diff --git a/packages/espresso/CHANGELOG.md b/packages/espresso/CHANGELOG.md
index ef94d473802cf..e8508198a3fea 100644
--- a/packages/espresso/CHANGELOG.md
+++ b/packages/espresso/CHANGELOG.md
@@ -1,3 +1,9 @@
+## 0.4.0
+
+* Updates androidx.test.espresso version to 3.6.1.
+* Updates androidx.test to 1.6.1.
+* Removes androidx.test.annotation.ExperimentalTestApi.
+
 ## 0.3.0+10
 
 * Removes additional references to v1 Android embedding.
diff --git a/packages/espresso/README.md b/packages/espresso/README.md
index 95c72e3344234..0e0d7880a9dca 100644
--- a/packages/espresso/README.md
+++ b/packages/espresso/README.md
@@ -19,9 +19,9 @@ Add the following dependencies in android/app/build.gradle:
 ```groovy
 dependencies {
     testImplementation 'junit:junit:4.13.2'
-    testImplementation "com.google.truth:truth:1.0"
-    androidTestImplementation 'androidx.test:runner:1.1.1'
-    androidTestImplementation 'androidx.test.espresso:espresso-core:3.1.1'
+    testImplementation "com.google.truth:truth:1.1.3"
+    androidTestImplementation 'androidx.test:runner:1.6.1'
+    androidTestImplementation 'androidx.test.espresso:espresso-core:3.6.1'
     api 'androidx.test:core:1.2.0'
 }
 ```
diff --git a/packages/espresso/android/build.gradle b/packages/espresso/android/build.gradle
index 18f4f6bb2e9ea..f7abde12f81af 100644
--- a/packages/espresso/android/build.gradle
+++ b/packages/espresso/android/build.gradle
@@ -67,34 +67,33 @@ dependencies {
 
     testImplementation 'junit:junit:4.13.2'
     testImplementation "com.google.truth:truth:1.1.3"
-    api 'androidx.test:runner:1.1.1'
-    api 'androidx.test.espresso:espresso-core:3.5.1'
+    api 'androidx.test.espresso:espresso-core:3.6.1'
 
     // Core library
-    api 'androidx.test:core:1.0.0'
+    api 'androidx.test:core:1.6.1'
 
     // AndroidJUnitRunner and JUnit Rules
-    api 'androidx.test:runner:1.1.0'
-    api 'androidx.test:rules:1.1.0'
+    api 'androidx.test:runner:1.6.1'
+    api 'androidx.test:rules:1.6.1'
 
     // Assertions
-    api 'androidx.test.ext:junit:1.1.5'
-    api 'androidx.test.ext:truth:1.5.0'
+    api 'androidx.test.ext:junit:1.2.1'
+    api 'androidx.test.ext:truth:1.6.0'
     api 'com.google.truth:truth:1.1.3'
 
     // Espresso dependencies
-    api 'androidx.test.espresso:espresso-core:3.5.1'
-    api 'androidx.test.espresso:espresso-contrib:3.5.1'
-    api 'androidx.test.espresso:espresso-intents:3.5.1'
-    api 'androidx.test.espresso:espresso-accessibility:3.5.1'
-    api 'androidx.test.espresso:espresso-web:3.5.1'
-    api 'androidx.test.espresso.idling:idling-concurrent:3.5.1'
+    api 'androidx.test.espresso:espresso-core:3.6.1'
+    api 'androidx.test.espresso:espresso-contrib:3.6.1'
+    api 'androidx.test.espresso:espresso-intents:3.6.1'
+    api 'androidx.test.espresso:espresso-accessibility:3.6.1'
+    api 'androidx.test.espresso:espresso-web:3.6.1'
+    api 'androidx.test.espresso.idling:idling-concurrent:3.6.1'
 
     // The following Espresso dependency can be either "implementation"
     // or "androidTestImplementation", depending on whether you want the
     // dependency to appear on your APK's compile classpath or the test APK
     // classpath.
-    api 'androidx.test.espresso:espresso-idling-resource:3.5.1'
+    api 'androidx.test.espresso:espresso-idling-resource:3.6.1'
 }
 
 
diff --git a/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/EspressoFlutter.java b/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/EspressoFlutter.java
index f8644a8e54880..d809d760c6bb8 100644
--- a/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/EspressoFlutter.java
+++ b/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/EspressoFlutter.java
@@ -12,7 +12,6 @@
 
 import android.util.Log;
 import android.view.View;
-import androidx.test.annotation.ExperimentalTestApi;
 import androidx.test.espresso.UiController;
 import androidx.test.espresso.ViewAction;
 import androidx.test.espresso.flutter.action.FlutterViewAction;
@@ -100,7 +99,6 @@ private WidgetInteraction(
      * @param widgetActions one or more actions that shall be performed. Cannot be {@code null}.
      * @return this interaction for further perform/verification calls.
      */
-    @ExperimentalTestApi()
     public WidgetInteraction perform(@Nonnull final WidgetAction... widgetActions) {
       checkNotNull(widgetActions);
       for (WidgetAction widgetAction : widgetActions) {
@@ -117,7 +115,6 @@ public WidgetInteraction perform(@Nonnull final WidgetAction... widgetActions) {
      * @param assertion a widget assertion that shall be made on the matched Flutter widget. Cannot
      *     be {@code null}.
      */
-    @ExperimentalTestApi()
     public WidgetInteraction check(@Nonnull WidgetAssertion assertion) {
       checkNotNull(
           assertion,
@@ -133,7 +130,6 @@ public WidgetInteraction check(@Nonnull WidgetAssertion assertion) {
       return this;
     }
 
-    @ExperimentalTestApi()
     @SuppressWarnings("unchecked")
     private <T> T performInternal(FlutterAction<T> flutterAction) {
       checkNotNull(
diff --git a/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/FlutterActions.java b/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/FlutterActions.java
index 1bc41f01fa60b..2f0c171e780d6 100644
--- a/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/FlutterActions.java
+++ b/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/FlutterActions.java
@@ -4,7 +4,6 @@
 
 package androidx.test.espresso.flutter.action;
 
-import androidx.test.annotation.ExperimentalTestApi;
 import androidx.test.espresso.flutter.api.WidgetAction;
 import java.util.concurrent.ExecutorService;
 import java.util.concurrent.Executors;
@@ -44,7 +43,6 @@ public static WidgetAction click() {
    * by directly injecting key events to the Android system. Uses this {@link #syntheticClick()}
    * only when there are special cases that {@link #click()} cannot handle properly.
    */
-  @ExperimentalTestApi()
   public static WidgetAction syntheticClick() {
     return new SyntheticClickAction();
   }
diff --git a/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/FlutterViewAction.java b/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/FlutterViewAction.java
index d18ced4602689..ce7f49610275a 100644
--- a/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/FlutterViewAction.java
+++ b/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/FlutterViewAction.java
@@ -13,7 +13,6 @@
 
 import android.os.Looper;
 import android.view.View;
-import androidx.test.annotation.ExperimentalTestApi;
 import androidx.test.espresso.IdlingRegistry;
 import androidx.test.espresso.IdlingResource;
 import androidx.test.espresso.UiController;
@@ -96,7 +95,6 @@ public String getDescription() {
         "Perform a %s action on the Flutter widget matched %s.", widgetAction, widgetMatcher);
   }
 
-  @ExperimentalTestApi
   @Override
   public void perform(UiController uiController, View view) {
     checkNotNull(view, "The Flutter View instance cannot be null.");
@@ -143,7 +141,6 @@ public ListenableFuture<Void> apply(Void readyResult) {
     }
   }
 
-  @ExperimentalTestApi
   @VisibleForTesting
   void perform(
       View flutterView, FlutterTestingProtocol flutterTestingProtocol, UiController uiController) {
diff --git a/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/SyntheticClickAction.java b/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/SyntheticClickAction.java
index 270d4e43b880d..54d7d80128470 100644
--- a/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/SyntheticClickAction.java
+++ b/packages/espresso/android/src/main/java/androidx/test/espresso/flutter/action/SyntheticClickAction.java
@@ -5,7 +5,6 @@
 package androidx.test.espresso.flutter.action;
 
 import android.view.View;
-import androidx.test.annotation.ExperimentalTestApi;
 import androidx.test.espresso.UiController;
 import androidx.test.espresso.flutter.api.FlutterTestingProtocol;
 import androidx.test.espresso.flutter.api.SyntheticAction;
@@ -23,7 +22,6 @@
  */
 public final class SyntheticClickAction implements WidgetAction {
 
-  @ExperimentalTestApi
   @Override
   public Future<Void> perform(
       @Nullable WidgetMatcher targetWidget,
diff --git a/packages/espresso/example/android/app/build.gradle b/packages/espresso/example/android/app/build.gradle
index 6deacadd65c64..be165715ca28a 100644
--- a/packages/espresso/example/android/app/build.gradle
+++ b/packages/espresso/example/android/app/build.gradle
@@ -32,7 +32,7 @@ android {
 
     defaultConfig {
         minSdkVersion flutter.minSdkVersion
-        targetSdkVersion 29
+        targetSdkVersion 34
         versionCode flutterVersionCode.toInteger()
         versionName flutterVersionName
         testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
@@ -62,28 +62,28 @@ dependencies {
     implementation "androidx.multidex:multidex:2.0.1"
 
     // Core library
-    api 'androidx.test:core:1.2.0'
+    api 'androidx.test:core:1.6.1'
 
     // AndroidJUnitRunner and JUnit Rules
-    androidTestImplementation 'androidx.test:runner:1.2.0'
-    androidTestImplementation 'androidx.test:rules:1.1.0'
+    androidTestImplementation 'androidx.test:runner:1.6.1'
+    androidTestImplementation 'androidx.test:rules:1.6.1'
 
     // Assertions
-    androidTestImplementation 'androidx.test.ext:junit:1.0.0'
-    androidTestImplementation 'androidx.test.ext:truth:1.0.0'
+    androidTestImplementation 'androidx.test.ext:junit:1.2.1'
+    androidTestImplementation 'androidx.test.ext:truth:1.6.0'
     androidTestImplementation 'com.google.truth:truth:1.1.3'
 
     // Espresso dependencies
-    androidTestImplementation 'androidx.test.espresso:espresso-core:3.1.0'
-    androidTestImplementation 'androidx.test.espresso:espresso-contrib:3.1.0'
-    androidTestImplementation 'androidx.test.espresso:espresso-intents:3.1.0'
-    androidTestImplementation 'androidx.test.espresso:espresso-accessibility:3.1.0'
-    androidTestImplementation 'androidx.test.espresso:espresso-web:3.1.0'
-    androidTestImplementation 'androidx.test.espresso.idling:idling-concurrent:3.1.0'
+    androidTestImplementation 'androidx.test.espresso:espresso-core:3.6.1'
+    androidTestImplementation 'androidx.test.espresso:espresso-contrib:3.6.1'
+    androidTestImplementation 'androidx.test.espresso:espresso-intents:3.6.1'
+    androidTestImplementation 'androidx.test.espresso:espresso-accessibility:3.6.1'
+    androidTestImplementation 'androidx.test.espresso:espresso-web:3.6.1'
+    androidTestImplementation 'androidx.test.espresso.idling:idling-concurrent:3.6.1'
 
     // The following Espresso dependency can be either "implementation"
     // or "androidTestImplementation", depending on whether you want the
     // dependency to appear on your APK's compile classpath or the test APK
     // classpath.
-    androidTestImplementation 'androidx.test.espresso:espresso-idling-resource:3.1.0'
+    androidTestImplementation 'androidx.test.espresso:espresso-idling-resource:3.6.1'
 }
diff --git a/packages/espresso/example/android/app/src/main/AndroidManifest.xml b/packages/espresso/example/android/app/src/main/AndroidManifest.xml
index 0c7891fd04ef2..0ed1d9e02dbab 100644
--- a/packages/espresso/example/android/app/src/main/AndroidManifest.xml
+++ b/packages/espresso/example/android/app/src/main/AndroidManifest.xml
@@ -5,6 +5,7 @@
         android:icon="@mipmap/ic_launcher">
         <activity
             android:name=".MainActivity"
+            android:exported="true"
             android:launchMode="singleTop"
             android:theme="@style/LaunchTheme"
             android:configChanges="orientation|keyboardHidden|keyboard|screenSize|smallestScreenSize|locale|layoutDirection|fontScale|screenLayout|density|uiMode"
diff --git a/packages/espresso/pubspec.yaml b/packages/espresso/pubspec.yaml
index 1bf4097720861..956b5553b6161 100644
--- a/packages/espresso/pubspec.yaml
+++ b/packages/espresso/pubspec.yaml
@@ -3,7 +3,7 @@ description: Java classes for testing Flutter apps using Espresso.
   Allows driving Flutter widgets from a native Espresso test.
 repository: https://github.com/flutter/packages/tree/main/packages/espresso
 issue_tracker: https://github.com/flutter/flutter/issues?q=is%3Aissue+is%3Aopen+label%3A%22p%3A+espresso%22
-version: 0.3.0+10
+version: 0.4.0
 
 environment:
   sdk: ^3.4.0