diff --git a/tools/test_apps/.build-test-rules.yml b/tools/test_apps/.build-test-rules.yml
index dc2a5b11bd..3771517d2b 100644
--- a/tools/test_apps/.build-test-rules.yml
+++ b/tools/test_apps/.build-test-rules.yml
@@ -126,9 +126,9 @@ 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 == "esp32p4"
       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 f43bb74556..be74129c96 100644
--- a/tools/test_apps/system/gdb/pytest_gdb.py
+++ b/tools/test_apps/system/gdb/pytest_gdb.py
@@ -1,73 +1,18 @@
 # SPDX-FileCopyrightText: 2022-2024 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
 
-
-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!')
@@ -75,35 +20,32 @@ 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.jtag
 @pytest.mark.esp32
 @pytest.mark.esp32s2
-@pytest.mark.jtag
-def test_idf_gdb(dut: IdfDut) -> None:
-    _test_idf_gdb(dut)
+@pytest.mark.esp32c2
+def test_idf_gdb(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_idf_gdb(openocd_dut, dut)
 
 
+@pytest.mark.usb_serial_jtag
+@pytest.mark.esp32s3
+@pytest.mark.esp32c3
 @pytest.mark.esp32c6
 @pytest.mark.esp32h2
-@pytest.mark.usb_serial_jtag
-def test_idf_gdb_usj(dut: IdfDut) -> None:
-    _test_idf_gdb(dut)
+def test_idf_gdb_usj(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_idf_gdb(openocd_dut, dut)