diff --git a/tools/test_apps/system/.build-test-rules.yml b/tools/test_apps/system/.build-test-rules.yml
index c98392018b..10299d9b01 100644
--- a/tools/test_apps/system/.build-test-rules.yml
+++ b/tools/test_apps/system/.build-test-rules.yml
@@ -36,6 +36,12 @@ tools/test_apps/system/g0_components:
 
 tools/test_apps/system/g1_components:
 
+tools/test_apps/system/gdb:
+  disable_test:
+    - if: IDF_TARGET in ["esp32s3", "esp32c2", "esp32c3", "esp32c5", "esp32c61", "esp32p4"]
+      temporary: true
+      reason: lack of runners
+
 tools/test_apps/system/gdb_loadable_elf:
   disable_test:
     - if: IDF_TARGET != "esp32"
diff --git a/tools/test_apps/system/gdb/pytest_gdb.py b/tools/test_apps/system/gdb/pytest_gdb.py
index dbac6c8c70..51794857d8 100644
--- a/tools/test_apps/system/gdb/pytest_gdb.py
+++ b/tools/test_apps/system/gdb/pytest_gdb.py
@@ -1,19 +1,72 @@
-# SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+# 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 pexpect
 import pytest
 from pytest_embedded_idf import IdfDut
 
+MAX_RETRIES = 3
+RETRY_DELAY = 3  # seconds
 
-@pytest.mark.supported_targets
-@pytest.mark.jtag
-def test_idf_gdb(dut: IdfDut) -> None:
+
+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:
     # 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!')
@@ -21,29 +74,35 @@ def test_idf_gdb(dut: IdfDut) -> None:
     # Don't need to have output from UART anymore
     dut.serial.stop_redirect_thread()
 
-    desc_path = os.path.join(dut.app.binary_path, 'project_description.json')
-    with open(desc_path, 'r') as f:
-        project_desc = json.load(f)
+    ocd = run_openocd(dut)
+    assert ocd
 
-    with open(os.path.join(dut.logdir, 'ocd.txt'), 'w') as ocd_log:
-        cmd = ['openocd'] + project_desc['debug_arguments_openocd'].split()
-        openocd_scripts = os.getenv('OPENOCD_SCRIPTS')
-        if openocd_scripts:
-            cmd.extend(['-s', openocd_scripts])
-
-        logging.info('Running %s', cmd)
-        ocd = subprocess.Popen(cmd, stdout=ocd_log, stderr=ocd_log)
-
-        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:
+    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()
+
+
+@pytest.mark.esp32
+@pytest.mark.esp32s2
+@pytest.mark.jtag
+def test_idf_gdb(dut: IdfDut) -> None:
+    _test_idf_gdb(dut)
+
+
+@pytest.mark.esp32c6
+@pytest.mark.esp32h2
+@pytest.mark.usb_serial_jtag
+def test_idf_gdb_usj(dut: IdfDut) -> None:
+    _test_idf_gdb(dut)