diff --git a/components/driver/test_apps/spi/master/main/test_app_main.c b/components/driver/test_apps/spi/master/main/test_app_main.c
index 16ba4072f3..4bea564e9b 100644
--- a/components/driver/test_apps/spi/master/main/test_app_main.c
+++ b/components/driver/test_apps/spi/master/main/test_app_main.c
@@ -9,7 +9,7 @@
 #include "esp_heap_caps.h"
 
 // iterator to load partition tables in `test spi bus lock, with flash` will lead memory not free
-#define TEST_MEMORY_LEAK_THRESHOLD (350)
+#define TEST_MEMORY_LEAK_THRESHOLD (450)
 
 void setUp(void)
 {
diff --git a/components/esp_hw_support/test_apps/mspi/main/test_app_main.c b/components/esp_hw_support/test_apps/mspi/main/test_app_main.c
index 72be1dc284..ff8792ff1f 100644
--- a/components/esp_hw_support/test_apps/mspi/main/test_app_main.c
+++ b/components/esp_hw_support/test_apps/mspi/main/test_app_main.c
@@ -9,7 +9,7 @@
 #include "esp_heap_caps.h"
 
 // load partition table in tests will use memory
-#define TEST_MEMORY_LEAK_THRESHOLD (450)
+#define TEST_MEMORY_LEAK_THRESHOLD (600)
 
 void setUp(void)
 {
diff --git a/components/esp_mm/esp_mmu_map.c b/components/esp_mm/esp_mmu_map.c
index 735e81c605..d3dec35b55 100644
--- a/components/esp_mm/esp_mmu_map.c
+++ b/components/esp_mm/esp_mmu_map.c
@@ -9,6 +9,7 @@
 #include <sys/param.h>
 #include <sys/queue.h>
 #include <inttypes.h>
+#include <sys/lock.h>
 #include "sdkconfig.h"
 #include "esp_attr.h"
 #include "esp_log.h"
@@ -105,6 +106,10 @@ typedef struct {
      * Only the first `num_regions` items are valid
      */
     mem_region_t mem_regions[SOC_MMU_LINEAR_ADDRESS_REGION_NUM];
+    /**
+     * driver layer mutex lock
+     */
+    _lock_t mutex;
 } mmu_ctx_t;
 
 static mmu_ctx_t s_mmu_ctx;
@@ -447,17 +452,15 @@ esp_err_t esp_mmu_map(esp_paddr_t paddr_start, size_t size, mmu_target_t target,
     ESP_RETURN_ON_FALSE((paddr_start % CONFIG_MMU_PAGE_SIZE == 0), ESP_ERR_INVALID_ARG, TAG, "paddr must be rounded up to the nearest multiple of CONFIG_MMU_PAGE_SIZE");
     ESP_RETURN_ON_ERROR(s_mem_caps_check(caps), TAG, "invalid caps");
 
+    _lock_acquire(&s_mmu_ctx.mutex);
+    mem_block_t *dummy_head = NULL;
+    mem_block_t *dummy_tail = NULL;
     size_t aligned_size = ALIGN_UP_BY(size, CONFIG_MMU_PAGE_SIZE);
     int32_t found_region_id = s_find_available_region(s_mmu_ctx.mem_regions, s_mmu_ctx.num_regions, aligned_size, caps, target);
-    if (found_region_id == -1) {
-        ESP_EARLY_LOGE(TAG, "no such vaddr range");
-        return ESP_ERR_NOT_FOUND;
-    }
+    ESP_GOTO_ON_FALSE(found_region_id != -1, ESP_ERR_NOT_FOUND, err, TAG, "no such vaddr range");
 
     //Now we're sure we can find an available block inside a certain region
     mem_region_t *found_region = &s_mmu_ctx.mem_regions[found_region_id];
-    mem_block_t *dummy_head = NULL;
-    mem_block_t *dummy_tail = NULL;
     mem_block_t *new_block = NULL;
 
     if (TAILQ_EMPTY(&found_region->mem_block_head)) {
@@ -506,7 +509,6 @@ esp_err_t esp_mmu_map(esp_paddr_t paddr_start, size_t size, mmu_target_t target,
     }
 
     if (is_enclosed) {
-        ESP_LOGW(TAG, "paddr block is mapped already, vaddr_start: %p, size: 0x%x", (void *)mem_block->vaddr_start, mem_block->size);
         /*
          * This condition is triggered when `s_is_enclosed` is true and hence
          * we are sure that `paddr_start` >= `mem_block->paddr_start`.
@@ -516,12 +518,11 @@ esp_err_t esp_mmu_map(esp_paddr_t paddr_start, size_t size, mmu_target_t target,
          */
         const uint32_t new_paddr_offset = paddr_start - mem_block->paddr_start;
         *out_ptr = (void *)mem_block->vaddr_start + new_paddr_offset;
-        return ESP_ERR_INVALID_STATE;
+        ESP_GOTO_ON_FALSE(false, ESP_ERR_INVALID_STATE, err, TAG, "paddr block is mapped already, vaddr_start: %p, size: 0x%x", (void *)mem_block->vaddr_start, mem_block->size);
     }
 
     if (!allow_overlap && is_overlapped) {
-        ESP_LOGE(TAG, "paddr block is overlapped with an already mapped paddr block");
-        return ESP_ERR_INVALID_ARG;
+        ESP_GOTO_ON_FALSE(false, ESP_ERR_INVALID_ARG, err, TAG, "paddr block is overlapped with an already mapped paddr block");
     }
 #endif //#if ENABLE_PADDR_CHECK
 
@@ -556,7 +557,6 @@ esp_err_t esp_mmu_map(esp_paddr_t paddr_start, size_t size, mmu_target_t target,
     assert(found);
     //insert the to-be-mapped new block to the list
     TAILQ_INSERT_BEFORE(found_block, new_block, entries);
-
     //Finally, we update the max_slot_size
     found_region->max_slot_size = max_slot_len;
 
@@ -578,6 +578,7 @@ esp_err_t esp_mmu_map(esp_paddr_t paddr_start, size_t size, mmu_target_t target,
     //do mapping
     s_do_mapping(target, new_block->vaddr_start, paddr_start, aligned_size);
     *out_ptr = (void *)new_block->vaddr_start;
+    _lock_release(&s_mmu_ctx.mutex);
 
     return ESP_OK;
 
@@ -588,6 +589,7 @@ err:
     if (dummy_head) {
         free(dummy_head);
     }
+    _lock_release(&s_mmu_ctx.mutex);
 
     return ret;
 }
@@ -636,17 +638,19 @@ esp_err_t esp_mmu_unmap(void *ptr)
 {
     ESP_RETURN_ON_FALSE(ptr, ESP_ERR_INVALID_ARG, TAG, "null pointer");
 
+    esp_err_t ret = ESP_FAIL;
     mem_region_t *region = NULL;
     mem_block_t *mem_block = NULL;
     uint32_t ptr_laddr = mmu_ll_vaddr_to_laddr((uint32_t)ptr);
     size_t slot_len = 0;
 
+    _lock_acquire(&s_mmu_ctx.mutex);
     for (int i = 0; i < s_mmu_ctx.num_regions; i++) {
         if (ptr_laddr >= s_mmu_ctx.mem_regions[i].free_head && ptr_laddr < s_mmu_ctx.mem_regions[i].end) {
             region = &s_mmu_ctx.mem_regions[i];
         }
     }
-    ESP_RETURN_ON_FALSE(region, ESP_ERR_NOT_FOUND, TAG, "munmap target pointer is outside external memory regions");
+    ESP_GOTO_ON_FALSE(region, ESP_ERR_NOT_FOUND, err, TAG, "munmap target pointer is outside external memory regions");
 
     bool found = false;
     mem_block_t *found_block = NULL;
@@ -667,15 +671,23 @@ esp_err_t esp_mmu_unmap(void *ptr)
         }
     }
 
-    ESP_RETURN_ON_FALSE(found, ESP_ERR_NOT_FOUND, TAG, "munmap target pointer isn't mapped yet");
+    if (found) {
+        TAILQ_REMOVE(&region->mem_block_head, found_block, entries);
+    }
+    ESP_GOTO_ON_FALSE(found, ESP_ERR_NOT_FOUND, err, TAG, "munmap target pointer isn't mapped yet");
 
     //do unmap
     s_do_unmapping(mem_block->vaddr_start, mem_block->size);
-    //remove the already unmapped block from the list
-    TAILQ_REMOVE(&region->mem_block_head, found_block, entries);
     free(found_block);
 
+    _lock_release(&s_mmu_ctx.mutex);
+
     return ESP_OK;
+
+err:
+
+    _lock_release(&s_mmu_ctx.mutex);
+    return ret;
 }
 
 esp_err_t esp_mmu_map_dump_mapped_blocks(FILE* stream)
diff --git a/components/esp_mm/include/esp_mmu_map.h b/components/esp_mm/include/esp_mmu_map.h
index 2e64a0d842..e9efbb96b2 100644
--- a/components/esp_mm/include/esp_mmu_map.h
+++ b/components/esp_mm/include/esp_mmu_map.h
@@ -60,8 +60,6 @@ typedef uint32_t esp_paddr_t;
 /**
  * @brief Map a physical memory block to external virtual address block, with given capabilities.
  *
- * @note This API does not guarantee thread safety
- *
  * @param[in]  paddr_start  Start address of the physical memory block
  * @param[in]  size         Size to be mapped. Size will be rounded up by to the nearest multiple of MMU page size
  * @param[in]  target       Physical memory target you're going to map to, see `mmu_target_t`
@@ -88,8 +86,6 @@ esp_err_t esp_mmu_map(esp_paddr_t paddr_start, size_t size, mmu_target_t target,
 /**
  * @brief Unmap a previously mapped virtual memory block
  *
- * @note This API does not guarantee thread safety
- *
  * @param[in] ptr  Start address of the virtual memory
  *
  * @return
diff --git a/components/esp_mm/test_apps/mm/main/test_mmap.c b/components/esp_mm/test_apps/mm/main/test_mmap.c
index 2fd0f1a2c3..86c10b27e8 100644
--- a/components/esp_mm/test_apps/mm/main/test_mmap.c
+++ b/components/esp_mm/test_apps/mm/main/test_mmap.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -8,6 +8,9 @@
 #include <sys/param.h>
 #include <string.h>
 #include "inttypes.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
 #include "esp_log.h"
 #include "esp_attr.h"
 #include "unity.h"
@@ -70,3 +73,56 @@ TEST_CASE("Can find paddr caps by any paddr offset", "[mmu]")
 
     TEST_ESP_OK(esp_mmu_unmap(ptr0));
 }
+
+typedef struct {
+    SemaphoreHandle_t done;
+} test_task_arg_t;
+
+void map_task(void *varg)
+{
+    esp_err_t ret = ESP_FAIL;
+    test_task_arg_t* args = (test_task_arg_t*) varg;
+
+    const esp_partition_t *part = s_get_partition();
+    srand(199);
+    int cnt = 0;
+    while (true) {
+        if (cnt >= 10000) {
+            break;
+        }
+        size_t i = rand() % part->size;
+        void *ptr0 = NULL;
+        size_t phys_addr = part->address + i;
+        size_t region_offset = phys_addr & (CONFIG_MMU_PAGE_SIZE - 1);
+        size_t mmap_addr = phys_addr & ~(CONFIG_MMU_PAGE_SIZE - 1);
+        ret = esp_mmu_map(mmap_addr, 1 + region_offset, MMU_TARGET_FLASH0, MMU_MEM_CAP_READ | MMU_MEM_CAP_8BIT, ESP_MMU_MMAP_FLAG_PADDR_SHARED, &ptr0);
+        if (ret == ESP_OK) {
+            esp_mmu_unmap(ptr0);
+        }
+        cnt++;
+        vTaskDelay(pdMS_TO_TICKS(1));
+    }
+
+    xSemaphoreGive(args->done);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("Test mmap concurrency", "[mmu][manual][ignore]")
+{
+    test_task_arg_t args0 = {
+        .done = xSemaphoreCreateBinary(),
+    };
+
+    test_task_arg_t args1 = {
+        .done = xSemaphoreCreateBinary(),
+    };
+
+    xTaskCreate(map_task, "map0_task", 8096, &args0, 1, NULL);
+    xTaskCreate(map_task, "map1_task", 8096, &args1, 1, NULL);
+
+    xSemaphoreTake(args0.done, portMAX_DELAY);
+    xSemaphoreTake(args1.done, portMAX_DELAY);
+    vTaskDelay(100);
+    vSemaphoreDelete(args0.done);
+    vSemaphoreDelete(args1.done);
+}
diff --git a/components/esp_mm/test_apps/mmap_hw/main/test_app_main.c b/components/esp_mm/test_apps/mmap_hw/main/test_app_main.c
index 95fc6dcab2..4127c164dc 100644
--- a/components/esp_mm/test_apps/mmap_hw/main/test_app_main.c
+++ b/components/esp_mm/test_apps/mmap_hw/main/test_app_main.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -13,11 +13,11 @@
  * - traversing all vaddr range to check their attributes
  *
  * These tests need certain number of internal resources (heap memory), as they uses up the vaddr ranges
- * On ESP32, it should be around 450
- * On ESP32S2, it should be around 600
- * On other chips, it should be around 400
+ * On ESP32, it should be around 650
+ * On ESP32S2, it should be around 800
+ * On other chips, it should be around 600
  */
-#define TEST_MEMORY_LEAK_THRESHOLD (-650)
+#define TEST_MEMORY_LEAK_THRESHOLD (-800)
 
 static size_t before_free_8bit;
 static size_t before_free_32bit;
diff --git a/components/esp_psram/test_apps/psram/main/test_app_main.c b/components/esp_psram/test_apps/psram/main/test_app_main.c
index e19a4c2c37..1eaf39bad1 100644
--- a/components/esp_psram/test_apps/psram/main/test_app_main.c
+++ b/components/esp_psram/test_apps/psram/main/test_app_main.c
@@ -8,7 +8,7 @@
 #include "unity_test_runner.h"
 #include "esp_heap_caps.h"
 
-#define TEST_MEMORY_LEAK_THRESHOLD (-600)
+#define TEST_MEMORY_LEAK_THRESHOLD (-750)
 
 static size_t before_free_8bit;
 static size_t before_free_32bit;
diff --git a/components/esp_system/test_apps/esp_system_unity_tests/main/test_app_main.c b/components/esp_system/test_apps/esp_system_unity_tests/main/test_app_main.c
index d894e9325e..a55e944f98 100644
--- a/components/esp_system/test_apps/esp_system_unity_tests/main/test_app_main.c
+++ b/components/esp_system/test_apps/esp_system_unity_tests/main/test_app_main.c
@@ -11,7 +11,7 @@
 #include "freertos/task.h"
 
 // Some resources are lazy allocated, the threshold is left for that case
-#define TEST_MEMORY_LEAK_THRESHOLD (-800)
+#define TEST_MEMORY_LEAK_THRESHOLD (-1100)
 
 static size_t before_free_8bit;
 static size_t before_free_32bit;
diff --git a/docs/en/api-reference/system/mm.rst b/docs/en/api-reference/system/mm.rst
index d8949aaed4..86265ada71 100644
--- a/docs/en/api-reference/system/mm.rst
+++ b/docs/en/api-reference/system/mm.rst
@@ -169,7 +169,9 @@ SPI flash can be accessed by SPI1 (ESP-IDF ``esp_flash`` driver APIs), or by poi
 Thread Safety
 =============
 
-APIs in ``esp_mmu_map.h`` are not guaranteed to be thread-safe.
+Following APIs in ``esp_mmu_map.h`` are not guaranteed to be thread-safe:
+
+- :cpp:func:`esp_mmu_map_dump_mapped_blocks`
 
 APIs in ``esp_cache.h`` are guaranteed to be thread-safe.
 
diff --git a/docs/zh_CN/api-reference/system/mm.rst b/docs/zh_CN/api-reference/system/mm.rst
index 32d5e459aa..b8cb03c004 100644
--- a/docs/zh_CN/api-reference/system/mm.rst
+++ b/docs/zh_CN/api-reference/system/mm.rst
@@ -169,7 +169,9 @@ SPI flash 可以通过 SPI1（ESP-IDF ``spi_flash`` 驱动 API）或指针进行
 线程安全
 ========
 
-``esp_mmu_map.h`` 中的 API 不能确保线程的安全性。
+``esp_mmu_map.h`` 中的以下 API 不能确保线程的安全性：
+
+- :cpp:func:`esp_mmu_map_dump_mapped_blocks`
 
 ``esp_cache.h`` 中的 API 能够确保线程的安全性。