diff --git a/quickstep/src/com/android/quickstep/util/SplitAnimationTimings.java b/quickstep/src/com/android/quickstep/util/SplitAnimationTimings.java
index 2966fbb5db..7dc1b32858 100644
--- a/quickstep/src/com/android/quickstep/util/SplitAnimationTimings.java
+++ b/quickstep/src/com/android/quickstep/util/SplitAnimationTimings.java
@@ -25,7 +25,7 @@ import android.view.animation.Interpolator;
  */
 public interface SplitAnimationTimings {
     int TABLET_ENTER_DURATION = 866;
-    int TABLET_CONFIRM_DURATION = 383;
+    int TABLET_CONFIRM_DURATION = 500;
 
     int PHONE_ENTER_DURATION = 517;
     int PHONE_CONFIRM_DURATION = 333;
diff --git a/quickstep/src/com/android/quickstep/views/RecentsView.java b/quickstep/src/com/android/quickstep/views/RecentsView.java
index ff0c984b6d..2474b690a8 100644
--- a/quickstep/src/com/android/quickstep/views/RecentsView.java
+++ b/quickstep/src/com/android/quickstep/views/RecentsView.java
@@ -41,6 +41,7 @@ import static com.android.launcher3.anim.Interpolators.FINAL_FRAME;
 import static com.android.launcher3.anim.Interpolators.LINEAR;
 import static com.android.launcher3.anim.Interpolators.OVERSHOOT_0_75;
 import static com.android.launcher3.anim.Interpolators.clampToProgress;
+import static com.android.launcher3.config.FeatureFlags.ENABLE_LAUNCH_FROM_STAGED_APP;
 import static com.android.launcher3.logging.StatsLogManager.LauncherEvent.LAUNCHER_OVERVIEW_ACTIONS_SPLIT;
 import static com.android.launcher3.logging.StatsLogManager.LauncherEvent.LAUNCHER_TASK_CLEAR_ALL;
 import static com.android.launcher3.logging.StatsLogManager.LauncherEvent.LAUNCHER_TASK_DISMISS_SWIPE_UP;
@@ -125,7 +126,6 @@ import androidx.annotation.Nullable;
 import androidx.annotation.UiThread;
 import androidx.core.graphics.ColorUtils;
 
-import com.android.launcher3.AbstractFloatingView;
 import com.android.launcher3.BaseActivity;
 import com.android.launcher3.BaseActivity.MultiWindowModeChangedListener;
 import com.android.launcher3.DeviceProfile;
@@ -2903,6 +2903,11 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
                     false /* fadeWithThumbnail */, true /* isStagedTask */);
         }
 
+        // TODO (b/257513449): Launch animation not fully complete. OK to remove flag once it is.
+        if (ENABLE_LAUNCH_FROM_STAGED_APP.get()) {
+            mFirstFloatingTaskView.setOnClickListener(this::animateToFullscreen);
+        }
+
         // SplitInstructionsView: animate in
         safeRemoveDragLayerView(mSplitInstructionsView);
         mSplitInstructionsView = SplitInstructionsView.getSplitInstructionsView(mActivity);
@@ -2946,6 +2951,34 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
         });
     }
 
+    private void animateToFullscreen(View view) {
+        FloatingTaskView stagedTaskView = (FloatingTaskView) view;
+
+        boolean isTablet = mActivity.getDeviceProfile().isTablet;
+        int duration = isTablet
+                ? SplitAnimationTimings.TABLET_CONFIRM_DURATION
+                : SplitAnimationTimings.PHONE_CONFIRM_DURATION;
+
+        PendingAnimation pendingAnimation = new PendingAnimation(duration);
+
+        Rect firstTaskStartingBounds = new Rect();
+        Rect firstTaskEndingBounds = new Rect();
+
+        stagedTaskView.getBoundsOnScreen(firstTaskStartingBounds);
+        mActivity.getDragLayer().getBoundsOnScreen(firstTaskEndingBounds);
+
+        stagedTaskView.addConfirmAnimation(
+                pendingAnimation,
+                new RectF(firstTaskStartingBounds),
+                firstTaskEndingBounds,
+                false /* fadeWithThumbnail */,
+                true /* isStagedTask */);
+
+        pendingAnimation.addEndListener(success -> launchStagedTask());
+
+        pendingAnimation.buildAnim().start();
+    }
+
     /**
      * Creates a {@link PendingAnimation} for dismissing the specified {@link TaskView}.
      * @param dismissedTaskView the {@link TaskView} to be dismissed
@@ -4294,11 +4327,8 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
         Rect firstTaskEndingBounds = mTempRect;
 
         boolean isTablet = mActivity.getDeviceProfile().isTablet;
-        int duration = isTablet
-                ? SplitAnimationTimings.TABLET_CONFIRM_DURATION
-                : SplitAnimationTimings.PHONE_CONFIRM_DURATION;
-        PendingAnimation pendingAnimation = new PendingAnimation(duration);
         SplitAnimationTimings timings = AnimUtils.getDeviceSplitToConfirmTimings(isTablet);
+        PendingAnimation pendingAnimation = new PendingAnimation(timings.getDuration());
 
         int halfDividerSize = getResources()
                 .getDimensionPixelSize(R.dimen.multi_window_task_divider_size) / 2;
@@ -4650,6 +4680,16 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
         return mPendingAnimation;
     }
 
+    protected void launchStagedTask() {
+        if (mSplitHiddenTaskView != null) {
+            // Split staging was started from an existing running task (in Overview)
+            mSplitHiddenTaskView.launchTask(success -> resetFromSplitSelectionState());
+        } else {
+            // Split staging was started from a new intent (from app menu in Home/AllApps)
+            mActivity.startActivity(mSplitSelectSource.intent);
+        }
+    }
+
     protected void onTaskLaunchAnimationEnd(boolean success) {
         if (success) {
             resetTaskVisuals();
diff --git a/src/com/android/launcher3/config/FeatureFlags.java b/src/com/android/launcher3/config/FeatureFlags.java
index 33f3bfdbfe..e20489c3aa 100644
--- a/src/com/android/launcher3/config/FeatureFlags.java
+++ b/src/com/android/launcher3/config/FeatureFlags.java
@@ -342,6 +342,11 @@ public final class FeatureFlags {
     public static final BooleanFlag ENABLE_DEVICE_PROFILE_LOGGING = new DeviceFlag(
             "ENABLE_DEVICE_PROFILE_LOGGING", false, "Allows DeviceProfile logging");
 
+    public static final BooleanFlag ENABLE_LAUNCH_FROM_STAGED_APP = getDebugFlag(
+            "ENABLE_LAUNCH_FROM_STAGED_APP", false,
+            "Enable the ability to tap a staged app during split select to launch it in full screen"
+    );
+
     public static void initialize(Context context) {
         synchronized (sDebugFlags) {
             for (DebugFlag flag : sDebugFlags) {