Do I need to synchronize multiple draw commands?

Do I need to synchronize multiple draw commands? After all, they can access depth and color attachments at the same time.

In a single subpass, no. Otherwise yes.

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But doesn’t each team go through the pipeline stages separately? Or is there some kind of implicit synchronization?

From section 25.2 of the standard:

Within a subpass of a render pass instance, for a given (x,y,layer,sample) sample location, the following operations are guaranteed to execute in rasterization order, for each separate primitive that includes that sample location:

  1. Fragment operations, in the order defined

  2. Blending, logic operations, and color writes

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