diff --git a/components/esp-tls/CMakeLists.txt b/components/esp-tls/CMakeLists.txt
index d53d4fe10e..1cdd1e5b69 100644
--- a/components/esp-tls/CMakeLists.txt
+++ b/components/esp-tls/CMakeLists.txt
@@ -12,8 +12,10 @@ endif()
 idf_component_register(SRCS "${srcs}"
                     INCLUDE_DIRS . esp-tls-crypto
                     PRIV_INCLUDE_DIRS "private_include"
-                    REQUIRES mbedtls
-                    PRIV_REQUIRES lwip http_parser)
+                    # lwip and mbedtls are public requirements becasue esp_tls.h
+                    # includes sys/socket.h and mbedtls header files.
+                    REQUIRES mbedtls lwip
+                    PRIV_REQUIRES http_parser)
 
 if(CONFIG_ESP_TLS_USING_WOLFSSL)
     idf_component_get_property(wolfssl esp-wolfssl COMPONENT_LIB)
diff --git a/components/esp_http_client/CMakeLists.txt b/components/esp_http_client/CMakeLists.txt
index 6794a62e2b..45e53d8413 100644
--- a/components/esp_http_client/CMakeLists.txt
+++ b/components/esp_http_client/CMakeLists.txt
@@ -4,5 +4,6 @@ idf_component_register(SRCS "esp_http_client.c"
                             "lib/http_utils.c"
                     INCLUDE_DIRS "include"
                     PRIV_INCLUDE_DIRS "lib/include"
-                    REQUIRES http_parser
+                    # lwip is a public requirement because esp_http_client.h includes sys/socket.h
+                    REQUIRES http_parser lwip
                     PRIV_REQUIRES tcp_transport)
diff --git a/components/esp_system/CMakeLists.txt b/components/esp_system/CMakeLists.txt
index d92be939e6..5bd2af9ab6 100644
--- a/components/esp_system/CMakeLists.txt
+++ b/components/esp_system/CMakeLists.txt
@@ -95,3 +95,11 @@ idf_component_optional_requires(PRIVATE app_update)
 if(CONFIG_PM_ENABLE)
     idf_component_optional_requires(PRIVATE pm)
 endif()
+
+if(CONFIG_VFS_SUPPORT_IO)
+    idf_component_optional_requires(PRIVATE vfs)
+endif()
+
+if(CONFIG_SW_COEXIST_ENABLE OR CONFIG_EXTERNAL_COEX_ENABLE)
+    idf_component_optional_requires(PRIVATE esp_wifi)
+endif()
diff --git a/components/esp_system/startup.c b/components/esp_system/startup.c
index 0bc753c368..786466b652 100644
--- a/components/esp_system/startup.c
+++ b/components/esp_system/startup.c
@@ -26,7 +26,6 @@
 #include "esp_spi_flash.h"
 #include "esp_flash_internal.h"
 #include "esp_newlib.h"
-#include "esp_vfs_dev.h"
 #include "esp_timer.h"
 #include "esp_efuse.h"
 #include "esp_flash_encrypt.h"
@@ -41,7 +40,9 @@
 
 /***********************************************/
 // Headers for other components init functions
+#if CONFIG_SW_COEXIST_ENABLE || CONFIG_EXTERNAL_COEX_ENABLE
 #include "esp_coexist_internal.h"
+#endif
 
 #if CONFIG_ESP_COREDUMP_ENABLE
 #include "esp_core_dump.h"
@@ -58,8 +59,12 @@
 #include "esp_private/pm_impl.h"
 #endif
 
-#include "esp_pthread.h"
+#if CONFIG_VFS_SUPPORT_IO
+#include "esp_vfs_dev.h"
 #include "esp_vfs_console.h"
+#endif
+
+#include "esp_pthread.h"
 #include "esp_private/esp_clk.h"
 
 #include "esp_private/brownout.h"
diff --git a/components/esp_wifi/CMakeLists.txt b/components/esp_wifi/CMakeLists.txt
index 4b37de238a..a3efef9a2f 100644
--- a/components/esp_wifi/CMakeLists.txt
+++ b/components/esp_wifi/CMakeLists.txt
@@ -31,7 +31,7 @@ idf_component_register(SRCS "${srcs}"
                     INCLUDE_DIRS "include"
                     REQUIRES esp_event esp_phy
                     PRIV_REQUIRES driver esptool_py esp_netif esp_pm esp_timer nvs_flash
-                                  wpa_supplicant hal ${extra_priv_requires}
+                                  wpa_supplicant hal lwip ${extra_priv_requires}
                     LDFRAGMENTS "${ldfragments}")
 
 if(CONFIG_ESP32_WIFI_ENABLED)
diff --git a/components/mbedtls/CMakeLists.txt b/components/mbedtls/CMakeLists.txt
index 36ad5e69f0..85741abf17 100644
--- a/components/mbedtls/CMakeLists.txt
+++ b/components/mbedtls/CMakeLists.txt
@@ -17,10 +17,17 @@ endif()
 
 idf_component_register(SRCS "${mbedtls_srcs}"
     INCLUDE_DIRS "${mbedtls_include_dirs}"
-    REQUIRES lwip
     PRIV_REQUIRES "${priv_requires}"
     )
 
+# Determine the type of mbedtls component library
+if(mbedtls_srcs STREQUAL "")
+    # For no sources in component library we must use "INTERFACE"
+    set(linkage_type INTERFACE)
+else()
+    set(linkage_type PUBLIC)
+endif()
+
 
 if(CONFIG_MBEDTLS_CERTIFICATE_BUNDLE)
     set(bundle_name "x509_crt_bundle")
@@ -103,8 +110,7 @@ endif()
 
 set(mbedtls_targets mbedtls mbedcrypto mbedx509)
 
-set(mbedtls_target_sources "${COMPONENT_DIR}/port/mbedtls_debug.c"
-                           "${COMPONENT_DIR}/port/net_sockets.c")
+set(mbedtls_target_sources "${COMPONENT_DIR}/port/mbedtls_debug.c")
 
 if(CONFIG_MBEDTLS_DYNAMIC_BUFFER)
 set(mbedtls_target_sources ${mbedtls_target_sources}
@@ -114,6 +120,15 @@ set(mbedtls_target_sources ${mbedtls_target_sources}
                            "${COMPONENT_DIR}/port/dynamic/esp_ssl_tls.c")
 endif()
 
+# net_sockets.c should only be compiled if BSD socket functions are available.
+# Do this by checking if lwip component is included into the build.
+idf_build_get_property(build_components BUILD_COMPONENTS)
+if(lwip IN_LIST build_components)
+    list(APPEND mbedtls_target_sources "${COMPONENT_DIR}/port/net_sockets.c")
+    idf_component_get_property(lwip_lib lwip COMPONENT_LIB)
+    target_link_libraries(${COMPONENT_LIB} ${linkage_type} ${lwip_lib})
+endif()
+
 # Add port files to mbedtls targets
 target_sources(mbedtls PRIVATE ${mbedtls_target_sources})
 
@@ -240,14 +255,6 @@ set_property(TARGET mbedcrypto APPEND PROPERTY LINK_INTERFACE_LIBRARIES mbedtls)
 set_property(TARGET mbedcrypto APPEND PROPERTY LINK_LIBRARIES idf::driver idf::${target})
 set_property(TARGET mbedcrypto APPEND PROPERTY INTERFACE_LINK_LIBRARIES idf::driver idf::${target})
 
-# Link mbedtls libraries to component library
-if(mbedtls_srcs STREQUAL "")
-    # For no sources in component library we must use "INTERFACE"
-    set(linkage_type INTERFACE)
-else()
-    set(linkage_type PUBLIC)
-endif()
-
 target_link_libraries(${COMPONENT_LIB} ${linkage_type} ${mbedtls_targets})
 
 if(CONFIG_ESP_TLS_USE_DS_PERIPHERAL)
diff --git a/components/mqtt/CMakeLists.txt b/components/mqtt/CMakeLists.txt
index ac832e1d14..004389a47a 100644
--- a/components/mqtt/CMakeLists.txt
+++ b/components/mqtt/CMakeLists.txt
@@ -4,6 +4,7 @@ idf_component_register(SRCS "esp-mqtt/mqtt_client.c"
                             "esp-mqtt/lib/platform_esp32_idf.c"
                     INCLUDE_DIRS esp-mqtt/include
                     PRIV_INCLUDE_DIRS "esp-mqtt/lib/include"
+                    PRIV_REQUIRES lwip
                     )
 
 if(TEST_BUILD)
diff --git a/components/newlib/CMakeLists.txt b/components/newlib/CMakeLists.txt
index ab732217ba..5e3e4efa1e 100644
--- a/components/newlib/CMakeLists.txt
+++ b/components/newlib/CMakeLists.txt
@@ -53,3 +53,7 @@ if(CONFIG_NEWLIB_NANO_FORMAT)
 endif()
 
 add_subdirectory(port)
+
+# if lwip is included in the build, add it as a public requirement so that
+# #include <sys/socket.h> works without any special provisions.
+idf_component_optional_requires(PUBLIC lwip)
diff --git a/components/newlib/syscalls.c b/components/newlib/syscalls.c
index e72fd14442..06e342407c 100644
--- a/components/newlib/syscalls.c
+++ b/components/newlib/syscalls.c
@@ -1,16 +1,8 @@
-// Copyright 2015-2020 Espressif Systems (Shanghai) PTE LTD
-//
-// 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.
+/*
+ * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #include <stdbool.h>
 #include <stdlib.h>
@@ -59,6 +51,10 @@ ssize_t _read_r_console(struct _reent *r, int fd, void * data, size_t size)
                 break;
             }
         }
+        if (received == 0) {
+            errno = EWOULDBLOCK;
+            return -1;
+        }
         return received;
     }
     __errno_r(r) = EBADF;
diff --git a/components/tcp_transport/CMakeLists.txt b/components/tcp_transport/CMakeLists.txt
index 4b67ca7b21..7eb449365e 100644
--- a/components/tcp_transport/CMakeLists.txt
+++ b/components/tcp_transport/CMakeLists.txt
@@ -11,4 +11,4 @@ endif()
 idf_component_register(SRCS "${srcs}"
                     INCLUDE_DIRS "include"
                     PRIV_INCLUDE_DIRS "private_include"
-                    REQUIRES esp-tls)
+                    REQUIRES esp-tls lwip)
diff --git a/docs/en/api-guides/build-system.rst b/docs/en/api-guides/build-system.rst
index 89f4c6d230..9c2edd12e0 100644
--- a/docs/en/api-guides/build-system.rst
+++ b/docs/en/api-guides/build-system.rst
@@ -548,7 +548,7 @@ Common component requirements
 
 To avoid duplication, every component automatically requires some "common" IDF components even if they are not mentioned explicitly. Headers from these components can always be included.
 
-The list of common components is: cxx, newlib, freertos, esp_hw_support, heap, log, lwip, soc, hal, esp_rom, esp_common, esp_system.
+The list of common components is: cxx, newlib, freertos, esp_hw_support, heap, log, soc, hal, esp_rom, esp_common, esp_system.
 
 Including components in the build
 ----------------------------------
diff --git a/docs/en/migration-guides/build-system.rst b/docs/en/migration-guides/build-system.rst
index b01fc66729..a21d121185 100644
--- a/docs/en/migration-guides/build-system.rst
+++ b/docs/en/migration-guides/build-system.rst
@@ -19,6 +19,13 @@ In previous versions of ESP-IDF, some components were always added as public req
 * ``driver``
 * ``efuse``
 * ``esp_timer``
+* ``lwip``
+* ``vfs``
+* ``esp_wifi``
+* ``esp_event``
+* ``esp_netif``
+* ``esp_eth``
+* ``esp_phy``
 
 This means that it was possible to include header files of those components without specifying them as requirements in ``idf_component_register``.
 
diff --git a/docs/zh_CN/api-guides/build-system.rst b/docs/zh_CN/api-guides/build-system.rst
index d4ef1ecf52..e3f8266942 100644
--- a/docs/zh_CN/api-guides/build-system.rst
+++ b/docs/zh_CN/api-guides/build-system.rst
@@ -634,7 +634,7 @@ Spark Plug 组件
 
 为避免重复性工作，各组件都用自动依赖一些“通用” IDF 组件，即使它们没有被明确提及。这些组件的头文件会一直包含在构建系统中。
 
-通用组件包括：cxx、newlib、freertos、esp_hw_support、heap、log、lwip、soc、hal、esp_rom、esp_common、esp_system。
+通用组件包括：cxx、newlib、freertos、esp_hw_support、heap、log、soc、hal、esp_rom、esp_common、esp_system。
 
 在构建中导入组件
 -----------------
diff --git a/tools/ci/check_copyright_ignore.txt b/tools/ci/check_copyright_ignore.txt
index d8a4ae1131..273b4f3088 100644
--- a/tools/ci/check_copyright_ignore.txt
+++ b/tools/ci/check_copyright_ignore.txt
@@ -1090,7 +1090,6 @@ components/newlib/poll.c
 components/newlib/priv_include/esp_time_impl.h
 components/newlib/pthread.c
 components/newlib/reent_init.c
-components/newlib/syscalls.c
 components/newlib/termios.c
 components/newlib/test/test_atomic.c
 components/newlib/test/test_locks.c
diff --git a/tools/cmake/build.cmake b/tools/cmake/build.cmake
index dfcd74d312..6c73fdf308 100644
--- a/tools/cmake/build.cmake
+++ b/tools/cmake/build.cmake
@@ -162,9 +162,8 @@ function(__build_init idf_path)
     else()
         # Set components required by all other components in the build
         #
-        # - lwip is here so that #include <sys/socket.h> works without any special provisions
         # - esp_hw_support is here for backward compatibility
-        set(requires_common cxx newlib freertos esp_hw_support heap log lwip soc hal esp_rom esp_common esp_system)
+        set(requires_common cxx newlib freertos esp_hw_support heap log soc hal esp_rom esp_common esp_system)
         idf_build_set_property(__COMPONENT_REQUIRES_COMMON "${requires_common}")
     endif()
 
diff --git a/tools/test_apps/system/g1_components/CMakeLists.txt b/tools/test_apps/system/g1_components/CMakeLists.txt
index 03b9ba0e24..06d963b725 100644
--- a/tools/test_apps/system/g1_components/CMakeLists.txt
+++ b/tools/test_apps/system/g1_components/CMakeLists.txt
@@ -41,15 +41,6 @@ set(extra_components_which_shouldnt_be_included
     #   Figure out if these components can exist without a dependency on efuse.
     #   If not, see if esp_hw_support can provide minimal efuse component replacement in G1 build.
     efuse
-    # esp_eth is a dependency of esp_netif, esp_event, lwip
-    #   Once they are removed from G1, esp_eth will be removed as well.
-    esp_eth
-    # esp_event is a dependency of esp_wifi, esp_eth. Both should be removed from G1.
-    esp_event
-    # esp_netif is a dependency of lwip and esp_event, should disappear once lwip is removed.
-    esp_netif
-    # esp_phy is a dependency of esp_wifi.
-    esp_phy
     # esp_pm is pulled in by freertos, can be made a weak dependency
     #   conditional on related Kconfig option. It is also used by esp_wifi, driver, mbedtls,
     #   all of which should be removed from G1-only build.
@@ -59,30 +50,17 @@ set(extra_components_which_shouldnt_be_included
     # esp_timer is a dependency of freertos, esp_event, esp_wifi, driver.
     #   For freertos, it can be made a weak dependency conditional on FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER
     esp_timer
-    # esp_wifi is a dependency of lwip.
-    #   [refactor-todo]: investigate making esp_wifi a conditional dependency.
-    esp_wifi
     # esptool_py is a dependency of bootloader, esp_wifi, app_update, partition_table, all of which
     #   should be removed from G1-only build.
     esptool_py
-    # lwip is a common component due to "sys/socket.h" header.
-    #   [refactor-todo] consider adding a system-level sys/socket.h in newlib instead
-    lwip
     # mbedtls is a dependency of bootloader_support (plus other easier-to-remove ones)
     #   it is hard to make it conditional, need to remove bootloader_support.
     mbedtls
-    # nvs_flash is required by:
-    #   esp_wifi, esp_phy — both should be removed
-    nvs_flash
     # partition_table is pulled in by app_update, esptool_py, bootloader; all to be removed
     partition_table
     # pthread is required by esp_system (for initialization only, can be made a weak dependency)
     #   and cxx. See also [refactor-todo] about cxx, can it work without pthread?
     pthread
-    # vfs is a dependency of lwip. It can be made conditional, while lwip is still a common component.
-    vfs
-    # wpa_supplicant is a dependency of esp_wifi, which is to be removed from G1-only build
-    wpa_supplicant
 )
 
 set(expected_components
diff --git a/tools/test_apps/system/panic/main/test_panic_main.c b/tools/test_apps/system/panic/main/test_panic_main.c
index f533a892f7..85e3d5bfbd 100644
--- a/tools/test_apps/system/panic/main/test_panic_main.c
+++ b/tools/test_apps/system/panic/main/test_panic_main.c
@@ -194,12 +194,17 @@ static const char* get_test_name(void)
         c = getchar();
         if (c == EOF) {
             vTaskDelay(pdMS_TO_TICKS(10));
-        } else if (c == '\r') {
-            continue;
-        } else if (c == '\n') {
+        } else if ((c == '\r' || c == '\n') && p != test_name_str) {
+            /* terminate the line */
+            puts("\n\r");
+            fflush(stdout);
             *p = '\0';
             break;
         } else {
+            /* echo the received character */
+            putchar(c);
+            fflush(stdout);
+            /* and save it */
             *p = c;
             ++p;
         }
diff --git a/tools/unit-test-app/components/test_utils/CMakeLists.txt b/tools/unit-test-app/components/test_utils/CMakeLists.txt
index af19410c15..0cd755a176 100644
--- a/tools/unit-test-app/components/test_utils/CMakeLists.txt
+++ b/tools/unit-test-app/components/test_utils/CMakeLists.txt
@@ -26,4 +26,4 @@ idf_component_register(SRCS ${srcs}
                     INCLUDE_DIRS include
                     PRIV_INCLUDE_DIRS private_include
                     REQUIRES spi_flash idf_test cmock
-                    PRIV_REQUIRES perfmon driver)
+                    PRIV_REQUIRES perfmon driver esp_netif)