diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 2c58332c51..43787dce4d 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -73,6 +73,7 @@ variables:
 
 before_script:
   - source tools/ci/utils.sh
+  - is_based_on_commits $REQUIRED_ANCESTOR_COMMITS
   - source tools/ci/setup_python.sh
   - apply_bot_filter
   - add_gitlab_ssh_keys
@@ -85,6 +86,7 @@ before_script:
   before_script:
     - echo "Not setting up GitLab key, not fetching submodules, not applying bot filter"
     - source tools/ci/utils.sh
+    - is_based_on_commits $REQUIRED_ANCESTOR_COMMITS
     - source tools/ci/setup_python.sh
     - source tools/ci/configure_ci_environment.sh
 
@@ -93,6 +95,7 @@ before_script:
   before_script:
     - echo "Not setting up GitLab key, not fetching submodules"
     - source tools/ci/utils.sh
+    - is_based_on_commits $REQUIRED_ANCESTOR_COMMITS
     - source tools/ci/setup_python.sh
     - apply_bot_filter
     - source tools/ci/configure_ci_environment.sh
@@ -101,10 +104,12 @@ before_script:
   before_script:
     - echo "Only load utils.sh inside"
     - source tools/ci/utils.sh
+    - is_based_on_commits $REQUIRED_ANCESTOR_COMMITS
 
 .before_script_macos:
   before_script:
     - source tools/ci/utils.sh
+    - is_based_on_commits $REQUIRED_ANCESTOR_COMMITS
     - apply_bot_filter
     - export IDF_TOOLS_PATH="${HOME}/.espressif_runner_${CI_RUNNER_ID}_${CI_CONCURRENT_ID}"
     # Clean up idf-env.json which might not be compatible with one produced by newer ESP-IDF versions
diff --git a/tools/ci/config/build.yml b/tools/ci/config/build.yml
index c43d00d9a9..95b0253ca7 100644
--- a/tools/ci/config/build.yml
+++ b/tools/ci/config/build.yml
@@ -435,6 +435,7 @@ build_template_app:
     name: $CI_DOCKER_REGISTRY/sonarqube-scanner:2
   before_script:
     - source tools/ci/utils.sh
+    - is_based_on_commits $REQUIRED_ANCESTOR_COMMITS
     - export PYTHONPATH="$CI_PROJECT_DIR/tools:$CI_PROJECT_DIR/tools/ci/python_packages:$PYTHONPATH"
     - fetch_submodules
     # Exclude the submodules, all paths ends with /**
diff --git a/tools/ci/config/pre_check.yml b/tools/ci/config/pre_check.yml
index df491d0448..fefb01fb4f 100644
--- a/tools/ci/config/pre_check.yml
+++ b/tools/ci/config/pre_check.yml
@@ -21,6 +21,7 @@
   image: "$CI_DOCKER_REGISTRY/esp-idf-pre-commit:1"
   before_script:
     - source tools/ci/utils.sh
+    - is_based_on_commits $REQUIRED_ANCESTOR_COMMITS
     - export PYTHONPATH="$CI_PROJECT_DIR/tools:$CI_PROJECT_DIR/tools/ci/python_packages:$PYTHONPATH"
 
 check_pre_commit_master_release:
diff --git a/tools/ci/utils.sh b/tools/ci/utils.sh
index febc39116a..3c26bb9e0a 100644
--- a/tools/ci/utils.sh
+++ b/tools/ci/utils.sh
@@ -117,3 +117,55 @@ function retry_failed() {
   fi
   return $exitCode
 }
+
+function internal_pip_install() {
+  project=$1
+  package=$2
+  token_name=${3:-${BOT_TOKEN_NAME}}
+  token=${4:-${BOT_TOKEN}}
+  python=${5:-python}
+
+  $python -m pip install --index-url https://${token_name}:${token}@${GITLAB_HTTPS_HOST}/api/v4/projects/${project}/packages/pypi/simple --force-reinstall --no-deps ${package}
+}
+
+function join_by {
+  local d=${1-} f=${2-}
+  if shift 2; then
+    printf %s "$f" "${@/#/$d}"
+  fi
+}
+
+function is_based_on_commits() {
+  # This function would accept space-separated args as multiple commits.
+  # The return value would be 0 if current HEAD is based on any of the specified commits.
+  #
+  # In our CI, we use environment variable $REQUIRED_ANCESTOR_COMMITS to declare the ancestor commits.
+  # Please remember to set one commit for each release branch.
+
+  commits=$*
+  if [[ -z $commits ]]; then
+    info "Not specifying commits that branches should be based on, skipping check..."
+    return 0
+  fi
+
+  commits_str="$(join_by " or " $commits)" # no doublequotes here, passing array
+
+  info "Checking if current branch is based on $commits_str..."
+  for i in $commits; do
+    if git merge-base --is-ancestor "$i" HEAD >/dev/null 2>&1; then
+      info "Current branch is based on $i"
+      return 0
+    else
+      info "Current branch is not based on $i"
+    fi
+  done
+
+  error "The base commit of your branch is too old."
+  error "The branch should be more recent than either of the following commits:"
+  error "  $commits_str"
+  error "To fix the issue:"
+  error " - If your merge request is 'Draft', or has conflicts with the target branch, rebase it to the latest master or release branch"
+  error " - Otherwise, simply run a new pipeline."
+
+  return 1
+}