diff --git a/quickstep/src/com/android/launcher3/uioverrides/states/OverviewModalTaskState.java b/quickstep/src/com/android/launcher3/uioverrides/states/OverviewModalTaskState.java
index 0c49e5fc69..b9221eef9d 100644
--- a/quickstep/src/com/android/launcher3/uioverrides/states/OverviewModalTaskState.java
+++ b/quickstep/src/com/android/launcher3/uioverrides/states/OverviewModalTaskState.java
@@ -18,12 +18,12 @@ package com.android.launcher3.uioverrides.states;
 import static com.android.launcher3.logging.StatsLogManager.LAUNCHER_STATE_OVERVIEW;
 
 import android.content.Context;
-import android.graphics.Point;
 import android.graphics.Rect;
 
 import com.android.launcher3.BaseDraggingActivity;
 import com.android.launcher3.Launcher;
 import com.android.launcher3.LauncherState;
+import com.android.launcher3.config.FeatureFlags;
 import com.android.quickstep.views.RecentsView;
 
 /**
@@ -70,13 +70,22 @@ public class OverviewModalTaskState extends OverviewState {
         }
     }
 
-    public static float[] getOverviewScaleAndOffsetForModalState(BaseDraggingActivity activity) {
-        Point taskSize = activity.<RecentsView>getOverviewPanel().getSelectedTaskSize();
-        Rect modalTaskSize = new Rect();
-        activity.<RecentsView>getOverviewPanel().getModalTaskSize(modalTaskSize);
+    @Override
+    public boolean isTaskbarStashed(Launcher launcher) {
+        if (FeatureFlags.ENABLE_GRID_ONLY_OVERVIEW.get()) {
+            return true;
+        }
+        return super.isTaskbarStashed(launcher);
+    }
 
-        float scale = Math.min((float) modalTaskSize.height() / taskSize.y,
-                (float) modalTaskSize.width() / taskSize.x);
+    public static float[] getOverviewScaleAndOffsetForModalState(BaseDraggingActivity activity) {
+        RecentsView recentsView = activity.<RecentsView>getOverviewPanel();
+        Rect taskSize = recentsView.getSelectedTaskBounds();
+        Rect modalTaskSize = new Rect();
+        recentsView.getModalTaskSize(modalTaskSize);
+
+        float scale = Math.min((float) modalTaskSize.height() / taskSize.height(),
+                (float) modalTaskSize.width() / taskSize.width());
 
         return new float[] {scale, NO_OFFSET};
     }
diff --git a/quickstep/src/com/android/quickstep/BaseActivityInterface.java b/quickstep/src/com/android/quickstep/BaseActivityInterface.java
index f9ad7491c7..998439e891 100644
--- a/quickstep/src/com/android/quickstep/BaseActivityInterface.java
+++ b/quickstep/src/com/android/quickstep/BaseActivityInterface.java
@@ -52,6 +52,7 @@ import com.android.launcher3.DeviceProfile;
 import com.android.launcher3.R;
 import com.android.launcher3.anim.AnimatorPlaybackController;
 import com.android.launcher3.anim.PendingAnimation;
+import com.android.launcher3.config.FeatureFlags;
 import com.android.launcher3.statehandlers.DepthController;
 import com.android.launcher3.statehandlers.DesktopVisibilityController;
 import com.android.launcher3.statemanager.BaseState;
@@ -339,12 +340,21 @@ public abstract class BaseActivityInterface<STATE_TYPE extends BaseState<STATE_T
      */
     public final void calculateModalTaskSize(Context context, DeviceProfile dp, Rect outRect) {
         calculateTaskSize(context, dp, outRect);
-        float maxScale = context.getResources().getFloat(R.dimen.overview_modal_max_scale);
+        boolean isGridOnlyOverview = dp.isTablet && FeatureFlags.ENABLE_GRID_ONLY_OVERVIEW.get();
+        int claimedSpaceBelow = isGridOnlyOverview
+                ? dp.overviewActionsTopMarginPx + dp.overviewActionsHeight + dp.stashedTaskbarSize
+                : (dp.heightPx - outRect.bottom - dp.getInsets().bottom);
+        int minimumHorizontalPadding = 0;
+        if (!isGridOnlyOverview) {
+            float maxScale = context.getResources().getFloat(R.dimen.overview_modal_max_scale);
+            minimumHorizontalPadding =
+                    Math.round((dp.availableWidthPx - outRect.width() * maxScale) / 2);
+        }
         calculateTaskSizeInternal(
                 context, dp,
                 dp.overviewTaskMarginPx,
-                dp.heightPx - outRect.bottom - dp.getInsets().bottom,
-                Math.round((dp.availableWidthPx - outRect.width() * maxScale) / 2),
+                claimedSpaceBelow,
+                minimumHorizontalPadding,
                 1f /*maxScale*/,
                 Gravity.CENTER_HORIZONTAL | Gravity.BOTTOM,
                 outRect);
diff --git a/quickstep/src/com/android/quickstep/TaskOverlayFactory.java b/quickstep/src/com/android/quickstep/TaskOverlayFactory.java
index 0dcd723363..72330efc26 100644
--- a/quickstep/src/com/android/quickstep/TaskOverlayFactory.java
+++ b/quickstep/src/com/android/quickstep/TaskOverlayFactory.java
@@ -80,9 +80,9 @@ public class TaskOverlayFactory implements ResourceBasedOverride {
         boolean isInLandscape = orientedState.getTouchRotation() != ROTATION_0;
         boolean isTablet = activity.getDeviceProfile().isTablet;
 
+        boolean isGridOnlyOverview = isTablet && FeatureFlags.ENABLE_GRID_ONLY_OVERVIEW.get();
         // Add overview actions to the menu when in in-place rotate landscape mode.
-        if ((!canLauncherRotate && isInLandscape)
-                || (isTablet && FeatureFlags.ENABLE_GRID_ONLY_OVERVIEW.get())) {
+        if ((!canLauncherRotate && isInLandscape) || isGridOnlyOverview) {
             // Add screenshot action to task menu.
             List<SystemShortcut> screenshotShortcuts = TaskShortcutFactory.SCREENSHOT
                     .getShortcuts(activity, taskContainer);
diff --git a/quickstep/src/com/android/quickstep/fallback/FallbackRecentsView.java b/quickstep/src/com/android/quickstep/fallback/FallbackRecentsView.java
index db6d56b41b..4b1dd439f3 100644
--- a/quickstep/src/com/android/quickstep/fallback/FallbackRecentsView.java
+++ b/quickstep/src/com/android/quickstep/fallback/FallbackRecentsView.java
@@ -15,6 +15,8 @@
  */
 package com.android.quickstep.fallback;
 
+import static android.app.ActivityTaskManager.INVALID_TASK_ID;
+
 import static com.android.quickstep.GestureState.GestureEndTarget.RECENTS;
 import static com.android.quickstep.fallback.RecentsState.DEFAULT;
 import static com.android.quickstep.fallback.RecentsState.HOME;
@@ -200,8 +202,9 @@ public class FallbackRecentsView extends RecentsView<RecentsActivity, RecentsSta
     }
 
     @Override
-    public void setModalStateEnabled(boolean isModalState, boolean animate) {
-        if (isModalState) {
+    public void setModalStateEnabled(int taskId, boolean animate) {
+        if (taskId != INVALID_TASK_ID) {
+            setSelectedTask(taskId);
             mActivity.getStateManager().goToState(RecentsState.MODAL_TASK, animate);
         } else {
             if (mActivity.isInState(RecentsState.MODAL_TASK)) {
diff --git a/quickstep/src/com/android/quickstep/views/LauncherRecentsView.java b/quickstep/src/com/android/quickstep/views/LauncherRecentsView.java
index ff26129dfb..c165accc52 100644
--- a/quickstep/src/com/android/quickstep/views/LauncherRecentsView.java
+++ b/quickstep/src/com/android/quickstep/views/LauncherRecentsView.java
@@ -15,6 +15,8 @@
  */
 package com.android.quickstep.views;
 
+import static android.app.ActivityTaskManager.INVALID_TASK_ID;
+
 import static com.android.launcher3.LauncherState.CLEAR_ALL_BUTTON;
 import static com.android.launcher3.LauncherState.NORMAL;
 import static com.android.launcher3.LauncherState.OVERVIEW;
@@ -171,8 +173,9 @@ public class LauncherRecentsView extends RecentsView<QuickstepLauncher, Launcher
     }
 
     @Override
-    public void setModalStateEnabled(boolean isModalState, boolean animate) {
-        if (isModalState) {
+    public void setModalStateEnabled(int taskId, boolean animate) {
+        if (taskId != INVALID_TASK_ID) {
+            setSelectedTask(taskId);
             mActivity.getStateManager().goToState(LauncherState.OVERVIEW_MODAL_TASK, animate);
         } else {
             if (mActivity.isInState(LauncherState.OVERVIEW_MODAL_TASK)) {
diff --git a/quickstep/src/com/android/quickstep/views/OverviewActionsView.java b/quickstep/src/com/android/quickstep/views/OverviewActionsView.java
index 0d21e6048b..f578b87294 100644
--- a/quickstep/src/com/android/quickstep/views/OverviewActionsView.java
+++ b/quickstep/src/com/android/quickstep/views/OverviewActionsView.java
@@ -303,6 +303,10 @@ public class OverviewActionsView<T extends OverlayUICallbacks> extends FrameLayo
             return mDp.getOverviewActionsClaimedSpaceBelow();
         }
 
+        if (mDp.isTablet && FeatureFlags.ENABLE_GRID_ONLY_OVERVIEW.get()) {
+            return mDp.stashedTaskbarSize;
+        }
+
         // Align to bottom of task Rect.
         return mDp.heightPx - mTaskSize.bottom - mDp.overviewActionsTopMarginPx
                 - mDp.overviewActionsHeight;
diff --git a/quickstep/src/com/android/quickstep/views/RecentsView.java b/quickstep/src/com/android/quickstep/views/RecentsView.java
index bcb109cb76..e529b04577 100644
--- a/quickstep/src/com/android/quickstep/views/RecentsView.java
+++ b/quickstep/src/com/android/quickstep/views/RecentsView.java
@@ -453,6 +453,7 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
     protected final Rect mLastComputedTaskSize = new Rect();
     protected final Rect mLastComputedGridSize = new Rect();
     protected final Rect mLastComputedGridTaskSize = new Rect();
+    private TaskView mSelectedTask = null;
     // How much a task that is directly offscreen will be pushed out due to RecentsView scale/pivot.
     @Nullable
     protected Float mLastComputedTaskStartPushOutDistance = null;
@@ -1084,6 +1085,16 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
         super.draw(canvas);
     }
 
+    @Override
+    public boolean requestChildRectangleOnScreen(View child, Rect rectangle, boolean immediate) {
+        if (isModal()) {
+            // Do not scroll when clicking on a modal grid task, as it will already be centered
+            // on screen.
+            return false;
+        }
+        return super.requestChildRectangleOnScreen(child, rectangle, immediate);
+    }
+
     public void addSideTaskLaunchCallback(RunnableList callback) {
         if (mSideTaskLaunchCallback == null) {
             mSideTaskLaunchCallback = new RunnableList();
@@ -1272,7 +1283,7 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
      */
     @Nullable
     public TaskView getTaskViewByTaskId(int taskId) {
-        if (taskId == -1) {
+        if (taskId == INVALID_TASK_ID) {
             return null;
         }
 
@@ -1920,7 +1931,7 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
     private void onOrientationChanged() {
         // If overview is in modal state when rotate, reset it to overview state without running
         // animation.
-        setModalStateEnabled(/* isModalState= */ false, /* animate= */ false);
+        setModalStateEnabled(/* taskId= */ INVALID_TASK_ID, /* animate= */ false);
         if (isSplitSelectionActive()) {
             onRotateInSplitSelectionState();
         }
@@ -1993,12 +2004,33 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
     }
 
     /**
-     * Returns the size of task selected to enter modal state.
+     * Sets the last TaskView selected.
      */
-    public Point getSelectedTaskSize() {
-        mSizeStrategy.calculateTaskSize(mActivity, mActivity.getDeviceProfile(),
-                mTempRect);
-        return new Point(mTempRect.width(), mTempRect.height());
+    public void setSelectedTask(int lastSelectedTaskId) {
+        mSelectedTask = getTaskViewByTaskId(lastSelectedTaskId);
+    }
+
+    /**
+     * Returns the bounds of the task selected to enter modal state.
+     */
+    public Rect getSelectedTaskBounds() {
+        if (mSelectedTask == null) {
+            return mLastComputedTaskSize;
+        }
+        return getTaskBounds(mSelectedTask);
+    }
+
+    private Rect getTaskBounds(TaskView taskView) {
+        int selectedPage = indexOfChild(taskView);
+        int primaryScroll = mOrientationHandler.getPrimaryScroll(this);
+        int selectedPageScroll = getScrollForPage(selectedPage);
+        boolean isTopRow = taskView != null && mTopRowIdSet.contains(taskView.getTaskViewId());
+        Rect outRect = new Rect(mLastComputedTaskSize);
+        outRect.offset(
+                -(primaryScroll - (selectedPageScroll + getOffsetFromScrollPosition(selectedPage))),
+                (int) (showAsGrid() && ENABLE_GRID_ONLY_OVERVIEW.get() && !isTopRow
+                        ? mTopBottomRowHeightDiff : 0));
+        return outRect;
     }
 
     /** Gets the last computed task size */
@@ -4122,8 +4154,13 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
 
     private void updatePivots() {
         if (mOverviewSelectEnabled) {
-            setPivotX(mLastComputedTaskSize.centerX());
-            setPivotY(mLastComputedTaskSize.bottom);
+            getModalTaskSize(mTempRect);
+            Rect selectedTaskPosition = getSelectedTaskBounds();
+
+            Utilities.getPivotsForScalingRectToRect(mTempRect, selectedTaskPosition,
+                    mTempPointF);
+            setPivotX(mTempPointF.x);
+            setPivotY(mTempPointF.y);
         } else {
             getPagedViewOrientedState().getFullScreenScaleAndPivot(mTempRect,
                     mActivity.getDeviceProfile(), mTempPointF);
@@ -4136,11 +4173,17 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
         float offset = mAdjacentPageHorizontalOffset;
         float modalOffset = ACCEL_0_75.getInterpolation(mTaskModalness);
         int count = getChildCount();
+        boolean showAsGrid = showAsGrid();
 
         TaskView runningTask = mRunningTaskViewId == -1 || !mRunningTaskTileHidden
                 ? null : getRunningTaskView();
         int midpoint = runningTask == null ? -1 : indexOfChild(runningTask);
         int modalMidpoint = getCurrentPage();
+        boolean isModalGridWithoutFocusedTask =
+                showAsGrid && ENABLE_GRID_ONLY_OVERVIEW.get() && mTaskModalness > 0;
+        if (isModalGridWithoutFocusedTask) {
+            modalMidpoint = indexOfChild(mSelectedTask);
+        }
 
         float midpointOffsetSize = 0;
         float leftOffsetSize = midpoint - 1 >= 0
@@ -4150,7 +4193,6 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
                 ? getHorizontalOffsetSize(midpoint + 1, midpoint, offset)
                 : 0;
 
-        boolean showAsGrid = showAsGrid();
         float modalMidpointOffsetSize = 0;
         float modalLeftOffsetSize = 0;
         float modalRightOffsetSize = 0;
@@ -4178,23 +4220,34 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
                     : i < midpoint
                             ? leftOffsetSize
                             : rightOffsetSize;
+            if (isModalGridWithoutFocusedTask) {
+                gridOffsetSize = getHorizontalOffsetSize(i, modalMidpoint, modalOffset);
+                gridOffsetSize = Math.abs(gridOffsetSize) * (i <= modalMidpoint ? 1 : -1);
+            }
             float modalTranslation = i == modalMidpoint
                     ? modalMidpointOffsetSize
                     : showAsGrid
                             ? gridOffsetSize
                             : i < modalMidpoint ? modalLeftOffsetSize : modalRightOffsetSize;
-            float totalTranslation = translation + modalTranslation;
+            float totalTranslationX = translation + modalTranslation;
             View child = getChildAt(i);
-            FloatProperty translationProperty = child instanceof TaskView
+            FloatProperty translationPropertyX = child instanceof TaskView
                     ? ((TaskView) child).getPrimaryTaskOffsetTranslationProperty()
                     : mOrientationHandler.getPrimaryViewTranslate();
-            translationProperty.set(child, totalTranslation);
+            translationPropertyX.set(child, totalTranslationX);
             if (mEnableDrawingLiveTile && i == getRunningTaskIndex()) {
                 runActionOnRemoteHandles(
                         remoteTargetHandle -> remoteTargetHandle.getTaskViewSimulator()
-                                .taskPrimaryTranslation.value = totalTranslation);
+                                .taskPrimaryTranslation.value = totalTranslationX);
                 redrawLiveTile();
             }
+
+            if (showAsGrid && ENABLE_GRID_ONLY_OVERVIEW.get() && child instanceof TaskView) {
+                float totalTranslationY = getVerticalOffsetSize(i, modalOffset);
+                FloatProperty translationPropertyY =
+                        ((TaskView) child).getSecondaryTaskOffsetTranslationProperty();
+                translationPropertyY.set(child, totalTranslationY);
+            }
         }
         updateCurveProperties();
     }
@@ -4292,6 +4345,38 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
         return distanceToOffscreen * offsetProgress;
     }
 
+    /**
+     * Computes the vertical distance to offset a given child such that it is completely offscreen.
+     *
+     * @param offsetProgress From 0 to 1 where 0 means no offset and 1 means offset offscreen.
+     */
+    private float getVerticalOffsetSize(int childIndex, float offsetProgress) {
+        if (offsetProgress == 0 || !(showAsGrid() && ENABLE_GRID_ONLY_OVERVIEW.get())
+                || mSelectedTask == null) {
+            // Don't bother calculating everything below if we won't offset vertically.
+            return 0;
+        }
+
+        // First, get the position of the task relative to the top row.
+        TaskView child = getTaskViewAt(childIndex);
+        Rect taskPosition = getTaskBounds(child);
+
+        boolean isSelectedTaskTopRow = mTopRowIdSet.contains(mSelectedTask.getTaskViewId());
+        boolean isChildTopRow = mTopRowIdSet.contains(child.getTaskViewId());
+        // Whether the task should be shifted to the top.
+        boolean isTopShift = !isSelectedTaskTopRow && isChildTopRow;
+        boolean isBottomShift = isSelectedTaskTopRow && !isChildTopRow;
+
+        // Next, calculate the distance to move the task off screen at scale = 1.
+        float distanceToOffscreen = 0;
+        if (isTopShift) {
+            distanceToOffscreen = -taskPosition.bottom;
+        } else if (isBottomShift) {
+            distanceToOffscreen = mActivity.getDeviceProfile().heightPx - taskPosition.top;
+        }
+        return distanceToOffscreen * offsetProgress;
+    }
+
     protected void setTaskViewsResistanceTranslation(float translation) {
         mTaskViewsSecondaryTranslation = translation;
         for (int i = 0; i < getTaskViewCount(); i++) {
@@ -4391,9 +4476,8 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
      * Resets the visuals when exit modal state.
      */
     public void resetModalVisuals() {
-        TaskView taskView = getCurrentPageTaskView();
-        if (taskView != null) {
-            taskView.getThumbnail().getTaskOverlay().resetModalVisuals();
+        if (mSelectedTask != null) {
+            mSelectedTask.getThumbnail().getTaskOverlay().resetModalVisuals();
         }
     }
 
@@ -5395,6 +5479,9 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
         if (mOverviewSelectEnabled != overviewSelectEnabled) {
             mOverviewSelectEnabled = overviewSelectEnabled;
             updatePivots();
+            if (!mOverviewSelectEnabled) {
+                setSelectedTask(INVALID_TASK_ID);
+            }
         }
     }
 
@@ -5465,7 +5552,9 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
     private void setTaskModalness(float modalness) {
         mTaskModalness = modalness;
         updatePageOffsets();
-        if (getCurrentPageTaskView() != null) {
+        if (mSelectedTask != null) {
+            mSelectedTask.setModalness(modalness);
+        } else if (getCurrentPageTaskView() != null) {
             getCurrentPageTaskView().setModalness(modalness);
         }
         // Only show actions view when it's modal for in-place landscape mode.
@@ -5480,7 +5569,7 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
     }
 
     /** Enables or disables modal state for RecentsView */
-    public abstract void setModalStateEnabled(boolean isModalState, boolean animate);
+    public abstract void setModalStateEnabled(int taskId, boolean animate);
 
     public TaskOverlayFactory getTaskOverlayFactory() {
         return mTaskOverlayFactory;
diff --git a/quickstep/src/com/android/quickstep/views/TaskView.java b/quickstep/src/com/android/quickstep/views/TaskView.java
index df67b99034..fb856058db 100644
--- a/quickstep/src/com/android/quickstep/views/TaskView.java
+++ b/quickstep/src/com/android/quickstep/views/TaskView.java
@@ -1445,6 +1445,11 @@ public class TaskView extends FrameLayout implements Reusable {
                 TASK_OFFSET_TRANSLATION_X, TASK_OFFSET_TRANSLATION_Y);
     }
 
+    public FloatProperty<TaskView> getSecondaryTaskOffsetTranslationProperty() {
+        return getPagedOrientationHandler().getSecondaryValue(
+                TASK_OFFSET_TRANSLATION_X, TASK_OFFSET_TRANSLATION_Y);
+    }
+
     public FloatProperty<TaskView> getTaskResistanceTranslationProperty() {
         return getPagedOrientationHandler().getSecondaryValue(
                 TASK_RESISTANCE_TRANSLATION_X, TASK_RESISTANCE_TRANSLATION_Y);
diff --git a/src/com/android/launcher3/Utilities.java b/src/com/android/launcher3/Utilities.java
index b32ff3c09d..67bc7fc023 100644
--- a/src/com/android/launcher3/Utilities.java
+++ b/src/com/android/launcher3/Utilities.java
@@ -38,6 +38,7 @@ import android.graphics.LightingColorFilter;
 import android.graphics.Matrix;
 import android.graphics.Paint;
 import android.graphics.Point;
+import android.graphics.PointF;
 import android.graphics.Rect;
 import android.graphics.RectF;
 import android.graphics.drawable.AdaptiveIconDrawable;
@@ -342,6 +343,21 @@ public final class Utilities {
         return scale;
     }
 
+    /**
+     * Sets the x and y pivots for scaling from one Rect to another.
+     *
+     * @param src the source rectangle to scale from.
+     * @param dst the destination rectangle to scale to.
+     * @param outPivot the pivots set for scaling from src to dst.
+     */
+    public static void getPivotsForScalingRectToRect(Rect src, Rect dst, PointF outPivot) {
+        float pivotXPct = ((float) src.left - dst.left) / ((float) dst.width() - src.width());
+        outPivot.x = dst.left + dst.width() * pivotXPct;
+
+        float pivotYPct = ((float) src.top - dst.top) / ((float) dst.height() - src.height());
+        outPivot.y = dst.top + dst.height() * pivotYPct;
+    }
+
     /**
      * Maps t from one range to another range.
      * @param t The value to map.