diff --git a/components/esp_system/CMakeLists.txt b/components/esp_system/CMakeLists.txt
index 655d945bb1..884b6ce3e2 100644
--- a/components/esp_system/CMakeLists.txt
+++ b/components/esp_system/CMakeLists.txt
@@ -10,4 +10,7 @@ add_subdirectory(port)
 
 # Rely on user code to define app_main
 target_link_libraries(${COMPONENT_LIB} INTERFACE "-u app_main")
-target_link_libraries(${COMPONENT_LIB} INTERFACE "-u app_mainX")
\ No newline at end of file
+
+if (NOT CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE)
+    target_link_libraries(${COMPONENT_LIB} INTERFACE "-u app_mainX")
+endif()
\ No newline at end of file
diff --git a/components/esp_system/Kconfig b/components/esp_system/Kconfig
index 73b54ad48d..58a2b90cb3 100644
--- a/components/esp_system/Kconfig
+++ b/components/esp_system/Kconfig
@@ -32,4 +32,10 @@ menu "ESP System Settings"
                 of the crash.
     endchoice
 
+    config ESP_SYSTEM_SINGLE_CORE_MODE
+        bool
+        default n
+        help
+            Only initialize and use the main core.
+
 endmenu  # ESP System Settings
diff --git a/components/esp_system/port/cpu_start.c b/components/esp_system/port/cpu_start.c
index 08239b4e86..1efa5a6778 100644
--- a/components/esp_system/port/cpu_start.c
+++ b/components/esp_system/port/cpu_start.c
@@ -67,6 +67,8 @@
 #endif // CONFIG_APP_BUILD_TYPE_ELF_RAM
 #endif
 
+#include "startup_internal.h"
+
 extern int _bss_start;
 extern int _bss_end;
 extern int _rtc_bss_start;
@@ -87,34 +89,23 @@ extern int _iram_bss_end;
 #endif
 #endif // CONFIG_IDF_TARGET_ESP32
 
-#include "startup_internal.h"
-
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
 static volatile bool s_cpu_up[SOC_CPU_CORES_NUM] = { false };
 static volatile bool s_cpu_inited[SOC_CPU_CORES_NUM] = { false };
+
 static volatile bool s_resume_cores;
+#endif
 
 // If CONFIG_SPIRAM_IGNORE_NOTFOUND is set and external RAM is not found or errors out on testing, this is set to false.
 bool g_spiram_ok = true;
 
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
 void startup_resume_other_cores(void)
 {
     s_resume_cores = true;
 }
 
-static void intr_matrix_clear(void)
-{
-#if CONFIG_IDF_TARGET_ESP32
-    //Clear all the interrupt matrix register
-    for (int i = ETS_WIFI_MAC_INTR_SOURCE; i <= ETS_CACHE_IA_INTR_SOURCE; i++) {
-#elif CONFIG_IDF_TARGET_ESP32S2
-    for (int i = ETS_WIFI_MAC_INTR_SOURCE; i < ETS_MAX_INTR_SOURCE; i++) {
-#endif
-        intr_matrix_set(0, i, ETS_INVALID_INUM);
-        intr_matrix_set(1, i, ETS_INVALID_INUM);
-    }
-}
 
-#if SOC_CPU_CORES_NUM > 1
 void IRAM_ATTR call_start_cpu1(void)
 {
     cpu_hal_set_vecbase(&_init_start);
@@ -156,7 +147,62 @@ void IRAM_ATTR call_start_cpu1(void)
 
     SYS_STARTUP_FN();
 }
+
+static void start_other_core(void)
+{
+    // If not the single core variant of ESP32 - check this since there is
+    // no separate soc_caps.h for the single core variant.
+    if (!REG_GET_BIT(EFUSE_BLK0_RDATA3_REG, EFUSE_RD_CHIP_VER_DIS_APP_CPU)) {
+        ESP_EARLY_LOGI(TAG, "Starting app cpu, entry point is %p", call_start_cpu1);
+
+        Cache_Flush(1);
+        Cache_Read_Enable(1);
+        esp_cpu_unstall(1);
+
+        // Enable clock and reset APP CPU. Note that OpenOCD may have already
+        // enabled clock and taken APP CPU out of reset. In this case don't reset
+        // APP CPU again, as that will clear the breakpoints which may have already
+        // been set.
+        if (!DPORT_GET_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN)) {
+            DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
+            DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_C_REG, DPORT_APPCPU_RUNSTALL);
+            DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
+            DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
+        }
+        ets_set_appcpu_boot_addr((uint32_t)call_start_cpu1);
+
+        volatile bool cpus_up = false;
+
+        while(!cpus_up){
+            cpus_up = true;
+            for (int i = 0; i < SOC_CPU_CORES_NUM; i++) {
+                cpus_up &= s_cpu_up[i];
+            }
+            cpu_hal_delay_us(100);
+        }
+    }
+    else {
+        s_cpu_inited[1] = true;
+		ESP_EARLY_LOGI(TAG, "Single core mode");
+		DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
+    }
+}
+#endif // !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+
+static void intr_matrix_clear(void)
+{
+#if CONFIG_IDF_TARGET_ESP32
+    //Clear all the interrupt matrix register
+    for (int i = ETS_WIFI_MAC_INTR_SOURCE; i <= ETS_CACHE_IA_INTR_SOURCE; i++) {
+#elif CONFIG_IDF_TARGET_ESP32S2
+    for (int i = ETS_WIFI_MAC_INTR_SOURCE; i < ETS_MAX_INTR_SOURCE; i++) {
 #endif
+        intr_matrix_set(0, i, ETS_INVALID_INUM);
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+        intr_matrix_set(1, i, ETS_INVALID_INUM);
+#endif
+    }
+}
 
 /*
  * We arrive here after the bootloader finished loading the program from flash. The hardware is mostly uninitialized,
@@ -164,7 +210,11 @@ void IRAM_ATTR call_start_cpu1(void)
  */
 void IRAM_ATTR call_start_cpu0(void)
 {
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
     RESET_REASON rst_reas[SOC_CPU_CORES_NUM];
+#else
+    RESET_REASON rst_reas[1];
+#endif
 
     bootloader_init_mem();
 
@@ -172,14 +222,14 @@ void IRAM_ATTR call_start_cpu0(void)
     cpu_hal_set_vecbase(&_init_start);
 
     rst_reas[0] = rtc_get_reset_reason(0);
-#if SOC_CPU_CORES_NUM > 1
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
     rst_reas[1] = rtc_get_reset_reason(1);
 #endif
 
 #ifndef CONFIG_BOOTLOADER_WDT_ENABLE
     // from panic handler we can be reset by RWDT or TG0WDT
     if (rst_reas[0] == RTCWDT_SYS_RESET || rst_reas[0] == TG0WDT_SYS_RESET
-#if SOC_CPU_CORES_NUM > 1
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
         || rst_reas[1] == RTCWDT_SYS_RESET || rst_reas[1] == TG0WDT_SYS_RESET
 #endif
     ) {
@@ -240,45 +290,13 @@ void IRAM_ATTR call_start_cpu0(void)
     }
 #endif
 
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
     s_cpu_up[0] = true;
+#endif
     ESP_EARLY_LOGI(TAG, "Pro cpu up.");
 
-#if CONFIG_IDF_TARGET_ESP32
-    // If not the single core variant of ESP32 - check this since there is
-    // no separate soc_caps.h for the single core variant.
-    if (!REG_GET_BIT(EFUSE_BLK0_RDATA3_REG, EFUSE_RD_CHIP_VER_DIS_APP_CPU)) {
-        ESP_EARLY_LOGI(TAG, "Starting app cpu, entry point is %p", call_start_cpu1);
-
-        Cache_Flush(1);
-        Cache_Read_Enable(1);
-        esp_cpu_unstall(1);
-
-        // Enable clock and reset APP CPU. Note that OpenOCD may have already
-        // enabled clock and taken APP CPU out of reset. In this case don't reset
-        // APP CPU again, as that will clear the breakpoints which may have already
-        // been set.
-        if (!DPORT_GET_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN)) {
-            DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
-            DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_C_REG, DPORT_APPCPU_RUNSTALL);
-            DPORT_SET_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
-            DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_A_REG, DPORT_APPCPU_RESETTING);
-        }
-        ets_set_appcpu_boot_addr((uint32_t)call_start_cpu1);
-
-        volatile bool cpus_up = false;
-
-        while(!cpus_up){
-            cpus_up = true;
-            for (int i = 0; i < SOC_CPU_CORES_NUM; i++) {
-                cpus_up &= s_cpu_up[i];
-            }
-            cpu_hal_delay_us(100);
-        }
-    }
-    else {
-        s_cpu_inited[1] = true;
-        DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
-    }
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+    start_other_core();
 #endif
 
 #if CONFIG_SPIRAM_MEMTEST
@@ -390,6 +408,7 @@ void IRAM_ATTR call_start_cpu0(void)
 #endif //!CONFIG_SPIRAM_BOOT_INIT
 #endif
 
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
     s_cpu_inited[0] = true;
 
     volatile bool cpus_inited = false;
@@ -401,6 +420,7 @@ void IRAM_ATTR call_start_cpu0(void)
         }
         cpu_hal_delay_us(100);
     }
+#endif
 
     SYS_STARTUP_FN();
 }
\ No newline at end of file
diff --git a/components/esp_system/private_include/startup_internal.h b/components/esp_system/private_include/startup_internal.h
index a7791fd2d9..9976b189e5 100644
--- a/components/esp_system/private_include/startup_internal.h
+++ b/components/esp_system/private_include/startup_internal.h
@@ -19,18 +19,26 @@
 #include "soc/soc_caps.h"
 #include "hal/cpu_hal.h"
 
+#include "sdkconfig.h"
+
 extern bool g_spiram_ok; // [refactor-todo] better way to communicate this from port layer to common startup code
 
 // Port layer defines the entry point. It then transfer control to a `sys_startup_fn_t`, stored in this
 // array, one per core.
 typedef void (*sys_startup_fn_t)(void);
+
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
 extern sys_startup_fn_t g_startup_fn[SOC_CPU_CORES_NUM];
+#else
+extern sys_startup_fn_t g_startup_fn[1];
+#endif
 
 // Utility to execute `sys_startup_fn_t` for the current core.
 #define SYS_STARTUP_FN()  ((*g_startup_fn[(cpu_hal_get_core_id())])())
 
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
 void startup_resume_other_cores(void);
-void startup_core_init();
+#endif
 
 typedef struct {
   void (*fn)(void);
diff --git a/components/esp_system/startup.c b/components/esp_system/startup.c
index 0dcb8076f3..0d7bed96c0 100644
--- a/components/esp_system/startup.c
+++ b/components/esp_system/startup.c
@@ -38,7 +38,8 @@
 #include "esp_efuse.h"
 #include "esp_flash_encrypt.h"
 
-/* Headers for other components init functions */
+/***********************************************/
+// Headers for other components init functions 
 #include "nvs_flash.h"
 #include "esp_phy_init.h"
 #include "esp_coexist_internal.h"
@@ -61,12 +62,26 @@
 
 #include "startup_internal.h"
 
+// Ensure that system configuration matches the underlying number of cores.
+// This should enable us to avoid checking for both everytime.
+#if !(SOC_CPU_CORES_NUM > 1) && !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+    #error "System has been configured to run on multiple cores, but target SoC only has a single core."
+#endif
+
+// App entry point for core 0
+extern void app_main(void);
+
+// Entry point for core 0 from hardware init (port layer)
 void start_cpu0(void) __attribute__((weak, alias("start_cpu0_default"))) __attribute__((noreturn));
+
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+// Entry point for core [1..X] from hardware init (port layer)
 void start_cpuX(void) __attribute__((weak, alias("start_cpuX_default"))) __attribute__((noreturn));
 
+// App entry point for core [1..X]
 void app_mainX(void) __attribute__((weak, alias("app_mainX_default"))) __attribute__((noreturn));
 
-extern void app_main(void);
+static volatile bool s_system_inited[SOC_CPU_CORES_NUM] = { false };
 
 sys_startup_fn_t g_startup_fn[SOC_CPU_CORES_NUM] = { [0] = start_cpu0,
 #if SOC_CPU_CORES_NUM > 1
@@ -74,8 +89,10 @@ sys_startup_fn_t g_startup_fn[SOC_CPU_CORES_NUM] = { [0] = start_cpu0,
 #endif
 };
 
-static volatile bool s_system_inited[SOC_CPU_CORES_NUM] = { false };
 static volatile bool s_system_full_inited = false;
+#else
+sys_startup_fn_t g_startup_fn[1] = { start_cpu0 };
+#endif
 
 static const char* TAG = "cpu_start";
 
@@ -112,9 +129,12 @@ static void IRAM_ATTR do_system_init_fn(void)
         }
     }
 
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
     s_system_inited[cpu_hal_get_core_id()] = true;
+#endif
 }
 
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
 static void IRAM_ATTR app_mainX_default(void)
 {
     while(1) {
@@ -132,6 +152,7 @@ static void IRAM_ATTR start_cpuX_default(void)
 
     app_mainX();
 }
+#endif
 
 static void IRAM_ATTR do_core_init(void)
 {
@@ -221,15 +242,18 @@ static void IRAM_ATTR do_core_init(void)
 
 static void IRAM_ATTR do_secondary_init(void)
 {
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
     // The port layer transferred control to this function with other cores 'paused',
     // resume execution so that cores might execute component initialization functions.
     startup_resume_other_cores();
+#endif
 
     // Execute initialization functions esp_system_init_fn_t assigned to the main core. While
     // this is happening, all other cores are executing the initialization functions
     // assigned to them since they have been resumed already.
     do_system_init_fn();
 
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
     // Wait for all cores to finish secondary init.
     volatile bool system_inited = false;
 
@@ -240,6 +264,7 @@ static void IRAM_ATTR do_secondary_init(void)
         }
         cpu_hal_delay_us(100);
     }
+#endif
 }
 
 void IRAM_ATTR start_cpu0_default(void)
@@ -273,7 +298,7 @@ void IRAM_ATTR start_cpu0_default(void)
     do_global_ctors();
 
     // Execute init functions of other components; blocks
-    // until all cores finish.
+    // until all cores finish (when !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE).
     do_secondary_init();
 
     // Now that the application is about to start, disable boot watchdog
@@ -284,7 +309,9 @@ void IRAM_ATTR start_cpu0_default(void)
     // Finally, we jump to user code.
     ESP_EARLY_LOGI(TAG, "Pro cpu start user code");
 
+#if SOC_CPU_CORES_NUM > 1 && !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
     s_system_full_inited = true;
+#endif
 
     app_main();
     while(1);
@@ -339,10 +366,12 @@ IRAM_ATTR ESP_SYSTEM_INIT_FN(init_components0, BIT(0))
 #endif
 }
 
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
 IRAM_ATTR ESP_SYSTEM_INIT_FN(init_components1, BIT(1))
 {
 #if CONFIG_APPTRACE_ENABLE
     esp_err_t err = esp_apptrace_init();
     assert(err == ESP_OK && "Failed to init apptrace module on APP CPU!");
 #endif
-}
\ No newline at end of file
+}
+#endif
\ No newline at end of file
diff --git a/components/freertos/Kconfig b/components/freertos/Kconfig
index 11ca559a55..834067280c 100644
--- a/components/freertos/Kconfig
+++ b/components/freertos/Kconfig
@@ -1,11 +1,9 @@
 menu "FreeRTOS"
 
     config FREERTOS_UNICORE
-        # This config variable is also checked in the target startup code, not only in FreeRTOS
-        # hence the dependency on what target the app is being built for.
         bool "Run FreeRTOS only on first core"
-        default y if IDF_TARGET_ESP32S2
-        default n
+        default "y" if IDF_TARGET_ESP32S2
+        select ESP_SYSTEM_SINGLE_CORE_MODE
         help
             This version of FreeRTOS normally takes control of all cores of
             the CPU. Select this if you only want to start it on the first core.
diff --git a/components/freertos/xtensa/port.c b/components/freertos/xtensa/port.c
index 9188b2dff9..8f8db730fa 100644
--- a/components/freertos/xtensa/port.c
+++ b/components/freertos/xtensa/port.c
@@ -135,8 +135,6 @@ static const char* TAG = "cpu_start"; // [refactor-todo]: might be appropriate t
     #define SYSTICK_INTR_ID (ETS_INTERNAL_TIMER1_INTR_SOURCE+ETS_INTERNAL_INTR_SOURCE_OFF)
 #endif
 
-
-
 _Static_assert(tskNO_AFFINITY == CONFIG_FREERTOS_NO_AFFINITY, "incorrect tskNO_AFFINITY value");
 
 /*-----------------------------------------------------------*/
@@ -494,11 +492,20 @@ static void main_task(void* args)
     vTaskDelete(NULL);
 }
 
+// For now, running FreeRTOS on one core and a bare metal on the other (or other OSes)
+// is not supported. For now CONFIG_FREERTOS_UNICORE and CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+// should mirror each other's values.
+//
+// And since this should be true, we can just check for CONFIG_FREERTOS_UNICORE.
+#if CONFIG_FREERTOS_UNICORE != CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+	#error "FreeRTOS and system configuration mismatch regarding the use of multiple cores."
+#endif
+
 #if !CONFIG_FREERTOS_UNICORE
 void app_mainX(void)
 {
+	// For now, we only support up to two core: 0 and 1.
 	if (xPortGetCoreID() >= 2) {
-		// Explicitly support only up to two cores for now.
 		abort();
 	}
 
@@ -544,24 +551,14 @@ void __wrap_app_main(void)
                                                 ESP_TASK_MAIN_PRIO, NULL, 0);
     assert(res == pdTRUE);
 
-#if !CONFIG_FREERTOS_UNICORE
-	// Check that FreeRTOS is configured properly for the number of cores the target
-	// has at compile and build time.
-#if SOC_CPU_CORES_NUM < 2
-	#error FreeRTOS configured to run on dual core, but target only has a single core.
-#endif
+	// ESP32 has single core variants. Check that FreeRTOS has been configured properly.
+#if CONFIG_IDF_TARGET_ESP32 && !CONFIG_FREERTOS_UNICORE
     if (REG_GET_BIT(EFUSE_BLK0_RDATA3_REG, EFUSE_RD_CHIP_VER_DIS_APP_CPU)) {
-        ESP_EARLY_LOGE(TAG, "Running on single core chip, but application is built with dual core support.");
+        ESP_EARLY_LOGE(TAG, "Running on single core chip, but FreeRTOS is built with dual core support.");
         ESP_EARLY_LOGE(TAG, "Please enable CONFIG_FREERTOS_UNICORE option in menuconfig.");
         abort();
     }
-
-#else
-	#if SOC_CPU_CORES_NUM > 1 // Single core chips have no 'single core mode'
-		ESP_EARLY_LOGI(TAG, "Single core mode");
-		DPORT_CLEAR_PERI_REG_MASK(DPORT_APPCPU_CTRL_B_REG, DPORT_APPCPU_CLKGATE_EN);
-	#endif
-#endif // !CONFIG_FREERTOS_UNICORE
+#endif // CONFIG_IDF_TARGET_ESP32 && !CONFIG_FREERTOS_UNICORE
 
     ESP_LOGI(TAG, "Starting scheduler on PRO CPU.");
     vTaskStartScheduler();