diff --git a/examples/serial/mb_serial_master/CMakeLists.txt b/examples/serial/mb_serial_master/CMakeLists.txt
index 6245125..ae277a9 100644
--- a/examples/serial/mb_serial_master/CMakeLists.txt
+++ b/examples/serial/mb_serial_master/CMakeLists.txt
@@ -1,6 +1,6 @@
 # The following lines of boilerplate have to be in your project's CMakeLists
 # in this exact order for cmake to work correctly
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.22)
 
 # Exclude old component feemodbus which exists in old versions
 set(EXCLUDE_COMPONENTS freemodbus)
diff --git a/examples/serial/mb_serial_slave/CMakeLists.txt b/examples/serial/mb_serial_slave/CMakeLists.txt
index 2b26eba..b7b33b9 100644
--- a/examples/serial/mb_serial_slave/CMakeLists.txt
+++ b/examples/serial/mb_serial_slave/CMakeLists.txt
@@ -1,6 +1,6 @@
 # The following lines of boilerplate have to be in your project's CMakeLists
 # in this exact order for cmake to work correctly
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.22)
 
 # Exclude old component feemodbus which exists in old versions
 set(EXCLUDE_COMPONENTS freemodbus)
diff --git a/examples/tcp/mb_tcp_master/CMakeLists.txt b/examples/tcp/mb_tcp_master/CMakeLists.txt
index 6c24ee8..8dd1e97 100644
--- a/examples/tcp/mb_tcp_master/CMakeLists.txt
+++ b/examples/tcp/mb_tcp_master/CMakeLists.txt
@@ -1,6 +1,6 @@
 # The following lines of boilerplate have to be in your project's CMakeLists
 # in this exact order for cmake to work correctly
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.22)
 
 set(EXCLUDE_COMPONENTS freemodbus)
 
diff --git a/test_apps/adapter_tests/CMakeLists.txt b/test_apps/adapter_tests/CMakeLists.txt
index 391abd1..b45ea58 100644
--- a/test_apps/adapter_tests/CMakeLists.txt
+++ b/test_apps/adapter_tests/CMakeLists.txt
@@ -1,8 +1,14 @@
 # This is the project CMakeLists.txt file for the test subproject
-cmake_minimum_required(VERSION 3.16)
-
-set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
-list(APPEND EXTRA_COMPONENT_DIRS "../test_common")
+cmake_minimum_required(VERSION 3.22)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+set(EXTRA_COMPONENT_DIRS "../test_common")
+
+if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER "5.5")
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/test_apps/components")
+else()
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+endif()
+
 project(test_comm_adapter)
diff --git a/test_apps/adapter_tests/main/CMakeLists.txt b/test_apps/adapter_tests/main/CMakeLists.txt
index d933967..c249a41 100644
--- a/test_apps/adapter_tests/main/CMakeLists.txt
+++ b/test_apps/adapter_tests/main/CMakeLists.txt
@@ -8,7 +8,7 @@ set(srcs "test_app_main.c"
 # In order for the cases defined by `TEST_CASE` to be linked into the final elf,
 idf_component_register(SRCS ${srcs} 
                         PRIV_REQUIRES cmock test_common unity test_utils
-                        ) #
+                        )
 
 set_property(TARGET ${COMPONENT_LIB} APPEND PROPERTY INTERFACE_LINK_LIBRARIES "-u mb_test_include_adapter_impl_serial")
 set_property(TARGET ${COMPONENT_LIB} APPEND PROPERTY INTERFACE_LINK_LIBRARIES "-u mb_test_include_adapter_impl_tcp")
diff --git a/test_apps/adapter_tests/pytest_mb_comm_adapter.py b/test_apps/adapter_tests/pytest_mb_comm_adapter.py
index 76c9ddc..876bdf1 100644
--- a/test_apps/adapter_tests/pytest_mb_comm_adapter.py
+++ b/test_apps/adapter_tests/pytest_mb_comm_adapter.py
@@ -4,14 +4,8 @@
 import pytest
 from pytest_embedded import Dut
 
-
-CONFIGS = [
-    pytest.param('serial', marks=[pytest.mark.esp32, pytest.mark.esp32p4]),
-    pytest.param('tcp', marks=[pytest.mark.esp32, pytest.mark.esp32p4]),
-]
-
-@pytest.mark.temp_skip_ci(targets=['esp32p4'], reason='no multi-dev runner')
+@pytest.mark.parametrize('target', ['esp32'], indirect=True)
+@pytest.mark.parametrize('config', ['serial','tcp'], indirect=True)
 @pytest.mark.multi_dut_modbus_generic
-@pytest.mark.parametrize('config', CONFIGS, indirect=True)
 def test_modbus_comm_adapter(dut: Dut) -> None:
     dut.expect_unity_test_output()
diff --git a/test_apps/cpp/modbus_serial_cpp_test/main/serial_test.cpp b/test_apps/cpp/modbus_serial_cpp_test/main/serial_test.cpp
index 7ec46dc..39f0a4f 100644
--- a/test_apps/cpp/modbus_serial_cpp_test/main/serial_test.cpp
+++ b/test_apps/cpp/modbus_serial_cpp_test/main/serial_test.cpp
@@ -3,11 +3,12 @@
 #include "sdkconfig.h"
 #include "mbcontroller.h"
 
-#define TEST_PORT_NUM (uart_port_t)1
-#define TEST_SPEED 115200
+#define TEST_PORT_NUM           (uart_port_t)1
+#define TEST_SPEED              115200
 
 #define TAG "CPP_TEST"
-#define MB_SLAVE_SHORT_ADDRESS 1
+#define MB_SLAVE_SHORT_ADDRESS  1
+#define MB_FUNC_CODE_MAX        42
 
 enum {
     MB_DEVICE_ADDR1 = 1
@@ -120,12 +121,18 @@ static int check_custom_handlers(void *inst)
     MB_RETURN_ON_FALSE((err == ESP_OK), 0, TAG,
                             "mbc slave get handler count, returns(0x%x).", (int)err);
     ESP_LOGI(TAG,"Object %p, custom handler test, (registered:max) handlers: %d:%d.", inst, count, CONFIG_FMB_FUNC_HANDLERS_MAX);
-    for (entry = 0x01; entry < CONFIG_FMB_FUNC_HANDLERS_MAX; entry++) {
-        // Try to remove the handler
+    for (entry = 0x01; entry < MB_FUNC_CODE_MAX; entry++) {
+        // Try to remove the handlers
         err = mbc_delete_handler(inst, (uint8_t)entry);
-        if (err != ESP_OK) {
-            ESP_LOGE(TAG, "Could not remove handler for command: (0x%x), returned (0x%x), already empty?", entry, (int)err);
+        if (err == ESP_OK) {
+            ESP_LOGW(TAG, "Removed handler for command: (0x%x), returned (0x%x).", entry, (int)err);
         }
+    }
+    err = mbc_get_handler_count(inst, &count);
+    MB_RETURN_ON_FALSE((err == ESP_OK && !count), 0, TAG,
+                            "mbc slave get handler count, returns(0x%x), %u.", (int)err, count);
+
+    for (entry = 0x01; entry < CONFIG_FMB_FUNC_HANDLERS_MAX; entry++) {
         err = mbc_set_handler(inst, (uint8_t)entry, test_handler);
         if (err != ESP_OK) {
             ESP_LOGE(TAG,"Could not set handler for command 0x%x, returned (0x%x).", entry, (int)err);
diff --git a/test_apps/cpp/modbus_serial_cpp_test/pytest_cpp_mb_serial_master_slave.py b/test_apps/cpp/modbus_serial_cpp_test/pytest_cpp_mb_serial_master_slave.py
index 38cdbaa..10d446c 100644
--- a/test_apps/cpp/modbus_serial_cpp_test/pytest_cpp_mb_serial_master_slave.py
+++ b/test_apps/cpp/modbus_serial_cpp_test/pytest_cpp_mb_serial_master_slave.py
@@ -3,10 +3,10 @@
 import pytest
 from pytest_embedded import Dut
 
-MB_APP_WAIT_TOUT_SEC = 10
+MB_APP_WAIT_TOUT_SEC = 30
 
-@pytest.mark.esp32
-@pytest.mark.generic
+@pytest.mark.parametrize('target', ['esp32'], indirect=True)
+@pytest.mark.multi_dut_modbus_generic
 def test_cpp_mb_serial_master_slave(dut: Dut) -> None:
     dut.expect('Setup master cpp....')
     dut.expect('Modbus master stack initialized...', timeout=MB_APP_WAIT_TOUT_SEC)
diff --git a/test_apps/physical_tests/CMakeLists.txt b/test_apps/physical_tests/CMakeLists.txt
index 5f208ff..8170ace 100644
--- a/test_apps/physical_tests/CMakeLists.txt
+++ b/test_apps/physical_tests/CMakeLists.txt
@@ -1,8 +1,15 @@
 # This is the project CMakeLists.txt file for the test subproject
-cmake_minimum_required(VERSION 3.16)
-
-set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
-list(APPEND EXTRA_COMPONENT_DIRS "../test_common")
+cmake_minimum_required(VERSION 3.22)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+set(EXTRA_COMPONENT_DIRS "../test_common")
+
+# The workaround for the test_utils under ESP-IDF v6.0
+if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER "5.5")
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/test_apps/components")
+else()
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+endif()
+
 project(test_modbus_comm_multi_dev)
diff --git a/test_apps/physical_tests/pytest_mb_comm_multi_dev.py b/test_apps/physical_tests/pytest_mb_comm_multi_dev.py
index 832753a..e3d7cef 100644
--- a/test_apps/physical_tests/pytest_mb_comm_multi_dev.py
+++ b/test_apps/physical_tests/pytest_mb_comm_multi_dev.py
@@ -4,18 +4,18 @@
 import pytest
 from pytest_embedded_idf import CaseTester
 
-@pytest.mark.esp32
-@pytest.mark.multi_dut_modbus_serial
+@pytest.mark.parametrize('target', ['esp32'], indirect=True)
 @pytest.mark.parametrize('count, config', [(2, 'serial')], indirect=True)
+@pytest.mark.multi_dut_modbus_serial
 def test_modbus_comm_multi_dev_serial(case_tester) -> None:                # type: ignore
     for case in case_tester.test_menu:
         if case.attributes.get('test_env', 'multi_dut_modbus_serial') == 'multi_dut_modbus_serial':
             print(f'Test case: {case.name}')
             case_tester.run_multi_dev_case(case=case, reset=True)
 
-@pytest.mark.esp32
-@pytest.mark.multi_dut_modbus_tcp
 @pytest.mark.parametrize('count, config', [(2, 'ethernet')], indirect=True)
+@pytest.mark.parametrize('target', ['esp32'], indirect=True)
+@pytest.mark.multi_dut_modbus_tcp
 def test_modbus_comm_multi_dev_tcp(case_tester) -> None:                # type: ignore
     for case in case_tester.test_menu:
         if case.attributes.get('test_env', 'multi_dut_modbus_tcp') == 'multi_dut_modbus_tcp':
diff --git a/test_apps/test_common/CMakeLists.txt b/test_apps/test_common/CMakeLists.txt
index bc347b1..7a6fd90 100644
--- a/test_apps/test_common/CMakeLists.txt
+++ b/test_apps/test_common/CMakeLists.txt
@@ -1,9 +1,15 @@
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.22)
 idf_component_register(SRCS "test_common.c"
                         INCLUDE_DIRS "include"
                         REQUIRES unity)
 
-set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components") 
+set(EXTRA_COMPONENT_DIRS)
+
+if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER "5.5")
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/test_apps/components")
+else()
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+endif()
 
 add_subdirectory(mb_utest_lib)
 target_link_libraries(${COMPONENT_LIB} PUBLIC mb_ut_lib)
diff --git a/test_apps/unit_tests/mb_controller_common/CMakeLists.txt b/test_apps/unit_tests/mb_controller_common/CMakeLists.txt
index 79c2793..5cccb36 100644
--- a/test_apps/unit_tests/mb_controller_common/CMakeLists.txt
+++ b/test_apps/unit_tests/mb_controller_common/CMakeLists.txt
@@ -1,9 +1,16 @@
 # This is the project CMakeLists.txt file for the test subproject
-cmake_minimum_required(VERSION 3.16)
-
-set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
-list(APPEND EXTRA_COMPONENT_DIRS "../../test_common")
-list(APPEND EXTRA_COMPONENT_DIRS "../test_stubs")
+cmake_minimum_required(VERSION 3.22)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+set(EXTRA_COMPONENT_DIRS "../../test_common" "../test_stubs")
+
+# The workaround for the test_utils under ESP-IDF v6.0
+if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER "5.5")
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/test_apps/components")
+else()
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+endif()
+
 project(test_mb_controller_common_unit)
+
diff --git a/test_apps/unit_tests/mb_controller_common/main/CMakeLists.txt b/test_apps/unit_tests/mb_controller_common/main/CMakeLists.txt
index d1bb8b3..6edab80 100644
--- a/test_apps/unit_tests/mb_controller_common/main/CMakeLists.txt
+++ b/test_apps/unit_tests/mb_controller_common/main/CMakeLists.txt
@@ -4,7 +4,7 @@ set(srcs "test_app_main.c"
 
 # In order for the cases defined by `TEST_CASE` to be linked into the final elf,
 idf_component_register(SRCS ${srcs} 
-                        PRIV_REQUIRES test_stubs mocked_esp_modbus test_common cmock test_utils unity)
+                        REQUIRES test_stubs mocked_esp_modbus test_common cmock test_utils unity)
 
 # The workaround for WHOLE_ARCHIVE is absent in v4.4
 set_property(TARGET ${COMPONENT_LIB} APPEND PROPERTY INTERFACE_LINK_LIBRARIES "-u mb_test_include_impl")
diff --git a/test_apps/unit_tests/mb_controller_mapping/CMakeLists.txt b/test_apps/unit_tests/mb_controller_mapping/CMakeLists.txt
index 1272dd2..a44ac15 100644
--- a/test_apps/unit_tests/mb_controller_mapping/CMakeLists.txt
+++ b/test_apps/unit_tests/mb_controller_mapping/CMakeLists.txt
@@ -1,11 +1,18 @@
 # This is the project CMakeLists.txt file for the test subproject
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.22)
 
-set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
-list(APPEND EXTRA_COMPONENT_DIRS "../../test_common")
-list(APPEND EXTRA_COMPONENT_DIRS "../test_stubs")
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 
-#set(COMPONENTS driver esp_timer esp_event esp_netif main)
+set(EXTRA_COMPONENT_DIRS "../../test_common" "../test_stubs")
+
+# The workaround for the test_utils under ESP-IDF v6.0
+if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER "5.5")
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/test_apps/components")
+else()
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+endif()
+
+set(COMPONENTS driver esp_timer esp_event esp_netif main)
 
 # list(APPEND EXTRA_COMPONENT_DIRS
 #      "$ENV{IDF_PATH}/tools/mocks/lwip/"
@@ -13,5 +20,4 @@ list(APPEND EXTRA_COMPONENT_DIRS "../test_stubs")
 #      "$ENV{IDF_PATH}/tools/mocks/esp_timer/"
 #     )
 
-include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(test_mb_controller_mapping_unit)
diff --git a/test_apps/unit_tests/mb_ext_types/CMakeLists.txt b/test_apps/unit_tests/mb_ext_types/CMakeLists.txt
index e880dea..de1429f 100644
--- a/test_apps/unit_tests/mb_ext_types/CMakeLists.txt
+++ b/test_apps/unit_tests/mb_ext_types/CMakeLists.txt
@@ -1,8 +1,17 @@
 #This is the project CMakeLists.txt file for the test subproject
-cmake_minimum_required(VERSION 3.16)
-
-set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
-set(COMPONENTS main)
+cmake_minimum_required(VERSION 3.22)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+set(EXTRA_COMPONENT_DIRS)
+
+# The workaround for the test_utils under ESP-IDF v6.0
+if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER "5.5")
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/test_apps/components")
+else()
+    list(APPEND EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+endif()
+
+set(COMPONENTS main)
+
 project(mb_endianness_utils)
diff --git a/test_apps/unit_tests/mb_ext_types/pytest_mb_endianness_utils.py b/test_apps/unit_tests/mb_ext_types/pytest_mb_endianness_utils.py
index 80f69b3..d29aa85 100644
--- a/test_apps/unit_tests/mb_ext_types/pytest_mb_endianness_utils.py
+++ b/test_apps/unit_tests/mb_ext_types/pytest_mb_endianness_utils.py
@@ -4,9 +4,7 @@
 import pytest
 from pytest_embedded import Dut
 
-
-#@pytest.mark.supported_targets
-@pytest.mark.esp32           # test on esp32 for now
+@pytest.mark.parametrize('target', ['esp32'], indirect=True)
 @pytest.mark.multi_dut_modbus_generic
 def test_mb_endianness_utils(dut: Dut) -> None:
     dut.run_all_single_board_cases()
diff --git a/test_apps/unit_tests/test_stubs/CMakeLists.txt b/test_apps/unit_tests/test_stubs/CMakeLists.txt
index cf9fd3d..28f374c 100644
--- a/test_apps/unit_tests/test_stubs/CMakeLists.txt
+++ b/test_apps/unit_tests/test_stubs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.22)
 set(srcs "src/mb_object_stub.c")
 
 idf_component_register( SRCS ${srcs}