internal/policy/PhoneWindow.java
+++ b/core/java/com/android/internal/policy/PhoneWindow.java
@@ -2507,12 +2507,23 @@ public class PhoneWindow extends Window implements MenuBuilder.Callback {
         final boolean targetPreQ = targetSdk < Build.VERSION_CODES.Q;
 
         if (!mForcedStatusBarColor) {
-            mStatusBarColor = a.getColor(R.styleable.Window_statusBarColor, 0xFF000000);
+            mStatusBarColor = a.getColor(R.styleable.Window_statusBarColor, Color.BLACK);
         }
         if (!mForcedNavigationBarColor) {
-            mNavigationBarColor = a.getColor(R.styleable.Window_navigationBarColor, 0xFF000000);
+            final int navBarCompatibleColor = context.getColor(R.color.navigation_bar_compatible);
+            final int navBarDefaultColor = context.getColor(R.color.navigation_bar_default);
+            final int navBarColor = a.getColor(R.styleable.Window_navigationBarColor,
+                    navBarDefaultColor);
+
+            mNavigationBarColor =
+                    navBarColor == navBarDefaultColor
+                            && !context.getResources().getBoolean(
+                                    R.bool.config_navBarDefaultTransparent)
+                    ? navBarCompatibleColor
+                    : navBarColor;
+
             mNavigationBarDividerColor = a.getColor(R.styleable.Window_navigationBarDividerColor,
-                    0x00000000);
+                    Color.TRANSPARENT);
         }
         if (!targetPreQ) {
             mEnsureStatusBarContrastWhenTransparent = a.getBoolean(
diff --git a/core/res/res/values/colors.xml b/core/res/res/values/colors.xml
index 0c2fc1d4af297..e8922b0c870c1 100644
--- a/core/res/res/values/colors.xml
+++ b/core/res/res/values/colors.xml
@@ -573,4 +573,10 @@
     <color name="side_fps_toast_background">#F7F9FA</color>
     <color name="side_fps_text_color">#191C1D</color>
     <color name="side_fps_button_color">#00677E</color>
+
+    <!-- Color for system bars -->
+    <color name="navigation_bar_compatible">@android:color/black</color>
+    <!-- This uses non-regular transparent intentionally. It is used to tell if the transparent
+         color is set by the framework or not. -->
+    <color name="navigation_bar_default">#00808080</color>
 </resources>
diff --git a/core/res/res/values/config.xml b/core/res/res/values/config.xml
index 8e5ae9cf21ae7..76bb2760c5414 100644
--- a/core/res/res/values/config.xml
+++ b/core/res/res/values/config.xml
@@ -3876,6 +3876,10 @@
          This should only be set when the device has gestural navigation enabled by default. -->
     <bool name="config_showGesturalNavigationHints">false</bool>
 
+    <!-- Controls whether the navigation bar background color provided by the app is transparent by
+         default. This should be controlled in developer options. -->
+    <bool name="config_navBarDefaultTransparent">false</bool>
+
     <!-- Controls the free snap mode for the docked stack divider. In this mode, the divider can be
          snapped to any position between the first target and the last target. -->
     <bool name="config_dockedStackDividerFreeSnapMode">false</bool>
diff --git a/core/res/res/values/symbols.xml b/core/res/res/values/symbols.xml
index dcd7a31b6e4c5..9faf1439d9c7f 100644
--- a/core/res/res/values/symbols.xml
+++ b/core/res/res/values/symbols.xml
@@ -2996,6 +2996,9 @@
   <java-symbol type="array" name="config_backGestureInsetScales" />
   <java-symbol type="color" name="system_bar_background_semi_transparent" />
   <java-symbol type="bool" name="config_showGesturalNavigationHints" />
+  <java-symbol type="bool" name="config_navBarDefaultTransparent" />
+  <java-symbol type="color" name="navigation_bar_default"/>
+  <java-symbol type="color" name="navigation_bar_compatible"/>
 
   <!-- EditText suggestion popup. -->
   <java-symbol type="id" name="suggestionWindowContainer" />
diff --git a/core/res/res/values/themes.xml b/core/res/res/values/themes.xml
index a60862b74e15c..e96de582022a8 100644
--- a/core/res/res/values/themes.xml
+++ b/core/res/res/values/themes.xml
@@ -191,7 +191,7 @@ please see themes_device_defaults.xml.
         <item name="windowTranslucentNavigation">false</item>
         <item name="windowDrawsSystemBarBackgrounds">false</item>
         <item name="statusBarColor">@color/black</item>
-        <item name="navigationBarColor">@color/black</item>
+        <item name="navigationBarColor">@color/navigation_bar_default</item>
         <item name="windowActionBarFullscreenDecorLayout">@layout/screen_action_bar</item>
         <item name="windowContentTransitions">false</item>
         <item name="windowActivityTransitions">false</item>
diff --git a/core/res/res/values/themes_material.xml b/core/res/res/values/themes_material.xml
index e516a6cf9d2b5..cd4c0d62523ec 100644
--- a/core/res/res/values/themes_material.xml
+++ b/core/res/res/values/themes_material.xml
@@ -175,7 +175,7 @@ please see themes_device_defaults.xml.
         <item name="windowDrawsSystemBarBackgrounds">true</item>
         <item name="windowActionBarFullscreenDecorLayout">@layout/screen_toolbar</item>
         <item name="statusBarColor">?attr/colorPrimaryDark</item>
-        <item name="navigationBarColor">@color/black</item>
+        <item name="navigationBarColor">@color/navigation_bar_default</item>
         <item name="windowEnterTransition">@transition/fade</item>
         <item name="windowSharedElementEnterTransition">@transition/move</item>
         <item name="windowSharedElementExitTransition">@transition/move</item>
@@ -548,7 +548,7 @@ please see themes_device_defaults.xml.
         <item name="windowDrawsSystemBarBackgrounds">true</item>
         <item name="windowActionBarFullscreenDecorLayout">@layout/screen_toolbar</item>
         <item name="statusBarColor">?attr/colorPrimaryDark</item>
-        <item name="navigationBarColor">@color/black</item>
+        <item name="navigationBarColor">@color/navigation_bar_default</item>
         <item name="windowEnterTransition">@transition/fade</item>
         <item name="windowSharedElementEnterTransition">@transition/move</item>
         <item name="windowSharedElementExitTransition">@transition/move</item>