diff --git a/components/app_trace/sys_view/Sample/FreeRTOSV10.4/Config/esp/SEGGER_SYSVIEW_Config_FreeRTOS.c b/components/app_trace/sys_view/Sample/FreeRTOSV10.4/Config/esp/SEGGER_SYSVIEW_Config_FreeRTOS.c
index 0e7aba7bdf..9761960d75 100644
--- a/components/app_trace/sys_view/Sample/FreeRTOSV10.4/Config/esp/SEGGER_SYSVIEW_Config_FreeRTOS.c
+++ b/components/app_trace/sys_view/Sample/FreeRTOSV10.4/Config/esp/SEGGER_SYSVIEW_Config_FreeRTOS.c
@@ -65,6 +65,7 @@ Revision: $Rev: 7745 $
 #include "esp_app_trace.h"
 #include "esp_app_trace_util.h"
 #include "esp_intr_alloc.h"
+#include "esp_clk_tree.h"
 #include "esp_cpu.h"
 #include "soc/soc.h"
 #include "soc/interrupts.h"
@@ -101,9 +102,6 @@ extern const SEGGER_SYSVIEW_OS_API SYSVIEW_X_OS_TraceAPI;
 // Timer group timer divisor
 #define SYSVIEW_TIMER_DIV       2
 
-// Frequency of the timestamp, using APB as GPTimer source clock
-#define SYSVIEW_TIMESTAMP_FREQ  (esp_clk_apb_freq() / SYSVIEW_TIMER_DIV)
-
 // GPTimer handle
 gptimer_handle_t s_sv_gptimer;
 
@@ -173,30 +171,38 @@ static void _cbSendSystemDesc(void) {
 *
 **********************************************************************
 */
-static void SEGGER_SYSVIEW_TS_Init(void)
+static int SEGGER_SYSVIEW_TS_Init(void)
 {
     /* We only need to initialize something if we use Timer Group.
      * esp_timer and ccount can be used as is.
      */
 #if TS_USE_TIMERGROUP
+    // get clock source frequency
+    uint32_t counter_src_hz = 0;
+    ESP_ERROR_CHECK(esp_clk_tree_src_get_freq_hz(
+        (soc_module_clk_t)GPTIMER_CLK_SRC_DEFAULT,
+        ESP_CLK_TREE_SRC_FREQ_PRECISION_CACHED, &counter_src_hz));
     gptimer_config_t config = {
         .clk_src = GPTIMER_CLK_SRC_DEFAULT,
         .direction = GPTIMER_COUNT_UP,
-        .resolution_hz = SYSVIEW_TIMESTAMP_FREQ,
+        .resolution_hz = counter_src_hz / SYSVIEW_TIMER_DIV,
     };
     // pick any free GPTimer instance
     ESP_ERROR_CHECK(gptimer_new_timer(&config, &s_sv_gptimer));
     /* Start counting */
     gptimer_enable(s_sv_gptimer);
     gptimer_start(s_sv_gptimer);
+    return config.resolution_hz;
+#else
+    return SYSVIEW_TIMESTAMP_FREQ;
 #endif // TS_USE_TIMERGROUP
 }
 
 void SEGGER_SYSVIEW_Conf(void) {
     U32 disable_evts = 0;
 
-    SEGGER_SYSVIEW_TS_Init();
-    SEGGER_SYSVIEW_Init(SYSVIEW_TIMESTAMP_FREQ, SYSVIEW_CPU_FREQ,
+    int timestamp_freq = SEGGER_SYSVIEW_TS_Init();
+    SEGGER_SYSVIEW_Init(timestamp_freq, SYSVIEW_CPU_FREQ,
                         &SYSVIEW_X_OS_TraceAPI, _cbSendSystemDesc);
     SEGGER_SYSVIEW_SetRAMBase(SYSVIEW_RAM_BASE);
 
diff --git a/conftest.py b/conftest.py
index 17fa2b8936..35bf868261 100644
--- a/conftest.py
+++ b/conftest.py
@@ -19,9 +19,12 @@ if os.path.join(os.path.dirname(__file__), 'tools', 'ci', 'python_packages') not
 
 import glob
 import io
+import json
 import logging
 import os
 import re
+import signal
+import time
 import typing as t
 import zipfile
 from copy import deepcopy
@@ -29,6 +32,7 @@ from urllib.parse import quote
 
 import common_test_methods  # noqa: F401
 import gitlab_api
+import pexpect
 import pytest
 import requests
 import yaml
@@ -44,8 +48,11 @@ from idf_pytest.constants import DEFAULT_SDKCONFIG, ENV_MARKERS, SPECIAL_MARKERS
 from idf_pytest.plugin import IDF_PYTEST_EMBEDDED_KEY, ITEM_PYTEST_CASE_KEY, IdfPytestEmbedded
 from idf_pytest.utils import format_case_id
 from pytest_embedded.plugin import multi_dut_argument, multi_dut_fixture
+from pytest_embedded.utils import to_bytes
+from pytest_embedded.utils import to_str
 from pytest_embedded_idf.dut import IdfDut
 from pytest_embedded_idf.unity_tester import CaseTester
+from pytest_embedded_jtag._telnetlib.telnetlib import Telnet  # python 3.13 removed telnetlib, use this instead
 
 
 ############
@@ -139,6 +146,113 @@ class BuildReportDownloader(AppDownloader):
         super().download_app(app_build_path, artifact_type)
 
 
+class OpenOCD:
+    def __init__(self, dut: 'IdfDut'):
+        self.MAX_RETRIES = 3
+        self.RETRY_DELAY = 1
+        self.TELNET_PORT = 4444
+        self.dut = dut
+        self.telnet: t.Optional[Telnet] = None
+        self.log_file = os.path.join(self.dut.logdir, 'ocd.txt')
+        self.proc: t.Optional[pexpect.spawn] = None
+
+    def __enter__(self) -> 'OpenOCD':
+        return self
+
+    def __exit__(self, exception_type: t.Any, exception_value: t.Any, exception_traceback: t.Any) -> None:
+        self.kill()
+
+    def run(self) -> t.Optional['OpenOCD']:
+        desc_path = os.path.join(self.dut.app.binary_path, 'project_description.json')
+
+        try:
+            with open(desc_path, 'r') as f:
+                project_desc = json.load(f)
+        except FileNotFoundError:
+            logging.error('Project description file not found at %s', desc_path)
+            raise
+
+        openocd_scripts = os.getenv('OPENOCD_SCRIPTS')
+        if not openocd_scripts:
+            raise RuntimeError('OPENOCD_SCRIPTS environment variable is not set.')
+
+        debug_args = project_desc.get('debug_arguments_openocd')
+        if not debug_args:
+            raise KeyError("'debug_arguments_openocd' key is missing in project_description.json")
+
+        # For debug purposes, make the value '4'
+        ocd_env = os.environ.copy()
+        ocd_env['LIBUSB_DEBUG'] = '1'
+
+        for _ in range(1, self.MAX_RETRIES + 1):
+            try:
+                self.proc = pexpect.spawn(
+                    command='openocd',
+                    args=['-s', openocd_scripts] + debug_args.split(),
+                    timeout=5,
+                    encoding='utf-8',
+                    codec_errors='ignore',
+                    env=ocd_env,
+                )
+                if self.proc and self.proc.isalive():
+                    self.proc.expect_exact('Info : Listening on port 3333 for gdb connections', timeout=5)
+                    self.connect_telnet()
+                    self.write('log_output {}'.format(self.log_file))
+                    return self
+            except (pexpect.exceptions.EOF, pexpect.exceptions.TIMEOUT, ConnectionRefusedError) as e:
+                logging.error('Error running OpenOCD: %s', str(e))
+                self.kill()
+            time.sleep(self.RETRY_DELAY)
+
+        raise RuntimeError('Failed to run OpenOCD after %d attempts.', self.MAX_RETRIES)
+
+    def connect_telnet(self) -> None:
+        for attempt in range(1, self.MAX_RETRIES + 1):
+            try:
+                self.telnet = Telnet('127.0.0.1', self.TELNET_PORT, 5)
+                break
+            except ConnectionRefusedError as e:
+                logging.error('Error telnet connection: %s in attempt:%d', e, attempt)
+                time.sleep(1)
+        else:
+            raise ConnectionRefusedError
+
+    def write(self, s: str) -> t.Any:
+        if self.telnet is None:
+            logging.error('Telnet connection is not established.')
+            return ''
+        resp = self.telnet.read_very_eager()
+        self.telnet.write(to_bytes(s, '\n'))
+        resp += self.telnet.read_until(b'>')
+        return to_str(resp)
+
+    def apptrace_wait_stop(self, timeout: int = 30) -> None:
+        stopped = False
+        end_before = time.time() + timeout
+        while not stopped:
+            cmd_out = self.write('esp apptrace status')
+            for line in cmd_out.splitlines():
+                if line.startswith('Tracing is STOPPED.'):
+                    stopped = True
+                    break
+            if not stopped and time.time() > end_before:
+                raise pexpect.TIMEOUT('Failed to wait for apptrace stop!')
+            time.sleep(1)
+
+    def kill(self) -> None:
+        # Check if the process is still running
+        if self.proc and self.proc.isalive():
+            self.proc.terminate()
+            self.proc.kill(signal.SIGKILL)
+
+
+@pytest.fixture
+def openocd_dut(dut: IdfDut) -> OpenOCD:
+    if isinstance(dut, tuple):
+        raise ValueError('Multi-DUT support is not implemented yet')
+    return OpenOCD(dut)
+
+
 @pytest.fixture(scope='session')
 def app_downloader(pipeline_id: t.Optional[str]) -> t.Optional[AppDownloader]:
     if not pipeline_id:
diff --git a/examples/system/.build-test-rules.yml b/examples/system/.build-test-rules.yml
index dd18995fa0..b9a7e0e7ed 100644
--- a/examples/system/.build-test-rules.yml
+++ b/examples/system/.build-test-rules.yml
@@ -2,7 +2,7 @@
 
 examples/system/app_trace_basic:
   disable_test:
-    - if: IDF_TARGET in ["esp32p4", "esp32c5", "esp32c61"]
+    - if: IDF_TARGET in ["esp32c5", "esp32c61"]
       temporary: true
       reason: lack of runners.
 
@@ -86,12 +86,9 @@ examples/system/freertos/real_time_stats:
 
 examples/system/gcov:
   disable_test:
-    - if: IDF_TARGET in ["esp32p4", "esp32c5", "esp32c61"]
+    - if: IDF_TARGET in ["esp32c5", "esp32c61"]
       temporary: true
       reason: lack of runners
-    - if: IDF_TARGET == "esp32s3"
-      temporary: true
-      reason: unstable, known data corruption issue #TODO: OCD-1048
 
 examples/system/gdbstub:
   disable:
@@ -247,17 +244,17 @@ examples/system/sysview_tracing:
   disable:
     - if: SOC_GPTIMER_SUPPORTED != 1
   disable_test:
-    - if: IDF_TARGET != "esp32"
+    - if: IDF_TARGET in ["esp32c5", "esp32c61"]
       temporary: true
-      reason: lack of runners
+      reason: lack of runners.
 
 examples/system/sysview_tracing_heap_log:
   disable:
     - if: SOC_GPTIMER_SUPPORTED != 1
   disable_test:
-    - if: IDF_TARGET != "esp32"
+    - if: IDF_TARGET in ["esp32c5", "esp32c61"]
       temporary: true
-      reason: lack of runners
+      reason: lack of runners.
 
 examples/system/task_watchdog:
   disable:
diff --git a/examples/system/app_trace_basic/pytest_app_trace_basic.py b/examples/system/app_trace_basic/pytest_app_trace_basic.py
index b715f25658..d43e6957dd 100644
--- a/examples/system/app_trace_basic/pytest_app_trace_basic.py
+++ b/examples/system/app_trace_basic/pytest_app_trace_basic.py
@@ -1,125 +1,19 @@
 # SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Unlicense OR CC0-1.0
-import json
-import logging
-import os
-import signal
 import time
-from telnetlib import Telnet
-from typing import Any
-from typing import Optional
+import typing
 
-import pexpect
 import pytest
-from pytest_embedded.utils import to_bytes
-from pytest_embedded.utils import to_str
 from pytest_embedded_idf import IdfDut
+from pytest_embedded_idf.utils import idf_parametrize
 
-MAX_RETRIES = 3
-RETRY_DELAY = 1
-TELNET_PORT = 4444
+if typing.TYPE_CHECKING:
+    from conftest import OpenOCD
 
 
-class OpenOCD:
-    def __init__(self, dut: 'IdfDut'):
-        self.dut = dut
-        self.telnet: Optional[Telnet] = None
-        self.log_file = os.path.join(self.dut.logdir, 'ocd.txt')
-        self.proc: Optional[pexpect.spawn] = None
-
-    def run(self) -> Optional['OpenOCD']:
-        desc_path = os.path.join(self.dut.app.binary_path, 'project_description.json')
-
-        try:
-            with open(desc_path, 'r') as f:
-                project_desc = json.load(f)
-        except FileNotFoundError:
-            logging.error('Project description file not found at %s', desc_path)
-            return None
-
-        openocd_scripts = os.getenv('OPENOCD_SCRIPTS')
-        if not openocd_scripts:
-            logging.error('OPENOCD_SCRIPTS environment variable is not set.')
-            return None
-
-        debug_args = project_desc.get('debug_arguments_openocd')
-        if not debug_args:
-            logging.error("'debug_arguments_openocd' key is missing in project_description.json")
-            return None
-
-        # For debug purposes, make the value '4'
-        ocd_env = os.environ.copy()
-        ocd_env['LIBUSB_DEBUG'] = '1'
-
-        for _ in range(1, MAX_RETRIES + 1):
-            try:
-                self.proc = pexpect.spawn(
-                    command='openocd',
-                    args=['-s', openocd_scripts] + debug_args.split(),
-                    timeout=5,
-                    encoding='utf-8',
-                    codec_errors='ignore',
-                    env=ocd_env,
-                )
-                if self.proc and self.proc.isalive():
-                    self.proc.expect_exact('Info : Listening on port 3333 for gdb connections', timeout=5)
-                    return self
-            except (pexpect.exceptions.EOF, pexpect.exceptions.TIMEOUT) as e:
-                logging.error('Error running OpenOCD: %s', str(e))
-                if self.proc and self.proc.isalive():
-                    self.proc.terminate()
-            time.sleep(RETRY_DELAY)
-
-        logging.error('Failed to run OpenOCD after %d attempts.', MAX_RETRIES)
-        return None
-
-    def connect_telnet(self) -> None:
-        for attempt in range(1, MAX_RETRIES + 1):
-            try:
-                self.telnet = Telnet('127.0.0.1', TELNET_PORT, 5)
-                break
-            except ConnectionRefusedError as e:
-                logging.error('Error telnet connection: %s in attempt:%d', e, attempt)
-                time.sleep(1)
-        else:
-            raise ConnectionRefusedError
-
-    def write(self, s: str) -> Any:
-        if self.telnet is None:
-            logging.error('Telnet connection is not established.')
-            return ''
-        resp = self.telnet.read_very_eager()
-        self.telnet.write(to_bytes(s, '\n'))
-        resp += self.telnet.read_until(b'>')
-        return to_str(resp)
-
-    def apptrace_wait_stop(self, timeout: int = 30) -> None:
-        stopped = False
-        end_before = time.time() + timeout
-        while not stopped:
-            cmd_out = self.write('esp apptrace status')
-            for line in cmd_out.splitlines():
-                if line.startswith('Tracing is STOPPED.'):
-                    stopped = True
-                    break
-            if not stopped and time.time() > end_before:
-                raise pexpect.TIMEOUT('Failed to wait for apptrace stop!')
-            time.sleep(1)
-
-    def kill(self) -> None:
-        # Check if the process is still running
-        if self.proc and self.proc.isalive():
-            self.proc.terminate()
-            self.proc.kill(signal.SIGKILL)
-
-
-def _test_examples_app_trace_basic(dut: IdfDut) -> None:
+def _test_examples_app_trace_basic(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
     dut.expect_exact('example: Waiting for OpenOCD connection', timeout=5)
-    openocd = OpenOCD(dut).run()
-    assert openocd
-    try:
-        openocd.connect_telnet()
-        openocd.write('log_output {}'.format(openocd.log_file))
+    with openocd_dut.run() as openocd:
         openocd.write('reset run')
         dut.expect_exact('example: Waiting for OpenOCD connection', timeout=5)
         time.sleep(1)  # wait for APPTRACE_INIT semihosting call
@@ -150,22 +44,15 @@ def _test_examples_app_trace_basic(dut: IdfDut) -> None:
                         break
                 if found is not True:
                     raise RuntimeError('"{}" could not be found in {}'.format(log_str, 'apptrace.log'))
-    finally:
-        openocd.kill()
 
 
-@pytest.mark.esp32
-@pytest.mark.esp32c2
-@pytest.mark.esp32s2
 @pytest.mark.jtag
-def test_examples_app_trace_basic(dut: IdfDut) -> None:
-    _test_examples_app_trace_basic(dut)
+@idf_parametrize('target', ['esp32', 'esp32c2', 'esp32s2'], indirect=['target'])
+def test_examples_app_trace_basic(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_examples_app_trace_basic(openocd_dut, dut)
 
 
-@pytest.mark.esp32s3
-@pytest.mark.esp32c3
-@pytest.mark.esp32c6
-@pytest.mark.esp32h2
 @pytest.mark.usb_serial_jtag
-def test_examples_app_trace_basic_usj(dut: IdfDut) -> None:
-    _test_examples_app_trace_basic(dut)
+@idf_parametrize('target', ['esp32s3', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32p4'], indirect=['target'])
+def test_examples_app_trace_basic_usj(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_examples_app_trace_basic(openocd_dut, dut)
diff --git a/examples/system/gcov/pytest_gcov.py b/examples/system/gcov/pytest_gcov.py
index 1513137edc..dca196cdfa 100644
--- a/examples/system/gcov/pytest_gcov.py
+++ b/examples/system/gcov/pytest_gcov.py
@@ -1,129 +1,23 @@
 # SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Unlicense OR CC0-1.0
-import json
-import logging
 import os.path
-import signal
 import time
-from telnetlib import Telnet
-from typing import Any
-from typing import Optional
+import typing
 
-import pexpect
 import pytest
-from pytest_embedded.utils import to_bytes
-from pytest_embedded.utils import to_str
 from pytest_embedded_idf import IdfDut
 from pytest_embedded_idf.utils import idf_parametrize
 
-MAX_RETRIES = 3
-RETRY_DELAY = 1
-TELNET_PORT = 4444
+if typing.TYPE_CHECKING:
+    from conftest import OpenOCD
 
 
-class OpenOCD:
-    def __init__(self, dut: 'IdfDut'):
-        self.dut = dut
-        self.telnet: Optional[Telnet] = None
-        self.log_file = os.path.join(self.dut.logdir, 'ocd.txt')
-        self.proc: Optional[pexpect.spawn] = None
-
-    def run(self) -> Optional['OpenOCD']:
-        desc_path = os.path.join(self.dut.app.binary_path, 'project_description.json')
-
-        try:
-            with open(desc_path, 'r') as f:
-                project_desc = json.load(f)
-        except FileNotFoundError:
-            logging.error('Project description file not found at %s', desc_path)
-            return None
-
-        openocd_scripts = os.getenv('OPENOCD_SCRIPTS')
-        if not openocd_scripts:
-            logging.error('OPENOCD_SCRIPTS environment variable is not set.')
-            return None
-
-        debug_args = project_desc.get('debug_arguments_openocd')
-        if not debug_args:
-            logging.error("'debug_arguments_openocd' key is missing in project_description.json")
-            return None
-
-        # For debug purposes, make the value '4'
-        ocd_env = os.environ.copy()
-        ocd_env['LIBUSB_DEBUG'] = '1'
-
-        for _ in range(1, MAX_RETRIES + 1):
-            try:
-                self.proc = pexpect.spawn(
-                    command='openocd',
-                    args=['-s', openocd_scripts] + debug_args.split(),
-                    timeout=5,
-                    encoding='utf-8',
-                    codec_errors='ignore',
-                    env=ocd_env,
-                )
-                if self.proc and self.proc.isalive():
-                    self.proc.expect_exact('Info : Listening on port 3333 for gdb connections', timeout=5)
-                    return self
-            except (pexpect.exceptions.EOF, pexpect.exceptions.TIMEOUT) as e:
-                logging.error('Error running OpenOCD: %s', str(e))
-                if self.proc and self.proc.isalive():
-                    self.proc.terminate()
-            time.sleep(RETRY_DELAY)
-
-        logging.error('Failed to run OpenOCD after %d attempts.', MAX_RETRIES)
-        return None
-
-    def connect_telnet(self) -> None:
-        for attempt in range(1, MAX_RETRIES + 1):
-            try:
-                self.telnet = Telnet('127.0.0.1', TELNET_PORT, 5)
-                break
-            except ConnectionRefusedError as e:
-                logging.error('Error telnet connection: %s in attempt:%d', e, attempt)
-                time.sleep(1)
-        else:
-            raise ConnectionRefusedError
-
-    def write(self, s: str) -> Any:
-        if self.telnet is None:
-            logging.error('Telnet connection is not established.')
-            return ''
-        resp = self.telnet.read_very_eager()
-        self.telnet.write(to_bytes(s, '\n'))
-        resp += self.telnet.read_until(b'>')
-        return to_str(resp)
-
-    def apptrace_wait_stop(self, timeout: int = 30) -> None:
-        stopped = False
-        end_before = time.time() + timeout
-        while not stopped:
-            cmd_out = self.write('esp apptrace status')
-            for line in cmd_out.splitlines():
-                if line.startswith('Tracing is STOPPED.'):
-                    stopped = True
-                    break
-            if not stopped and time.time() > end_before:
-                raise pexpect.TIMEOUT('Failed to wait for apptrace stop!')
-            time.sleep(1)
-
-    def kill(self) -> None:
-        # Check if the process is still running
-        if self.proc and self.proc.isalive():
-            self.proc.terminate()
-            self.proc.kill(signal.SIGKILL)
-
-
-def _test_gcov(dut: IdfDut) -> None:
+def _test_gcov(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
     # create the generated .gcda folder, otherwise would have error: failed to open file.
     # normally this folder would be created via `idf.py build`. but in CI the non-related files would not be preserved
     os.makedirs(os.path.join(dut.app.binary_path, 'esp-idf', 'main', 'CMakeFiles', '__idf_main.dir'), exist_ok=True)
     os.makedirs(os.path.join(dut.app.binary_path, 'esp-idf', 'sample', 'CMakeFiles', '__idf_sample.dir'), exist_ok=True)
 
-    dut.expect_exact('example: Ready for OpenOCD connection', timeout=5)
-    openocd = OpenOCD(dut).run()
-    assert openocd
-
     def expect_counter_output(loop: int, timeout: int = 10) -> None:
         dut.expect_exact(
             [f'blink_dummy_func: Counter = {loop}', f'some_dummy_func: Counter = {loop * 2}'],
@@ -153,9 +47,8 @@ def _test_gcov(dut: IdfDut) -> None:
 
         assert len(expect_lines) == 0
 
-    try:
-        openocd.connect_telnet()
-        openocd.write('log_output {}'.format(openocd.log_file))
+    dut.expect_exact('example: Ready for OpenOCD connection', timeout=5)
+    with openocd_dut.run() as openocd:
         openocd.write('reset run')
         dut.expect_exact('example: Ready for OpenOCD connection', timeout=5)
 
@@ -177,17 +70,15 @@ def _test_gcov(dut: IdfDut) -> None:
             time.sleep(1)
             # Test instant run-time dump
             dump_coverage('esp gcov')
-    finally:
-        openocd.kill()
 
 
 @pytest.mark.jtag
 @idf_parametrize('target', ['esp32', 'esp32c2', 'esp32s2'], indirect=['target'])
-def test_gcov(dut: IdfDut) -> None:
-    _test_gcov(dut)
+def test_gcov(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_gcov(openocd_dut, dut)
 
 
 @pytest.mark.usb_serial_jtag
-@idf_parametrize('target', ['esp32c3', 'esp32c6', 'esp32h2'], indirect=['target'])
-def test_gcov_usj(dut: IdfDut) -> None:
-    _test_gcov(dut)
+@idf_parametrize('target', ['esp32s3', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32p4'], indirect=['target'])
+def test_gcov_usj(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_gcov(openocd_dut, dut)
diff --git a/examples/system/sysview_tracing/main/sysview_tracing.c b/examples/system/sysview_tracing/main/sysview_tracing.c
index 5a68888bfe..115224fb97 100644
--- a/examples/system/sysview_tracing/main/sysview_tracing.c
+++ b/examples/system/sysview_tracing/main/sysview_tracing.c
@@ -134,11 +134,13 @@ static void example_task(void *p)
 
 void app_main(void)
 {
+    ESP_LOGI(TAG, "Ready for OpenOCD connection");
+
     static example_event_data_t event_data[CONFIG_FREERTOS_NUMBER_OF_CORES];
 
 #if CONFIG_APPTRACE_SV_ENABLE && CONFIG_USE_CUSTOM_EVENT_ID
     // Currently OpenOCD does not support requesting module info from target. So do the following...
-    // Wait untill SystemView module receives START command from host,
+    // Wait until SystemView module receives START command from host,
     // after that data can be sent to the host using onboard API,
     // so user module description does not need to be requested by OpenOCD itself.
     while (!SEGGER_SYSVIEW_Started()) {
diff --git a/examples/system/sysview_tracing/pytest_sysview_tracing.py b/examples/system/sysview_tracing/pytest_sysview_tracing.py
index 6af3e02c71..63c29d44fb 100644
--- a/examples/system/sysview_tracing/pytest_sysview_tracing.py
+++ b/examples/system/sysview_tracing/pytest_sysview_tracing.py
@@ -1,47 +1,66 @@
 # SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Unlicense OR CC0-1.0
+import os.path
 import re
 import time
+import typing
 
-import pexpect.fdpexpect
+import pexpect
 import pytest
 from pytest_embedded_idf import IdfDut
+from pytest_embedded_idf.utils import idf_parametrize
+
+if typing.TYPE_CHECKING:
+    from conftest import OpenOCD
 
 
-@pytest.mark.esp32
-@pytest.mark.jtag
-@pytest.mark.parametrize(
-    'embedded_services',
-    [
-        'esp,idf,jtag',
-    ],
-    indirect=True,
-)
-def test_examples_sysview_tracing(dut: IdfDut) -> None:
+def _test_examples_sysview_tracing(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    # Construct trace log paths
+    trace_log = [
+        os.path.join(dut.logdir, 'sys_log0.svdat')  # pylint: disable=protected-access
+    ]
+    if not dut.app.sdkconfig.get('ESP_SYSTEM_SINGLE_CORE_MODE') or dut.target == 'esp32s3':
+        trace_log.append(os.path.join(dut.logdir, 'sys_log1.svdat'))  # pylint: disable=protected-access
+    trace_files = ' '.join([f'file://{log}' for log in trace_log])
+
+    # Prepare gdbinit file
+    gdb_logfile = os.path.join(dut.logdir, 'gdb.txt')
+    gdbinit_orig = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'gdbinit')
+    gdbinit = os.path.join(dut.logdir, 'gdbinit')
+    with open(gdbinit_orig, 'r') as f_r, open(gdbinit, 'w') as f_w:
+        for line in f_r:
+            if line.startswith('mon esp sysview start'):
+                f_w.write(f'mon esp sysview start {trace_files}\n')
+            else:
+                f_w.write(line)
+
     def dut_expect_task_event() -> None:
-        dut.expect(re.compile(rb'example: Task\[0x3[0-9A-Fa-f]+\]: received event \d+'), timeout=30)
-
-    dut.gdb.write('mon reset halt')
-    dut.gdb.write('maintenance flush register-cache')
-    dut.gdb.write('b app_main')
-
-    dut.gdb.write('commands', non_blocking=True)
-    dut.gdb.write(
-        'mon esp sysview start file:///tmp/sysview_example0.svdat file:///tmp/sysview_example1.svdat', non_blocking=True
-    )
-    dut.gdb.write('c', non_blocking=True)
-    dut.gdb.write('end')
-
-    dut.gdb.write('c', non_blocking=True)
-    time.sleep(1)  # to avoid EOF file error
-    with open(dut.gdb._logfile, encoding='utf-8') as fr:  # pylint: disable=protected-access
-        gdb_pexpect_proc = pexpect.fdpexpect.fdspawn(fr.fileno())
-        gdb_pexpect_proc.expect('Thread 2 "main" hit Breakpoint 1, app_main ()')
+        dut.expect(re.compile(rb'example: Task\[0x[0-9A-Fa-f]+\]: received event \d+'), timeout=30)
 
+    dut.expect_exact('example: Ready for OpenOCD connection', timeout=5)
+    with openocd_dut.run() as openocd, open(gdb_logfile, 'w') as gdb_log, pexpect.spawn(
+        f'idf.py -B {dut.app.binary_path} gdb --batch -x {gdbinit}',
+        timeout=60,
+        logfile=gdb_log,
+        encoding='utf-8',
+        codec_errors='ignore',
+    ) as p:
+        p.expect_exact('hit Breakpoint 1, app_main ()')
         dut.expect('example: Created task')  # dut has been restarted by gdb since the last dut.expect()
         dut_expect_task_event()
 
         # Do a sleep while sysview samples are captured.
         time.sleep(3)
-        # GDB isn't responding now to any commands, therefore, the following command is issued to openocd
-        dut.openocd.write('esp sysview stop')
+        openocd.write('esp sysview stop')
+
+
+@pytest.mark.jtag
+@idf_parametrize('target', ['esp32', 'esp32c2', 'esp32s2'], indirect=['target'])
+def test_examples_sysview_tracing(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_examples_sysview_tracing(openocd_dut, dut)
+
+
+@pytest.mark.usb_serial_jtag
+@idf_parametrize('target', ['esp32s3', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32p4'], indirect=['target'])
+def test_examples_sysview_tracing_usj(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_examples_sysview_tracing(openocd_dut, dut)
diff --git a/examples/system/sysview_tracing/sdkconfig.defaults b/examples/system/sysview_tracing/sdkconfig.defaults
index d93b1caeb7..a08cc7e128 100644
--- a/examples/system/sysview_tracing/sdkconfig.defaults
+++ b/examples/system/sysview_tracing/sdkconfig.defaults
@@ -1,5 +1,3 @@
-# Enable single core mode by default
-CONFIG_FREERTOS_UNICORE=y
 # 1ms tick period
 CONFIG_FREERTOS_HZ=1000
 # Enable application tracing by default
diff --git a/examples/system/sysview_tracing_heap_log/main/sysview_heap_log.c b/examples/system/sysview_tracing_heap_log/main/sysview_heap_log.c
index f07b6c821b..aecf041da5 100644
--- a/examples/system/sysview_tracing_heap_log/main/sysview_heap_log.c
+++ b/examples/system/sysview_tracing_heap_log/main/sysview_heap_log.c
@@ -53,7 +53,7 @@ static void alloc_task(void *p)
     snprintf(task_name, sizeof(task_name), "free%d", task_args->idx);
     xTaskCreatePinnedToCore(free_task, task_name, 2500, queue, 5, NULL, CONFIG_FREERTOS_NUMBER_OF_CORES-1);
 
-    // here GDB will stop at brekpoint and execute OpenOCD command to start tracing
+    // here GDB will stop at breakpoint and execute OpenOCD command to start tracing
     for(int i = 1; i < 10; i++) {
         uint32_t sz = 2*i*(task_args->idx + 1);
         void *p = malloc(sz/2);
@@ -73,6 +73,8 @@ static void alloc_task(void *p)
 
 void app_main(void)
 {
+    ESP_LOGI(TAG, "Ready for OpenOCD connection");
+
     const int num_allocers = 3;
     char task_name[20];
     // redirect log messages to the host using SystemView tracing module
@@ -100,6 +102,6 @@ void app_main(void)
         uint32_t val = ulTaskNotifyTake(pdFALSE, portMAX_DELAY);
         ESP_LOGI(TAG, "Got notify val %"PRIu32, val);
     }
-    // here GDB will stop at brekpoint and execute OpenOCD command to stop tracing
+    // here GDB will stop at breakpoint and execute OpenOCD command to stop tracing
     heap_trace_stop();
 }
diff --git a/examples/system/sysview_tracing_heap_log/pytest_sysview_tracing_heap_log.py b/examples/system/sysview_tracing_heap_log/pytest_sysview_tracing_heap_log.py
index c6147f52d5..ccd0339101 100644
--- a/examples/system/sysview_tracing_heap_log/pytest_sysview_tracing_heap_log.py
+++ b/examples/system/sysview_tracing_heap_log/pytest_sysview_tracing_heap_log.py
@@ -1,47 +1,47 @@
 # SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Unlicense OR CC0-1.0
 import os.path
-import time
+import typing
 
 import pexpect.fdpexpect
 import pytest
 from pytest_embedded_idf import IdfDut
+from pytest_embedded_idf.utils import idf_parametrize
+
+if typing.TYPE_CHECKING:
+    from conftest import OpenOCD
 
 
-@pytest.mark.esp32
-@pytest.mark.jtag
-@pytest.mark.parametrize('config', ['app_trace_jtag'], indirect=True)
-@pytest.mark.parametrize('embedded_services', ['esp,idf,jtag'], indirect=True)
-def test_examples_sysview_tracing_heap_log(idf_path: str, dut: IdfDut) -> None:
+def _test_examples_sysview_tracing_heap_log(openocd_dut: 'OpenOCD', idf_path: str, dut: IdfDut) -> None:
     # Construct trace log paths
     trace_log = [
-        os.path.join(os.path.dirname(dut.gdb._logfile), 'heap_log0.svdat')  # pylint: disable=protected-access
+        os.path.join(dut.logdir, 'heap_log0.svdat')  # pylint: disable=protected-access
     ]
-    if dut.target in ['esp32', 'esp32s3', 'esp32p4']:
-        trace_log.append(os.path.join(os.path.dirname(dut.gdb._logfile), 'heap_log1.svdat'))  # pylint: disable=protected-access
-
-    # Set up GDB
-    dut.gdb.write('set width unlimited')  # Don't split output lines for easy parsing
-    dut.gdb.write('mon reset halt')
-    dut.gdb.write('maintenance flush register-cache')
-
-    # Start sysview tracing
-    dut.gdb.write('tb heap_trace_start')
-    dut.gdb.write('commands', non_blocking=True)
+    if not dut.app.sdkconfig.get('ESP_SYSTEM_SINGLE_CORE_MODE') or dut.target == 'esp32s3':
+        trace_log.append(os.path.join(dut.logdir, 'heap_log1.svdat'))  # pylint: disable=protected-access
     trace_files = ' '.join([f'file://{log}' for log in trace_log])
-    dut.gdb.write(f'mon esp sysview start {trace_files}', non_blocking=True)
-    dut.gdb.write('c', non_blocking=True)
-    dut.gdb.write('end')
 
-    # Stop sysview tracing
-    dut.gdb.write('tb heap_trace_stop')
-    dut.gdb.write('commands', non_blocking=True)
-    dut.gdb.write('mon esp sysview stop', non_blocking=True)
-    dut.gdb.write('end')
-    dut.gdb.write('c', non_blocking=True)
+    # Prepare gdbinit file
+    gdb_logfile = os.path.join(dut.logdir, 'gdb.txt')
+    gdbinit_orig = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'gdbinit')
+    gdbinit = os.path.join(dut.logdir, 'gdbinit')
+    with open(gdbinit_orig, 'r') as f_r, open(gdbinit, 'w') as f_w:
+        for line in f_r:
+            if line.startswith('mon esp sysview start'):
+                f_w.write(f'mon esp sysview start {trace_files}\n')
+            else:
+                f_w.write(line)
 
-    # Wait for sysview files to be generated
-    time.sleep(1)
+    dut.expect_exact('example: Ready for OpenOCD connection', timeout=5)
+    with openocd_dut.run(), open(gdb_logfile, 'w') as gdb_log, pexpect.spawn(
+        f'idf.py -B {dut.app.binary_path} gdb --batch -x {gdbinit}',
+        timeout=60,
+        logfile=gdb_log,
+        encoding='utf-8',
+        codec_errors='ignore',
+    ) as p:
+        # Wait for sysview files to be generated
+        p.expect_exact('Tracing is STOPPED')
 
     # Process sysview trace logs
     command = [os.path.join(idf_path, 'tools', 'esp_app_trace', 'sysviewtrace_proc.py'), '-p'] + trace_log
@@ -49,8 +49,22 @@ def test_examples_sysview_tracing_heap_log(idf_path: str, dut: IdfDut) -> None:
         sysviewtrace.expect(r'Found \d+ leaked bytes in \d+ blocks.', timeout=120)
 
     # Validate GDB logs
-    with open(dut.gdb._logfile, encoding='utf-8') as fr:  # pylint: disable=protected-access
+    with open(gdb_logfile, encoding='utf-8') as fr:  # pylint: disable=protected-access
         gdb_pexpect_proc = pexpect.fdpexpect.fdspawn(fr.fileno())
         gdb_pexpect_proc.expect_exact(
             'Thread 2 "main" hit Temporary breakpoint 1, heap_trace_start (mode_param', timeout=10)  # should be (mode_param=HEAP_TRACE_ALL) # TODO GCC-329
         gdb_pexpect_proc.expect_exact('Thread 2 "main" hit Temporary breakpoint 2, heap_trace_stop ()', timeout=10)
+
+
+@pytest.mark.parametrize('config', ['app_trace_jtag'], indirect=True)
+@pytest.mark.jtag
+@idf_parametrize('target', ['esp32', 'esp32c2', 'esp32s2'], indirect=['target'])
+def test_examples_sysview_tracing_heap_log(openocd_dut: 'OpenOCD', idf_path: str, dut: IdfDut) -> None:
+    _test_examples_sysview_tracing_heap_log(openocd_dut, idf_path, dut)
+
+
+@pytest.mark.parametrize('config', ['app_trace_jtag'], indirect=True)
+@pytest.mark.usb_serial_jtag
+@idf_parametrize('target', ['esp32s3', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32p4'], indirect=['target'])
+def test_examples_sysview_tracing_heap_log_usj(openocd_dut: 'OpenOCD', idf_path: str, dut: IdfDut) -> None:
+    _test_examples_sysview_tracing_heap_log(openocd_dut, idf_path, dut)
diff --git a/tools/idf_py_actions/roms.json b/tools/idf_py_actions/roms.json
index 01524dc9cf..23209f74eb 100644
--- a/tools/idf_py_actions/roms.json
+++ b/tools/idf_py_actions/roms.json
@@ -42,6 +42,11 @@
       "rev": 3,
       "build_date_str_addr": "0x3ff1a374",
       "build_date_str": "Feb  7 2021"
+    },
+    {
+      "rev": 101,
+      "build_date_str_addr": "0x3ff1a3dc",
+      "build_date_str": "Mar  1 2023"
     }
   ],
   "esp32c5": [
diff --git a/tools/test_apps/system/.build-test-rules.yml b/tools/test_apps/system/.build-test-rules.yml
index 10299d9b01..2b0bc937e4 100644
--- a/tools/test_apps/system/.build-test-rules.yml
+++ b/tools/test_apps/system/.build-test-rules.yml
@@ -38,9 +38,9 @@ tools/test_apps/system/g1_components:
 
 tools/test_apps/system/gdb:
   disable_test:
-    - if: IDF_TARGET in ["esp32s3", "esp32c2", "esp32c3", "esp32c5", "esp32c61", "esp32p4"]
+    - if: IDF_TARGET in ["esp32p4", "esp32c5", "esp32c61"]
       temporary: true
-      reason: lack of runners
+      reason: not supported yet # TODO: IDF-13142
 
 tools/test_apps/system/gdb_loadable_elf:
   disable_test:
diff --git a/tools/test_apps/system/gdb/pytest_gdb.py b/tools/test_apps/system/gdb/pytest_gdb.py
index 51794857d8..3e2ffdc97d 100644
--- a/tools/test_apps/system/gdb/pytest_gdb.py
+++ b/tools/test_apps/system/gdb/pytest_gdb.py
@@ -1,72 +1,19 @@
 # SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Unlicense OR CC0-1.0
-import json
-import logging
 import os
 import re
-import subprocess
-import time
-from subprocess import Popen
-from typing import Optional
+import typing
 
 import pexpect
 import pytest
 from pytest_embedded_idf import IdfDut
+from pytest_embedded_idf.utils import idf_parametrize
 
-MAX_RETRIES = 3
-RETRY_DELAY = 3  # seconds
+if typing.TYPE_CHECKING:
+    from conftest import OpenOCD
 
 
-def run_openocd(dut: IdfDut) -> Optional[Popen]:
-
-    desc_path = os.path.join(dut.app.binary_path, 'project_description.json')
-    try:
-        with open(desc_path, 'r') as f:
-            project_desc = json.load(f)
-    except FileNotFoundError:
-        logging.error('Project description file not found at %s', desc_path)
-        return None
-
-    openocd_scripts = os.getenv('OPENOCD_SCRIPTS')
-    if not openocd_scripts:
-        logging.error('OPENOCD_SCRIPTS environment variable is not set.')
-        return None
-
-    debug_args = project_desc.get('debug_arguments_openocd')
-    if not debug_args:
-        logging.error("'debug_arguments_openocd' key is missing in project_description.json")
-        return None
-
-    cmd = ['openocd'] + ['-s', openocd_scripts] + debug_args.split()
-
-    # For debug purpose, make the value '4'
-    ocd_env = os.environ.copy()
-    ocd_env['LIBUSB_DEBUG'] = '1'
-
-    for attempt in range(1, MAX_RETRIES + 1):
-        logging.info('Attempt %d: Running %s', attempt, cmd)
-        with open(os.path.join(dut.logdir, 'ocd.txt'), 'w') as ocd_log:
-            try:
-                ocd = subprocess.Popen(cmd, stdout=ocd_log, stderr=ocd_log, env=ocd_env)
-                time.sleep(1)
-
-                # Check if the process is running successfully
-                if ocd.poll() is None:
-                    return ocd
-                else:
-                    logging.error('OpenOCD exited with error code %d', ocd.returncode)
-            except subprocess.SubprocessError as e:
-                logging.error('Error running OpenOCD: %s', e)
-
-        logging.warning("OpenOCD couldn't be run. Retrying in %d seconds...", RETRY_DELAY)
-        time.sleep(RETRY_DELAY)
-
-    logging.error('Failed to run OpenOCD after %d attempts.', MAX_RETRIES)
-
-    return None
-
-
-def _test_idf_gdb(dut: IdfDut) -> None:
+def _test_idf_gdb(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
     # Need to wait a moment to connect via OpenOCD after the hard reset happened.
     # Along with this check that app runs ok
     dut.expect('Hello world!')
@@ -74,35 +21,27 @@ def _test_idf_gdb(dut: IdfDut) -> None:
     # Don't need to have output from UART anymore
     dut.serial.stop_redirect_thread()
 
-    ocd = run_openocd(dut)
-    assert ocd
-
-    try:
-        with open(os.path.join(dut.logdir, 'gdb.txt'), 'w') as gdb_log, \
-            pexpect.spawn(f'idf.py -B {dut.app.binary_path} gdb --batch',
-                          timeout=60,
-                          logfile=gdb_log,
-                          encoding='utf-8',
-                          codec_errors='ignore') as p:
-            p.expect(re.compile(r'add symbol table from file.*bootloader.elf'))
-            p.expect(re.compile(r'add symbol table from file.*rom.elf'))  # if fail here: add target support here https://github.com/espressif/esp-rom-elfs
-            p.expect_exact('hit Temporary breakpoint 1, app_main ()')
-    finally:
-        # Check if the process is still running
-        if ocd.poll() is None:
-            ocd.terminate()
-            ocd.kill()
+    with openocd_dut.run(), open(os.path.join(dut.logdir, 'gdb.txt'), 'w') as gdb_log, pexpect.spawn(
+        f'idf.py -B {dut.app.binary_path} gdb --batch',
+        timeout=60,
+        logfile=gdb_log,
+        encoding='utf-8',
+        codec_errors='ignore',
+    ) as p:
+        p.expect(re.compile(r'add symbol table from file.*bootloader.elf'))
+        p.expect(
+            re.compile(r'add symbol table from file.*rom.elf')
+        )  # if fail here: add target support here https://github.com/espressif/esp-rom-elfs
+        p.expect_exact('hit Temporary breakpoint 1, app_main ()')
 
 
-@pytest.mark.esp32
-@pytest.mark.esp32s2
 @pytest.mark.jtag
-def test_idf_gdb(dut: IdfDut) -> None:
-    _test_idf_gdb(dut)
+@idf_parametrize('target', ['esp32', 'esp32c2', 'esp32s2'], indirect=['target'])
+def test_idf_gdb(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_idf_gdb(openocd_dut, dut)
 
 
-@pytest.mark.esp32c6
-@pytest.mark.esp32h2
 @pytest.mark.usb_serial_jtag
-def test_idf_gdb_usj(dut: IdfDut) -> None:
-    _test_idf_gdb(dut)
+@idf_parametrize('target', ['esp32s3', 'esp32c3', 'esp32c6', 'esp32h2'], indirect=['target'])
+def test_idf_gdb_usj(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_idf_gdb(openocd_dut, dut)