diff --git a/components/cxx/test_apps/general/main/CMakeLists.txt b/components/cxx/test_apps/general/main/CMakeLists.txt
index d66ec8e1b3..20c201549d 100644
--- a/components/cxx/test_apps/general/main/CMakeLists.txt
+++ b/components/cxx/test_apps/general/main/CMakeLists.txt
@@ -1,2 +1,2 @@
 idf_component_register(SRCS "test_cxx_general.cpp"
-                       PRIV_REQUIRES unity driver)
+                       PRIV_REQUIRES unity driver esp_timer)
diff --git a/components/cxx/test_apps/general/main/test_cxx_general.cpp b/components/cxx/test_apps/general/main/test_cxx_general.cpp
index 0e483ab655..621b5e925a 100644
--- a/components/cxx/test_apps/general/main/test_cxx_general.cpp
+++ b/components/cxx/test_apps/general/main/test_cxx_general.cpp
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -14,6 +14,9 @@
 #include "unity.h"
 #include "unity_test_utils.h"
 #include "soc/soc.h"
+#include <chrono>
+#include <thread>
+#include "esp_timer.h"
 
 extern "C" void setUp()
 {
@@ -197,7 +200,7 @@ struct PriorityInitTest {
 
 int PriorityInitTest::order = 0;
 
-// init_priority objects are initialized from the lowest to the heighest priority number
+// init_priority objects are initialized from the lowest to the highest priority number
 // Default init_priority is always the lowest (highest priority number)
 PriorityInitTest g_static_init_priority_test2;
 PriorityInitTest g_static_init_priority_test1 __attribute__((init_priority(1000)));
@@ -289,6 +292,29 @@ TEST_CASE("stack smashing protection CXX", "[stack_smash]")
     recur_and_smash_cxx();
 }
 
+TEST_CASE("test std::this_thread::sleep_for basic functionality", "[misc]")
+{
+    const int us_per_tick = portTICK_PERIOD_MS * 1000;
+
+    // Test sub-tick sleep
+    const auto short_sleep = std::chrono::microseconds(us_per_tick / 4);
+    int64_t start = esp_timer_get_time();
+    std::this_thread::sleep_for(short_sleep);
+    int64_t end = esp_timer_get_time();
+    int64_t elapsed_us = end - start;
+    printf("short sleep: %lld us\n", elapsed_us);
+    TEST_ASSERT_GREATER_OR_EQUAL(short_sleep.count(), elapsed_us);
+
+    // Test multi-tick sleep
+    const auto long_sleep = std::chrono::microseconds(us_per_tick * 2);
+    start = esp_timer_get_time();
+    std::this_thread::sleep_for(long_sleep);
+    end = esp_timer_get_time();
+    elapsed_us = end - start;
+    printf("long sleep: %lld us\n", elapsed_us);
+    TEST_ASSERT_GREATER_OR_EQUAL(long_sleep.count(), elapsed_us);
+}
+
 extern "C" void app_main(void)
 {
     printf("CXX GENERAL TEST\n");
diff --git a/components/driver/test_apps/legacy_mcpwm_driver/main/test_legacy_mcpwm.c b/components/driver/test_apps/legacy_mcpwm_driver/main/test_legacy_mcpwm.c
index bd3cccc6cb..ee1a162e0c 100644
--- a/components/driver/test_apps/legacy_mcpwm_driver/main/test_legacy_mcpwm.c
+++ b/components/driver/test_apps/legacy_mcpwm_driver/main/test_legacy_mcpwm.c
@@ -167,7 +167,7 @@ static uint32_t pcnt_get_pulse_number(pcnt_unit_handle_t pwm_pcnt_unit, int capt
     int count_value = 0;
     TEST_ESP_OK(pcnt_unit_clear_count(pwm_pcnt_unit));
     TEST_ESP_OK(pcnt_unit_start(pwm_pcnt_unit));
-    usleep(capture_window_ms * 1000);
+    vTaskDelay(pdMS_TO_TICKS(capture_window_ms));
     TEST_ESP_OK(pcnt_unit_stop(pwm_pcnt_unit));
     TEST_ESP_OK(pcnt_unit_get_count(pwm_pcnt_unit, &count_value));
     printf("count value: %d\r\n", count_value);
diff --git a/components/newlib/test_apps/newlib/main/test_time.c b/components/newlib/test_apps/newlib/main/test_time.c
index 37b7e78c2e..a941b372d0 100644
--- a/components/newlib/test_apps/newlib/main/test_time.c
+++ b/components/newlib/test_apps/newlib/main/test_time.c
@@ -1,11 +1,12 @@
 /*
- * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 #include <stdio.h>
 #include <string.h>
 #include <math.h>
+#include <unistd.h>
 #include "unity.h"
 #include <time.h>
 #include <sys/time.h>
@@ -93,6 +94,27 @@ TEST_CASE("Reading RTC registers on APP CPU doesn't affect clock", "[newlib]")
 
 #endif // (CONFIG_FREERTOS_NUMBER_OF_CORES == 2) && CONFIG_IDF_TARGET_ARCH_XTENSA
 
+TEST_CASE("test usleep basic functionality", "[newlib]")
+{
+    const int us_per_tick = portTICK_PERIOD_MS * 1000;
+
+    // Test sub-tick sleep such that usleep() uses ROM delay path
+    const int short_sleep_us = us_per_tick / 4;
+    int64_t start = esp_timer_get_time();
+    TEST_ASSERT_EQUAL(0, usleep(short_sleep_us));
+    int64_t end = esp_timer_get_time();
+    printf("short sleep: %lld us\n", end - start);
+    TEST_ASSERT_GREATER_OR_EQUAL(short_sleep_us, end - start);
+
+    // Test multi-tick sleep using vTaskDelay path
+    const int long_sleep_us = us_per_tick * 2;
+    start = esp_timer_get_time();
+    TEST_ASSERT_EQUAL(0, usleep(long_sleep_us));
+    end = esp_timer_get_time();
+    printf("long sleep: %lld us\n", end - start);
+    TEST_ASSERT_GREATER_OR_EQUAL(long_sleep_us, end - start);
+}
+
 TEST_CASE("test adjtime function", "[newlib]")
 {
     struct timeval tv_time;