diff --git a/components/esp_system/port/panic_handler.c b/components/esp_system/port/panic_handler.c
index 4e28a92e00..dc71a9c0f9 100644
--- a/components/esp_system/port/panic_handler.c
+++ b/components/esp_system/port/panic_handler.c
@@ -158,7 +158,9 @@ static void print_backtrace(const void *f, int core)
 
     //Check if first frame is valid
     bool corrupted = !(esp_stack_ptr_is_sane(stk_frame.sp) &&
-                       esp_ptr_executable((void *)esp_cpu_process_stack_pc(stk_frame.pc)));
+                       (esp_ptr_executable((void *)esp_cpu_process_stack_pc(stk_frame.pc)) ||
+                        /* Ignore the first corrupted PC in case of InstrFetchProhibited */
+                        frame->exccause == EXCCAUSE_INSTR_PROHIBITED));
 
     uint32_t i = ((depth <= 0) ? INT32_MAX : depth) - 1;    //Account for stack frame that's already printed
     while (i-- > 0 && stk_frame.next_pc != 0 && !corrupted) {
@@ -457,7 +459,7 @@ static void frame_to_panic_info(XtExcFrame *frame, panic_info_t *info, bool pseu
 
         info->description = "Exception was unhandled.";
 
-        if (info->reason == reason[0]) {
+        if (frame->exccause == EXCCAUSE_ILLEGAL) {
             info->details = print_illegal_instruction_details;
         }
     }
diff --git a/components/freertos/Kconfig b/components/freertos/Kconfig
index de7a368ff7..fad37f3512 100644
--- a/components/freertos/Kconfig
+++ b/components/freertos/Kconfig
@@ -174,8 +174,8 @@ menu "FreeRTOS"
 
     config FREERTOS_ISR_STACKSIZE
         int "ISR stack size"
-        range 2100 32768 if ESP32_COREDUMP_DATA_FORMAT_ELF
-        default 2100 if ESP32_COREDUMP_DATA_FORMAT_ELF
+        range 2096 32768 if ESP32_COREDUMP_DATA_FORMAT_ELF
+        default 2096 if ESP32_COREDUMP_DATA_FORMAT_ELF
         range 1536 32768
         default 1536
         help
diff --git a/components/freertos/xtensa/include/freertos/FreeRTOSConfig.h b/components/freertos/xtensa/include/freertos/FreeRTOSConfig.h
index 51cbcbce2e..282ff0e547 100644
--- a/components/freertos/xtensa/include/freertos/FreeRTOSConfig.h
+++ b/components/freertos/xtensa/include/freertos/FreeRTOSConfig.h
@@ -192,10 +192,16 @@ int xt_clock_freq(void) __attribute__((deprecated));
 #define configIDLE_TASK_STACK_SIZE CONFIG_FREERTOS_IDLE_TASK_STACKSIZE
 #endif
 
-/* The Xtensa port uses a separate interrupt stack. Adjust the stack size */
-/* to suit the needs of your specific application.                        */
+/* Stack alignment, architecture specifc. Must be a power of two. */
+#define configSTACK_ALIGNMENT			16
+
+/* The Xtensa port uses a separate interrupt stack. Adjust the stack size
+ * to suit the needs of your specific application.
+ * Size needs to be aligned to the stack increment, since the location of
+ * the stack for the 2nd CPU will be calculated using configISR_STACK_SIZE.
+ */
 #ifndef configISR_STACK_SIZE
-#define configISR_STACK_SIZE			CONFIG_FREERTOS_ISR_STACKSIZE
+#define configISR_STACK_SIZE			((CONFIG_FREERTOS_ISR_STACKSIZE + configSTACK_ALIGNMENT - 1) & (~(configSTACK_ALIGNMENT - 1)))
 #endif
 
 /* Minimal heap size to make sure examples can run on memory limited
diff --git a/tools/test_apps/system/panic/app_test.py b/tools/test_apps/system/panic/app_test.py
index 765cbbaaff..159f8351bd 100644
--- a/tools/test_apps/system/panic/app_test.py
+++ b/tools/test_apps/system/panic/app_test.py
@@ -10,7 +10,7 @@ def test_panic_task_wdt(env, extra_data):
         dut.expect("CPU 0: main")
         dut.expect(re.compile(r"abort\(\) was called at PC [0-9xa-f]+ on core 0"))
         dut.expect_none("register dump:")
-        dut.expect("Backtrace:")
+        dut.expect_backtrace()
         dut.expect_elf_sha256()
         dut.expect_none("CORRUPTED", "Guru Meditation")
         dut.expect("Rebooting...")
@@ -21,12 +21,12 @@ def test_panic_int_wdt(env, extra_data):
     with get_dut(env, "panic", "test_int_wdt", qemu_wdt_enable=True) as dut:
         dut.expect_gme("Interrupt wdt timeout on CPU0")
         dut.expect_reg_dump(0)
-        dut.expect("Backtrace:")
-        dut.expect_none("CORRUPTED", "Guru Meditation")
+        dut.expect_backtrace()
+        dut.expect_none("Guru Meditation")
         dut.expect_reg_dump(1)
-        dut.expect("Backtrace:")
+        dut.expect_backtrace()
         dut.expect_elf_sha256()
-        dut.expect_none("CORRUPTED", "Guru Meditation")
+        dut.expect_none("Guru Meditation")
         dut.expect("Rebooting...")
 
 
@@ -36,9 +36,9 @@ def test_cache_error(env, extra_data):
         dut.expect("Re-enable cpu cache.")
         dut.expect_gme("Cache disabled but cached memory region accessed")
         dut.expect_reg_dump(0)
-        dut.expect("Backtrace:")
+        dut.expect_backtrace()
         dut.expect_elf_sha256()
-        dut.expect_none("CORRUPTED", "Guru Meditation")
+        dut.expect_none("Guru Meditation")
         dut.expect("Rebooting...")
 
 
@@ -48,12 +48,12 @@ def test_panic_int_wdt_cache_disabled(env, extra_data):
         dut.expect("Re-enable cpu cache.")
         dut.expect_gme("Interrupt wdt timeout on CPU0")
         dut.expect_reg_dump(0)
-        dut.expect("Backtrace:")
-        dut.expect_none("CORRUPTED", "Guru Meditation")
+        dut.expect_backtrace()
+        dut.expect_none("Guru Meditation")
         dut.expect_reg_dump(1)
-        dut.expect("Backtrace:")
+        dut.expect_backtrace()
         dut.expect_elf_sha256()
-        dut.expect_none("CORRUPTED", "Guru Meditation")
+        dut.expect_none("Guru Meditation")
         dut.expect("Rebooting...")
 
 
@@ -62,8 +62,8 @@ def test_panic_abort(env, extra_data):
     with get_dut(env, "panic", "test_abort") as dut:
         dut.expect(re.compile(r"abort\(\) was called at PC [0-9xa-f]+ on core 0"))
         dut.expect_none("register dump:")
-        dut.expect("Backtrace:")
-        dut.expect_none("CORRUPTED", "Guru Meditation")
+        dut.expect_backtrace()
+        dut.expect_none("Guru Meditation")
         dut.expect("Rebooting...")
 
 
@@ -72,9 +72,9 @@ def test_panic_storeprohibited(env, extra_data):
     with get_dut(env, "panic", "test_storeprohibited") as dut:
         dut.expect_gme("StoreProhibited")
         dut.expect_reg_dump(0)
-        dut.expect("Backtrace:")
+        dut.expect_backtrace()
         dut.expect_elf_sha256()
-        dut.expect_none("CORRUPTED", "Guru Meditation")
+        dut.expect_none("Guru Meditation")
         dut.expect("Rebooting...")
 
 
@@ -84,9 +84,9 @@ def test_panic_stack_overflow(env, extra_data):
         dut.expect_gme("Unhandled debug exception")
         dut.expect("Stack canary watchpoint triggered (main)")
         dut.expect_reg_dump(0)
-        dut.expect("Backtrace:")
+        dut.expect_backtrace()
         dut.expect_elf_sha256()
-        dut.expect_none("CORRUPTED", "Guru Meditation")
+        dut.expect_none("Guru Meditation")
         dut.expect("Rebooting...")
 
 
@@ -95,9 +95,9 @@ def test_panic_illegal_instruction(env, extra_data):
     with get_dut(env, "panic", "test_illegal_instruction") as dut:
         dut.expect_gme("IllegalInstruction")
         dut.expect_reg_dump(0)
-        dut.expect("Backtrace:")
+        dut.expect_backtrace()
         dut.expect_elf_sha256()
-        dut.expect_none("CORRUPTED", "Guru Meditation")
+        dut.expect_none("Guru Meditation")
         dut.expect("Rebooting...")
 
 
@@ -106,10 +106,7 @@ def test_panic_instr_fetch_prohibited(env, extra_data):
     with get_dut(env, "panic", "test_instr_fetch_prohibited") as dut:
         dut.expect_gme("InstrFetchProhibited")
         dut.expect_reg_dump(0)
-        dut.expect("Backtrace:")
-        # At the moment the backtrace is corrupted, need to jump over the first PC in case of InstrFetchProhibited.
-        # Fix this and change expect to expect_none.
-        dut.expect("CORRUPTED")
+        dut.expect_backtrace()
         dut.expect_elf_sha256()
         dut.expect_none("Guru Meditation")
         dut.expect("Rebooting...")
@@ -119,9 +116,9 @@ def test_panic_instr_fetch_prohibited(env, extra_data):
 def test_coredump_uart_abort(env, extra_data):
     with get_dut(env, "coredump_uart", "test_abort") as dut:
         dut.expect(re.compile(r"abort\(\) was called at PC [0-9xa-f]+ on core 0"))
-        dut.expect("Backtrace:")
+        dut.expect_backtrace()
         dut.expect_elf_sha256()
-        dut.expect_none("CORRUPTED", "Guru Meditation", "Re-entered core dump")
+        dut.expect_none("Guru Meditation", "Re-entered core dump")
         dut.expect(dut.COREDUMP_UART_END)
         dut.expect("Rebooting...")
         dut.process_coredump_uart()
@@ -148,9 +145,9 @@ def test_coredump_uart_int_wdt(env, extra_data):
 def test_coredump_flash_abort(env, extra_data):
     with get_dut(env, "coredump_flash", "test_abort") as dut:
         dut.expect(re.compile(r"abort\(\) was called at PC [0-9xa-f]+ on core 0"))
-        dut.expect("Backtrace:")
+        dut.expect_backtrace()
         dut.expect_elf_sha256()
-        dut.expect_none("CORRUPTED", "Guru Meditation", "Re-entered core dump")
+        dut.expect_none("Guru Meditation", "Re-entered core dump")
         dut.expect("Rebooting...")
         dut.process_coredump_flash()
         # TODO: check the contents of core dump output
diff --git a/tools/test_apps/system/panic/test_panic_util/test_panic_util.py b/tools/test_apps/system/panic/test_panic_util/test_panic_util.py
index 39f0cfda09..d50c100861 100644
--- a/tools/test_apps/system/panic/test_panic_util/test_panic_util.py
+++ b/tools/test_apps/system/panic/test_panic_util/test_panic_util.py
@@ -76,6 +76,10 @@ class PanicTestMixin(object):
         elf_sha256_len = int(sdkconfig.get("CONFIG_APP_RETRIEVE_LEN_ELF_SHA", "16"))
         self.expect("ELF file SHA256: " + elf_sha256[0:elf_sha256_len])
 
+    def expect_backtrace(self):
+        self.expect("Backtrace:")
+        self.expect_none("CORRUPTED")
+
     def __enter__(self):
         self._raw_data = None
         return self