diff --git a/components/esp_system/panic.c b/components/esp_system/panic.c
index 5f1cd32aea..9a83da762f 100644
--- a/components/esp_system/panic.c
+++ b/components/esp_system/panic.c
@@ -203,6 +203,7 @@ void esp_panic_handler_disable_timg_wdts(void)
 /* This function enables the RTC WDT with the given timeout in milliseconds */
 void esp_panic_handler_enable_rtc_wdt(uint32_t timeout_ms)
 {
+    wdt_hal_context_t rtc_wdt_ctx = RWDT_HAL_CONTEXT_DEFAULT(); // Use a local context variable to avoid race conditions when both cores enter the panic handler
     wdt_hal_init(&rtc_wdt_ctx, WDT_RWDT, 0, false);
     uint32_t stage_timeout_ticks = (uint32_t)(timeout_ms * rtc_clk_slow_freq_get_hz() / 1000ULL);
     wdt_hal_write_protect_disable(&rtc_wdt_ctx);
diff --git a/components/esp_system/port/panic_handler.c b/components/esp_system/port/panic_handler.c
index e6519fdc38..7a0879b926 100644
--- a/components/esp_system/port/panic_handler.c
+++ b/components/esp_system/port/panic_handler.c
@@ -137,45 +137,23 @@ void busy_wait(void)
 static void panic_handler(void *frame, bool pseudo_excause)
 {
     /* If watchdogs are enabled, the panic handler runs the risk of getting aborted pre-emptively because
-     * an overzealous watchdog decides to reset it. On the other hand, if we disable all watchdogs, we run
-     * the risk of somehow halting in the panic handler and not resetting.
+     * an overzealous watchdog decides to reset it. Hence, we feed the WDTs here.
      *
-     * We have to do this before we do anything that might cause issues in the WDT interrupt handlers,
-     * for example stalling the other core on ESP32 may cause the ESP32_ECO3_CACHE_LOCK_FIX
-     * handler to get stuck.
+     * However, we do not feed the WDTs in multi-core mode because we do not have a reliable way to handle
+     * concurrency issues when both cores enter the panic handler at the same time. Hence, we avoid performing
+     * any WDT configurations until one of the cores is put in to a busy_wait() state below. As a side note,
+     * it may so happen that neither of the cores end up in a busy_wait() state and still try to work with the
+     * WDTs simultaneously but chances of that happening are low. (TODO: IDF-12900)
      *
      * We do this before we increment the panic handler entry count to ensure that the WDTs are fed.
      */
+#if CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
     esp_panic_handler_feed_wdts();
+#endif // CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
 
     /* Increment the panic handler entry count */
     esp_panic_handler_increment_entry_count();
 
-    /* Configuring the RTC WDT as early as possible in the panic handler
-     * is critical for system safety.
-     *
-     * The RTC WDT is relied upon for a complete system reset, as it is the only
-     * watchdog timer capable of resetting both the main system and the RTC subsystem.
-     * In contrast, the Timer Group Watchdog Timers can only reset the main system
-     * but not the RTC module.
-     *
-     * The timeout value for the RTC WDT is set to 10 seconds. The primary reason for
-     * choosing a 10 second timeout is to allow the panic handler to run to completion
-     * which may include core dump collection and apptrace flushing.
-     *
-     * Explanation for why the core dump takes time:
-     * 64KB of core dump data (stacks of about 30 tasks) will produce ~85KB base64 data.
-     * @ 115200 UART speed it will take more than 6 sec to print them out.
-     *
-     * TODO: Make the timeout configurable or more intelligent based on the panic reason and the
-     * config options.
-     */
-#if CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS
-    esp_panic_handler_enable_rtc_wdt((CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS + 10) * 1000);
-#else
-    esp_panic_handler_enable_rtc_wdt(10000);
-#endif /* CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS */
-
     panic_info_t info = { 0 };
 
     /*
@@ -221,6 +199,35 @@ static void panic_handler(void *frame, bool pseudo_excause)
         }
 #endif // CONFIG_ESP_SYSTEM_HW_STACK_GUARD
     }
+#endif // !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+
+    /* Configuring the RTC WDT is critical for system safety.
+     *
+     * The RTC WDT is relied upon for a complete system reset, as it is the only
+     * watchdog timer capable of resetting both the main system and the RTC subsystem.
+     * In contrast, the Timer Group Watchdog Timers can only reset the main system
+     * but not the RTC module.
+     *
+     * We have to do this before we do anything that might cause issues in the WDT interrupt handlers,
+     * for example stalling the other core on ESP32 may cause the ESP32_ECO3_CACHE_LOCK_FIX
+     * handler to get stuck.
+     *
+     * The timeout value for the RTC WDT is set to 10 seconds. The primary reason for
+     * choosing a 10 second timeout is to allow the panic handler to run to completion
+     * which may include core dump collection and apptrace flushing.
+     *
+     * Explanation for why the core dump takes time:
+     * 64KB of core dump data (stacks of about 30 tasks) will produce ~85KB base64 data.
+     * @ 115200 UART speed it will take more than 6 sec to print them out.
+     *
+     * TODO: Make the timeout configurable or more intelligent based on the panic reason and the
+     * config options.
+     */
+#if CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS
+    esp_panic_handler_enable_rtc_wdt((CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS + 10) * 1000);
+#else
+    esp_panic_handler_enable_rtc_wdt(10000);
+#endif /* CONFIG_ESP_SYSTEM_PANIC_REBOOT_DELAY_SECONDS */
 
     /* Before we stall the other CPU, we need to disable all WDTs except the RTC WDT.
      * This is because the TIMG WDTs cannot reset the RTC subsystem, which stores the CPU stalling
@@ -229,6 +236,7 @@ static void panic_handler(void *frame, bool pseudo_excause)
      */
     esp_panic_handler_disable_timg_wdts();
 
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
     esp_rom_delay_us(1);
     // Stall all other cores
     for (uint32_t i = 0; i < SOC_CPU_CORES_NUM; i++) {
@@ -236,12 +244,6 @@ static void panic_handler(void *frame, bool pseudo_excause)
             esp_cpu_stall(i);
         }
     }
-#else
-    /* In single core mode, we don't need to disable the TIMG WDTs,
-     * but we do it anyway to keep the code consistent and to avoid
-     * managing the state of multiple WDTs.
-     */
-    esp_panic_handler_disable_timg_wdts();
 #endif // !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
 
     esp_ipc_isr_stall_abort();
diff --git a/components/esp_system/test_apps/cache_panic/README.md b/components/esp_system/test_apps/cache_panic/README.md
index 7b96141437..fb8e4a96b8 100644
--- a/components/esp_system/test_apps/cache_panic/README.md
+++ b/components/esp_system/test_apps/cache_panic/README.md
@@ -1,2 +1,2 @@
-| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | --------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | --------- | -------- | -------- | -------- | -------- |
diff --git a/components/esp_system/test_apps/console/README.md b/components/esp_system/test_apps/console/README.md
index 7b96141437..fb8e4a96b8 100644
--- a/components/esp_system/test_apps/console/README.md
+++ b/components/esp_system/test_apps/console/README.md
@@ -1,2 +1,2 @@
-| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | --------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | --------- | -------- | -------- | -------- | -------- |
diff --git a/components/esp_system/test_apps/esp_system_unity_tests/README.md b/components/esp_system/test_apps/esp_system_unity_tests/README.md
index 7b96141437..fb8e4a96b8 100644
--- a/components/esp_system/test_apps/esp_system_unity_tests/README.md
+++ b/components/esp_system/test_apps/esp_system_unity_tests/README.md
@@ -1,2 +1,2 @@
-| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | --------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | --------- | -------- | -------- | -------- | -------- |