diff --git a/quickstep/src/com/android/launcher3/taskbar/LauncherTaskbarUIController.java b/quickstep/src/com/android/launcher3/taskbar/LauncherTaskbarUIController.java
index 3046076..2949a80 100644
--- a/quickstep/src/com/android/launcher3/taskbar/LauncherTaskbarUIController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/LauncherTaskbarUIController.java
@@ -25,7 +25,6 @@
 
 import android.animation.Animator;
 import android.animation.AnimatorSet;
-import android.annotation.ColorInt;
 import android.os.RemoteException;
 import android.util.Log;
 import android.view.TaskTransitionSpec;
@@ -235,17 +234,10 @@
                 WindowManagerGlobal.getWindowManagerService().clearTaskTransitionSpec();
             } else {
                 // Adjust task transition spec to account for taskbar being visible
-                @ColorInt int taskAnimationBackgroundColor =
-                        DisplayController.isTransientTaskbar(mLauncher)
-                                ? mLauncher.getColor(R.color.transient_taskbar_background)
-                                : mLauncher.getColor(R.color.taskbar_background);
-
-                TaskTransitionSpec customTaskAnimationSpec = new TaskTransitionSpec(
-                        taskAnimationBackgroundColor,
-                        Set.of(ITYPE_EXTRA_NAVIGATION_BAR)
-                );
-                WindowManagerGlobal.getWindowManagerService()
-                        .setTaskTransitionSpec(customTaskAnimationSpec);
+                WindowManagerGlobal.getWindowManagerService().setTaskTransitionSpec(
+                        new TaskTransitionSpec(
+                                mLauncher.getColor(R.color.taskbar_background),
+                                Set.of(ITYPE_EXTRA_NAVIGATION_BAR)));
             }
         } catch (RemoteException e) {
             // This shouldn't happen but if it does task animations won't look good until the
diff --git a/quickstep/src/com/android/launcher3/taskbar/NavbarButtonsViewController.java b/quickstep/src/com/android/launcher3/taskbar/NavbarButtonsViewController.java
index 728c91f..bafd5b4 100644
--- a/quickstep/src/com/android/launcher3/taskbar/NavbarButtonsViewController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/NavbarButtonsViewController.java
@@ -125,8 +125,10 @@
     private static final int FLAG_SMALL_SCREEN = 1 << 13;
     private static final int FLAG_SLIDE_IN_VIEW_VISIBLE = 1 << 14;
 
-    /** Flags where a UI could be over a slide in view, so the color override should be disabled. */
-    private static final int FLAGS_SLIDE_IN_VIEW_ICON_COLOR_OVERRIDE_DISABLED =
+    /**
+     * Flags where a UI could be over Taskbar surfaces, so the color override should be disabled.
+     */
+    private static final int FLAGS_ON_BACKGROUND_COLOR_OVERRIDE_DISABLED =
             FLAG_NOTIFICATION_SHADE_EXPANDED | FLAG_VOICE_INTERACTION_WINDOW_SHOWING;
 
     private static final String NAV_BUTTONS_SEPARATE_WINDOW_TITLE = "Taskbar Nav Buttons";
@@ -148,8 +150,8 @@
     private final ViewGroup mStartContextualContainer;
     private final int mLightIconColor;
     private final int mDarkIconColor;
-    /** Color to use for navigation bar buttons, if a slide in view is visible. */
-    private final int mSlideInViewIconColor;
+    /** Color to use for navigation bar buttons, if they are on on a Taskbar surface background. */
+    private final int mOnBackgroundIconColor;
 
     private final AnimatedFloat mTaskbarNavButtonTranslationY = new AnimatedFloat(
             this::updateNavButtonTranslationY);
@@ -160,13 +162,18 @@
     // Used for System UI state updates that should translate the nav button for in-app display.
     private final AnimatedFloat mNavButtonInAppDisplayProgressForSysui = new AnimatedFloat(
             this::updateNavButtonInAppDisplayProgressForSysui);
+    /** Expected nav button dark intensity communicated via the framework. */
     private final AnimatedFloat mTaskbarNavButtonDarkIntensity = new AnimatedFloat(
-            this::updateNavButtonDarkIntensity);
-    private final AnimatedFloat mNavButtonDarkIntensityMultiplier = new AnimatedFloat(
-            this::updateNavButtonDarkIntensity);
-    /** Overrides the navigation button color to {@code mSlideInViewIconColor} when {@code 1}. */
-    private final AnimatedFloat mSlideInViewNavButtonColorOverride = new AnimatedFloat(
-            this::updateNavButtonDarkIntensity);
+            this::updateNavButtonColor);
+    /** {@code 1} if the Taskbar background color is fully opaque. */
+    private final AnimatedFloat mOnTaskbarBackgroundNavButtonColorOverride = new AnimatedFloat(
+            this::updateNavButtonColor);
+    /** {@code 1} if a Taskbar slide in overlay is visible over Taskbar. */
+    private final AnimatedFloat mSlideInViewVisibleNavButtonColorOverride = new AnimatedFloat(
+            this::updateNavButtonColor);
+    /** Disables the {@link #mOnBackgroundIconColor} override if {@code 0}. */
+    private final AnimatedFloat mOnBackgroundNavButtonColorOverrideMultiplier = new AnimatedFloat(
+            this::updateNavButtonColor);
     private final RotationButtonListener mRotationButtonListener = new RotationButtonListener();
 
     private final Rect mFloatingRotationButtonBounds = new Rect();
@@ -199,8 +206,7 @@
 
         mLightIconColor = context.getColor(R.color.taskbar_nav_icon_light_color);
         mDarkIconColor = context.getColor(R.color.taskbar_nav_icon_dark_color);
-        // Can precompute color since dark theme change recreates taskbar.
-        mSlideInViewIconColor = Utilities.isDarkTheme(context) ? mLightIconColor : mDarkIconColor;
+        mOnBackgroundIconColor = Utilities.isDarkTheme(context) ? mLightIconColor : mDarkIconColor;
     }
 
     /**
@@ -266,10 +272,15 @@
                 flags -> (flags & FLAG_IME_VISIBLE) != 0 && !isInKidsMode, AnimatedFloat.VALUE,
                 transForIme, defaultButtonTransY));
 
+        // Start at 1 because relevant flags are unset at init.
+        mOnBackgroundNavButtonColorOverrideMultiplier.value = 1;
         mPropertyHolders.add(new StatePropertyHolder(
-                mSlideInViewNavButtonColorOverride,
-                flags -> ((flags & FLAG_SLIDE_IN_VIEW_VISIBLE) != 0)
-                        && ((flags & FLAGS_SLIDE_IN_VIEW_ICON_COLOR_OVERRIDE_DISABLED) == 0)));
+                mOnBackgroundNavButtonColorOverrideMultiplier,
+                flags -> (flags & FLAGS_ON_BACKGROUND_COLOR_OVERRIDE_DISABLED) == 0));
+
+        mPropertyHolders.add(new StatePropertyHolder(
+                mSlideInViewVisibleNavButtonColorOverride,
+                flags -> (flags & FLAG_SLIDE_IN_VIEW_VISIBLE) != 0));
 
         if (alwaysShowButtons) {
             initButtons(mNavButtonContainer, mEndContextualContainer,
@@ -569,9 +580,9 @@
         return mTaskbarNavButtonDarkIntensity;
     }
 
-    /** Use to determine whether to use the dark intensity requested by the underlying app */
-    public AnimatedFloat getNavButtonDarkIntensityMultiplier() {
-        return mNavButtonDarkIntensityMultiplier;
+    /** Use to override the nav button color with {@link #mOnBackgroundIconColor}. */
+    public AnimatedFloat getOnTaskbarBackgroundNavButtonColorOverride() {
+        return mOnTaskbarBackgroundNavButtonColorOverride;
     }
 
     /**
@@ -617,14 +628,20 @@
                 + inAppDisplayAdjustmentTranslationY);
     }
 
-    private void updateNavButtonDarkIntensity() {
-        float darkIntensity = mTaskbarNavButtonDarkIntensity.value
-                * mNavButtonDarkIntensityMultiplier.value;
-        ArgbEvaluator argbEvaluator = ArgbEvaluator.getInstance();
-        int iconColor = (int) argbEvaluator.evaluate(
-                darkIntensity, mLightIconColor, mDarkIconColor);
-        iconColor = (int) argbEvaluator.evaluate(
-                mSlideInViewNavButtonColorOverride.value, iconColor, mSlideInViewIconColor);
+    private void updateNavButtonColor() {
+        final ArgbEvaluator argbEvaluator = ArgbEvaluator.getInstance();
+        final int sysUiNavButtonIconColor = (int) argbEvaluator.evaluate(
+                mTaskbarNavButtonDarkIntensity.value,
+                mLightIconColor,
+                mDarkIconColor);
+        // Override the color from framework if nav buttons are over an opaque Taskbar surface.
+        final int iconColor = (int) argbEvaluator.evaluate(
+                mOnBackgroundNavButtonColorOverrideMultiplier.value
+                        * Math.max(
+                                mOnTaskbarBackgroundNavButtonColorOverride.value,
+                                mSlideInViewVisibleNavButtonColorOverride.value),
+                sysUiNavButtonIconColor,
+                mOnBackgroundIconColor);
         for (ImageView button : mAllButtons) {
             button.setImageTintList(ColorStateList.valueOf(iconColor));
         }
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarBackgroundRenderer.kt b/quickstep/src/com/android/launcher3/taskbar/TaskbarBackgroundRenderer.kt
index 37d9090..78fae24 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarBackgroundRenderer.kt
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarBackgroundRenderer.kt
@@ -66,8 +66,6 @@
         paint.style = Paint.Style.FILL
 
         if (isTransientTaskbar) {
-            paint.color = context.getColor(R.color.transient_taskbar_background)
-
             val res = context.resources
             bottomMargin = res.getDimensionPixelSize(R.dimen.transient_taskbar_margin)
             shadowBlur = res.getDimension(R.dimen.transient_taskbar_shadow_blur)
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarDragLayerController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarDragLayerController.java
index 267bee1..94c6af7 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarDragLayerController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarDragLayerController.java
@@ -59,10 +59,9 @@
 
     // Initialized in init.
     private TaskbarControllers mControllers;
-    private AnimatedFloat mNavButtonDarkIntensityMultiplier;
+    private AnimatedFloat mOnBackgroundNavButtonColorIntensity;
 
     private float mLastSetBackgroundAlpha;
-    private boolean mIsBackgroundDrawnElsewhere;
 
     public TaskbarDragLayerController(TaskbarActivityContext activity,
             TaskbarDragLayer taskbarDragLayer) {
@@ -77,8 +76,8 @@
         mControllers = controllers;
         mTaskbarDragLayer.init(new TaskbarDragLayerCallbacks());
 
-        mNavButtonDarkIntensityMultiplier = mControllers.navbarButtonsViewController
-                .getNavButtonDarkIntensityMultiplier();
+        mOnBackgroundNavButtonColorIntensity = mControllers.navbarButtonsViewController
+                .getOnTaskbarBackgroundNavButtonColorOverride();
 
         mBgTaskbar.value = 1;
         mKeyguardBgTaskbar.value = 1;
@@ -156,7 +155,7 @@
         mLastSetBackgroundAlpha = mBgOverride.value * Math.max(bgNavbar, bgTaskbar);
         mTaskbarDragLayer.setTaskbarBackgroundAlpha(mLastSetBackgroundAlpha);
 
-        updateNavBarDarkIntensityMultiplier();
+        updateOnBackgroundNavButtonColorIntensity();
     }
 
     /**
@@ -169,7 +168,7 @@
     private void updateBackgroundOffset() {
         mTaskbarDragLayer.setTaskbarBackgroundOffset(mBgOffset.value);
 
-        updateNavBarDarkIntensityMultiplier();
+        updateOnBackgroundNavButtonColorIntensity();
     }
 
     @Override
@@ -178,23 +177,16 @@
     }
 
     /**
-     * Set if another controller is temporarily handling background drawing. In this case we:
-     * - Override our background alpha to be 0.
-     * - Keep the nav bar dark intensity assuming taskbar background is at full alpha.
+     * Set if another controller is temporarily handling background drawing. In this case we
+     * override our background alpha to be {@code 0}.
      */
     public void setIsBackgroundDrawnElsewhere(boolean isBackgroundDrawnElsewhere) {
-        mIsBackgroundDrawnElsewhere = isBackgroundDrawnElsewhere;
-        mBgOverride.updateValue(mIsBackgroundDrawnElsewhere ? 0 : 1);
-        updateNavBarDarkIntensityMultiplier();
+        mBgOverride.updateValue(isBackgroundDrawnElsewhere ? 0 : 1);
     }
 
-    private void updateNavBarDarkIntensityMultiplier() {
-        // Zero out the app-requested dark intensity when we're drawing our own background.
-        float effectiveBgAlpha = mLastSetBackgroundAlpha * (1 - mBgOffset.value);
-        if (mIsBackgroundDrawnElsewhere) {
-            effectiveBgAlpha = 1;
-        }
-        mNavButtonDarkIntensityMultiplier.updateValue(1 - effectiveBgAlpha);
+    private void updateOnBackgroundNavButtonColorIntensity() {
+        mOnBackgroundNavButtonColorIntensity.updateValue(
+                mLastSetBackgroundAlpha * (1 - mBgOffset.value));
     }
 
     @Override
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarView.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarView.java
index 0b275a8..3d5089f 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarView.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarView.java
@@ -142,9 +142,8 @@
                     : R.drawable.ic_taskbar_all_apps_button));
             mAllAppsButton.setScaleX(mIsRtl ? -1 : 1);
             mAllAppsButton.setPadding(mItemPadding, mItemPadding, mItemPadding, mItemPadding);
-            mAllAppsButton.setForegroundTint(mActivityContext.getColor(isTransientTaskbar
-                            ? R.color.all_apps_button_color
-                            : R.color.all_apps_button_color_dark));
+            mAllAppsButton.setForegroundTint(
+                    mActivityContext.getColor(R.color.all_apps_button_color));
 
             if (FeatureFlags.ENABLE_TASKBAR_PINNING.get()) {
                 mTaskbarDivider = LayoutInflater.from(context).inflate(R.layout.taskbar_divider,
diff --git a/res/color-night-v31/transient_taskbar_background.xml b/res/color-night-v31/taskbar_background.xml
similarity index 93%
rename from res/color-night-v31/transient_taskbar_background.xml
rename to res/color-night-v31/taskbar_background.xml
index 40f6494..8df1686 100644
--- a/res/color-night-v31/transient_taskbar_background.xml
+++ b/res/color-night-v31/taskbar_background.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- Copyright (C) 2022 The Android Open Source Project
+<!-- Copyright (C) 2023 The Android Open Source Project
 
      Licensed under the Apache License, Version 2.0 (the "License");
      you may not use this file except in compliance with the License.
@@ -16,4 +16,3 @@
 <selector xmlns:android="http://schemas.android.com/apk/res/android">
   <item android:color="@android:color/system_neutral1_500" android:lStar="15" />
 </selector>
-
diff --git a/res/color-v31/taskbar_background.xml b/res/color-v31/taskbar_background.xml
index eaf676f..c2bcab8 100644
--- a/res/color-v31/taskbar_background.xml
+++ b/res/color-v31/taskbar_background.xml
@@ -14,5 +14,5 @@
      limitations under the License.
 -->
 <selector xmlns:android="http://schemas.android.com/apk/res/android">
-  <item android:color="@android:color/system_neutral1_500" android:lStar="15" />
+  <item android:color="@android:color/system_neutral1_500" android:lStar="95" />
 </selector>
diff --git a/res/color-v31/transient_taskbar_background.xml b/res/color-v31/transient_taskbar_background.xml
deleted file mode 100644
index bce947d..0000000
--- a/res/color-v31/transient_taskbar_background.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- Copyright (C) 2022 The Android Open Source 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.
--->
-<selector xmlns:android="http://schemas.android.com/apk/res/android">
-  <item android:color="@android:color/system_neutral1_500" android:lStar="95" />
-</selector>
-
diff --git a/res/values-night-v31/colors.xml b/res/values-night-v31/colors.xml
index 2c1bc90..f331361 100644
--- a/res/values-night-v31/colors.xml
+++ b/res/values-night-v31/colors.xml
@@ -24,4 +24,6 @@
     <color name="home_settings_thumb_off_color">@android:color/system_neutral2_300</color>
     <color name="home_settings_track_on_color">@android:color/system_accent2_700</color>
     <color name="home_settings_track_off_color">@android:color/system_neutral1_700</color>
+
+    <color name="all_apps_button_color">@android:color/system_neutral2_200</color>
 </resources>
\ No newline at end of file
diff --git a/res/values-night/colors.xml b/res/values-night/colors.xml
index 4ba77fa..17fe419 100644
--- a/res/values-night/colors.xml
+++ b/res/values-night/colors.xml
@@ -17,5 +17,5 @@
 -->
 
 <resources>
-    <color name="all_apps_button_color">@color/all_apps_button_color_dark</color>
+    <color name="all_apps_button_color">#BFC8CC</color>
 </resources>
\ No newline at end of file
diff --git a/res/values-v31/colors.xml b/res/values-v31/colors.xml
index f87d9fc..054fe47 100644
--- a/res/values-v31/colors.xml
+++ b/res/values-v31/colors.xml
@@ -62,8 +62,7 @@
     <color name="preload_icon_accent_color_dark">@android:color/system_accent1_300</color>
     <color name="preload_icon_background_color_dark">@android:color/system_neutral2_700</color>
 
-    <color name="all_apps_button_color_light">@android:color/system_neutral2_700</color>
-    <color name="all_apps_button_color_dark">@android:color/system_neutral2_200</color>
+    <color name="all_apps_button_color">@android:color/system_neutral2_700</color>
 
     <color name="widget_picker_background_selected">@android:color/system_accent2_100</color>
 </resources>
diff --git a/res/values/colors.xml b/res/values/colors.xml
index ef7bf91..9d6927b 100644
--- a/res/values/colors.xml
+++ b/res/values/colors.xml
@@ -80,9 +80,7 @@
     <color name="workspace_accent_color_light">#ff8df5e3</color>
     <color name="workspace_accent_color_dark">#ff3d665f</color>
 
-    <color name="all_apps_button_color">@color/all_apps_button_color_light</color>
-    <color name="all_apps_button_color_light">#40484B</color>
-    <color name="all_apps_button_color_dark">#BFC8CC</color>
+    <color name="all_apps_button_color">#40484B</color>
 
     <color name="preload_icon_accent_color_light">#00668B</color>
     <color name="preload_icon_background_color_light">#B5CAD7</color>