diff --git a/components/esp_system/Kconfig b/components/esp_system/Kconfig
index 7a03588903..27ce305750 100644
--- a/components/esp_system/Kconfig
+++ b/components/esp_system/Kconfig
@@ -113,9 +113,15 @@ menu "ESP System Settings"
 
     menu "Memory protection"
 
+        config ESP_SYSTEM_MEMPROT_DEPCHECK
+            bool
+            default y if IDF_TARGET_ESP32S2
+            default y if IDF_TARGET_ESP32C3
+            default y if IDF_TARGET_ESP32H2
+
         config ESP_SYSTEM_MEMPROT_FEATURE
             bool "Enable memory protection"
-            depends on IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32H2
+            depends on ESP_SYSTEM_MEMPROT_DEPCHECK
             default "y"
             help
                 If enabled, the permission control module watches all the memory access and fires the panic handler
@@ -133,6 +139,20 @@ menu "ESP System Settings"
                 Once locked, memory protection settings cannot be changed anymore.
                 The lock is reset only on the chip startup.
 
+        config ESP_SYSTEM_MEMPROT_CPU_PREFETCH_PAD_SIZE
+            # Hidden option for linker script usage
+            int
+            depends on ESP_SYSTEM_MEMPROT_DEPCHECK
+            default 16
+
+        config ESP_SYSTEM_MEMPROT_MEM_ALIGN_SIZE
+            # Hidden option for linker script usage
+            int
+            depends on ESP_SYSTEM_MEMPROT_DEPCHECK
+            default 4   if IDF_TARGET_ESP32S2
+            default 256 if IDF_TARGET_ESP32S3
+            default 512
+
     endmenu  # Memory protection
 
     config ESP_SYSTEM_EVENT_QUEUE_SIZE
diff --git a/components/esp_system/component.mk b/components/esp_system/component.mk
index 6f603f880b..c67e3064e1 100644
--- a/components/esp_system/component.mk
+++ b/components/esp_system/component.mk
@@ -53,7 +53,7 @@ $(COMPONENT_LIBRARY): $(ld_output)
 
 $(ld_output): $(ld_input) ../include/sdkconfig.h
 	mkdir -p $(COMPONENT_BUILD_DIR)/ld
-	$(CC) -I ../include -C -P -x c -E $< -o $@
+	$(CC) -I ../include -I $(COMPONENT_PATH)/ld -C -P -x c -E $< -o $@
 
 COMPONENT_EXTRA_CLEAN := $(ld_output) $(sections_ld)
 endif
diff --git a/components/esp_system/ld/esp32/memory.ld.in b/components/esp_system/ld/esp32/memory.ld.in
index 9a8af9e096..798076ab1c 100644
--- a/components/esp_system/ld/esp32/memory.ld.in
+++ b/components/esp_system/ld/esp32/memory.ld.in
@@ -20,6 +20,7 @@
    to simple macros with numeric values, and/or #if/#endif blocks.
 */
 #include "sdkconfig.h"
+#include "ld.common"
 
 /* If BT is not built at all */
 #ifndef CONFIG_BT_RESERVE_DRAM
diff --git a/components/esp_system/ld/esp32/sections.ld.in b/components/esp_system/ld/esp32/sections.ld.in
index 2277dec6e1..c2a6c66c5b 100644
--- a/components/esp_system/ld/esp32/sections.ld.in
+++ b/components/esp_system/ld/esp32/sections.ld.in
@@ -349,7 +349,7 @@ SECTIONS
       * safe access to up to 16 bytes after the last real instruction, add
       * dummy bytes to ensure this
       */
-    . += 16;
+    . += _esp_flash_mmap_prefetch_pad_size;
 
     _text_end = ABSOLUTE(.);
     _etext = .;
diff --git a/components/esp_system/ld/esp32c3/memory.ld.in b/components/esp_system/ld/esp32c3/memory.ld.in
index 66bf5d9ac4..d387915f93 100644
--- a/components/esp_system/ld/esp32c3/memory.ld.in
+++ b/components/esp_system/ld/esp32c3/memory.ld.in
@@ -1,3 +1,9 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 /**
  *                    ESP32-C3 Linker Script Memory Layout
  * This file describes the memory layout (memory blocks) by virtual memory addresses.
@@ -7,6 +13,7 @@
  */
 
 #include "sdkconfig.h"
+#include "ld.common"
 
 #ifdef CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC
 #define ESP_BOOTLOADER_RESERVE_RTC (CONFIG_BOOTLOADER_RESERVE_RTC_SIZE + CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC_SIZE)
diff --git a/components/esp_system/ld/esp32c3/sections.ld.in b/components/esp_system/ld/esp32c3/sections.ld.in
index a4e41e7123..96b0bdd346 100644
--- a/components/esp_system/ld/esp32c3/sections.ld.in
+++ b/components/esp_system/ld/esp32c3/sections.ld.in
@@ -1,3 +1,9 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 /* Default entry point */
 ENTRY(call_start_cpu0);
 
@@ -228,7 +234,7 @@ SECTIONS
       * safe access to up to 16 bytes after the last real instruction, add
       * dummy bytes to ensure this
       */
-    . += 16;
+    . += _esp_flash_mmap_prefetch_pad_size;
 
     _text_end = ABSOLUTE(.);
     _instruction_reserved_end = ABSOLUTE(.);
@@ -368,9 +374,9 @@ SECTIONS
   /* Marks the end of IRAM code segment */
   .iram0.text_end (NOLOAD) :
   {
-    /* C3 memprot requires 16B padding for possible CPU prefetch and 512B alignment for PMS split lines */
-    . += 16;
-    . = ALIGN (0x200);
+    /* ESP32-C3 memprot requires 16B padding for possible CPU prefetch and 512B alignment for PMS split lines */
+    . += _esp_memprot_prefetch_pad_size;
+    . = ALIGN(_esp_memprot_align_size);
     /* iram_end_test section exists for use by memprot unit tests only */
     *(.iram_end_test)
     _iram_text_end = ABSOLUTE(.);
diff --git a/components/esp_system/ld/esp32h2/memory.ld.in b/components/esp_system/ld/esp32h2/memory.ld.in
index 58ab761a0e..03f45cabd9 100644
--- a/components/esp_system/ld/esp32h2/memory.ld.in
+++ b/components/esp_system/ld/esp32h2/memory.ld.in
@@ -1,3 +1,9 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 /**
  *                    ESP32-H2 Linker Script Memory Layout
  * This file describes the memory layout (memory blocks) by virtual memory addresses.
@@ -7,6 +13,7 @@
  */
 
 #include "sdkconfig.h"
+#include "ld.common"
 
 #ifdef CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC
 #define ESP_BOOTLOADER_RESERVE_RTC (CONFIG_BOOTLOADER_RESERVE_RTC_SIZE + CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC_SIZE)
diff --git a/components/esp_system/ld/esp32h2/sections.ld.in b/components/esp_system/ld/esp32h2/sections.ld.in
index 65eb17b45c..eaf8a5a41b 100644
--- a/components/esp_system/ld/esp32h2/sections.ld.in
+++ b/components/esp_system/ld/esp32h2/sections.ld.in
@@ -1,3 +1,9 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 /* Default entry point */
 ENTRY(call_start_cpu0);
 
@@ -365,8 +371,9 @@ SECTIONS
   /* Marks the end of IRAM code segment */
   .iram0.text_end (NOLOAD) :
   {
-    /* C3 memprot requires 512 B alignment for split lines */
-    . = ALIGN (0x200);
+    /* ESP32-H2 memprot requires 16B padding for possible CPU prefetch and 512B alignment for PMS split lines */
+    . += _esp_memprot_prefetch_pad_size;
+    . = ALIGN(_esp_memprot_align_size);
     /* iram_end_test section exists for use by memprot unit tests only */
     *(.iram_end_test)
     _iram_text_end = ABSOLUTE(.);
diff --git a/components/esp_system/ld/esp32s2/memory.ld.in b/components/esp_system/ld/esp32s2/memory.ld.in
index d4c50f4253..f40fca87a4 100644
--- a/components/esp_system/ld/esp32s2/memory.ld.in
+++ b/components/esp_system/ld/esp32s2/memory.ld.in
@@ -13,6 +13,7 @@
    Restrict to simple macros with numeric values, and/or #if/#endif blocks.
 */
 #include "sdkconfig.h"
+#include "ld.common"
 
 #ifdef CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC
 #define ESP_BOOTLOADER_RESERVE_RTC (CONFIG_BOOTLOADER_RESERVE_RTC_SIZE + CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC_SIZE)
diff --git a/components/esp_system/ld/esp32s2/sections.ld.in b/components/esp_system/ld/esp32s2/sections.ld.in
index 3c6bbe87ed..2bbfdad5ce 100644
--- a/components/esp_system/ld/esp32s2/sections.ld.in
+++ b/components/esp_system/ld/esp32s2/sections.ld.in
@@ -1,3 +1,9 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 /*  Default entry point:  */
 ENTRY(call_start_cpu0);
 
@@ -177,7 +183,7 @@ SECTIONS
     _coredump_iram_end = 0;
 
     /* align + add 16B for CPU dummy speculative instr. fetch */
-    . = ALIGN(4) + 16;
+    . = ALIGN(_esp_memprot_align_size) + _esp_memprot_prefetch_pad_size;
     /* iram_end_test section exists for use by memprot unit tests only */
     *(.iram_end_test)
     _iram_text_end = ABSOLUTE(.);
@@ -363,7 +369,7 @@ SECTIONS
       * safe access to up to 16 bytes after the last real instruction, add
       * dummy bytes to ensure this
       */
-    . += 16;
+    . += _esp_flash_mmap_prefetch_pad_size;
 
     _text_end = ABSOLUTE(.);
     _instruction_reserved_end = ABSOLUTE(.);
diff --git a/components/esp_system/ld/esp32s3/memory.ld.in b/components/esp_system/ld/esp32s3/memory.ld.in
index 79dcd53487..4f6b70d490 100644
--- a/components/esp_system/ld/esp32s3/memory.ld.in
+++ b/components/esp_system/ld/esp32s3/memory.ld.in
@@ -12,6 +12,7 @@
  */
 
 #include "sdkconfig.h"
+#include "ld.common"
 
 #ifdef CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC
 #define ESP_BOOTLOADER_RESERVE_RTC (CONFIG_BOOTLOADER_RESERVE_RTC_SIZE + CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC_SIZE)
diff --git a/components/esp_system/ld/esp32s3/sections.ld.in b/components/esp_system/ld/esp32s3/sections.ld.in
index 02246b3f9d..7ef4075a31 100644
--- a/components/esp_system/ld/esp32s3/sections.ld.in
+++ b/components/esp_system/ld/esp32s3/sections.ld.in
@@ -1,3 +1,9 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
 /* Default entry point */
 ENTRY(call_start_cpu0);
 
@@ -264,7 +270,7 @@ SECTIONS
       * safe access to up to 16 bytes after the last real instruction, add
       * dummy bytes to ensure this
       */
-    . += 16;
+    . += _esp_flash_mmap_prefetch_pad_size;
 
     _text_end = ABSOLUTE(.);
     _instruction_reserved_end = ABSOLUTE(.);
@@ -376,7 +382,11 @@ SECTIONS
   /* Marks the end of IRAM code segment */
   .iram0.text_end (NOLOAD) :
   {
-    . = ALIGN (4);
+    /* ESP32-S3 memprot requires 16B padding for possible CPU prefetch and 256B alignment for PMS split lines */
+    . += _esp_memprot_prefetch_pad_size;
+    . = ALIGN(_esp_memprot_align_size);
+    /* iram_end_test section exists for use by memprot unit tests only */
+    *(.iram_end_test)
     _iram_text_end = ABSOLUTE(.);
   } > iram0_0_seg
 
diff --git a/components/esp_system/ld/ld.cmake b/components/esp_system/ld/ld.cmake
index 93376b69c1..5e80268da7 100644
--- a/components/esp_system/ld/ld.cmake
+++ b/components/esp_system/ld/ld.cmake
@@ -22,7 +22,8 @@ idf_build_get_property(config_dir CONFIG_DIR)
 # Preprocess memory.ld.in linker script to include configuration, becomes memory.ld
 add_custom_command(
     OUTPUT ${ld_output}
-    COMMAND "${CMAKE_C_COMPILER}" -C -P -x c -E -o ${ld_output} -I ${config_dir} ${ld_input}
+    COMMAND "${CMAKE_C_COMPILER}" -C -P -x c -E -o ${ld_output} -I ${config_dir}
+            -I "${CMAKE_CURRENT_LIST_DIR}" ${ld_input}
     MAIN_DEPENDENCY ${ld_input}
     DEPENDS ${sdkconfig_header}
     COMMENT "Generating memory.ld linker script..."
diff --git a/components/esp_system/ld/ld.common b/components/esp_system/ld/ld.common
new file mode 100644
index 0000000000..974cafe5d4
--- /dev/null
+++ b/components/esp_system/ld/ld.common
@@ -0,0 +1,24 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "sdkconfig.h"
+
+/* CPU instruction prefetch padding size for flash mmap scenario */
+_esp_flash_mmap_prefetch_pad_size = 16;
+
+/* CPU instruction prefetch padding size for memory protection scenario */
+#ifdef CONFIG_ESP_SYSTEM_MEMPROT_CPU_PREFETCH_PAD_SIZE
+_esp_memprot_prefetch_pad_size = CONFIG_ESP_SYSTEM_MEMPROT_CPU_PREFETCH_PAD_SIZE;
+#else
+_esp_memprot_prefetch_pad_size = 0;
+#endif
+
+/* Memory alignment size for PMS */
+#ifdef CONFIG_ESP_SYSTEM_MEMPROT_MEM_ALIGN_SIZE
+_esp_memprot_align_size = CONFIG_ESP_SYSTEM_MEMPROT_MEM_ALIGN_SIZE;
+#else
+_esp_memprot_align_size = 0;
+#endif