diff --git a/components/openthread/Kconfig b/components/openthread/Kconfig
index bca02ec1fb..54ecce875a 100644
--- a/components/openthread/Kconfig
+++ b/components/openthread/Kconfig
@@ -320,8 +320,8 @@ menu "OpenThread"
 
         config OPENTHREAD_RX_ON_WHEN_IDLE
             bool "Enable OpenThread radio capability rx on when idle"
-            default y if !ESP_COEX_SW_COEXIST_ENABLE
-            default n if ESP_COEX_SW_COEXIST_ENABLE
+            default y if !ESP_COEX_SW_COEXIST_ENABLE && !ESP_COEX_EXTERNAL_COEXIST_ENABLE
+            default n if ESP_COEX_SW_COEXIST_ENABLE || ESP_COEX_EXTERNAL_COEXIST_ENABLE
             help
                 Select this option to enable OpenThread radio capability rx on when idle.
                 Do not support this feature when SW coexistence is enabled.
@@ -343,7 +343,7 @@ menu "OpenThread"
                 RSS to its current parent every periodically and starts a parent search process if the average
                 RSS is below OPENTHREAD_PARENT_SEARCH_RSS_THRESHOLD. This feature is always enabled for FTDs.
         menu "Parent Search Configurations"
-            depends on OPENTHREAD_PARENT_SEARCH_MTD
+            depends on OPENTHREAD_PARENT_SEARCH_MTD || OPENTHREAD_FTD
             config OPENTHREAD_PARENT_SEARCH_CHECK_INTERVAL_MINS
                 int "The interval in minutes for a child to check the trigger condition to perform a parent search"
                 default 9
@@ -353,6 +353,12 @@ menu "OpenThread"
             config OPENTHREAD_PARENT_SEARCH_RSS_THRESHOLD
                 int "The RSS threshold used to trigger a parent search"
                 default -65
+            config OPENTHREAD_PARENT_SEARCH_RESELECT_TIMEOUT_MINS
+                int "The parent reselect timeout duration in minutes used on FTD child devices"
+                default 90
+            config OPENTHREAD_PARENT_SEARCH_RSS_MARGIN
+                int "The RSS margin over the current parent RSS used on FTD child devices"
+                default 7
         endmenu
 
         menu "Thread Memory Allocation"
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 57e19977d0..6e62ee5f39 100644
--- a/components/openthread/private_include/openthread-core-esp32x-ftd-config.h
+++ b/components/openthread/private_include/openthread-core-esp32x-ftd-config.h
@@ -382,6 +382,68 @@
 #define OPENTHREAD_CONFIG_BORDER_AGENT_ENABLE 0
 #endif
 
+/**
+ * @def OPENTHREAD_CONFIG_PARENT_SEARCH_CHECK_INTERVAL
+ *
+ * Specifies the interval in seconds for a child to check the trigger condition to perform a parent search.
+ *
+ * Applicable only if periodic parent search feature is enabled (see `OPENTHREAD_CONFIG_PARENT_SEARCH_ENABLE`).
+ */
+#ifdef OPENTHREAD_CONFIG_PARENT_SEARCH_CHECK_INTERVAL
+#error `OPENTHREAD_CONFIG_PARENT_SEARCH_CHECK_INTERVAL` is redefined.
+#endif
+#define OPENTHREAD_CONFIG_PARENT_SEARCH_CHECK_INTERVAL CONFIG_OPENTHREAD_PARENT_SEARCH_CHECK_INTERVAL_MINS * 60
+
+/**
+ * @def OPENTHREAD_CONFIG_PARENT_SEARCH_BACKOFF_INTERVAL
+ *
+ * Specifies the backoff interval in seconds for a child to not perform a parent search after triggering one. This is
+ * used when device is an MTD child.
+ *
+ * Applicable only if periodic parent search feature is enabled (see `OPENTHREAD_CONFIG_PARENT_SEARCH_ENABLE`).
+ */
+#ifdef OPENTHREAD_CONFIG_PARENT_SEARCH_BACKOFF_INTERVAL
+#error `OPENTHREAD_CONFIG_PARENT_SEARCH_BACKOFF_INTERVAL` is redefined.
+#endif
+#define OPENTHREAD_CONFIG_PARENT_SEARCH_BACKOFF_INTERVAL CONFIG_OPENTHREAD_PARENT_SEARCH_BACKOFF_INTERVAL_MINS * 60
+
+/**
+ * @def OPENTHREAD_CONFIG_PARENT_SEARCH_RSS_THRESHOLD
+ *
+ * Specifies the RSS threshold used to trigger a parent search.
+ *
+ * Applicable only if periodic parent search feature is enabled (see `OPENTHREAD_CONFIG_PARENT_SEARCH_ENABLE`).
+ */
+#ifdef OPENTHREAD_CONFIG_PARENT_SEARCH_RSS_THRESHOLD
+#error `OPENTHREAD_CONFIG_PARENT_SEARCH_RSS_THRESHOLD` is redefined.
+#endif
+#define OPENTHREAD_CONFIG_PARENT_SEARCH_RSS_THRESHOLD CONFIG_OPENTHREAD_PARENT_SEARCH_RSS_THRESHOLD
+
+/**
+ * @def OPENTHREAD_CONFIG_PARENT_SEARCH_RESELECT_TIMEOUT
+ *
+ * Specifies parent reselect timeout duration in seconds used on FTD child devices. When an attach attempt to a
+ * neighboring router selected as a potential new parent fails, the same router cannot be selected again until this
+ * timeout expires.
+ *
+ * Applicable only if periodic parent search feature is enabled (see `OPENTHREAD_CONFIG_PARENT_SEARCH_ENABLE`).
+ */
+#ifdef OPENTHREAD_CONFIG_PARENT_SEARCH_RESELECT_TIMEOUT
+#error `OPENTHREAD_CONFIG_PARENT_SEARCH_RESELECT_TIMEOUT` is redefined.
+#endif
+#define OPENTHREAD_CONFIG_PARENT_SEARCH_RESELECT_TIMEOUT CONFIG_OPENTHREAD_PARENT_SEARCH_RESELECT_TIMEOUT_MINS * 60
+
+/**
+ * @def OPENTHREAD_CONFIG_PARENT_SEARCH_RSS_MARGIN
+ *
+ * Specifies the RSS margin over the current parent RSS for allowing selection of a neighboring router as a potential
+ * new parent to attach to. Used on FTD child devices.
+ */
+#ifdef OPENTHREAD_CONFIG_PARENT_SEARCH_RSS_MARGIN
+#error `OPENTHREAD_CONFIG_PARENT_SEARCH_RSS_MARGIN` is redefined.
+#endif
+#define OPENTHREAD_CONFIG_PARENT_SEARCH_RSS_MARGIN CONFIG_OPENTHREAD_PARENT_SEARCH_RSS_MARGIN
+
 /*----The following options set fixed default values but can be overridden by the user header file.----*/
 
 #if CONFIG_OPENTHREAD_BORDER_ROUTER