diff --git a/components/ieee802154/driver/esp_ieee802154_dev.c b/components/ieee802154/driver/esp_ieee802154_dev.c
index 1113fdfe71..6801fe63e8 100644
--- a/components/ieee802154/driver/esp_ieee802154_dev.c
+++ b/components/ieee802154/driver/esp_ieee802154_dev.c
@@ -469,11 +469,10 @@ static IRAM_ATTR void isr_handle_ack_rx_done(void)
     NEEDS_NEXT_OPT(true);
 }
 
-static IRAM_ATTR void isr_handle_rx_phase_rx_abort(void)
+static IRAM_ATTR void isr_handle_rx_phase_rx_abort(ieee802154_ll_rx_abort_reason_t rx_abort_reason)
 {
     event_end_process();
     uint32_t rx_status = ieee802154_ll_get_rx_status();
-    ieee802154_ll_rx_abort_reason_t rx_abort_reason = ieee802154_ll_get_rx_abort_reason();
     switch (rx_abort_reason) {
     case IEEE802154_RX_ABORT_BY_RX_STOP:
     case IEEE802154_RX_ABORT_BY_TX_ACK_STOP:
@@ -508,13 +507,12 @@ static IRAM_ATTR void isr_handle_rx_phase_rx_abort(void)
     NEEDS_NEXT_OPT(true);
 }
 
-static IRAM_ATTR void isr_handle_tx_ack_phase_rx_abort(void)
+static IRAM_ATTR void isr_handle_tx_ack_phase_rx_abort(ieee802154_ll_rx_abort_reason_t rx_abort_reason)
 {
     event_end_process();
 #if CONFIG_IEEE802154_TEST
     uint32_t rx_status = ieee802154_ll_get_rx_status();
 #endif
-    ieee802154_ll_rx_abort_reason_t rx_abort_reason = ieee802154_ll_get_rx_abort_reason();
     switch (rx_abort_reason) {
     case IEEE802154_RX_ABORT_BY_RX_STOP:
     case IEEE802154_RX_ABORT_BY_TX_ACK_STOP:
@@ -553,10 +551,9 @@ static IRAM_ATTR void isr_handle_tx_ack_phase_rx_abort(void)
     NEEDS_NEXT_OPT(true);
 }
 
-static IRAM_ATTR void isr_handle_tx_abort(void)
+static IRAM_ATTR void isr_handle_tx_abort(ieee802154_ll_tx_abort_reason_t tx_abort_reason)
 {
     event_end_process();
-    ieee802154_ll_tx_abort_reason_t tx_abort_reason = ieee802154_ll_get_tx_abort_reason();
     switch (tx_abort_reason) {
     case IEEE802154_TX_ABORT_BY_RX_ACK_STOP:
     case IEEE802154_TX_ABORT_BY_TX_STOP:
@@ -636,6 +633,8 @@ IEEE802154_NOINLINE static void ieee802154_isr(void *arg)
 {
     ieee802154_enter_critical();
     ieee802154_ll_events events = ieee802154_ll_get_events();
+    ieee802154_ll_rx_abort_reason_t rx_abort_reason = ieee802154_ll_get_rx_abort_reason();
+    ieee802154_ll_tx_abort_reason_t tx_abort_reason = ieee802154_ll_get_tx_abort_reason();
 
     IEEE802154_PROBE(events);
 
@@ -643,7 +642,7 @@ IEEE802154_NOINLINE static void ieee802154_isr(void *arg)
 
     if (events & IEEE802154_EVENT_RX_ABORT) {
         // First phase rx abort process, will clear RX_ABORT event in second.
-        isr_handle_rx_phase_rx_abort();
+        isr_handle_rx_phase_rx_abort(rx_abort_reason);
     }
 
     if (events & IEEE802154_EVENT_RX_SFD_DONE) {
@@ -701,12 +700,12 @@ IEEE802154_NOINLINE static void ieee802154_isr(void *arg)
 
     if (events & IEEE802154_EVENT_RX_ABORT) {
         // Second phase rx abort process, clears RX_ABORT event.
-        isr_handle_tx_ack_phase_rx_abort();
+        isr_handle_tx_ack_phase_rx_abort(rx_abort_reason);
         events &= (uint16_t)(~IEEE802154_EVENT_RX_ABORT);
     }
 
     if (events & IEEE802154_EVENT_TX_ABORT) {
-        isr_handle_tx_abort();
+        isr_handle_tx_abort(tx_abort_reason);
 
         events &= (uint16_t)(~IEEE802154_EVENT_TX_ABORT);
     }
@@ -773,7 +772,7 @@ esp_err_t ieee802154_mac_init(void)
     ieee802154_ll_enable_rx_abort_events(BIT(IEEE802154_RX_ABORT_BY_TX_ACK_TIMEOUT - 1) | BIT(IEEE802154_RX_ABORT_BY_TX_ACK_COEX_BREAK - 1));
 
     ieee802154_ll_set_ed_sample_mode(IEEE802154_ED_SAMPLE_AVG);
-#if !CONFIG_IEEE802154_TEST && CONFIG_ESP_COEX_SW_COEXIST_ENABLE || CONFIG_EXTERNAL_COEX_ENABLE
+#if !CONFIG_IEEE802154_TEST && (CONFIG_ESP_COEX_SW_COEXIST_ENABLE || CONFIG_EXTERNAL_COEX_ENABLE)
     esp_coex_ieee802154_ack_pti_set(IEEE802154_MIDDLE);
     IEEE802154_SET_TXRX_PTI(IEEE802154_SCENE_IDLE);
 #else
diff --git a/components/ieee802154/driver/esp_ieee802154_frame.c b/components/ieee802154/driver/esp_ieee802154_frame.c
index 9bc2305806..6a55909e2d 100644
--- a/components/ieee802154/driver/esp_ieee802154_frame.c
+++ b/components/ieee802154/driver/esp_ieee802154_frame.c
@@ -309,7 +309,7 @@ uint8_t IEEE802154_INLINE ieee802154_frame_get_version(const uint8_t *frame)
 
 bool IEEE802154_INLINE ieee802154_frame_is_ack_required(const uint8_t *frame)
 {
-    return frame[IEEE802154_FRAME_AR_OFFSET] & IEEE802154_FRAME_AR_BIT;
+    return (is_suported_frame_type(ieee802154_frame_get_type(frame))) && (frame[IEEE802154_FRAME_AR_OFFSET] & IEEE802154_FRAME_AR_BIT);
 }
 
 uint8_t ieee802154_frame_get_dst_addr(const uint8_t *frame, uint8_t *addr)
diff --git a/components/ieee802154/driver/esp_ieee802154_util.c b/components/ieee802154/driver/esp_ieee802154_util.c
index bb486fdea9..c3ffed0a94 100644
--- a/components/ieee802154/driver/esp_ieee802154_util.c
+++ b/components/ieee802154/driver/esp_ieee802154_util.c
@@ -21,7 +21,7 @@ uint8_t ieee802154_channel_to_freq(uint8_t channel)
     return (channel - 11) * 5 + 3;
 }
 
-#if !CONFIG_IEEE802154_TEST && CONFIG_ESP_COEX_SW_COEXIST_ENABLE || CONFIG_EXTERNAL_COEX_ENABLE
+#if !CONFIG_IEEE802154_TEST && (CONFIG_ESP_COEX_SW_COEXIST_ENABLE || CONFIG_EXTERNAL_COEX_ENABLE)
 void ieee802154_set_txrx_pti(ieee802154_txrx_scene_t txrx_scene)
 {
 
diff --git a/components/ieee802154/private_include/esp_ieee802154_util.h b/components/ieee802154/private_include/esp_ieee802154_util.h
index 7949e5286d..c1e843055a 100644
--- a/components/ieee802154/private_include/esp_ieee802154_util.h
+++ b/components/ieee802154/private_include/esp_ieee802154_util.h
@@ -265,7 +265,7 @@ typedef enum {
     IEEE802154_SCENE_RX_AT,     /*!< IEEE802154 radio coexistence scene RX AT */
 } ieee802154_txrx_scene_t;
 
-#if !CONFIG_IEEE802154_TEST && CONFIG_ESP_COEX_SW_COEXIST_ENABLE || CONFIG_EXTERNAL_COEX_ENABLE
+#if !CONFIG_IEEE802154_TEST && (CONFIG_ESP_COEX_SW_COEXIST_ENABLE || CONFIG_EXTERNAL_COEX_ENABLE)
 
 /**
  * @brief  Set the IEEE802154 radio coexistence scene during transmitting or receiving.
diff --git a/components/openthread/CMakeLists.txt b/components/openthread/CMakeLists.txt
index 308e5aed4a..6e03dbea2f 100644
--- a/components/openthread/CMakeLists.txt
+++ b/components/openthread/CMakeLists.txt
@@ -15,7 +15,6 @@ if(CONFIG_OPENTHREAD_ENABLED)
 
     set(private_include_dirs
         "openthread/examples/platforms"
-        "openthread/include/openthread"
         "openthread/src"
         "openthread/src/core"
         "openthread/src/lib"
@@ -140,6 +139,19 @@ if(CONFIG_OPENTHREAD_ENABLED)
         list(APPEND exclude_srcs
             "src/port/esp_openthread_radio.c"
             "src/port/esp_openthread_sleep.c")
+    elseif(CONFIG_OPENTHREAD_RADIO_154_NONE)
+        list(APPEND exclude_srcs
+            "src/port/esp_openthread_radio_spinel.cpp"
+            "src/port/esp_spi_spinel_interface.cpp"
+            "src/port/esp_uart_spinel_interface.cpp"
+            "src/port/esp_openthread_radio.c"
+            "src/port/esp_openthread_sleep.c"
+            )
+    endif()
+
+    if(NOT CONFIG_OPENTHREAD_RADIO_TREL)
+        list(APPEND exclude_srcs
+            "src/port/esp_openthread_trel.c")
     endif()
 
     if(CONFIG_OPENTHREAD_BORDER_ROUTER)
@@ -156,6 +168,13 @@ if(CONFIG_OPENTHREAD_ENABLED)
     if(CONFIG_OPENTHREAD_NCP_VENDOR_HOOK)
         list(APPEND src_dirs
             "src/ncp")
+        if(CONFIG_OPENTHREAD_RCP_UART)
+            list(APPEND exclude_srcs
+                "src/ncp/esp_openthread_ncp_spi.cpp")
+        elseif(CONFIG_OPENTHREAD_RCP_SPI)
+            list(APPEND exclude_srcs
+                "src/ncp/esp_openthread_ncp_hdlc.cpp")
+        endif()
     endif()
 
     if(NOT CONFIG_OPENTHREAD_DNS64_CLIENT)
@@ -252,6 +271,10 @@ idf_component_register(SRC_DIRS "${src_dirs}"
                        PRIV_REQUIRES console esp_event esp_partition esp_timer
                                      ieee802154 mbedtls nvs_flash)
 
+if(CONFIG_OPENTHREAD_RADIO_TREL)
+    idf_component_optional_requires(PRIVATE espressif__mdns)
+endif()
+
 if(CONFIG_OPENTHREAD_ENABLED OR CONFIG_OPENTHREAD_SPINEL_ONLY)
     if(CONFIG_OPENTHREAD_RADIO)
         set(CONFIG_FILE_TYPE "radio")
diff --git a/components/openthread/Kconfig b/components/openthread/Kconfig
index 0b90b78b01..df26b9a869 100644
--- a/components/openthread/Kconfig
+++ b/components/openthread/Kconfig
@@ -101,7 +101,7 @@ menu "OpenThread"
         default 5 if OPENTHREAD_LOG_LEVEL_DEBG
 
     choice OPENTHREAD_RADIO_TYPE
-        prompt "Config the Thread radio type"
+        prompt "Config the Thread radio type with 15.4 link"
         depends on OPENTHREAD_ENABLED
         default OPENTHREAD_RADIO_NATIVE if SOC_IEEE802154_SUPPORTED
         default OPENTHREAD_RADIO_SPINEL_UART
@@ -124,8 +124,26 @@ menu "OpenThread"
             help
                 Select this to connect to a Radio Co-Processor via SPI.
 
+        config OPENTHREAD_RADIO_154_NONE
+            bool "Disable the Thread radio based on 15.4 link"
+            help
+                Select this to disable the Thread radio based on 15.4 link.
     endchoice
 
+    config OPENTHREAD_RADIO_TREL
+        bool "Enable Thread Radio Encapsulation Link (TREL)"
+        depends on EXAMPLE_CONNECT_WIFI || EXAMPLE_CONNECT_ETHERNET
+        default n
+        help
+            Select this option to enable Thread Radio Encapsulation Link.
+
+    config OPENTHREAD_TREL_PORT
+        int "The port of openthread trel service"
+        depends on OPENTHREAD_RADIO_TREL
+        default 12390
+        help
+            Configure the port number of TREL service.
+
     choice OPENTHREAD_DEVICE_TYPE
         prompt "Config the Thread device type"
         depends on OPENTHREAD_ENABLED
diff --git a/components/openthread/include/esp_openthread_types.h b/components/openthread/include/esp_openthread_types.h
index 6ecec91d5d..debc464066 100644
--- a/components/openthread/include/esp_openthread_types.h
+++ b/components/openthread/include/esp_openthread_types.h
@@ -136,6 +136,7 @@ typedef enum {
     RADIO_MODE_NATIVE = 0x0,   /*!< Use the native 15.4 radio */
     RADIO_MODE_UART_RCP,       /*!< UART connection to a 15.4 capable radio co-processor (RCP) */
     RADIO_MODE_SPI_RCP,        /*!< SPI connection to a 15.4 capable radio co-processor (RCP) */
+    RADIO_MODE_TREL,           /*!< Use the Thread Radio Encapsulation Link (TREL) */
     RADIO_MODE_MAX,            /*!< Using for parameter check */
 } esp_openthread_radio_mode_t;
 
diff --git a/components/openthread/private_include/openthread-core-esp32x-ftd-config.h b/components/openthread/private_include/openthread-core-esp32x-ftd-config.h
index aa8882f234..ec94801505 100644
--- a/components/openthread/private_include/openthread-core-esp32x-ftd-config.h
+++ b/components/openthread/private_include/openthread-core-esp32x-ftd-config.h
@@ -203,16 +203,6 @@
 #define OPENTHREAD_CONFIG_DNSSD_SERVER_ENABLE 1
 #endif
 
-/**
- * @def OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE
- *
- * Set to 1 to enable support for Thread Radio Encapsulation Link (TREL).
- *
- */
-#ifndef OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE
-#define OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE 0
-#endif
-
 /**
  * @def OPENTHREAD_CONFIG_BACKBONE_ROUTER_ENABLE
  *
@@ -225,6 +215,28 @@
 
 #endif // CONFIG_OPENTHREAD_BORDER_ROUTER
 
+/**
+ * @def OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE
+ *
+ * Set to 1 to enable support for Thread Radio Encapsulation Link (TREL).
+ *
+ */
+#if CONFIG_OPENTHREAD_RADIO_TREL
+#define OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE 1
+#endif // CONFIG_OPENTHREAD_RADIO_TREL
+
+/**
+ * @def OPENTHREAD_CONFIG_RADIO_LINK_IEEE_802_15_4_ENABLE
+ *
+ * Set to 1 to enable support for IEEE802.15.4 radio link.
+ *
+ */
+#if !CONFIG_OPENTHREAD_RADIO_154_NONE
+#define OPENTHREAD_CONFIG_RADIO_LINK_IEEE_802_15_4_ENABLE 1
+#else
+#define OPENTHREAD_CONFIG_RADIO_LINK_IEEE_802_15_4_ENABLE 0
+#endif
+
 #if !CONFIG_OPENTHREAD_RADIO_NATIVE
 /**
  * @def OPENTHREAD_SPINEL_CONFIG_RCP_RESTORATION_MAX_COUNT
diff --git a/components/openthread/private_include/openthread-core-esp32x-mtd-config.h b/components/openthread/private_include/openthread-core-esp32x-mtd-config.h
index f21c9ce01e..dd247037d7 100644
--- a/components/openthread/private_include/openthread-core-esp32x-mtd-config.h
+++ b/components/openthread/private_include/openthread-core-esp32x-mtd-config.h
@@ -73,6 +73,24 @@
  */
 #define OPENTHREAD_CONFIG_NUM_MESSAGE_BUFFERS CONFIG_OPENTHREAD_NUM_MESSAGE_BUFFERS
 
+/**
+ * @def OPENTHREAD_CONFIG_COAP_API_ENABLE
+ *
+ * Define to 1 to enable the CoAP API.
+ *
+ */
+#define OPENTHREAD_CONFIG_COAP_API_ENABLE 1
+
+/**
+ * @def OPENTHREAD_CONFIG_PLATFORM_NETIF_ENABLE
+ *
+ * Define to 1 to enable platform NETIF support.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_PLATFORM_NETIF_ENABLE
+#define OPENTHREAD_CONFIG_PLATFORM_NETIF_ENABLE 1
+#endif
+
 /**
  * @def OPENTHREAD_CONFIG_HEAP_EXTERNAL_ENABLE
  *
diff --git a/components/openthread/src/esp_openthread_platform.cpp b/components/openthread/src/esp_openthread_platform.cpp
index 3e73ef362a..8beb8143dc 100644
--- a/components/openthread/src/esp_openthread_platform.cpp
+++ b/components/openthread/src/esp_openthread_platform.cpp
@@ -94,14 +94,18 @@ static esp_err_t esp_openthread_host_interface_init(const esp_openthread_platfor
 {
     esp_openthread_host_connection_mode_t host_mode = get_host_connection_mode();
     switch (host_mode) {
+#if CONFIG_OPENTHREAD_RCP_SPI
     case HOST_CONNECTION_MODE_RCP_SPI:
         ESP_RETURN_ON_ERROR(esp_openthread_host_rcp_spi_init(config), OT_PLAT_LOG_TAG,
                           "esp_openthread_host_rcp_spi_init failed");
         break;
+#endif
+#if CONFIG_OPENTHREAD_RCP_UART
     case HOST_CONNECTION_MODE_RCP_UART:
         ESP_RETURN_ON_ERROR(esp_openthread_host_rcp_uart_init(config), OT_PLAT_LOG_TAG,
                           "esp_openthread_host_rcp_uart_init failed");
         break;
+#endif
 #if CONFIG_OPENTHREAD_CONSOLE_TYPE_UART
     case HOST_CONNECTION_MODE_CLI_UART:
         ESP_RETURN_ON_ERROR(esp_openthread_host_cli_uart_init(config), OT_PLAT_LOG_TAG,
diff --git a/components/openthread/src/ncp/esp_openthread_ncp.cpp b/components/openthread/src/ncp/esp_openthread_ncp.cpp
index 7e5127f869..eefeda5017 100644
--- a/components/openthread/src/ncp/esp_openthread_ncp.cpp
+++ b/components/openthread/src/ncp/esp_openthread_ncp.cpp
@@ -4,12 +4,11 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
+#include "sdkconfig.h"
 #include "esp_ieee802154.h"
 #include "esp_openthread_ncp.h"
 #include "ncp_base.hpp"
 
-#if OPENTHREAD_ENABLE_NCP_VENDOR_HOOK
-
 #if CONFIG_OPENTHREAD_RCP_UART
 #include "utils/uart.h"
 #endif
@@ -107,5 +106,3 @@ otError NcpBase::VendorSetPropertyHandler(spinel_prop_key_t aPropKey)
 
 } // namespace Ncp
 } // namespace ot
-
-#endif // #if OPENTHREAD_ENABLE_NCP_VENDOR_HOOK
diff --git a/components/openthread/src/ncp/esp_openthread_ncp_hdlc.cpp b/components/openthread/src/ncp/esp_openthread_ncp_hdlc.cpp
index 0e8a3dbb88..6b86b6d935 100644
--- a/components/openthread/src/ncp/esp_openthread_ncp_hdlc.cpp
+++ b/components/openthread/src/ncp/esp_openthread_ncp_hdlc.cpp
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -7,8 +7,6 @@
 #include "common/new.hpp"
 #include "ncp_hdlc.hpp"
 
-#if OPENTHREAD_ENABLE_NCP_VENDOR_HOOK
-
 namespace ot {
 namespace Ncp {
 
@@ -29,5 +27,3 @@ extern "C" void otNcpHdlcInit(otInstance *aInstance, otNcpHdlcSendCallback aSend
 
 } // namespace Ncp
 } // namespace ot
-
-#endif // #if OPENTHREAD_ENABLE_NCP_VENDOR_HOOK
diff --git a/components/openthread/src/ncp/esp_openthread_ncp_spi.cpp b/components/openthread/src/ncp/esp_openthread_ncp_spi.cpp
new file mode 100644
index 0000000000..d85c918aad
--- /dev/null
+++ b/components/openthread/src/ncp/esp_openthread_ncp_spi.cpp
@@ -0,0 +1,29 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "common/new.hpp"
+#include "ncp_spi.hpp"
+
+namespace ot {
+namespace Ncp {
+
+static OT_DEFINE_ALIGNED_VAR(sNcpRaw, sizeof(NcpSpi), uint64_t);
+
+extern "C" void otNcpSpiInit(otInstance *aInstance)
+{
+    NcpSpi   *ncpSpi   = nullptr;
+    Instance *instance = static_cast<Instance *>(aInstance);
+
+    ncpSpi = new (&sNcpRaw) NcpSpi(instance);
+
+    if (ncpSpi == nullptr || ncpSpi != NcpBase::GetNcpInstance())
+    {
+        OT_ASSERT(false);
+    }
+}
+
+} // namespace Ncp
+} // namespace ot
diff --git a/components/openthread/src/port/esp_openthread_radio.c b/components/openthread/src/port/esp_openthread_radio.c
index 35ccb91cfc..f87cb68291 100644
--- a/components/openthread/src/port/esp_openthread_radio.c
+++ b/components/openthread/src/port/esp_openthread_radio.c
@@ -7,7 +7,6 @@
 #include <stdatomic.h>
 #include "esp_openthread_radio.h"
 
-#include "error.h"
 #include "esp_err.h"
 #include "sdkconfig.h"
 #include "esp_check.h"
@@ -25,6 +24,7 @@
 #include "rom/ets_sys.h"
 
 #include "openthread-core-config.h"
+#include "openthread/error.h"
 #include "openthread/link.h"
 #include "openthread/platform/diag.h"
 #include "openthread/platform/radio.h"
diff --git a/components/openthread/src/port/esp_openthread_radio_spinel.cpp b/components/openthread/src/port/esp_openthread_radio_spinel.cpp
index 3d566b05e9..b851c5608b 100644
--- a/components/openthread/src/port/esp_openthread_radio_spinel.cpp
+++ b/components/openthread/src/port/esp_openthread_radio_spinel.cpp
@@ -6,7 +6,6 @@
 
 #include "esp_openthread_radio.h"
 
-#include "link_raw.h"
 #include "sdkconfig.h"
 #include "esp_check.h"
 #include "esp_err.h"
diff --git a/components/openthread/src/port/esp_openthread_spi_slave.c b/components/openthread/src/port/esp_openthread_spi_slave.c
index 979e6067e7..754300e5c9 100644
--- a/components/openthread/src/port/esp_openthread_spi_slave.c
+++ b/components/openthread/src/port/esp_openthread_spi_slave.c
@@ -25,7 +25,6 @@
 #include <string.h>
 #include "driver/gpio.h"
 #include "driver/spi_slave.h"
-#include "esp_private/cache_utils.h"
 #include "esp_private/spi_slave_internal.h"
 #include "ncp/ncp_config.h"
 #include "openthread/error.h"
diff --git a/components/openthread/src/port/esp_openthread_trel.c b/components/openthread/src/port/esp_openthread_trel.c
new file mode 100644
index 0000000000..8424a7631d
--- /dev/null
+++ b/components/openthread/src/port/esp_openthread_trel.c
@@ -0,0 +1,352 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "esp_err.h"
+#include "esp_netif_types.h"
+#include "lwip/ip6_addr.h"
+#include "sdkconfig.h"
+#include "common/code_utils.hpp"
+#include "openthread/error.h"
+#include "esp_check.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "esp_netif.h"
+#include "mdns.h"
+#include "esp_netif_ip_addr.h"
+#include "esp_openthread.h"
+#include "esp_openthread_border_router.h"
+#include "esp_openthread_common_macro.h"
+#include "esp_openthread_lock.h"
+#include "esp_openthread_radio.h"
+#include "esp_openthread_task_queue.h"
+#include "lwip/pbuf.h"
+#include "lwip/tcpip.h"
+#include "lwip/udp.h"
+#include "openthread/trel.h"
+#include "openthread/platform/diag.h"
+
+static esp_netif_t *s_trel_netif = NULL;
+static otPlatTrelCounters s_trel_counters;
+
+#define TREL_MDNS_TYPE "_trel"
+#define TREL_MDNS_PROTO "_udp"
+
+typedef struct {
+    uint16_t port;
+    struct udp_pcb *trel_pcb;
+} ot_trel_t;
+
+typedef struct {
+    struct pbuf *p;
+} ot_trel_recv_task_t;
+
+typedef struct {
+    struct udp_pcb *pcb;
+    const uint8_t *payload;
+    uint16_t length;
+    ip_addr_t peer_addr;
+    uint16_t peer_port;
+} ot_trel_send_task_t;
+
+static ot_trel_t s_ot_trel = {CONFIG_OPENTHREAD_TREL_PORT, NULL};
+static bool s_is_service_registered = false;
+
+static void trel_browse_notifier(mdns_result_t *result)
+{
+    while (result) {
+        if (result->addr && result->addr->addr.type == IPADDR_TYPE_V6) {
+            otPlatTrelPeerInfo info;
+            uint8_t trel_txt[1024] = {0};
+            uint16_t trel_txt_len = 0;
+            size_t index = 0;
+            while (index < result->txt_count) {
+                trel_txt[trel_txt_len++] = strlen(result->txt[index].key) + result->txt_value_len[index] + 1;
+                memcpy((trel_txt + trel_txt_len), (void *)result->txt[index].key, strlen(result->txt[index].key));
+                trel_txt_len += (strlen(result->txt[index].key));
+                trel_txt[trel_txt_len++] = '=';
+                memcpy((trel_txt + trel_txt_len), (void *)result->txt[index].value, result->txt_value_len[index]);
+                trel_txt_len += result->txt_value_len[index];
+                index++;
+            }
+            if (!s_trel_netif) {
+                s_trel_netif = result->esp_netif;
+            }
+            info.mTxtData = trel_txt;
+            info.mTxtLength = trel_txt_len;
+            info.mSockAddr.mPort = result->port;
+            memcpy(info.mSockAddr.mAddress.mFields.m32, result->addr->addr.u_addr.ip6.addr, OT_IP6_ADDRESS_SIZE);
+            info.mRemoved = (result->ttl == 0);
+            ESP_LOGI(OT_PLAT_LOG_TAG, "%s TREL peer: address: %s, port:%d", info.mRemoved ? "Remove" : "Found", ip6addr_ntoa(((ip6_addr_t*)(&result->addr->addr.u_addr.ip6))), info.mSockAddr.mPort);
+            esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
+            otPlatTrelHandleDiscoveredPeerInfo(esp_openthread_get_instance(), &info);
+            esp_openthread_task_switching_lock_release();
+        }
+        result = result->next;
+    }
+}
+
+static void trel_recv_task(void *ctx)
+{
+    struct pbuf *recv_buf = (struct pbuf *)ctx;
+    uint8_t *data_buf = (uint8_t *)recv_buf->payload;
+    uint8_t *data_buf_to_free = NULL;
+    uint16_t length = recv_buf->len;
+
+    if (recv_buf->next != NULL) {
+        data_buf = (uint8_t *)malloc(recv_buf->tot_len);
+        if (data_buf != NULL) {
+            length = recv_buf->tot_len;
+            data_buf_to_free = data_buf;
+            pbuf_copy_partial(recv_buf, data_buf, recv_buf->tot_len, 0);
+        } else {
+            ESP_LOGE(OT_PLAT_LOG_TAG, "Failed to allocate data buf when receiving Thread TREL message");
+            ExitNow();
+        }
+    }
+    otPlatTrelHandleReceived(esp_openthread_get_instance(), data_buf, length);
+
+exit:
+    if (data_buf_to_free) {
+        free(data_buf_to_free);
+    }
+    pbuf_free(recv_buf);
+}
+
+static void handle_trel_udp_recv(void *ctx, struct udp_pcb *pcb, struct pbuf *p, const ip_addr_t *addr, uint16_t port)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Receive from %s:%d", ip6addr_ntoa(&(addr->u_addr.ip6)), port);
+    if (esp_openthread_task_queue_post(trel_recv_task, p) != ESP_OK) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Failed to receive OpenThread TREL message");
+    }
+}
+
+static esp_err_t ot_new_trel(void *ctx)
+{
+    ot_trel_t *task = (ot_trel_t *)ctx;
+
+    task->trel_pcb = udp_new();
+    ESP_RETURN_ON_FALSE(task->trel_pcb != NULL, ESP_ERR_NO_MEM, OT_PLAT_LOG_TAG, "Failed to create a new UDP pcb");
+    udp_bind(task->trel_pcb, IP6_ADDR_ANY, task->port);
+    udp_recv(task->trel_pcb, handle_trel_udp_recv, NULL);
+    return ESP_OK;
+}
+
+void otPlatTrelEnable(otInstance *aInstance, uint16_t *aUdpPort)
+{
+    *aUdpPort = s_ot_trel.port;
+    esp_openthread_task_switching_lock_release();
+    esp_err_t err = esp_netif_tcpip_exec(ot_new_trel, &s_ot_trel);
+    if (err != ESP_OK) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Fail to create trel udp");
+    }
+    mdns_browse_new(TREL_MDNS_TYPE, TREL_MDNS_PROTO, trel_browse_notifier);
+    esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
+}
+
+static void trel_send_task(void *ctx)
+{
+    err_t err = ERR_OK;
+    struct pbuf *send_buf = NULL;
+    ot_trel_send_task_t *task = (ot_trel_send_task_t *)ctx;
+
+    task->pcb = s_ot_trel.trel_pcb;
+    task->pcb->ttl = UDP_TTL;
+    task->pcb->netif_idx = esp_netif_get_netif_impl_index(s_trel_netif);
+    task->peer_addr.u_addr.ip6.zone = 0;
+    task->peer_addr.type = IPADDR_TYPE_V6;
+    task->pcb->flags = (task->pcb->flags & (~UDP_FLAGS_MULTICAST_LOOP));
+    task->pcb->local_port = s_ot_trel.port;
+    send_buf = pbuf_alloc(PBUF_TRANSPORT, task->length, PBUF_RAM);
+    if (send_buf == NULL) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Failed to allocate data buf when sending Thread TREL message");
+        ExitNow();
+    }
+    memcpy(send_buf->payload, task->payload, task->length);
+    err = udp_sendto_if(task->pcb, send_buf, &task->peer_addr, task->peer_port, netif_get_by_index(task->pcb->netif_idx));
+    if(err != ERR_OK) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Fail to send trel msg to %s:%d %d (%d)", ip6addr_ntoa(&(task->peer_addr.u_addr.ip6)), task->peer_port, task->pcb->netif_idx, err);
+    }
+exit:
+    pbuf_free(send_buf);
+    free(task);
+}
+
+void otPlatTrelSend(otInstance       *aInstance,
+                    const uint8_t    *aUdpPayload,
+                    uint16_t          aUdpPayloadLen,
+                    const otSockAddr *aDestSockAddr)
+{
+    if (!s_trel_netif) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "None Thread TREL interface");
+        return;
+    }
+    ot_trel_send_task_t *task = (ot_trel_send_task_t *)malloc(sizeof(ot_trel_send_task_t));
+    if (task == NULL) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Failed to allocate buf for Thread TREL");
+        return;
+    }
+    memcpy(task->peer_addr.u_addr.ip6.addr, aDestSockAddr->mAddress.mFields.m32, OT_IP6_ADDRESS_SIZE);
+    task->peer_port = aDestSockAddr->mPort;
+    ESP_LOGD(OT_PLAT_LOG_TAG, "send trel msg to %s:%d", ip6addr_ntoa(&(task->peer_addr.u_addr.ip6)), task->peer_port);
+    task->payload = aUdpPayload;
+    task->length = aUdpPayloadLen;
+    esp_openthread_task_switching_lock_release();
+    tcpip_callback(trel_send_task, task);
+    esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
+}
+
+void otPlatTrelRegisterService(otInstance *aInstance, uint16_t aPort, const uint8_t *aTxtData, uint8_t aTxtLength)
+{
+    esp_err_t ret = ESP_OK;
+
+    esp_openthread_task_switching_lock_release();
+    if (s_is_service_registered) {
+        mdns_service_remove(TREL_MDNS_TYPE, TREL_MDNS_PROTO);
+    }
+    mdns_service_add(NULL, TREL_MDNS_TYPE, TREL_MDNS_PROTO, aPort, NULL, 0);
+    s_is_service_registered = true;
+    uint16_t index = 0;
+    while (index < aTxtLength) {
+        const uint8_t *item_header = aTxtData + index + 1;
+        uint8_t item_len = aTxtData[index];
+
+        char key[UINT8_MAX + 1];
+        for (uint16_t i = 0; i < item_len; i++) {
+            if (item_header[i] == '=') {
+                ESP_GOTO_ON_FALSE(i != 0, ESP_FAIL, exit, OT_PLAT_LOG_TAG, "Wrong format of _trel._udp txt key");
+                key[i] = '\0';
+                uint16_t value_len = item_len - i - 1;
+                ESP_GOTO_ON_FALSE(value_len != 0, ESP_FAIL, exit, OT_PLAT_LOG_TAG, "Wrong format of _trel._udp txt value");
+                mdns_service_txt_item_set_with_explicit_value_len(TREL_MDNS_TYPE, TREL_MDNS_PROTO, key, (const char *)item_header + i + 1, value_len);
+                break;
+            }
+            key[i] = item_header[i];
+        }
+        index += item_len + 1;
+    }
+exit:
+    if (ret != ESP_OK) {
+        ESP_LOGE(OT_PLAT_LOG_TAG, "Registered TREL service with some errors");
+    }
+    esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
+}
+
+void otPlatTrelResetCounters(otInstance *aInstance)
+{
+    memset(&s_trel_counters, 0, sizeof(otPlatTrelCounters));
+}
+
+static void trel_disable_task(void *ctx)
+{
+    struct udp_pcb *pcb = (struct udp_pcb *)ctx;
+    udp_remove(pcb);
+}
+
+void otPlatTrelDisable(otInstance *aInstance)
+{
+    esp_openthread_task_switching_lock_release();
+    if (s_ot_trel.trel_pcb) {
+        tcpip_callback(trel_disable_task, s_ot_trel.trel_pcb);
+    }
+    mdns_service_remove(TREL_MDNS_TYPE, TREL_MDNS_PROTO);
+    s_is_service_registered = false;
+    mdns_browse_delete(TREL_MDNS_TYPE, TREL_MDNS_PROTO);
+    esp_openthread_task_switching_lock_acquire(portMAX_DELAY);
+    s_ot_trel.trel_pcb = NULL;
+}
+
+const otPlatTrelCounters *otPlatTrelGetCounters(otInstance *aInstance)
+{
+    return &s_trel_counters;
+}
+
+// TODO: TZ-1169
+OT_TOOL_WEAK otError otPlatRadioSetTransmitPower(otInstance *aInstance, int8_t aPower)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioSetTransmitPower`");
+    return OT_ERROR_NOT_IMPLEMENTED;
+}
+
+OT_TOOL_WEAK otError otPlatRadioGetTransmitPower(otInstance *aInstance, int8_t *aPower)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioGetTransmitPower`");
+    return OT_ERROR_NOT_IMPLEMENTED;
+}
+
+OT_TOOL_WEAK bool otPlatRadioGetPromiscuous(otInstance *aInstance)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioGetPromiscuous`");
+    return false;
+}
+
+OT_TOOL_WEAK otError otPlatRadioSetCcaEnergyDetectThreshold(otInstance *aInstance, int8_t aThreshold)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioSetCcaEnergyDetectThreshold`");
+    return OT_ERROR_NOT_IMPLEMENTED;
+}
+
+OT_TOOL_WEAK otError otPlatRadioGetCcaEnergyDetectThreshold(otInstance *aInstance, int8_t *aThreshold)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioGetCcaEnergyDetectThreshold`");
+    return OT_ERROR_NOT_IMPLEMENTED;
+}
+
+OT_TOOL_WEAK void otPlatRadioGetIeeeEui64(otInstance *aInstance, uint8_t *aIeeeEui64)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioGetIeeeEui64`");
+}
+
+OT_TOOL_WEAK otRadioFrame *otPlatRadioGetTransmitBuffer(otInstance *aInstance)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatRadioGetTransmitBuffer`");
+    return NULL;
+}
+
+#if CONFIG_OPENTHREAD_DIAG
+
+OT_TOOL_WEAK void otPlatDiagSetOutputCallback(otInstance *aInstance, otPlatDiagOutputCallback aCallback, void *aContext)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatDiagSetOutputCallback`");
+}
+
+OT_TOOL_WEAK void otPlatDiagModeSet(bool mode)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatDiagModeSet`");
+}
+
+OT_TOOL_WEAK bool otPlatDiagModeGet(void)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatDiagModeGet`");
+    return false;
+}
+
+OT_TOOL_WEAK void otPlatDiagTxPowerSet(int8_t tx_power)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatDiagTxPowerSet`");
+}
+
+OT_TOOL_WEAK void otPlatDiagChannelSet(uint8_t channel)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatDiagChannelSet`");
+}
+
+OT_TOOL_WEAK void otPlatDiagAlarmCallback(otInstance *aInstance)
+{
+    ESP_LOGD(OT_PLAT_LOG_TAG, "Running in TREL mode and not support `otPlatDiagAlarmCallback`");
+}
+
+#endif // CONFIG_OPENTHREAD_DIAG
+
+OT_TOOL_WEAK esp_err_t esp_openthread_radio_init(const esp_openthread_platform_config_t *config)
+{
+    ESP_LOGI(OT_PLAT_LOG_TAG, "Running in TREL mode");
+    return ESP_OK;
+}
+
+OT_TOOL_WEAK void esp_openthread_radio_deinit(void)
+{
+    ESP_LOGI(OT_PLAT_LOG_TAG, "Running in TREL mode");
+}
diff --git a/components/openthread/src/port/esp_spi_spinel_interface.cpp b/components/openthread/src/port/esp_spi_spinel_interface.cpp
index f8dcaba902..cae9bdb84c 100644
--- a/components/openthread/src/port/esp_spi_spinel_interface.cpp
+++ b/components/openthread/src/port/esp_spi_spinel_interface.cpp
@@ -6,7 +6,7 @@
 
 #include "esp_spi_spinel_interface.hpp"
 
-#include "error.h"
+#include "openthread/error.h"
 #include "esp_check.h"
 #include "esp_openthread_common_macro.h"
 #include "esp_rom_sys.h"
diff --git a/examples/openthread/.build-test-rules.yml b/examples/openthread/.build-test-rules.yml
index 49aa460e5c..b6d1b54646 100644
--- a/examples/openthread/.build-test-rules.yml
+++ b/examples/openthread/.build-test-rules.yml
@@ -18,9 +18,9 @@ examples/openthread/ot_rcp:
   enable:
     - if: SOC_IEEE802154_SUPPORTED == 1
   disable_test:
-    - if: IDF_TARGET == "esp32h2"
+    - if: IDF_TARGET not in ["esp32h2", "esp32c6"]
       temporary: true
-      reason: only test on esp32c6
+      reason: only test on esp32h2 and esp32c6
 
 examples/openthread/ot_sleepy_device/deep_sleep:
   enable:
@@ -33,3 +33,10 @@ examples/openthread/ot_sleepy_device/deep_sleep:
 examples/openthread/ot_sleepy_device/light_sleep:
   enable:
     - if: SOC_IEEE802154_SUPPORTED == 1
+
+examples/openthread/ot_trel:
+  enable:
+    - if: SOC_WIFI_SUPPORTED == 1
+  disable_test:
+    - if: IDF_TARGET not in ["esp32c6", "esp32s3"]
+      reason: only test on esp32c6 and esp32s3
diff --git a/examples/openthread/ot_br/sdkconfig.ci.br_spi b/examples/openthread/ot_br/sdkconfig.ci.br_spi
new file mode 100644
index 0000000000..1778799eb7
--- /dev/null
+++ b/examples/openthread/ot_br/sdkconfig.ci.br_spi
@@ -0,0 +1 @@
+CONFIG_OPENTHREAD_RADIO_SPINEL_SPI=y
diff --git a/examples/openthread/ot_cli/sdkconfig.ci.cli b/examples/openthread/ot_cli/sdkconfig.ci.cli
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/openthread/ot_cli/sdkconfig.ci.cli_c6 b/examples/openthread/ot_cli/sdkconfig.ci.cli_c6
deleted file mode 100644
index a7f4dfb822..0000000000
--- a/examples/openthread/ot_cli/sdkconfig.ci.cli_c6
+++ /dev/null
@@ -1,2 +0,0 @@
-CONFIG_IDF_TARGET="esp32c6"
-CONFIG_IDF_TARGET_ESP32C6=y
diff --git a/examples/openthread/ot_cli/sdkconfig.ci.cli_h2 b/examples/openthread/ot_cli/sdkconfig.ci.cli_h2
deleted file mode 100644
index 485c06eac5..0000000000
--- a/examples/openthread/ot_cli/sdkconfig.ci.cli_h2
+++ /dev/null
@@ -1,2 +0,0 @@
-CONFIG_IDF_TARGET="esp32h2"
-CONFIG_IDF_TARGET_ESP32H2=y
diff --git a/examples/openthread/ot_cli/sdkconfig.ci.disable_cli b/examples/openthread/ot_cli/sdkconfig.ci.disable_cli
index 51c321da5e..a281edc22b 100644
--- a/examples/openthread/ot_cli/sdkconfig.ci.disable_cli
+++ b/examples/openthread/ot_cli/sdkconfig.ci.disable_cli
@@ -1,4 +1,2 @@
-CONFIG_IDF_TARGET="esp32h2"
-CONFIG_IDF_TARGET_ESP32H2=y
 CONFIG_OPENTHREAD_CLI=n
 CONFIG_OPENTHREAD_CLI_ESP_EXTENSION=n
diff --git a/examples/openthread/ot_rcp/sdkconfig.ci.rcp_spi b/examples/openthread/ot_rcp/sdkconfig.ci.rcp_spi
new file mode 100644
index 0000000000..87b895575b
--- /dev/null
+++ b/examples/openthread/ot_rcp/sdkconfig.ci.rcp_spi
@@ -0,0 +1 @@
+CONFIG_OPENTHREAD_RCP_SPI=y
diff --git a/examples/openthread/ot_rcp/sdkconfig.ci.rcp b/examples/openthread/ot_rcp/sdkconfig.ci.rcp_uart
similarity index 100%
rename from examples/openthread/ot_rcp/sdkconfig.ci.rcp
rename to examples/openthread/ot_rcp/sdkconfig.ci.rcp_uart
diff --git a/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.ci.sleepy_c6 b/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.ci.sleepy
similarity index 74%
rename from examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.ci.sleepy_c6
rename to examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.ci.sleepy
index f0198c840e..8798e55c7d 100644
--- a/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.ci.sleepy_c6
+++ b/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.ci.sleepy
@@ -1,5 +1,3 @@
-CONFIG_IDF_TARGET="esp32c6"
-CONFIG_IDF_TARGET_ESP32C6=y
 CONFIG_OPENTHREAD_NETWORK_CHANNEL=12
 CONFIG_OPENTHREAD_NETWORK_MASTERKEY="aabbccddeeff00112233445566778899"
 CONFIG_ESP_SLEEP_DEBUG=y
diff --git a/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.ci.sleepy_h2 b/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.ci.sleepy_h2
deleted file mode 100644
index 4afe327821..0000000000
--- a/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.ci.sleepy_h2
+++ /dev/null
@@ -1,6 +0,0 @@
-CONFIG_IDF_TARGET="esp32h2"
-CONFIG_IDF_TARGET_ESP32H2=y
-CONFIG_OPENTHREAD_NETWORK_CHANNEL=12
-CONFIG_OPENTHREAD_NETWORK_MASTERKEY="aabbccddeeff00112233445566778899"
-CONFIG_ESP_SLEEP_DEBUG=y
-CONFIG_LOG_MAXIMUM_LEVEL_DEBUG=y
diff --git a/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.defaults.esp32c6 b/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.defaults.esp32c6
index 2c90c3e7ee..229cb8cc6b 100644
--- a/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.defaults.esp32c6
+++ b/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.defaults.esp32c6
@@ -1,5 +1,3 @@
-CONFIG_IDF_TARGET="esp32c6"
-
 #
 # Sleep Config
 #
diff --git a/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.defaults.esp32h2 b/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.defaults.esp32h2
deleted file mode 100644
index ba2980822c..0000000000
--- a/examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.defaults.esp32h2
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_IDF_TARGET="esp32h2"
diff --git a/examples/openthread/ot_trel/CMakeLists.txt b/examples/openthread/ot_trel/CMakeLists.txt
new file mode 100644
index 0000000000..b12d49bfa3
--- /dev/null
+++ b/examples/openthread/ot_trel/CMakeLists.txt
@@ -0,0 +1,6 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(esp_ot_cli)
diff --git a/examples/openthread/ot_trel/README.md b/examples/openthread/ot_trel/README.md
new file mode 100644
index 0000000000..63af9ea2bd
--- /dev/null
+++ b/examples/openthread/ot_trel/README.md
@@ -0,0 +1,133 @@
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- |
+
+# Thread Radio Encapsulation Link Example
+
+This example demonstrates a Thread Radio Encapsulation Link (TREL) Example.
+
+## How to use example
+
+### Hardware Required
+
+To run this example, a board with Wi-Fi module (for example ESP32-S3) is required.
+
+### Configure the project
+
+```
+idf.py menuconfig
+```
+
+The Wi-Fi ssid and password should be set through the menuconfig:
+```
+Component config → → Example Connection Configuration → → WiFi SSID
+Component config → → Example Connection Configuration → → WiFi Password
+```
+
+The example can run with the default configuration. OpenThread Command Line is enabled with UART as the default interface. Additionally, USB JTAG is also supported and can be activated through the menuconfig:
+
+```
+Component config → ESP System Settings → Channel for console output → USB Serial/JTAG Controller
+```
+
+### Build, Flash, and Run
+
+Build the project and flash it to the board, then run monitor tool to view serial output:
+
+```
+idf.py build
+idf.py -p PORT erase-flash flash monitor
+```
+
+Now you'll get an OpenThread command line shell.
+
+### Example Output
+
+The `help` command will print all of the supported commands.
+```bash
+>  help
+I(7058) OPENTHREAD:[INFO]-CLI-----: execute command: help
+bbr
+bufferinfo
+ccathreshold
+channel
+child
+childip
+childmax
+childsupervision
+childtimeout
+coap
+contextreusedelay
+counters
+dataset
+delaytimermin
+diag
+discover
+dns
+domainname
+eidcache
+eui64
+extaddr
+extpanid
+factoryreset
+...
+```
+
+## Set Up Network
+
+To run this example, at least two ESP32-S3 boards flashed with this ot_trel example are required. And they must connect to the same wifi AP.
+
+On the first device, run the following commands:
+```bash
+> factoryreset
+... # the device will reboot
+
+> dataset init new
+Done
+> dataset commit active
+Done
+> ifconfig up
+Done
+> thread start
+Done
+
+# After some seconds
+
+> state
+leader
+Done
+```
+Now the first device has formed a Thread network as a leader. Get some information which will be used in next steps:
+```bash
+> ipaddr
+fdde:ad00:beef:0:0:ff:fe00:fc00
+fdde:ad00:beef:0:0:ff:fe00:8000
+fdde:ad00:beef:0:a7c6:6311:9c8c:271b
+fe80:0:0:0:5c27:a723:7115:c8f8
+
+# Get the Active Dataset
+> dataset active -x
+0e080000000000010000000300001835060004001fffe00208fe7bb701f5f1125d0708fd75cbde7c6647bd0510b3914792d44f45b6c7d76eb9306eec94030f4f70656e5468726561642d35383332010258320410e35c581af5029b054fc904a24c2b27700c0402a0fff8
+```
+
+On the second device, set the active dataset from leader, and start Thread interface:
+```bash
+> factoryreset
+... # the device will reboot
+
+> dataset set active 0e080000000000010000000300001835060004001fffe00208fe7bb701f5f1125d0708fd75cbde7c6647bd0510b3914792d44f45b6c7d76eb9306eec94030f4f70656e5468726561642d35383332010258320410e35c581af5029b054fc904a24c2b27700c0402a0fff8
+> ifconfig up
+Done
+> thread start
+Done
+
+# After some seconds
+
+> state
+router  # child is also a valid state
+Done
+```
+The second device has joined the Thread network as a router (or a child).
+
+## Extension commands
+
+You can refer to the [extension command](https://github.com/espressif/esp-thread-br/blob/main/components/esp_ot_cli_extension/README.md) about the extension commands.
diff --git a/examples/openthread/ot_trel/main/CMakeLists.txt b/examples/openthread/ot_trel/main/CMakeLists.txt
new file mode 100644
index 0000000000..cea684e5f9
--- /dev/null
+++ b/examples/openthread/ot_trel/main/CMakeLists.txt
@@ -0,0 +1,2 @@
+idf_component_register(SRCS "esp_ot_trel.c"
+                       INCLUDE_DIRS ".")
diff --git a/examples/openthread/ot_trel/main/Kconfig.projbuild b/examples/openthread/ot_trel/main/Kconfig.projbuild
new file mode 100644
index 0000000000..7a37072f94
--- /dev/null
+++ b/examples/openthread/ot_trel/main/Kconfig.projbuild
@@ -0,0 +1,9 @@
+menu "OpenThread TREL Example"
+
+    config OPENTHREAD_AUTO_START
+        bool 'Enable the automatic start mode.'
+        default False
+        help
+            If enabled, the Openthread Device will create or connect to thread network with pre-configured
+            network parameters automatically. Otherwise, user need to configure Thread via CLI command manually.
+endmenu
diff --git a/examples/openthread/ot_trel/main/esp_ot_config.h b/examples/openthread/ot_trel/main/esp_ot_config.h
new file mode 100644
index 0000000000..be8eff0e21
--- /dev/null
+++ b/examples/openthread/ot_trel/main/esp_ot_config.h
@@ -0,0 +1,58 @@
+/*
+ * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: CC0-1.0
+ *
+ * OpenThread Command Line Example
+ *
+ * This example code is in the Public Domain (or CC0 licensed, at your option.)
+ *
+ * Unless required by applicable law or agreed to in writing, this
+ * software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+ * CONDITIONS OF ANY KIND, either express or implied.
+ */
+
+#pragma once
+
+#include "sdkconfig.h"
+#include "esp_openthread_types.h"
+
+#define ESP_OPENTHREAD_DEFAULT_RADIO_CONFIG()              \
+    {                                                      \
+        .radio_mode = RADIO_MODE_TREL,                     \
+    }
+
+#if CONFIG_OPENTHREAD_CONSOLE_TYPE_UART
+#define ESP_OPENTHREAD_DEFAULT_HOST_CONFIG()                    \
+    {                                                           \
+        .host_connection_mode = HOST_CONNECTION_MODE_CLI_UART,  \
+        .host_uart_config = {                                   \
+            .port = 0,                                          \
+            .uart_config =                                      \
+                {                                               \
+                    .baud_rate = 115200,                        \
+                    .data_bits = UART_DATA_8_BITS,              \
+                    .parity = UART_PARITY_DISABLE,              \
+                    .stop_bits = UART_STOP_BITS_1,              \
+                    .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,      \
+                    .rx_flow_ctrl_thresh = 0,                   \
+                    .source_clk = UART_SCLK_DEFAULT,            \
+                },                                              \
+            .rx_pin = UART_PIN_NO_CHANGE,                       \
+            .tx_pin = UART_PIN_NO_CHANGE,                       \
+        },                                                      \
+    }
+#elif CONFIG_OPENTHREAD_CONSOLE_TYPE_USB_SERIAL_JTAG
+#define ESP_OPENTHREAD_DEFAULT_HOST_CONFIG()                        \
+    {                                                               \
+        .host_connection_mode = HOST_CONNECTION_MODE_CLI_USB,       \
+        .host_usb_config = USB_SERIAL_JTAG_DRIVER_CONFIG_DEFAULT(), \
+    }
+#endif
+
+#define ESP_OPENTHREAD_DEFAULT_PORT_CONFIG()    \
+    {                                           \
+        .storage_partition_name = "nvs",        \
+        .netif_queue_size = 10,                 \
+        .task_queue_size = 10,                  \
+    }
diff --git a/examples/openthread/ot_trel/main/esp_ot_trel.c b/examples/openthread/ot_trel/main/esp_ot_trel.c
new file mode 100644
index 0000000000..05b7251da4
--- /dev/null
+++ b/examples/openthread/ot_trel/main/esp_ot_trel.c
@@ -0,0 +1,139 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: CC0-1.0
+ *
+ * OpenThread Command Line Example
+ *
+ * This example code is in the Public Domain (or CC0 licensed, at your option.)
+ *
+ * Unless required by applicable law or agreed to in writing, this
+ * software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+ * CONDITIONS OF ANY KIND, either express or implied.
+*/
+
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+
+#include "sdkconfig.h"
+#include "esp_err.h"
+#include "esp_event.h"
+#include "esp_log.h"
+#include "esp_netif.h"
+#include "esp_netif_types.h"
+#include "esp_openthread.h"
+#include "esp_openthread_cli.h"
+#include "esp_openthread_lock.h"
+#include "esp_openthread_netif_glue.h"
+#include "esp_openthread_types.h"
+#include "esp_ot_config.h"
+#include "esp_vfs_eventfd.h"
+#include "driver/uart.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "hal/uart_types.h"
+#include "nvs_flash.h"
+#include "openthread/cli.h"
+#include "openthread/instance.h"
+#include "openthread/logging.h"
+#include "openthread/tasklet.h"
+#include "protocol_examples_common.h"
+#include "mdns.h"
+
+#if !CONFIG_EXAMPLE_CONNECT_WIFI && !CONFIG_EXAMPLE_CONNECT_ETHERNET
+#error No netif for TREL!
+#endif
+
+#if CONFIG_OPENTHREAD_STATE_INDICATOR_ENABLE
+#include "ot_led_strip.h"
+#endif
+
+#if CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
+#include "esp_ot_cli_extension.h"
+#endif // CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
+
+
+#define TAG "ot_esp_trel"
+
+static esp_netif_t *init_openthread_netif(const esp_openthread_platform_config_t *config)
+{
+    esp_netif_config_t cfg = ESP_NETIF_DEFAULT_OPENTHREAD();
+    esp_netif_t *netif = esp_netif_new(&cfg);
+    assert(netif != NULL);
+    ESP_ERROR_CHECK(esp_netif_attach(netif, esp_openthread_netif_glue_init(config)));
+
+    return netif;
+}
+
+static void ot_task_worker(void *aContext)
+{
+    esp_openthread_platform_config_t config = {
+        .radio_config = ESP_OPENTHREAD_DEFAULT_RADIO_CONFIG(),
+        .host_config = ESP_OPENTHREAD_DEFAULT_HOST_CONFIG(),
+        .port_config = ESP_OPENTHREAD_DEFAULT_PORT_CONFIG(),
+    };
+
+    ESP_ERROR_CHECK(example_connect());
+
+    // Initialize the OpenThread stack
+    ESP_ERROR_CHECK(esp_openthread_init(&config));
+
+#if CONFIG_OPENTHREAD_STATE_INDICATOR_ENABLE
+    ESP_ERROR_CHECK(esp_openthread_state_indicator_init(esp_openthread_get_instance()));
+#endif
+
+#if CONFIG_OPENTHREAD_LOG_LEVEL_DYNAMIC
+    // The OpenThread log level directly matches ESP log level
+    (void)otLoggingSetLevel(CONFIG_LOG_DEFAULT_LEVEL);
+#endif
+    // Initialize the OpenThread cli
+#if CONFIG_OPENTHREAD_CLI
+    esp_openthread_cli_init();
+#endif
+
+    esp_netif_t *openthread_netif;
+    // Initialize the esp_netif bindings
+    openthread_netif = init_openthread_netif(&config);
+    esp_netif_set_default_netif(openthread_netif);
+
+#if CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
+    esp_cli_custom_command_init();
+#endif // CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
+
+    // Run the main loop
+#if CONFIG_OPENTHREAD_CLI
+    esp_openthread_cli_create_task();
+#endif
+#if CONFIG_OPENTHREAD_AUTO_START
+    otOperationalDatasetTlvs dataset;
+    otError error = otDatasetGetActiveTlvs(esp_openthread_get_instance(), &dataset);
+    ESP_ERROR_CHECK(esp_openthread_auto_start((error == OT_ERROR_NONE) ? &dataset : NULL));
+#endif
+    esp_openthread_launch_mainloop();
+
+    // Clean up
+    esp_openthread_netif_glue_deinit();
+    esp_netif_destroy(openthread_netif);
+
+    esp_vfs_eventfd_unregister();
+    vTaskDelete(NULL);
+}
+
+void app_main(void)
+{
+    // Used eventfds:
+    // * netif
+    // * ot task queue
+    esp_vfs_eventfd_config_t eventfd_config = {
+        .max_fds = 2,
+    };
+
+    ESP_ERROR_CHECK(nvs_flash_init());
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    ESP_ERROR_CHECK(esp_netif_init());
+    ESP_ERROR_CHECK(esp_vfs_eventfd_register(&eventfd_config));
+    ESP_ERROR_CHECK(mdns_init());
+    ESP_ERROR_CHECK(mdns_hostname_set("esp-ot-trel"));
+    xTaskCreate(ot_task_worker, "ot_trel_main", 8192, xTaskGetCurrentTaskHandle(), 5, NULL);
+}
diff --git a/examples/openthread/ot_trel/main/idf_component.yml b/examples/openthread/ot_trel/main/idf_component.yml
new file mode 100644
index 0000000000..a52a17085f
--- /dev/null
+++ b/examples/openthread/ot_trel/main/idf_component.yml
@@ -0,0 +1,11 @@
+## IDF Component Manager Manifest File
+dependencies:
+  espressif/esp_ot_cli_extension:
+    version: "~1.2.0"
+  espressif/mdns: "^1.0.3"
+  idf:
+    version: ">=4.1.0"
+  protocol_examples_common:
+    path: ${IDF_PATH}/examples/common_components/protocol_examples_common
+  ot_led:
+    path: ${IDF_PATH}/examples/openthread/ot_common_components/ot_led
diff --git a/examples/openthread/ot_trel/partitions.csv b/examples/openthread/ot_trel/partitions.csv
new file mode 100644
index 0000000000..641bcc9afc
--- /dev/null
+++ b/examples/openthread/ot_trel/partitions.csv
@@ -0,0 +1,5 @@
+# Name,   Type, SubType, Offset,  Size, Flags
+# Note: if you have increased the bootloader size, make sure to update the offsets to avoid overlap
+nvs,        data, nvs,      0x9000,  0x6000,
+phy_init,   data, phy,      0xf000,  0x1000,
+factory,    app,  factory,  0x10000, 0x170000,
diff --git a/examples/openthread/ot_trel/sdkconfig.ci.trel b/examples/openthread/ot_trel/sdkconfig.ci.trel
new file mode 100644
index 0000000000..994413fa4f
--- /dev/null
+++ b/examples/openthread/ot_trel/sdkconfig.ci.trel
@@ -0,0 +1,3 @@
+CONFIG_EXAMPLE_CONNECT_WIFI=y
+CONFIG_EXAMPLE_WIFI_SSID="OTCITE"
+CONFIG_EXAMPLE_WIFI_PASSWORD="otcitest888"
diff --git a/examples/openthread/ot_trel/sdkconfig.defaults b/examples/openthread/ot_trel/sdkconfig.defaults
new file mode 100644
index 0000000000..99f65081b9
--- /dev/null
+++ b/examples/openthread/ot_trel/sdkconfig.defaults
@@ -0,0 +1,43 @@
+#
+# Partition Table
+#
+CONFIG_PARTITION_TABLE_CUSTOM=y
+CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
+CONFIG_PARTITION_TABLE_FILENAME="partitions.csv"
+CONFIG_PARTITION_TABLE_OFFSET=0x8000
+CONFIG_PARTITION_TABLE_MD5=y
+# end of Partition Table
+
+#
+# mbedTLS
+#
+CONFIG_MBEDTLS_CMAC_C=y
+CONFIG_MBEDTLS_SSL_PROTO_DTLS=y
+CONFIG_MBEDTLS_KEY_EXCHANGE_ECJPAKE=y
+CONFIG_MBEDTLS_ECJPAKE_C=y
+# end of mbedTLS
+
+#
+# OpenThread
+#
+CONFIG_OPENTHREAD_ENABLED=y
+CONFIG_OPENTHREAD_BORDER_ROUTER=n
+CONFIG_OPENTHREAD_DNS64_CLIENT=y
+CONFIG_OPENTHREAD_RADIO_154_NONE=y
+CONFIG_OPENTHREAD_RADIO_TREL=y
+# end of OpenThread
+
+#
+# lwIP
+#
+CONFIG_LWIP_TCPIP_TASK_STACK_SIZE=4096
+CONFIG_LWIP_IPV6_NUM_ADDRESSES=8
+CONFIG_LWIP_MULTICAST_PING=y
+CONFIG_LWIP_HOOK_IP6_SELECT_SRC_ADDR_CUSTOM=y
+CONFIG_LWIP_IPV6_AUTOCONFIG=y
+# end of lwIP
+
+#
+# Configurations for optimizing the size of firmware
+#
+CONFIG_COMPILER_OPTIMIZATION_SIZE=y
diff --git a/examples/openthread/pytest_otbr.py b/examples/openthread/pytest_otbr.py
index 9f7caf1829..e2eaed76e5 100644
--- a/examples/openthread/pytest_otbr.py
+++ b/examples/openthread/pytest_otbr.py
@@ -44,6 +44,24 @@ from pytest_embedded_idf.dut import IdfDut
 # Case 9: TCP communication via NAT64
 #         Thread device (IPV6) send tcp message to the host device (IPV4) via NAT64.
 
+# Case 10: Sleepy device test
+#         Start a Thread sleepy device, wait it join the Thread network and check related flags.
+
+# Case 11: Basic startup Test of BR
+#         Test the basic startup and network formation of a Thread device.
+
+# Case 12: Curl a website via DNS and NAT64
+#         A border router joins a Wi-Fi network and forms a Thread network, a Thread devices attached to it and curl a website.
+
+# Case 13: Meshcop discovery of Border Router
+#         A border router joins a Wi-Fi network, forms a Thread network and publish a meshcop service. Linux Host device discover the mescop service.
+
+# Case 14: Curl a website over HTTPS via DNS and NAT64
+#         A border router joins a Wi-Fi network and forms a Thread network, a Thread devices attached to it and curl a https website.
+
+# Case 15: Thread network formation and attaching with TREL
+#         A TREL device forms a Thread network, other TREL devices attach to it, then test ping connection between them.
+
 
 @pytest.fixture(scope='module', name='Init_avahi')
 def fixture_Init_avahi() -> bool:
@@ -76,11 +94,16 @@ default_cli_ot_para = ocf.thread_parameter('router', '', '', '', False)
 @pytest.mark.flaky(reruns=1, reruns_delay=1)
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('rcp|cli_h2|br', 3,
+        ('rcp_uart|cli|br', 3,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
          'esp32c6|esp32h2|esp32s3'),
+        ('rcp_spi|cli|br_spi', 3,
+         f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
+         f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
+         f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
+         'esp32h2|esp32c6|esp32s3'),
     ],
     indirect=True,
 )
@@ -144,7 +167,7 @@ def formBasicWiFiThreadNetwork(br:IdfDut, cli:IdfDut) -> None:
 @pytest.mark.flaky(reruns=0, reruns_delay=1)
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('rcp|cli_h2|br', 3,
+        ('rcp_uart|cli|br', 3,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
@@ -193,7 +216,7 @@ def test_Bidirectional_IPv6_connectivity(Init_interface:bool, dut: Tuple[IdfDut,
 @pytest.mark.flaky(reruns=1, reruns_delay=1)
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('rcp|cli_h2|br', 3,
+        ('rcp_uart|cli|br', 3,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
@@ -233,7 +256,7 @@ def test_multicast_forwarding_A(Init_interface:bool, dut: Tuple[IdfDut, IdfDut,
 @pytest.mark.flaky(reruns=1, reruns_delay=1)
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('rcp|cli_h2|br', 3,
+        ('rcp_uart|cli|br', 3,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
@@ -284,7 +307,7 @@ def test_multicast_forwarding_B(Init_interface:bool, dut: Tuple[IdfDut, IdfDut,
 @pytest.mark.flaky(reruns=1, reruns_delay=1)
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('rcp|cli_h2|br', 3,
+        ('rcp_uart|cli|br', 3,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
@@ -340,7 +363,7 @@ def test_service_discovery_of_Thread_device(Init_interface:bool, Init_avahi:bool
 @pytest.mark.flaky(reruns=1, reruns_delay=1)
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('rcp|cli_h2|br', 3,
+        ('rcp_uart|cli|br', 3,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
@@ -403,7 +426,7 @@ def test_service_discovery_of_WiFi_device(Init_interface:bool, Init_avahi:bool,
 @pytest.mark.flaky(reruns=1, reruns_delay=1)
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('rcp|cli_h2|br', 3,
+        ('rcp_uart|cli|br', 3,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
@@ -438,7 +461,7 @@ def test_ICMP_NAT64(Init_interface:bool, dut: Tuple[IdfDut, IdfDut, IdfDut]) ->
 @pytest.mark.flaky(reruns=1, reruns_delay=1)
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('rcp|cli_h2|br', 3,
+        ('rcp_uart|cli|br', 3,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
@@ -491,7 +514,7 @@ def test_UDP_NAT64(Init_interface:bool, dut: Tuple[IdfDut, IdfDut, IdfDut]) -> N
 @pytest.mark.flaky(reruns=1, reruns_delay=1)
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('rcp|cli_h2|br', 3,
+        ('rcp_uart|cli|br', 3,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
@@ -548,11 +571,11 @@ def test_TCP_NAT64(Init_interface:bool, dut: Tuple[IdfDut, IdfDut, IdfDut]) -> N
 @pytest.mark.openthread_sleep
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('cli_h2|sleepy_c6', 2,
+        ('cli|sleepy', 2,
          f'{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_sleepy_device/light_sleep")}',
          'esp32h2|esp32c6'),
-        ('cli_c6|sleepy_h2', 2,
+        ('cli|sleepy', 2,
          f'{os.path.join(os.path.dirname(__file__), "ot_cli")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_sleepy_device/light_sleep")}',
          'esp32c6|esp32h2'),
@@ -600,7 +623,7 @@ def test_ot_sleepy_device(dut: Tuple[IdfDut, IdfDut]) -> None:
 @pytest.mark.flaky(reruns=1, reruns_delay=1)
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('rcp|br', 2,
+        ('rcp_uart|br', 2,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
          'esp32c6|esp32s3'),
@@ -642,7 +665,7 @@ def test_basic_startup(dut: Tuple[IdfDut, IdfDut]) -> None:
 @pytest.mark.flaky(reruns=1, reruns_delay=1)
 @pytest.mark.parametrize(
     'config, count, app_path, target', [
-        ('rcp|br', 2,
+        ('rcp_uart|br', 2,
          f'{os.path.join(os.path.dirname(__file__), "ot_rcp")}'
          f'|{os.path.join(os.path.dirname(__file__), "ot_br")}',
          'esp32c6|esp32s3'),
@@ -690,3 +713,57 @@ def test_br_meshcop(Init_interface:bool, Init_avahi:bool, dut: Tuple[IdfDut, Idf
     finally:
         ocf.execute_command(br, 'factoryreset')
         time.sleep(3)
+
+
+# Case 14: Curl a website over HTTPS via DNS and NAT64
+# Skip this check on release 5.1
+
+
+# Case 15: Thread network formation and attaching with TREL
+@pytest.mark.supported_targets
+@pytest.mark.esp32c6
+@pytest.mark.openthread_br
+@pytest.mark.flaky(reruns=1, reruns_delay=1)
+@pytest.mark.parametrize(
+    'config, count, app_path, target', [
+        ('trel|trel', 2,
+         f'{os.path.join(os.path.dirname(__file__), "ot_trel")}'
+         f'|{os.path.join(os.path.dirname(__file__), "ot_trel")}',
+         'esp32c6|esp32s3'),
+    ],
+    indirect=True,
+)
+def test_trel_connect(dut: Tuple[IdfDut, IdfDut]) -> None:
+    trel_s3 = dut[1]
+    trel_c6 = dut[0]
+    trel_list = [trel_c6]
+    router_extaddr_list = ['7766554433221101']
+
+    trel_s3.expect('IPv4 address:', timeout=10)
+    trel_c6.expect('IPv4 address:', timeout=10)
+    ocf.init_thread(trel_s3)
+    for trel in trel_list:
+        ocf.init_thread(trel)
+    trel_leader_para = copy.copy(default_br_ot_para)
+    trel_leader_para.bbr = False
+    ocf.joinThreadNetwork(trel_s3, trel_leader_para)
+    trel_para = copy.copy(default_cli_ot_para)
+    trel_para.dataset = ocf.getDataset(trel_s3)
+    try:
+        order = 0
+        for trel in trel_list:
+            trel_para.exaddr = router_extaddr_list[order]
+            order = order + 1
+            ocf.joinThreadNetwork(trel, trel_para)
+        for trel in trel_list:
+            trel_mleid_addr = ocf.get_mleid_addr(trel)
+            trel_s3_mleid_addr = ocf.get_mleid_addr(trel_s3)
+            rx_nums = ocf.ot_ping(trel, trel_s3_mleid_addr, 5)[1]
+            assert rx_nums == 5
+            rx_nums = ocf.ot_ping(trel_s3, trel_mleid_addr, 5)[1]
+            assert rx_nums == 5
+    finally:
+        ocf.execute_command(trel_s3, 'factoryreset')
+        for trel in trel_list:
+            ocf.execute_command(trel, 'factoryreset')
+        time.sleep(3)