diff --git a/AndroidBoard.mk b/AndroidBoard.mk
index f33b4fb..fcd669e 100644
--- a/AndroidBoard.mk
+++ b/AndroidBoard.mk
@@ -14,17 +14,27 @@
 
 INSTALLED_KERNEL_TARGET := $(PRODUCT_OUT)/kernel
 
-DTB_SUBFOLDER := nvidia/
+ifneq ($(TARGET_PREBUILT_KERNEL),)
+DTB_PATH := $(dir $(TARGET_PREBUILT_KERNEL))
+else ifneq ($(TARGET_KERNEL_PLATFORM_TARGET),)
+DTB_PATH := $(abspath $(KERNEL_OUT))
+else ifneq ($(filter 4.9, $(TARGET_KERNEL_VERSION)),)
+DTB_PATH := $(abspath $(KERNEL_OUT)/arch/arm64/boot/dts)
+else ifneq ($(findstring dtstree,$(TARGET_KERNEL_ADDITIONAL_FLAGS)),)
+DTB_PATH := $(abspath $(KERNEL_OUT)/../lineage-oot/device-tree/platform/generic-dts/t21x/lineage)
+else
+DTB_PATH := $(abspath $(KERNEL_OUT)/arch/arm64/boot/dts/nvidia)
+endif
 
 INSTALLED_DTBIMAGE_TARGET := $(PRODUCT_OUT)/install/nx-plat.dtimg
 $(INSTALLED_DTBIMAGE_TARGET): $(INSTALLED_KERNEL_TARGET) | mkdtimg
 	echo -e ${CL_GRN}"Building nx DTImage"${CL_RST}
 	@mkdir -p $(PRODUCT_OUT)/install
 	$(HOST_OUT_EXECUTABLES)/mkdtimg create $@ --page_size=0x1000 \
-		$(KERNEL_OUT)/arch/arm64/boot/dts/tegra210-odin.dtb    --id=0x4F44494E --rev=0xa00 \
-		$(KERNEL_OUT)/arch/arm64/boot/dts/tegra210b01-odin.dtb --id=0x4F44494E --rev=0xb01 \
-		$(KERNEL_OUT)/arch/arm64/boot/dts/tegra210b01-vali.dtb --id=0x56414C49 --rev=0xa00 \
-		$(KERNEL_OUT)/arch/arm64/boot/dts/tegra210b01-fric.dtb --id=0x46524947 --rev=0xa00
+		$(DTB_PATH)/tegra210-odin.dtb    --id=0x4F44494E --rev=0xa00 \
+		$(DTB_PATH)/tegra210b01-odin.dtb --id=0x4F44494E --rev=0xb01 \
+		$(DTB_PATH)/tegra210b01-vali.dtb --id=0x56414C49 --rev=0xa00 \
+		$(DTB_PATH)/tegra210b01-fric.dtb --id=0x46524947 --rev=0xa00
 
 ALL_DEFAULT_INSTALLED_MODULES += $(INSTALLED_DTBIMAGE_TARGET)
 
diff --git a/BoardConfig.mk b/BoardConfig.mk
index 8f46a62..119b5f3 100644
--- a/BoardConfig.mk
+++ b/BoardConfig.mk
@@ -55,6 +55,7 @@ WITH_LINEAGE_CHARGER := false
 TARGET_SCREEN_DENSITY := 186
 
 # Kernel Source
+ifeq ($(TARGET_KERNEL_VERSION),4.9)
 KERNEL_TOOLCHAIN               := $(shell pwd)/prebuilts/gcc/linux-x86/aarch64/aarch64-linux-gnu-9.3/bin
 KERNEL_TOOLCHAIN_PREFIX        := aarch64-buildroot-linux-gnu-
 TARGET_KERNEL_CLANG_COMPILE    := false
@@ -71,6 +72,22 @@ TARGET_KERNEL_EXT_MODULES := \
     nvgpu/drivers/gpu/nvgpu:kbuild
 include device/nintendo/nx/modules.mk
 
+ifneq ($(TARGET_PREBUILT_KERNEL),)
+MODDIR := $(dir $(TARGET_PREBUILT_KERNEL))
+BOARD_VENDOR_KERNEL_MODULES := $(wildcard $(MODDIR)/*.ko)
+BOARD_VENDOR_RAMDISK_KERNEL_MODULES := $(addprefix $(MODDIR)/,$(BOOT_KERNEL_MODULES))
+BOARD_RECOVERY_KERNEL_MODULES := $(addprefix $(MODDIR)/,$(RECOVERY_KERNEL_MODULES))
+endif
+else
+ifeq ($(TARGET_PREBUILT_KERNEL),)
+TARGET_KERNEL_PLATFORM_TARGET := tegra
+TARGET_KERNEL_SOURCE          := vendor/nvidia/$(TARGET_KERNEL_PLATFORM_TARGET)
+BOARD_KERNEL_IMAGE_NAME       := Image.gz
+endif
+BOARD_KERNEL_CMDLINE          := firmware_class.path=/vendor/firmware cpufreq.default_governor=performance cma=512MB nouveau.atomic=1
+include device/nvidia/foster/modules-ack.mk
+endif
+
 # Kernel Image Parameters
 BOARD_KERNEL_IMAGE_NAME        := Image.gz
 BOARD_MKBOOTIMG_ARGS           := \
diff --git a/device.mk b/device.mk
index a068724..02334ef 100644
--- a/device.mk
+++ b/device.mk
@@ -23,8 +23,6 @@ TARGET_TEGRA_CPL      := none
 TARGET_KERNEL_VERSION ?= 4.9
 TARGET_TEGRA_KEYSTORE := software
 TARGET_TEGRA_LIGHT    ?= lineage
-TARGET_TEGRA_MAN_LVL  := 5
-TARGET_TEGRA_MEMTRACK ?= rel-shield-r
 TARGET_TEGRA_POWER    := perfmgr
 TARGET_TEGRA_SENSORS  := iio
 TARGET_TEGRA_SENSOR_FEATURES := accelerometer gyroscope light
@@ -32,10 +30,13 @@ TARGET_TEGRA_THERMAL  ?= lineage
 TARGET_TEGRA_UBOOT    := prebuilt
 TARGET_TEGRA_WIDEVINE ?= rel-shield-r
 TARGET_TEGRA_WIFI     ?= bcm
-TARGET_TEGRA_WIREGUARD ?= compat
 
 TARGET_ATV_FORCE_1080_SCALING := false
 
+ifneq ($(filter 4.9, $(TARGET_KERNEL_VERSION)),)
+TARGET_TEGRA_MEMTRACK ?= rel-shield-r
+endif
+
 include device/nvidia/t210-common/t210.mk
 
 # Properties
@@ -116,8 +117,11 @@ PRODUCT_PACKAGES += \
     cec_disable.xml
 
 # Device Settings
+# TEMP
+ifneq ($(filter 4.9, $(TARGET_KERNEL_VERSION)),)
 PRODUCT_PACKAGES += \
     DeviceSettingsNX
+endif
 
 # DocumentsUI
 # We are the exception, being an ATV device with touch
@@ -143,8 +147,10 @@ PRODUCT_PACKAGES += \
     jc_setup
 
 # Kernel Modules
+ifneq ($(filter 4.9, $(TARGET_KERNEL_VERSION)),)
 PRODUCT_PACKAGES += \
     cypress-fmac-upstream
+endif
 
 # Keylayouts
 PRODUCT_PACKAGES += \
@@ -152,11 +158,17 @@ PRODUCT_PACKAGES += \
 
 # Loadable kernel modules
 PRODUCT_PACKAGES += \
-    lkm_loader \
-    lkm_loader_target
+    lkm_loader
 
 PRODUCT_COPY_FILES += \
     device/nvidia/tegra-common/initfiles/init.lkm.rc:$(TARGET_COPY_OUT_VENDOR)/etc/init/hw/init.lkm.rc
+ifneq ($(filter 4.9, $(TARGET_KERNEL_VERSION)),)
+PRODUCT_PACKAGES += \
+    lkm_loader_target
+else
+PRODUCT_COPY_FILES += \
+    device/nintendo/nx/initfiles/lkm.rc:$(TARGET_COPY_OUT_VENDOR)/etc/init/lkm.rc
+endif
 
 # Media config
 PRODUCT_PACKAGES += \
diff --git a/initfiles/lkm.rc b/initfiles/lkm.rc
new file mode 100644
index 0000000..3f564bf
--- /dev/null
+++ b/initfiles/lkm.rc
@@ -0,0 +1,2 @@
+on fs
+    exec u:r:modprobe:s0 -- /system/bin/modprobe -a -d /system/lib/modules hci_uart.ko
diff --git a/modules-ack.mk b/modules-ack.mk
new file mode 100644
index 0000000..61740af
--- /dev/null
+++ b/modules-ack.mk
@@ -0,0 +1,154 @@
+#
+# Copyright (C) 2022-2023 The LineageOS Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+# Gpu driver
+ifeq ($(TARGET_TEGRA_GPU),nvgpu)
+BOARD_VENDOR_KERNEL_MODULES_LOAD += \
+    governor_pod_scaling \
+    nvgpu
+else
+BOARD_VENDOR_KERNEL_MODULES_LOAD += \
+    nouveau
+endif
+
+# Tegra high speed serial
+BOARD_VENDOR_KERNEL_MODULES_LOAD += \
+    serial-tegra
+
+# Usb Bluetooth
+BOARD_VENDOR_KERNEL_MODULES_LOAD += \
+    btusb
+
+# Broadcom wifi
+BOARD_VENDOR_KERNEL_MODULES_LOAD += \
+    brcmfmac-wcc
+
+# Realtek ethernet
+BOARD_VENDOR_KERNEL_MODULES_LOAD += \
+    r8169
+
+# Tegra cec
+BOARD_VENDOR_KERNEL_MODULES_LOAD += \
+    tegra_cec
+
+# Tegra hdmi audio
+BOARD_VENDOR_KERNEL_MODULES_LOAD += \
+    snd-hda-codec-hdmi \
+    snd-hda-tegra
+
+# Tegra audio processing engine
+BOARD_VENDOR_KERNEL_MODULES_LOAD += \
+    tegra-aconnect \
+    tegra210-adma \
+    snd-soc-tegra210-sfc \
+    snd-soc-tegra210-i2s \
+    snd-soc-tegra210-mixer \
+    snd-soc-tegra210-amx \
+    snd-soc-tegra210-admaif \
+    snd-soc-tegra210-adx \
+    snd-soc-tegra210-iqc \
+    snd-soc-tegra210-afc \
+    snd-soc-tegra210-dmic \
+    snd-soc-tegra210-mvc \
+    snd-soc-tegra210-ope \
+    snd-soc-tegra-audio-graph-card
+
+# Nvidia Controllers
+BOARD_VENDOR_KERNEL_MODULES_LOAD += \
+    hid-nvidia-shield \
+    hid-nvidia-shield-oot
+
+# JoyCons
+BOARD_VENDOR_KERNEL_MODULES_LOAD += \
+	joycon-serdev \
+    hid-nintendo
+
+# Copy to boot
+BOOT_KERNEL_MODULES := \
+    system_heap.ko \
+    tegra30-devfreq.ko \
+    cpufreq-dt.ko \
+    tegra124-cpufreq.ko \
+    i2c-tegra.ko \
+    spi-tegra114.ko \
+    spi-tegra210-quad.ko \
+    bq24190_charger.ko \
+    bq27xxx_battery.ko \
+    bq27xxx_battery_i2c.ko \
+    rtc-tegra.ko \
+    gpio-tegra.ko \
+    max77620.ko \
+    gpio-max77620.ko \
+    pinctrl-max77620.ko \
+    max77620-regulator.ko \
+    rtc-max77686.ko \
+    max77812-regulator.ko \
+    gpio-pca953x.ko \
+    tegra20-apb-dma.ko \
+    tegra210-emc.ko \
+    phy-tegra-xusb.ko \
+    xhci-tegra.ko \
+    tegra-xudc.ko \
+    usb-conn-gpio.ko \
+    pci-tegra.ko \
+    hwmon.ko \
+    pwm-tegra.ko \
+    pwm-fan.ko \
+    pwm-regulator.ko \
+    tegra-soctherm.ko \
+    lm90.ko \
+    cqhci.ko \
+    sdhci-tegra.ko \
+    simplefb.ko \
+    host1x.ko \
+    drm_display_helper.ko \
+    drm_dp_aux_bus.ko \
+    tegra-drm.ko \
+    panel-nx-dsi.ko \
+    pwm_bl.ko
+
+# Load in first stage boot
+BOARD_VENDOR_RAMDISK_KERNEL_MODULES_LOAD := \
+    system_heap \
+    tegra30-devfreq \
+    tegra124-cpufreq \
+    i2c-tegra \
+    spi-tegra114 \
+    spi-tegra210-quad \
+    bq24190_charger \
+    rtc-tegra \
+    gpio-tegra \
+    max77620 \
+    gpio-max77620 \
+    pinctrl-max77620 \
+    max77620-regulator \
+    max77812-regulator \
+    gpio-pca953x \
+    tegra20-apb-dma \
+    tegra210-emc \
+    xhci-tegra \
+    tegra-xudc \
+    usb-conn-gpio \
+    pci-tegra \
+    pwm-tegra \
+    pwm-fan \
+    pwm-regulator \
+    tegra-soctherm \
+    lm90 \
+    sdhci-tegra \
+    simplefb \
+    tegra-drm \
+    pwm_bl