diff --git a/components/freertos/FreeRTOS-Kernel-SMP/portable/linux/port.c b/components/freertos/FreeRTOS-Kernel-SMP/portable/linux/port.c
index 569349f46b..c3944ae970 100644
--- a/components/freertos/FreeRTOS-Kernel-SMP/portable/linux/port.c
+++ b/components/freertos/FreeRTOS-Kernel-SMP/portable/linux/port.c
@@ -820,6 +820,12 @@ void vPortTLSPointersDelCb( void *pxTCB )
 
 void vPortCleanUpTCB ( void *pxTCB )
 {
+    #if ( CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK )
+        /* Call the user defined task pre-deletion hook */
+        extern void vTaskPreDeletionHook( void * pxTCB );
+        vTaskPreDeletionHook( pxTCB );
+    #endif /* CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK */
+
 #if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
     /* Call TLS pointers deletion callbacks */
     vPortTLSPointersDelCb( pxTCB );
diff --git a/components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/include/freertos/portmacro.h b/components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/include/freertos/portmacro.h
index 26202a36fd..e238498ec8 100644
--- a/components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/include/freertos/portmacro.h
+++ b/components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/include/freertos/portmacro.h
@@ -173,9 +173,6 @@ static inline BaseType_t __attribute__((always_inline)) xPortGetCoreID( void );
  * The portCLEAN_UP_TCB() macro is called in prvDeleteTCB() right before a
  * deleted task's memory is freed. We map that macro to this internal function
  * so that IDF FreeRTOS ports can inject some task pre-deletion operations.
- *
- * @note We can't use vPortCleanUpTCB() due to API compatibility issues. See
- * CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP. Todo: IDF-8097
  */
 void vPortTCBPreDeleteHook( void *pxTCB );
 
diff --git a/components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/port.c b/components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/port.c
index 1ba9ec0a9a..914964fa00 100644
--- a/components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/port.c
+++ b/components/freertos/FreeRTOS-Kernel-SMP/portable/riscv/port.c
@@ -270,16 +270,6 @@ void vPortTCBPreDeleteHook( void *pxTCB )
         vTaskPreDeletionHook( pxTCB );
     #endif /* CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK */
 
-    #if ( CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP )
-        /*
-         * If the user is using the legacy task pre-deletion hook, call it.
-         * Todo: Will be removed in IDF-8097
-         */
-        #warning "CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is deprecated. Use CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK instead."
-        extern void vPortCleanUpTCB( void * pxTCB );
-        vPortCleanUpTCB( pxTCB );
-    #endif /* CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP */
-
     #if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
         /* Call TLS pointers deletion callbacks */
         vPortTLSPointersDelCb( pxTCB );
diff --git a/components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/include/freertos/portmacro.h b/components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/include/freertos/portmacro.h
index 9e8bcf6b28..d29389c457 100644
--- a/components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/include/freertos/portmacro.h
+++ b/components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/include/freertos/portmacro.h
@@ -143,9 +143,6 @@ static inline BaseType_t __attribute__((always_inline)) xPortGetCoreID( void );
  * The portCLEAN_UP_TCB() macro is called in prvDeleteTCB() right before a
  * deleted task's memory is freed. We map that macro to this internal function
  * so that IDF FreeRTOS ports can inject some task pre-deletion operations.
- *
- * @note We can't use vPortCleanUpTCB() due to API compatibility issues. See
- * CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP. Todo: IDF-8097
  */
 void vPortTCBPreDeleteHook( void *pxTCB );
 
diff --git a/components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/port.c b/components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/port.c
index 12f8ad6bd0..a9dbaaebe8 100644
--- a/components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/port.c
+++ b/components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/port.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -296,16 +296,6 @@ void vPortTCBPreDeleteHook( void *pxTCB )
         vTaskPreDeletionHook( pxTCB );
     #endif /* CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK */
 
-    #if ( CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP )
-        /*
-         * If the user is using the legacy task pre-deletion hook, call it.
-         * Todo: Will be removed in IDF-8097
-         */
-        #warning "CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is deprecated. Use CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK instead."
-        extern void vPortCleanUpTCB( void * pxTCB );
-        vPortCleanUpTCB( pxTCB );
-    #endif /* CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP */
-
     #if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
         /* Call TLS pointers deletion callbacks */
         vPortTLSPointersDelCb( pxTCB );
diff --git a/components/freertos/FreeRTOS-Kernel/portable/linux/include/freertos/portmacro_idf.h b/components/freertos/FreeRTOS-Kernel/portable/linux/include/freertos/portmacro_idf.h
index bf1724c374..ebd8e730f8 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/linux/include/freertos/portmacro_idf.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/linux/include/freertos/portmacro_idf.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -115,12 +115,6 @@ static inline void vPortAssertIfInISR(void)
  */
 #define portASSERT_IF_IN_ISR() vPortAssertIfInISR()
 
-#if CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP
-/* If enabled, users must provide an implementation of vPortCleanUpTCB() */
-extern void vPortCleanUpTCB ( void *pxTCB );
-#define portCLEAN_UP_TCB( pxTCB )                   vPortCleanUpTCB( pxTCB )
-#endif /* CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP */
-
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/freertos/FreeRTOS-Kernel/portable/linux/port.c b/components/freertos/FreeRTOS-Kernel/portable/linux/port.c
index d79d423525..436017b211 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/linux/port.c
+++ b/components/freertos/FreeRTOS-Kernel/portable/linux/port.c
@@ -6,7 +6,7 @@
  *
  * SPDX-License-Identifier: MIT
  *
- * SPDX-FileContributor: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileContributor: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -422,6 +422,12 @@ void vPortThreadDying( void *pxTaskToDelete, volatile BaseType_t *pxPendYield )
 
 void vPortCancelThread( void *pxTaskToDelete )
 {
+    #if ( CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK )
+        /* Call the user defined task pre-deletion hook before canceling the thread */
+        extern void vTaskPreDeletionHook( void * pxTCB );
+        vTaskPreDeletionHook( pxTaskToDelete );
+    #endif /* CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK */
+
     Thread_t *pxThreadToCancel = prvGetThreadFromTask( pxTaskToDelete );
 
     /*
diff --git a/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h b/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
index f1b0257d54..56939101fe 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
@@ -450,9 +450,6 @@ FORCE_INLINE_ATTR BaseType_t xPortGetCoreID(void)
  * The portCLEAN_UP_TCB() macro is called in prvDeleteTCB() right before a
  * deleted task's memory is freed. We map that macro to this internal function
  * so that IDF FreeRTOS ports can inject some task pre-deletion operations.
- *
- * @note We can't use vPortCleanUpTCB() due to API compatibility issues. See
- * CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP. Todo: IDF-8097
  */
 void vPortTCBPreDeleteHook( void *pxTCB );
 
diff --git a/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c b/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c
index 449e7af8d6..902e761d7a 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c
+++ b/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c
@@ -736,16 +736,6 @@ void vPortTCBPreDeleteHook( void *pxTCB )
         vTaskPreDeletionHook( pxTCB );
     #endif /* CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK */
 
-    #if ( CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP )
-        /*
-         * If the user is using the legacy task pre-deletion hook, call it.
-         * Todo: Will be removed in IDF-8097
-         */
-        #warning "CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is deprecated. Use CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK instead."
-        extern void vPortCleanUpTCB( void * pxTCB );
-        vPortCleanUpTCB( pxTCB );
-    #endif /* CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP */
-
     #if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
         /* Call TLS pointers deletion callbacks */
         vPortTLSPointersDelCb( pxTCB );
diff --git a/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h b/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
index 4a5b0fb87d..53a35e0dfb 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
@@ -386,9 +386,6 @@ FORCE_INLINE_ATTR BaseType_t xPortGetCoreID(void);
  * The portCLEAN_UP_TCB() macro is called in prvDeleteTCB() right before a
  * deleted task's memory is freed. We map that macro to this internal function
  * so that IDF FreeRTOS ports can inject some task pre-deletion operations.
- *
- * @note We can't use vPortCleanUpTCB() due to API compatibility issues. See
- * CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP. Todo: IDF-8097
  */
 void vPortTCBPreDeleteHook( void *pxTCB );
 
diff --git a/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c b/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c
index 658b8dff3f..7f75dc241a 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c
+++ b/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c
@@ -8,7 +8,7 @@
  *
  * SPDX-License-Identifier: MIT
  *
- * SPDX-FileContributor: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileContributor: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -649,16 +649,6 @@ void vPortTCBPreDeleteHook( void *pxTCB )
         vTaskPreDeletionHook( pxTCB );
     #endif /* CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK */
 
-    #if ( CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP )
-        /*
-         * If the user is using the legacy task pre-deletion hook, call it.
-         * Todo: Will be removed in IDF-8097
-         */
-        #warning "CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is deprecated. Use CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK instead."
-        extern void vPortCleanUpTCB( void * pxTCB );
-        vPortCleanUpTCB( pxTCB );
-    #endif /* CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP */
-
     #if ( CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS )
         /* Call TLS pointers deletion callbacks */
         vPortTLSPointersDelCb( pxTCB );
diff --git a/components/freertos/Kconfig b/components/freertos/Kconfig
index 8c874070e8..021e01d5e2 100644
--- a/components/freertos/Kconfig
+++ b/components/freertos/Kconfig
@@ -405,10 +405,7 @@ menu "FreeRTOS"
                 off to save space in the TCB memory.
 
         config FREERTOS_TASK_PRE_DELETION_HOOK
-            # This option is a replacement for FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP (which is now deprecated). If the
-            # deprecated option is defined, we hide this option to avoid multiple pre-deletion hooks from running.
             bool "Enable task pre-deletion hook"
-            depends on !FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP
             default n
             help
                 Enable this option to make FreeRTOS call a user provided hook function right before it deletes a task
@@ -418,18 +415,6 @@ menu "FreeRTOS"
                 If this config option is enabled, users must define a ``void vTaskPreDeletionHook( void * pxTCB )``
                 hook function in their application.
 
-        config FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP
-            # This option is deprecated (replaced by FREERTOS_TASK_PRE_DELETION_HOOK) but still exists to maintain
-            # compatibility. Todo: Remove by v6.0 (see IDF-8097).
-            bool "Enable static task clean up hook (DEPRECATED)"
-            default n
-            help
-                THIS OPTION IS DEPRECATED. Use FREERTOS_TASK_PRE_DELETION_HOOK instead.
-
-                Enable this option to make FreeRTOS call the static task clean up hook when a task is deleted.
-
-                Note: Users will need to provide a ``void vPortCleanUpTCB ( void *pxTCB )`` callback
-
         config FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER
             # This feature is innately supported in FreeRTOS SMP, and hence not available as a config option when
             # FreeRTOS SMP is enabled.
diff --git a/components/freertos/sdkconfig.rename b/components/freertos/sdkconfig.rename
index da4c466482..718c2a777e 100644
--- a/components/freertos/sdkconfig.rename
+++ b/components/freertos/sdkconfig.rename
@@ -1,7 +1,7 @@
 # sdkconfig replacement configurations for deprecated options formatted as
 # CONFIG_DEPRECATED_OPTION CONFIG_NEW_OPTION
 
-CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK     CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP
+CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK     CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK
 CONFIG_TIMER_TASK_PRIORITY                  CONFIG_FREERTOS_TIMER_TASK_PRIORITY
 CONFIG_TIMER_TASK_STACK_DEPTH               CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH
 CONFIG_TIMER_QUEUE_LENGTH                   CONFIG_FREERTOS_TIMER_QUEUE_LENGTH
diff --git a/tools/idf_py_actions/hints.yml b/tools/idf_py_actions/hints.yml
index 349f646254..4ea5775630 100644
--- a/tools/idf_py_actions/hints.yml
+++ b/tools/idf_py_actions/hints.yml
@@ -567,3 +567,11 @@
         -
             re_variables: ['xTaskNotifyWait']
             hint_variables: ['xTaskNotifyWait', 'the macro xTaskNotifyWait']
+
+-
+    re: "(no previous prototype for 'vTaskPreDeletionHook'|undefined reference to `vTaskPreDeletionHook')"
+    hint: "CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK is enabled but your project does not provide vTaskPreDeletionHook( void * pxTCB ). Either disable the Kconfig option or implement the hook."
+
+-
+    re: "error: implicit declaration of function 'vPortCleanUpTCB'"
+    hint: "The legacy FreeRTOS hook vPortCleanUpTCB() has been removed from ESP-IDF. Use CONFIG_FREERTOS_TASK_PRE_DELETION_HOOK with vTaskPreDeletionHook( void * pxTCB ) instead."