diff --git a/quickstep/src/com/android/launcher3/taskbar/LauncherTaskbarUIController.java b/quickstep/src/com/android/launcher3/taskbar/LauncherTaskbarUIController.java
index a219ac6324..5178968b4a 100644
--- a/quickstep/src/com/android/launcher3/taskbar/LauncherTaskbarUIController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/LauncherTaskbarUIController.java
@@ -38,6 +38,7 @@ import com.android.launcher3.LauncherState;
 import com.android.launcher3.QuickstepTransitionManager;
 import com.android.launcher3.R;
 import com.android.launcher3.Utilities;
+import com.android.launcher3.config.FeatureFlags;
 import com.android.launcher3.logging.InstanceId;
 import com.android.launcher3.logging.InstanceIdSequence;
 import com.android.launcher3.model.data.ItemInfo;
@@ -116,7 +117,8 @@ public class LauncherTaskbarUIController extends TaskbarUIController {
 
     @Override
     protected boolean isTaskbarTouchable() {
-        return !mTaskbarLauncherStateController.isAnimatingToLauncher();
+        return !(mTaskbarLauncherStateController.isAnimatingToLauncher()
+                && mTaskbarLauncherStateController.goingToAlignedLauncherState());
     }
 
     public void setShouldDelayLauncherStateAnim(boolean shouldDelayLauncherStateAnim) {
@@ -291,9 +293,14 @@ public class LauncherTaskbarUIController extends TaskbarUIController {
     @Override
     public void setSystemGestureInProgress(boolean inProgress) {
         super.setSystemGestureInProgress(inProgress);
-        // Launcher's ScrimView will draw the background throughout the gesture. But once the
-        // gesture ends, start drawing taskbar's background again since launcher might stop drawing.
-        forceHideBackground(inProgress);
+        // TODO(b/250645563): Don't show round corners when leaving in-app state, and remove
+        // forceHideBackground call entirely.
+        if (!FeatureFlags.ENABLE_TASKBAR_IN_OVERVIEW.get()) {
+            // Launcher's ScrimView will draw the background throughout the gesture. But once the
+            // gesture ends, start drawing taskbar's background again since launcher might stop
+            // drawing.
+            forceHideBackground(inProgress);
+        }
     }
 
     /**
diff --git a/quickstep/src/com/android/launcher3/uioverrides/states/OverviewState.java b/quickstep/src/com/android/launcher3/uioverrides/states/OverviewState.java
index 6f07568cf5..d075750330 100644
--- a/quickstep/src/com/android/launcher3/uioverrides/states/OverviewState.java
+++ b/quickstep/src/com/android/launcher3/uioverrides/states/OverviewState.java
@@ -26,6 +26,7 @@ import com.android.launcher3.DeviceProfile;
 import com.android.launcher3.Launcher;
 import com.android.launcher3.LauncherState;
 import com.android.launcher3.R;
+import com.android.launcher3.config.FeatureFlags;
 import com.android.launcher3.util.DisplayController;
 import com.android.launcher3.util.Themes;
 import com.android.quickstep.util.LayoutUtils;
@@ -104,7 +105,12 @@ public class OverviewState extends LauncherState {
 
     @Override
     public boolean isTaskbarStashed(Launcher launcher) {
-        return true;
+        return !FeatureFlags.ENABLE_TASKBAR_IN_OVERVIEW.get();
+    }
+
+    @Override
+    public boolean isTaskbarAlignedWithHotseat(Launcher launcher) {
+        return !FeatureFlags.ENABLE_TASKBAR_IN_OVERVIEW.get();
     }
 
     @Override
diff --git a/src/com/android/launcher3/DeviceProfile.java b/src/com/android/launcher3/DeviceProfile.java
index 4cad919c3b..9a1bba97ce 100644
--- a/src/com/android/launcher3/DeviceProfile.java
+++ b/src/com/android/launcher3/DeviceProfile.java
@@ -43,6 +43,7 @@ import androidx.annotation.Nullable;
 
 import com.android.launcher3.CellLayout.ContainerType;
 import com.android.launcher3.DevicePaddings.DevicePadding;
+import com.android.launcher3.config.FeatureFlags;
 import com.android.launcher3.icons.DotRenderer;
 import com.android.launcher3.icons.IconNormalizer;
 import com.android.launcher3.model.data.ItemInfo;
@@ -1276,7 +1277,10 @@ public class DeviceProfile {
             return ((taskbarSize - overviewActionsHeight) / 2) + getTaskbarOffsetY();
         }
 
-        return isTaskbarPresent ? stashedTaskbarSize : mInsets.bottom;
+        if (isTaskbarPresent) {
+            return FeatureFlags.ENABLE_TASKBAR_IN_OVERVIEW.get() ? taskbarSize : stashedTaskbarSize;
+        }
+        return mInsets.bottom;
     }
 
     /** Gets the space that the overview actions will take, including bottom margin. */
diff --git a/src/com/android/launcher3/config/FeatureFlags.java b/src/com/android/launcher3/config/FeatureFlags.java
index 6eeabc5ecd..a2d9dd400c 100644
--- a/src/com/android/launcher3/config/FeatureFlags.java
+++ b/src/com/android/launcher3/config/FeatureFlags.java
@@ -235,6 +235,10 @@ public final class FeatureFlags {
             "ENABLE_ALL_APPS_ONE_SEARCH_IN_TASKBAR", false,
             "Enables One Search box in Taskbar All Apps.");
 
+    public static final BooleanFlag ENABLE_TASKBAR_IN_OVERVIEW = getDebugFlag(
+            "ENABLE_TASKBAR_IN_OVERVIEW", false,
+            "Enables accessing the system Taskbar in overview.");
+
     public static final BooleanFlag ENABLE_SPLIT_FROM_WORKSPACE = getDebugFlag(
             "ENABLE_SPLIT_FROM_WORKSPACE", true,
             "Enable initiating split screen from workspace.");