diff --git a/components/freertos/test_apps/.build-test-rules.yml b/components/freertos/test_apps/.build-test-rules.yml
index 70737f731f..bf8ffe8b5b 100644
--- a/components/freertos/test_apps/.build-test-rules.yml
+++ b/components/freertos/test_apps/.build-test-rules.yml
@@ -5,10 +5,6 @@ components/freertos/test_apps/freertos:
     - if: CONFIG_NAME == "smp" and IDF_TARGET == "esp32p4"
       temporary: true
       reason: target(s) not supported yet
-  disable_test:
-    - if: IDF_TARGET == "esp32p4"
-      temporary: true
-      reason: test not pass, should be re-enable # IDF-8981
 
 components/freertos/test_apps/orig_inc_path:
   enable:
diff --git a/components/freertos/test_apps/freertos/kernel/tasks/test_yielding.c b/components/freertos/test_apps/freertos/kernel/tasks/test_yielding.c
index 6052a0157c..6da218976f 100644
--- a/components/freertos/test_apps/freertos/kernel/tasks/test_yielding.c
+++ b/components/freertos/test_apps/freertos/kernel/tasks/test_yielding.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -75,7 +75,7 @@ static void yield_task2(void *arg)
 
     /* Wait for the other task to run for the test to begin */
     while (!task_sequence_ready) {
-        taskYIELD();
+        vTaskDelay(10);
     };
 
     /* Store task_id in the sequence array */
@@ -272,7 +272,7 @@ static void test_critical_task2(void *arg)
 
     /* Wait for the other task to run for the test to begin */
     while (!task_sequence_ready) {
-        taskYIELD();
+        vTaskDelay(10);
     };
 
     /* Store task_id in the sequence array */
@@ -474,7 +474,7 @@ static void other_core_task2(void *arg)
 
     /* Wait for the other task to run for the test to begin */
     while (!task_sequence_ready) {
-        taskYIELD();
+        vTaskDelay(10);
     };
 
     /* Store task_id in the sequence array */
@@ -594,7 +594,7 @@ static void other_core_critical_task2(void *arg)
 
     /* Wait for the other task to run for the test to begin */
     while (!task_sequence_ready) {
-        taskYIELD();
+        vTaskDelay(10);
     };
 
     /* Store task_id in the sequence array */
diff --git a/components/freertos/test_apps/freertos/performance/test_freertos_scheduling_time.c b/components/freertos/test_apps/freertos/performance/test_freertos_scheduling_time.c
index d0f4e3361b..1d7e5efe93 100644
--- a/components/freertos/test_apps/freertos/performance/test_freertos_scheduling_time.c
+++ b/components/freertos/test_apps/freertos/performance/test_freertos_scheduling_time.c
@@ -31,7 +31,7 @@ static void test_task_1(void *arg)
 
     for (;;) {
         context->before_sched = esp_cpu_get_cycle_count();
-        vPortYield();
+        taskYIELD();
     }
 
     vTaskDelete(NULL);
@@ -44,11 +44,11 @@ static void test_task_2(void *arg)
 
     vTaskPrioritySet(NULL, CONFIG_UNITY_FREERTOS_PRIORITY + 1);
     vTaskPrioritySet(context->t1_handle, CONFIG_UNITY_FREERTOS_PRIORITY + 1);
-    vPortYield();
+    taskYIELD();
 
     for (int i = 0; i < NUMBER_OF_ITERATIONS; i++) {
         accumulator += (esp_cpu_get_cycle_count() - context->before_sched);
-        vPortYield();
+        taskYIELD();
     }
 
     context->cycles_to_sched = accumulator / NUMBER_OF_ITERATIONS;
@@ -65,8 +65,8 @@ TEST_CASE("scheduling time test", "[freertos]")
     TEST_ASSERT(context.end_sema != NULL);
 
 #if !CONFIG_FREERTOS_UNICORE
-    xTaskCreatePinnedToCore(test_task_1, "test1", 4096, &context, 1, &context.t1_handle, 1);
-    xTaskCreatePinnedToCore(test_task_2, "test2", 4096, &context, 1, NULL, 1);
+    xTaskCreatePinnedToCore(test_task_1, "test1", 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, &context.t1_handle, 1);
+    xTaskCreatePinnedToCore(test_task_2, "test2", 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, NULL, 1);
 #else
     xTaskCreatePinnedToCore(test_task_1, "test1", 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, &context.t1_handle, 0);
     xTaskCreatePinnedToCore(test_task_2, "test2", 4096, &context, CONFIG_UNITY_FREERTOS_PRIORITY - 1, NULL, 0);
@@ -75,4 +75,7 @@ TEST_CASE("scheduling time test", "[freertos]")
     BaseType_t result = xSemaphoreTake(context.end_sema, portMAX_DELAY);
     TEST_ASSERT_EQUAL_HEX32(pdTRUE, result);
     TEST_PERFORMANCE_LESS_THAN(SCHEDULING_TIME, "%"PRIu32" cycles", context.cycles_to_sched);
+
+    /* Cleanup */
+    vSemaphoreDelete(context.end_sema);
 }
diff --git a/components/freertos/test_apps/freertos/port/test_spinlocks.c b/components/freertos/test_apps/freertos/port/test_spinlocks.c
index e26887a88e..ab2a3e53eb 100644
--- a/components/freertos/test_apps/freertos/port/test_spinlocks.c
+++ b/components/freertos/test_apps/freertos/port/test_spinlocks.c
@@ -49,7 +49,7 @@ TEST_CASE("portMUX spinlocks (no contention)", "[freertos]")
     }
     BENCHMARK_END("no contention lock");
 
-#ifdef CONFIG_FREERTOS_UNICORE
+#if CONFIG_FREERTOS_UNICORE
     TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP_UNICORE, "%"PRIu32" cycles/op", ((end - start) / REPEAT_OPS));
 #else
 #if CONFIG_SPIRAM
@@ -76,6 +76,16 @@ TEST_CASE("portMUX recursive locks (no contention)", "[freertos]")
         }
     }
     BENCHMARK_END("no contention recursive");
+
+#if CONFIG_FREERTOS_UNICORE
+    TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP_UNICORE, "%"PRIu32" cycles/op", ((end - start) / REPEAT_OPS));
+#else
+#if CONFIG_SPIRAM
+    TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP_PSRAM, "%"PRIu32" cycles/op", ((end - start) / REPEAT_OPS));
+#else
+    TEST_PERFORMANCE_LESS_THAN(FREERTOS_SPINLOCK_CYCLES_PER_OP, "%"PRIu32" cycles/op", ((end - start) / REPEAT_OPS));
+#endif
+#endif
 }
 
 #if CONFIG_FREERTOS_NUMBER_OF_CORES == 2
diff --git a/components/freertos/test_apps/freertos/pytest_freertos.py b/components/freertos/test_apps/freertos/pytest_freertos.py
index 488595c171..6baa6ba781 100644
--- a/components/freertos/test_apps/freertos/pytest_freertos.py
+++ b/components/freertos/test_apps/freertos/pytest_freertos.py
@@ -1,16 +1,14 @@
 # SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
-
 import pytest
 from pytest_embedded import Dut
 
-# TODO: IDF-8981
 CONFIGS = [
-    pytest.param('default', marks=[pytest.mark.supported_targets, pytest.mark.temp_skip_ci(targets=['esp32h2', 'esp32p4'], reason='test failed')]),
-    pytest.param('freertos_options', marks=[pytest.mark.supported_targets, pytest.mark.temp_skip_ci(targets=['esp32h2', 'esp32p4'], reason='test failed')]),
+    pytest.param('default', marks=[pytest.mark.supported_targets, pytest.mark.temp_skip_ci(targets=['esp32h2'], reason='test failed')]),
+    pytest.param('freertos_options', marks=[pytest.mark.supported_targets, pytest.mark.temp_skip_ci(targets=['esp32h2'], reason='test failed')]),
     pytest.param('psram', marks=[pytest.mark.esp32]),
-    pytest.param('release', marks=[pytest.mark.supported_targets, pytest.mark.temp_skip_ci(targets=['esp32p4'], reason='test failed')]),
-    pytest.param('single_core', marks=[pytest.mark.esp32]),
+    pytest.param('release', marks=[pytest.mark.supported_targets]),
+    pytest.param('single_core', marks=[pytest.mark.esp32, pytest.mark.esp32p4]),
     pytest.param('smp', marks=[pytest.mark.supported_targets, pytest.mark.temp_skip_ci(targets=['esp32h2', 'esp32p4'], reason='test failed/TBD IDF-8113')]),
 ]
 
@@ -21,7 +19,6 @@ def test_freertos(dut: Dut) -> None:
     dut.run_all_single_board_cases()
 
 
-@pytest.mark.temp_skip_ci(targets=['esp32p4'], reason='esp32p4 support TBD')  # IDF-8981
 @pytest.mark.supported_targets
 @pytest.mark.generic
 @pytest.mark.parametrize('config', ['freertos_options'], indirect=True)
@@ -33,7 +30,6 @@ def test_task_notify_too_high_index_fails(dut: Dut) -> None:
     dut.expect_exact('Rebooting...')
 
 
-@pytest.mark.temp_skip_ci(targets=['esp32p4'], reason='esp32p4 support TBD')  # IDF-8981
 @pytest.mark.supported_targets
 @pytest.mark.generic
 @pytest.mark.parametrize('config', ['freertos_options'], indirect=True)
diff --git a/components/freertos/test_apps/freertos/sdkconfig.ci.single_core b/components/freertos/test_apps/freertos/sdkconfig.ci.single_core
index 69b5e1abdc..a5489aae1b 100644
--- a/components/freertos/test_apps/freertos/sdkconfig.ci.single_core
+++ b/components/freertos/test_apps/freertos/sdkconfig.ci.single_core
@@ -1,4 +1,2 @@
 # Test configuration for using FreeRTOS with under single core on a multicore target. Only tested on the ESP32
-
-CONFIG_IDF_TARGET="esp32"
 CONFIG_FREERTOS_UNICORE=y
diff --git a/components/idf_test/include/esp32p4/idf_performance_target.h b/components/idf_test/include/esp32p4/idf_performance_target.h
index ae02683c52..c6c55fc01a 100644
--- a/components/idf_test/include/esp32p4/idf_performance_target.h
+++ b/components/idf_test/include/esp32p4/idf_performance_target.h
@@ -7,3 +7,6 @@
 /* Spinlock performance on esp32p4 is slower. May need to adjust these values once IDF-7898 is fixed */
 #define IDF_PERFORMANCE_MAX_FREERTOS_SPINLOCK_CYCLES_PER_OP                     380
 #define IDF_PERFORMANCE_MAX_FREERTOS_SPINLOCK_CYCLES_PER_OP_UNICORE             135
+
+/* Solicited yields (portYIELD() or taskYIELD()) take longer on esp32p4. TODO: IDF-2809 */
+#define IDF_PERFORMANCE_MAX_SCHEDULING_TIME                                     2900