diff --git a/components/freertos/CMakeLists.txt b/components/freertos/CMakeLists.txt
index 17e6749d1e..9ac34ce96a 100644
--- a/components/freertos/CMakeLists.txt
+++ b/components/freertos/CMakeLists.txt
@@ -99,13 +99,9 @@ endif()
 
 # Add ESP-additions source files
 list(APPEND srcs
+    "esp_additions/freertos_compatibility.c"
     "esp_additions/idf_additions.c")
 
-if(kernel_impl STREQUAL "FreeRTOS-Kernel")
-    list(APPEND srcs
-        "esp_additions/freertos_compatibility.c")
-endif()
-
 if(arch STREQUAL "linux")
     # Check if we need to address the FreeRTOS EINTR coexistence with linux system calls if we're building without
     # lwIP, we need to use linux system select which will receive EINTR event on every FreeRTOS interrupt, we
diff --git a/components/freertos/FreeRTOS-Kernel/tasks.c b/components/freertos/FreeRTOS-Kernel/tasks.c
index 98de5987ff..26e27dcb28 100644
--- a/components/freertos/FreeRTOS-Kernel/tasks.c
+++ b/components/freertos/FreeRTOS-Kernel/tasks.c
@@ -1530,15 +1530,6 @@ static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_xTaskDelayUntil == 1 )
-    #ifdef ESP_PLATFORM
-        /* backward binary compatibility - remove later */
-        #undef vTaskDelayUntil
-        void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
-                              const TickType_t xTimeIncrement )
-        {
-            xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
-        }
-    #endif // ESP_PLATFORM
 
     BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
                                 const TickType_t xTimeIncrement )
@@ -5633,16 +5624,6 @@ TickType_t uxTaskResetEventItemValue( void )
 
 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
 
-    #ifdef ESP_PLATFORM /* IDF-3851 */
-        /* included here for backward binary compatibility */
-        #undef ulTaskNotifyTake
-        uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit,
-                                   TickType_t xTicksToWait )
-        {
-            return ulTaskGenericNotifyTake( tskDEFAULT_INDEX_TO_NOTIFY, xClearCountOnExit, xTicksToWait );
-        }
-    #endif // ESP-PLATFORM
-
     uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait,
                                       BaseType_t xClearCountOnExit,
                                       TickType_t xTicksToWait )
@@ -5715,18 +5696,6 @@ TickType_t uxTaskResetEventItemValue( void )
 
 #if ( configUSE_TASK_NOTIFICATIONS == 1 )
 
-    #ifdef ESP_PLATFORM /* IDF-3851 */
-        /* included for backward compatibility */
-        #undef xTaskNotifyWait
-        BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry,
-                                    uint32_t ulBitsToClearOnExit,
-                                    uint32_t * pulNotificationValue,
-                                    TickType_t xTicksToWait )
-        {
-            return xTaskGenericNotifyWait( tskDEFAULT_INDEX_TO_NOTIFY, ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait );
-        }
-    #endif // ESP-PLATFORM
-
     BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait,
                                        uint32_t ulBitsToClearOnEntry,
                                        uint32_t ulBitsToClearOnExit,
diff --git a/components/freertos/esp_additions/freertos_compatibility.c b/components/freertos/esp_additions/freertos_compatibility.c
index 66211af185..d56ae4e2d5 100644
--- a/components/freertos/esp_additions/freertos_compatibility.c
+++ b/components/freertos/esp_additions/freertos_compatibility.c
@@ -35,3 +35,45 @@ BaseType_t xQueueGenericReceive( QueueHandle_t xQueue,
 
     return xQueueReceive( xQueue, pvBuffer, xTicksToWait );
 }
+
+/*
+ * vTaskDelayUntil() was deprecated into a macro and replaced by xTaskDelayUntil().
+ * This is added for pre-compiled libraries that depend on ulTaskNotifyTake()
+ * being a function.
+ *
+ * Todo: Remove this in v6.0 (IDF-3851)
+ */
+#undef vTaskDelayUntil
+void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+                      const TickType_t xTimeIncrement )
+{
+    xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
+}
+
+/*
+ * ulTaskNotifyTake() was turned into a macro. This is added for pre-compiled
+ * libraries that depend on ulTaskNotifyTake() being a function.
+ *
+ * Todo: Remove this in v6.0 (IDF-3851)
+ */
+#undef ulTaskNotifyTake
+uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit,
+                           TickType_t xTicksToWait )
+{
+    return ulTaskGenericNotifyTake( tskDEFAULT_INDEX_TO_NOTIFY, xClearCountOnExit, xTicksToWait );
+}
+
+/*
+ * xTaskNotifyWait() was turned into a macro. This is added for pre-compiled
+ * libraries that depend on xTaskNotifyWait() being a function.
+ *
+ * Todo: Remove this in v6.0 (IDF-3851)
+ */
+#undef xTaskNotifyWait
+BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry,
+                            uint32_t ulBitsToClearOnExit,
+                            uint32_t * pulNotificationValue,
+                            TickType_t xTicksToWait )
+{
+    return xTaskGenericNotifyWait( tskDEFAULT_INDEX_TO_NOTIFY, ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait );
+}
diff --git a/components/freertos/linker.lf b/components/freertos/linker.lf
index 5b2c149d18..d36885354e 100644
--- a/components/freertos/linker.lf
+++ b/components/freertos/linker.lf
@@ -114,7 +114,6 @@ entries:
         tasks:prvInitialiseNewTask (default)
         tasks:prvAddNewTaskToReadyList (default)
         tasks:vTaskDelete (default)
-        tasks:vTaskDelayUntil (default)
         tasks:xTaskDelayUntil (default)
         tasks:vTaskDelay (default)
         tasks:eTaskGetState (default)
@@ -169,9 +168,7 @@ entries:
             tasks:vTaskGetRunTimeStats (default)
         tasks:uxTaskResetEventItemValue (default)
         tasks:pvTaskIncrementMutexHeldCount (default)
-        tasks:ulTaskNotifyTake (default)
         tasks:ulTaskGenericNotifyTake (default)
-        tasks:xTaskNotifyWait (default)
         tasks:xTaskGenericNotifyWait (default)
         tasks:xTaskGenericNotify (default)
         tasks:xTaskGenericNotifyStateClear (default)
diff --git a/components/freertos/linker_common.lf b/components/freertos/linker_common.lf
index 4a19d9764d..eedac43a07 100644
--- a/components/freertos/linker_common.lf
+++ b/components/freertos/linker_common.lf
@@ -42,6 +42,12 @@ entries:
         tasks:pxTaskGetNext (default)
         tasks:uxTaskGetSnapshotAll (default)
 
+    # ------------------------------------------------------------------------------------------------------------------
+    # freertos_compatibility.c
+    # Placement Rules: Functions always in flash as they are never called from an ISR
+    # ------------------------------------------------------------------------------------------------------------------
+    freertos_compatibility (default)
+
     # ------------------------------------------------------------------------------------------------------------------
     # idf_additions.c
     # Placement Rules: Functions always in flash as they are never called from an ISR