Tasks not cleaned up after `ActivityScenario.launch`

Start with the ActivityScenario.launch and scenario.close calls shown in the issue, then reproduce on Android 13 and inspect the reported adb shell dumpsys activity recents output. Compare the MainActivity and InstrumentationActivityInvoker$EmptyActivity tasks to determine whether both should be removed when the scenario closes; done means the behavior is explained or cleanup is corrected and verified.

Description

I am trying for the first time to use ActivityScenario.launch in instrumented tests for a physical device. No matter what I do, I cannot get the tasks to be cleaned up.

Steps to Reproduce

1. Using Samsung Galaxy. Close all apps first.
2. Use code below

main

class MainActivity : ComponentActivity()

test

class LaunchAndroidInstrumentedTests {
    @Test
    fun activityStarts() {
        val scenario = ActivityScenario.launch(MainActivity::class.java)
        scenario.close()
    }
}

Expected Results

When the test is done, there are no running apps.

Actual Results

When the test is done, my phone shows 2 running apps.

If I run adb shell dumpsys activity recents, I see this at the bottom of the output

Visible recent tasks (most recent first):
  * RecentTaskInfo #0:
    id=5745 userId=0 hasTask=false lastActiveTime=3723437970
    baseIntent=Intent { act=android.intent.action.MAIN cat=[android.intent.category.LAUNCHER] flg=0x10000000 cmp=matt.launch.test/androidx.test.core.app.InstrumentationActivityInvoker$EmptyActivity }
    realActivity={matt.launch.test/androidx.test.core.app.InstrumentationActivityInvoker$EmptyActivity}
    isExcluded=false activityType=standard windowingMode=fullscreen supportsSplitScreenMultiWindow=true supportsMultiWindow=true
    taskDescription { colorBackground=#ff303030 colorPrimary=#ff212121 iconRes=/0 iconBitmap=false resizeMode=RESIZE_MODE_RESIZEABLE_VIA_SDK_VERSION minWidth=-1 minHeight=-1 colorBackgroundFloating=#ff424242 }
    lastSnapshotData { taskSize=Point(1080, 2316) contentInsets=Rect(0, 67 - 0, 126) bufferSize=Point(1080, 2316) }
  * RecentTaskInfo #1:
    id=5744 userId=0 hasTask=false lastActiveTime=3723437784
    baseIntent=Intent { flg=0x10008000 cmp=matt.launch/.MainActivity }
    realActivity={matt.launch/matt.launch.MainActivity}
    isExcluded=false activityType=standard windowingMode=fullscreen supportsSplitScreenMultiWindow=true supportsMultiWindow=true
    taskDescription { colorBackground=#fff0f0f3 colorPrimary=#ff191c1e iconRes=/0 iconBitmap=false resizeMode=RESIZE_MODE_RESIZEABLE_VIA_SDK_VERSION minWidth=-1 minHeight=-1 colorBackgroundFloating=#fff0f0f3 }
    lastSnapshotData { taskSize=Point(1080, 2316) contentInsets=Rect(0, 67 - 0, 126) bufferSize=Point(1080, 2316) }

To summarize, the EmptyActivity and MainActivity were not properly cleaned up. On my phone, they actually show as two different apps in the recent app list. Both are blank white screens, but one of them says "matt.launch.MainActivity". The other one has no text.

AndroidX Test and Android OS Versions

androidx.test: 1.5.0
android OS: 13

Link to a public git repo demonstrating the problem:

I did not make one because I am hoping there is a quick solution or that it will be easy to reproduce with the code I copied and pasted above. If there is not quick solution and it is not simple to reproduce, I will be happy to make a repo. Please just let me know.