diff --git a/HISTORY.rst b/HISTORY.rst
index d194ee84..2b2fa4cb 100644
--- a/HISTORY.rst
+++ b/HISTORY.rst
@@ -22,6 +22,7 @@ PlatformIO Core 6
   - Added new `pio device monitor --no-reconnect <https://docs.platformio.org/en/latest/core/userguide/device/cmd_monitor.html#cmdoption-pio-device-monitor-no-reconnect>`__ option to disable automatic reconnection
   - Handle disconnects more gracefully (`issue #3939 <https://github.com/platformio/platformio-core/issues/3939>`_)
 
+* Merged the |UNITTESTING| "building" stage with "uploading" for the embedded target (`issue #4307 <https://github.com/platformio/platformio-core/issues/4307>`_)
 * Fixed an issue when a custom `pio test --project-config <https://docs.platformio.org/en/latest/core/userguide/cmd_test.html#cmdoption-pio-test-c>`__ was not handled properly (`issue #4299 <https://github.com/platformio/platformio-core/issues/4299>`_)
 
 6.0.2 (2022-06-01)
diff --git a/platformio/test/runners/base.py b/platformio/test/runners/base.py
index 2a0e6cec..218e0c11 100644
--- a/platformio/test/runners/base.py
+++ b/platformio/test/runners/base.py
@@ -117,6 +117,9 @@ class TestRunnerBase:
     def stage_building(self):
         if self.options.without_building:
             return None
+        # run "building" once at the "uploading" stage for the embedded target
+        if not self.options.without_uploading and self.platform.is_embedded():
+            return None
         click.secho("Building...", bold=True)
         targets = ["__test"]
         if not self.options.without_debugging:
@@ -132,9 +135,12 @@ class TestRunnerBase:
             )
 
     def stage_uploading(self):
-        if self.options.without_uploading or not self.platform.is_embedded():
+        is_embedded = self.platform.is_embedded()
+        if self.options.without_uploading or not is_embedded:
             return None
-        click.secho("Uploading...", bold=True)
+        click.secho(
+            "Building & Uploading..." if is_embedded else "Uploading...", bold=True
+        )
         targets = ["upload"]
         if self.options.without_building:
             targets.append("nobuild")