diff --git a/.github/actions/prepare_build/action.yml b/.github/actions/get_deps/action.yml
similarity index 51%
rename from .github/actions/prepare_build/action.yml
rename to .github/actions/get_deps/action.yml
index 5f2c544c13..38b44a70e5 100644
--- a/.github/actions/prepare_build/action.yml
+++ b/.github/actions/get_deps/action.yml
@@ -1,30 +1,29 @@
-name: Prepare to build
+name: Get dependencies
 
 inputs:
-  family:
+  arg:
     required: true
     type: string
 
 runs:
   using: "composite"
   steps:
-    - name: Setup Python
-      uses: actions/setup-python@v5
-      with:
-        python-version: '3.x'
-
     - name: Checkout pico-sdk for rp2040
-      if: contains(inputs.family, 'rp2040')
+      if: contains(inputs.arg, 'rp2040') || contains(inputs.arg, 'raspberry_pi_pico')
       uses: actions/checkout@v4
       with:
         repository: raspberrypi/pico-sdk
         ref: develop
         path: pico-sdk
 
-    - name: Get Dependencies
+    - name: Linux dependencies
+      if: runner.os == 'Linux'
       run: |
         sudo apt install -y ninja-build
-        pip install click
-        python3 tools/get_deps.py ${{ inputs.family }}
-        echo >> $GITHUB_ENV "PICO_SDK_PATH=$GITHUB_WORKSPACE/pico-sdk"
+      shell: bash
+
+    - name: Get Dependencies
+      run: |
+        python3 tools/get_deps.py ${{ inputs.arg }}
+        echo "PICO_SDK_PATH=${{ github.workspace }}/pico-sdk" >> $GITHUB_ENV
       shell: bash
diff --git a/.github/actions/setup_toolchain/action.yml b/.github/actions/setup_toolchain/action.yml
index b59ece1162..e6c79e7dd7 100644
--- a/.github/actions/setup_toolchain/action.yml
+++ b/.github/actions/setup_toolchain/action.yml
@@ -8,6 +8,11 @@ inputs:
     required: false
     type: string
 
+outputs:
+  build_option:
+    description: 'Build option for the toolchain e.g --toolchain clang'
+    value: ${{ steps.set-toolchain-option.outputs.build_option }}
+
 runs:
   using: "composite"
   steps:
@@ -19,7 +24,7 @@ runs:
 
     - name: Pull ESP-IDF docker
       if: inputs.toolchain == 'esp-idf'
-      run: docker pull espressif/idf:latest
+      run: docker pull espressif/idf:${{ inputs.toolchain_url }}
       shell: bash
 
     - name: Download Toolchain
@@ -29,3 +34,14 @@ runs:
       uses: ./.github/actions/setup_toolchain/download
       with:
         toolchain_url: ${{ inputs.toolchain_url }}
+
+    - name: Set toolchain option
+      id: set-toolchain-option
+      run: |
+          BUILD_OPTION=""
+          if [[ "${{ inputs.toolchain }}" == *"clang"* ]]; then
+            BUILD_OPTION="--toolchain clang"
+          fi
+          echo "build_option=$BUILD_OPTION"
+          echo "build_option=$BUILD_OPTION" >> $GITHUB_OUTPUT
+      shell: bash
diff --git a/.github/workflows/build_cmake.yml b/.github/workflows/build_cmake.yml
index b62a0e9bdb..4723cf8d94 100644
--- a/.github/workflows/build_cmake.yml
+++ b/.github/workflows/build_cmake.yml
@@ -12,6 +12,7 @@ on:
       - 'tools/build.py'
       - '.github/actions/**'
       - '.github/workflows/build_cmake.yml'
+      - '.github/workflows/build_util.yml'
       - '.github/workflows/ci_set_matrix.py'
   pull_request:
     branches: [ master ]
@@ -24,9 +25,10 @@ on:
       - 'tools/build.py'
       - '.github/actions/**'
       - '.github/workflows/build_cmake.yml'
+      - '.github/workflows/build_util.yml'
       - '.github/workflows/ci_set_matrix.py'
 concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
@@ -55,7 +57,7 @@ jobs:
   # ---------------------------------------
   cmake:
     needs: set-matrix
-    uses: ./.github/workflows/build_family.yml
+    uses: ./.github/workflows/build_util.yml
     strategy:
       fail-fast: false
       matrix:
@@ -69,14 +71,14 @@ jobs:
       build-system: 'cmake'
       toolchain: ${{ matrix.toolchain }}
       toolchain_url: ${{ fromJSON(needs.set-matrix.outputs.json)[matrix.toolchain].toolchain_url }}
-      build-family: ${{ toJSON(fromJSON(needs.set-matrix.outputs.json)[matrix.toolchain].family) }}
+      build-args: ${{ toJSON(fromJSON(needs.set-matrix.outputs.json)[matrix.toolchain].family) }}
 
   # ---------------------------------------
   # Build Make
   # ---------------------------------------
   make:
     needs: set-matrix
-    uses: ./.github/workflows/build_family.yml
+    uses: ./.github/workflows/build_util.yml
     strategy:
       fail-fast: false
       matrix:
@@ -90,4 +92,38 @@ jobs:
       build-system: 'make'
       toolchain: ${{ matrix.toolchain }}
       toolchain_url: ${{ fromJSON(needs.set-matrix.outputs.json)[matrix.toolchain].toolchain_url }}
-      build-family: ${{ toJSON(fromJSON(needs.set-matrix.outputs.json)[matrix.toolchain].family) }}
+      build-args: ${{ toJSON(fromJSON(needs.set-matrix.outputs.json)[matrix.toolchain].family) }}
+
+  # ---------------------------------------
+  # Build Make on Windows/MacOS
+  # ---------------------------------------
+  make-os:
+    uses: ./.github/workflows/build_util.yml
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [windows-latest, macos-latest]
+    with:
+      os: ${{ matrix.os }}
+      build-system: 'make'
+      toolchain: 'arm-gcc'
+      build-args: '["-bstm32f411disco"]'
+
+  # ---------------------------------------
+  # Build Espressif
+  # ---------------------------------------
+  espressif:
+    uses: ./.github/workflows/build_util.yml
+    strategy:
+      fail-fast: false
+      matrix:
+        board:
+          # ESP32-S2
+          - 'espressif_kaluga_1'
+          # ESP32-S3 skip since devkitm is also compiled in hil-test workflow
+          #- 'espressif_s3_devkitm'
+    with:
+      build-system: 'cmake'
+      toolchain: 'esp-idf'
+      toolchain_url: 'v5.1.1'
+      build-args: '["-b${{ matrix.board }}"]'
diff --git a/.github/workflows/build_esp.yml b/.github/workflows/build_esp.yml
deleted file mode 100644
index 66fa8548ea..0000000000
--- a/.github/workflows/build_esp.yml
+++ /dev/null
@@ -1,109 +0,0 @@
-name: Build ESP
-
-on:
-  workflow_dispatch:
-  push:
-    paths:
-      - 'src/**'
-      - 'examples/**'
-      - 'lib/**'
-      - 'hw/**'
-      - 'test/hil/**'
-      - '.github/workflows/build_esp.yml'
-  pull_request:
-    branches: [ master ]
-    paths:
-      - 'src/**'
-      - 'examples/**'
-      - 'lib/**'
-      - 'hw/**'
-      - 'test/hil/**'
-      - '.github/workflows/build_esp.yml'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
-  cancel-in-progress: true
-
-jobs:
-  build-esp:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        board:
-        # ESP32-S2
-        - 'espressif_kaluga_1'
-        # ESP32-S3
-        - 'espressif_s3_devkitm'
-    steps:
-    - name: Setup Python
-      uses: actions/setup-python@v5
-      with:
-        python-version: '3.x'
-
-    - name: Checkout TinyUSB
-      uses: actions/checkout@v4
-
-    - name: Setup Toolchain
-      uses: ./.github/actions/setup_toolchain
-      with:
-        toolchain: 'esp-idf'
-
-    - name: Build
-      run: docker run --rm -v $PWD:/project -w /project espressif/idf:v5.1.1 python3 tools/build.py -b ${{ matrix.board }}
-
-    - name: Upload Artifacts for Hardware Testing
-      if: matrix.board == 'espressif_s3_devkitm' && github.repository_owner == 'hathach'
-      uses: actions/upload-artifact@v4
-      with:
-        name: ${{ matrix.board }}
-        path: |
-          cmake-build/cmake-build-${{ matrix.board }}/*/*/bootloader/bootloader.bin
-          cmake-build/cmake-build-${{ matrix.board }}/*/*/*.bin
-          cmake-build/cmake-build-${{ matrix.board }}/*/*/partition_table/partition-table.bin
-          cmake-build/cmake-build-${{ matrix.board }}/*/*/config.env
-          cmake-build/cmake-build-${{ matrix.board }}/*/*/flash_args
-
-  # ---------------------------------------
-  # Hardware in the loop (HIL)
-  # Current self-hosted instance is running on an RPI4. For attached hardware checkout hil_pi4.json
-  # ---------------------------------------
-  hil-test:
-    # run only with hathach's commit due to limited resource on RPI4
-    if: github.repository_owner == 'hathach'
-    needs: build-esp
-    runs-on: [self-hosted, esp32s3, hardware-in-the-loop]
-    strategy:
-      fail-fast: false
-      matrix:
-        board:
-          - 'espressif_s3_devkitm'
-    steps:
-      - name: Clean workspace
-        run: |
-          echo "Cleaning up previous run"
-          rm -rf "${{ github.workspace }}"
-          mkdir -p "${{ github.workspace }}"
-
-        # USB bus on rpi4 is not stable, reset it before testing
-      - name: Reset USB bus
-        run: |
-          lsusb
-          lsusb -t
-          # reset VIA Labs 2.0 hub
-          sudo usbreset 001/002
-
-      - name: Checkout test/hil
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: test/hil
-
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ matrix.board }}
-          path: cmake-build/cmake-build-${{ matrix.board }}
-
-      - name: Test on actual hardware
-        run: |
-          python3 test/hil/hil_test.py --board ${{ matrix.board }} pi4_esp32.json
diff --git a/.github/workflows/build_family.yml b/.github/workflows/build_family.yml
deleted file mode 100644
index 2e89267a39..0000000000
--- a/.github/workflows/build_family.yml
+++ /dev/null
@@ -1,64 +0,0 @@
-name: Build family
-
-on:
-  workflow_call:
-    inputs:
-      build-system:
-        required: true
-        type: string
-      toolchain:
-        required: true
-        type: string
-      toolchain_url:
-        required: true
-        type: string
-      build-family:
-        required: true
-        type: string
-
-jobs:
-  family:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        family: ${{ fromJSON(inputs.build-family) }}
-    steps:
-      - name: Checkout TinyUSB
-        uses: actions/checkout@v4
-
-      - name: Setup Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.x'
-
-      - name: Setup Toolchain
-        uses: ./.github/actions/setup_toolchain
-        with:
-          toolchain: ${{ inputs.toolchain }}
-          toolchain_url: ${{ inputs.toolchain_url }}
-
-      - name: Checkout pico-sdk for rp2040
-        if: contains(matrix.family, 'rp2040')
-        uses: actions/checkout@v4
-        with:
-          repository: raspberrypi/pico-sdk
-          ref: develop
-          path: pico-sdk
-
-      - name: Get Dependencies
-        run: |
-          sudo apt install -y ninja-build
-          pip install click
-          python3 tools/get_deps.py ${{ matrix.family }}
-
-      - name: Build
-        run: |
-          OPTION=""
-          if [[ "${{ inputs.toolchain }}" == *"clang"* ]]; then
-            OPTION="--toolchain clang"
-          fi
-          echo "OPTION=$OPTION"
-          python tools/build.py -s ${{ inputs.build-system }} $OPTION ${{ matrix.family }}
-        env:
-          PICO_SDK_PATH: ${{ github.workspace }}/pico-sdk
diff --git a/.github/workflows/build_iar.yml b/.github/workflows/build_iar.yml
index c4a7f96b75..34dbda1928 100644
--- a/.github/workflows/build_iar.yml
+++ b/.github/workflows/build_iar.yml
@@ -23,7 +23,7 @@ on:
       - '.github/workflows/build_iar.yml'
 
 concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
diff --git a/.github/workflows/build_renesas.yml b/.github/workflows/build_renesas.yml
index 8c83bdbbf3..1be49344ff 100644
--- a/.github/workflows/build_renesas.yml
+++ b/.github/workflows/build_renesas.yml
@@ -21,7 +21,7 @@ on:
       - '.github/workflows/build_renesas.yml'
 
 concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
@@ -65,7 +65,6 @@ jobs:
 
     - name: Get Dependencies
       run: |
-        pip install click
         python3 tools/get_deps.py ${{ matrix.family }}
 
     - name: Build
diff --git a/.github/workflows/build_util.yml b/.github/workflows/build_util.yml
new file mode 100644
index 0000000000..f8ad1900c9
--- /dev/null
+++ b/.github/workflows/build_util.yml
@@ -0,0 +1,59 @@
+name: Reusable build util
+
+on:
+  workflow_call:
+    inputs:
+      build-system:
+        required: true
+        type: string
+      toolchain:
+        required: true
+        type: string
+      toolchain_url:
+        required: false
+        type: string
+      build-args:
+        required: true
+        type: string
+      os:
+        required: false
+        type: string
+        default: 'ubuntu-latest'
+
+jobs:
+  family:
+    runs-on: ${{ inputs.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        arg: ${{ fromJSON(inputs.build-args) }}
+    steps:
+      - name: Checkout TinyUSB
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+
+      - name: Setup Toolchain
+        id: setup-toolchain
+        uses: ./.github/actions/setup_toolchain
+        with:
+          toolchain: ${{ inputs.toolchain }}
+          toolchain_url: ${{ inputs.toolchain_url }}
+
+      - name: Get Dependencies
+        uses: ./.github/actions/get_deps
+        with:
+          arg: ${{ matrix.arg }}
+
+      - name: Build
+        if: inputs.toolchain != 'esp-idf'
+        run: |
+          python tools/build.py -s ${{ inputs.build-system }} ${{ steps.setup-toolchain.outputs.build_option }} ${{ matrix.arg }}
+
+      - name: Build using ESP-IDF docker
+        if: inputs.toolchain == 'esp-idf'
+        run: |
+          docker run --rm -v $PWD:/project -w /project espressif/idf:${{ inputs.toolchain_url }} python3 tools/build.py ${{ matrix.arg }}
diff --git a/.github/workflows/build_win_mac.yml b/.github/workflows/build_win_mac.yml
deleted file mode 100644
index 35328aa327..0000000000
--- a/.github/workflows/build_win_mac.yml
+++ /dev/null
@@ -1,56 +0,0 @@
-name: Build Windows/MacOS
-
-on:
-  workflow_dispatch:
-  push:
-    paths:
-      - 'src/**'
-      - 'examples/**'
-      - 'lib/**'
-      - 'hw/**'
-      - '.github/workflows/build_win_mac.yml'
-  pull_request:
-    branches: [ master ]
-    paths:
-      - 'src/**'
-      - 'examples/**'
-      - 'lib/**'
-      - 'hw/**'
-      - '.github/workflows/build_win_mac.yml'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
-  cancel-in-progress: true
-
-jobs:
-  # ---------------------------------------
-  # Build ARM family
-  # ---------------------------------------
-  build-arm:
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [windows-latest, macos-latest]
-    runs-on: ${{ matrix.os }}
-
-    steps:
-    - name: Setup Python
-      uses: actions/setup-python@v5
-      with:
-        python-version: '3.x'
-
-    - name: Install ARM GCC
-      uses: carlosperate/arm-none-eabi-gcc-action@v1
-      with:
-        release: '10.3-2021.10'
-
-    - name: Checkout TinyUSB
-      uses: actions/checkout@v4
-
-    - name: Get Dependencies
-      run: |
-        pip install click
-        python3 tools/get_deps.py stm32f4
-
-    - name: Build
-      run: python3 tools/build.py -s make stm32f2
diff --git a/.github/workflows/ci_set_matrix.py b/.github/workflows/ci_set_matrix.py
index 2a17be6a12..ea758d9171 100644
--- a/.github/workflows/ci_set_matrix.py
+++ b/.github/workflows/ci_set_matrix.py
@@ -16,7 +16,7 @@
     "ch32v307 fomu gd32vf103": ["riscv-gcc"],
     "imxrt": ["arm-gcc", "arm-clang"],
     "kinetis_k kinetis_kl kinetis_k32l2": ["arm-gcc", "arm-clang"],
-    "lpc11 lpc13 lpc15": ["arm-gcc"],
+    "lpc11 lpc13 lpc15": ["arm-gcc", "arm-clang"],
     "lpc17 lpc18 lpc40 lpc43": ["arm-gcc", "arm-clang"],
     "lpc51 lpc54 lpc55": ["arm-gcc", "arm-clang"],
     "mcx": ["arm-gcc"],
diff --git a/.github/workflows/hil_test.yml b/.github/workflows/hil_test.yml
index 024ab969d7..796ff32dc3 100644
--- a/.github/workflows/hil_test.yml
+++ b/.github/workflows/hil_test.yml
@@ -24,15 +24,18 @@ on:
       - '.github/actions/**'
       - '.github/workflows/hil_test.yml'
 concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
+  # ---------------------------------------
+  # Build Non Espressif
+  # ---------------------------------------
   build:
     if: github.repository_owner == 'hathach'
     runs-on: ubuntu-latest
     outputs:
-      BOARD_LIST: ${{ steps.parse_hil_json.outputs.BOARD_LIST }}
+      BOARDS_LIST: ${{ steps.parse_hil_json.outputs.BOARDS_LIST }}
     steps:
       - name: Checkout TinyUSB
         uses: actions/checkout@v4
@@ -42,38 +45,29 @@ jobs:
         with:
           python-version: '3.x'
 
-      - name: Install ARM GCC
-        uses: carlosperate/arm-none-eabi-gcc-action@v1
-        with:
-          release: '12.3.Rel1'
-
       - name: Parse HIL json
         id: parse_hil_json
         run: |
           sudo apt install -y jq
-          BOARD_LIST=$(jq -r '.boards[] | "-b " + .name' test/hil/pi4.json | tr '\n' ' ')
-          echo "BOARD_LIST=$BOARD_LIST"
-          echo >> $GITHUB_ENV "BOARD_LIST=$BOARD_LIST"
-          echo >> $GITHUB_OUTPUT "BOARD_LIST=$BOARD_LIST"
 
-      - name: Checkout pico-sdk for rp2040
-        uses: actions/checkout@v4
+          # Non-Espresif boards
+          BOARDS_LIST=$(jq -r '.boards[] | select(.flasher != "esptool") | "-b " + .name' test/hil/pi4.json | tr '\n' ' ')
+          echo "BOARDS_LIST=$BOARDS_LIST"
+          echo "BOARDS_LIST=$BOARDS_LIST" >> $GITHUB_ENV
+          echo "BOARDS_LIST=$BOARDS_LIST" >> $GITHUB_OUTPUT
+
+      - name: Setup ARM Toolchain
+        uses: ./.github/actions/setup_toolchain
         with:
-          repository: raspberrypi/pico-sdk
-          ref: develop
-          path: pico-sdk
+          toolchain: 'arm-gcc'
 
       - name: Get Dependencies
-        run: |
-          pip install click
-          sudo apt install -y ninja-build
-          python3 tools/get_deps.py $BOARD_LIST
+        uses: ./.github/actions/get_deps
+        with:
+          arg: ${{ env.BOARDS_LIST }}
 
       - name: Build
-        run: |
-          python tools/build.py $BOARD_LIST
-        env:
-          PICO_SDK_PATH: ${{ github.workspace }}/pico-sdk
+        run: python tools/build.py $BOARDS_LIST
 
       - name: Upload Artifacts for Hardware Testing
         uses: actions/upload-artifact@v4
@@ -83,16 +77,71 @@ jobs:
             cmake-build/cmake-build-*/*/*/*.elf
             cmake-build/cmake-build-*/*/*/*.bin
 
+  # ---------------------------------------
+  # Build Espressif
+  # ---------------------------------------
+  build-esp:
+    runs-on: ubuntu-latest
+    outputs:
+      BOARDS_LIST: ${{ steps.parse_hil_json.outputs.BOARDS_LIST }}
+    steps:
+      - name: Checkout TinyUSB
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+
+      - name: Parse HIL json
+        id: parse_hil_json
+        run: |
+          sudo apt install -y jq
+          # Espressif boards
+          BOARDS_LIST=$(jq -r '.boards[] | select(.flasher == "esptool") | "-b " + .name' test/hil/pi4.json | tr '\n' ' ')
+          echo "BOARDS_LIST=$BOARDS_LIST"
+          echo "BOARDS_LIST=$BOARDS_LIST" >> $GITHUB_ENV
+          echo "BOARDS_LIST=$BOARDS_LIST" >> $GITHUB_OUTPUT
+
+      - name: Setup ESP-IDF
+        if: env.BOARDS_LIST != ''
+        uses: ./.github/actions/setup_toolchain
+        with:
+          toolchain: 'esp-idf'
+          toolchain_url: 'v5.1.1'
+
+      - name: Get Dependencies
+        uses: ./.github/actions/get_deps
+        with:
+          arg: ${{ env.BOARDS_LIST }}
+
+      - name: Build Espressif
+        if: env.BOARDS_LIST != ''
+        run: docker run --rm -v $PWD:/project -w /project espressif/idf:v5.1.1 python3 tools/build.py $BOARDS_LIST
+
+      - name: Upload Artifacts for Hardware Testing
+        uses: actions/upload-artifact@v4
+        with:
+          name: hil_pi4_esp
+          path: |
+            cmake-build/cmake-build-*/*/*/*.bin
+            cmake-build/cmake-build-*/*/*/bootloader/bootloader.bin
+            cmake-build/cmake-build-*/*/*/partition_table/partition-table.bin
+            cmake-build/cmake-build-*/*/*/config.env
+            cmake-build/cmake-build-*/*/*/flash_args
+
   # ---------------------------------------
   # Hardware in the loop (HIL)
-  # Current self-hosted instance is running on an RPI4. For attached hardware checkout hil_pi4.json
+  # Current self-hosted instance is running on an RPI4. For attached hardware checkout test/hil/pi4.json
   # ---------------------------------------
   hil-pi4:
     if: github.repository_owner == 'hathach'
-    needs: build
-    runs-on: [self-hosted, rp2040, nrf52840, hardware-in-the-loop]
+    needs:
+      - build
+      - build-esp
+    runs-on: [self-hosted, rp2040, nrf52840, esp32s3, hardware-in-the-loop]
     env:
-        BOARD_LIST: ${{ needs.build.outputs.BOARD_LIST }}
+        BOARDS_LIST: "${{ needs.build.outputs.BOARDS_LIST }} ${{ needs.build-esp.outputs.BOARDS_LIST }}"
     steps:
       - name: Clean workspace
         run: |
@@ -103,8 +152,7 @@ jobs:
         # USB bus on rpi4 is not stable, reset it before testing
       - name: Reset USB bus
         run: |
-          lsusb
-          lsusb -t
+          # lsusb -t
           # reset VIA Labs 2.0 hub
           sudo usbreset 001/002
 
@@ -119,7 +167,16 @@ jobs:
           name: hil_pi4
           path: cmake-build
 
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: hil_pi4_esp
+          path: cmake-build
+
       - name: Test on actual hardware
         run: |
-          echo "BOARD_LIST=$BOARD_LIST"
-          python3 test/hil/hil_test.py $BOARD_LIST pi4.json
+          echo "BOARDS_LIST=$BOARDS_LIST"
+          echo "::group::{cmake-build contents}"
+          tree cmake-build
+          echo "::endgroup::"
+          python3 test/hil/hil_test.py $BOARDS_LIST pi4.json
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index 6b31517025..d1ffe6ca19 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -7,7 +7,7 @@ on:
     branches: [ master ]
 
 concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
@@ -38,7 +38,6 @@ jobs:
 
     - name: Build Fuzzer
       run: |
-        pip install click
         export CC=clang
         export CXX=clang++
         fuzz_harness=$(ls -d test/fuzz/device/*/)
diff --git a/examples/device/net_lwip_webserver/skip.txt b/examples/device/net_lwip_webserver/skip.txt
index bb3ff78851..43cdab71a3 100644
--- a/examples/device/net_lwip_webserver/skip.txt
+++ b/examples/device/net_lwip_webserver/skip.txt
@@ -9,6 +9,8 @@ mcu:STM32F0
 mcu:KINETIS_KL
 family:broadcom_64bit
 family:broadcom_32bit
+family:espressif
 board:curiosity_nano
 board:frdm_kl25z
-family:espressif
+# lpc55 has weird error 'ncm_interface' causes a section type conflict with 'ntb_parameters'
+family:lpc55
diff --git a/examples/device/video_capture_2ch/skip.txt b/examples/device/video_capture_2ch/skip.txt
index 15c176a2ad..86697899b5 100644
--- a/examples/device/video_capture_2ch/skip.txt
+++ b/examples/device/video_capture_2ch/skip.txt
@@ -12,3 +12,5 @@ board:lpcxpresso11u68
 board:stm32f303disco
 board:stm32l412nucleo
 board:ek_tm4c123gxl
+board:uno_r4
+board:ra4m1_ek
diff --git a/examples/host/cdc_msc_hid_freertos/only.txt b/examples/host/cdc_msc_hid_freertos/only.txt
index 81d993ffa9..1e0e600754 100644
--- a/examples/host/cdc_msc_hid_freertos/only.txt
+++ b/examples/host/cdc_msc_hid_freertos/only.txt
@@ -8,5 +8,4 @@ mcu:MIMXRT10XX
 mcu:MIMXRT11XX
 mcu:MSP432E4
 mcu:RX65X
-mcu:RAXXX
 mcu:MAX3421
diff --git a/hw/bsp/lpc17/family.mk b/hw/bsp/lpc17/family.mk
index 84ed956485..d719a47b7b 100644
--- a/hw/bsp/lpc17/family.mk
+++ b/hw/bsp/lpc17/family.mk
@@ -22,8 +22,8 @@ LDFLAGS_GCC += --specs=nosys.specs --specs=nano.specs
 
 SRC_C += \
 	src/portable/nxp/lpc17_40/dcd_lpc17_40.c \
-	src/portable/ohci/ohci.c \
 	src/portable/nxp/lpc17_40/hcd_lpc17_40.c \
+	src/portable/ohci/ohci.c \
 	$(MCU_DIR)/../gcc/cr_startup_lpc175x_6x.c \
 	$(MCU_DIR)/src/chip_17xx_40xx.c \
 	$(MCU_DIR)/src/clock_17xx_40xx.c \
diff --git a/hw/bsp/lpc40/family.mk b/hw/bsp/lpc40/family.mk
index 79d868f359..ef9fe57b23 100644
--- a/hw/bsp/lpc40/family.mk
+++ b/hw/bsp/lpc40/family.mk
@@ -20,6 +20,8 @@ LDFLAGS_GCC += --specs=nosys.specs --specs=nano.specs
 # All source paths should be relative to the top level.
 SRC_C += \
 	src/portable/nxp/lpc17_40/dcd_lpc17_40.c \
+	src/portable/nxp/lpc17_40/hcd_lpc17_40.c \
+	src/portable/ohci/ohci.c \
 	$(MCU_DIR)/../gcc/cr_startup_lpc40xx.c \
 	$(MCU_DIR)/src/chip_17xx_40xx.c \
 	$(MCU_DIR)/src/clock_17xx_40xx.c \
diff --git a/src/class/net/ncm_device.c b/src/class/net/ncm_device.c
index 4b237e4cff..64aba011a3 100644
--- a/src/class/net/ncm_device.c
+++ b/src/class/net/ncm_device.c
@@ -112,7 +112,7 @@ typedef struct {
   bool notification_xmit_is_running;    // notification is currently transmitted
 } ncm_interface_t;
 
-CFG_TUSB_MEM_SECTION CFG_TUSB_MEM_ALIGN tu_static ncm_interface_t ncm_interface;
+CFG_TUD_MEM_SECTION CFG_TUD_MEM_ALIGN tu_static ncm_interface_t ncm_interface;
 
 /**
  * This is the NTB parameter structure
@@ -120,7 +120,7 @@ CFG_TUSB_MEM_SECTION CFG_TUSB_MEM_ALIGN tu_static ncm_interface_t ncm_interface;
  * \attention
  *     We are lucky, that byte order is correct
  */
-CFG_TUSB_MEM_SECTION CFG_TUSB_MEM_ALIGN tu_static const ntb_parameters_t ntb_parameters = {
+CFG_TUD_MEM_SECTION CFG_TUD_MEM_ALIGN tu_static const ntb_parameters_t ntb_parameters = {
   .wLength                  = sizeof(ntb_parameters_t),
   .bmNtbFormatsSupported    = 0x01,// 16-bit NTB supported
   .dwNtbInMaxSize           = CFG_TUD_NCM_IN_NTB_MAX_SIZE,
@@ -285,7 +285,7 @@ static xmit_ntb_t *xmit_get_next_ready_ntb(void) {
  *    This must be called from netd_xfer_cb() so that ep_in is ready
  */
 static bool xmit_insert_required_zlp(uint8_t rhport, uint32_t xferred_bytes) {
-  TU_LOG_DRV("xmit_insert_required_zlp(%d,%d)\n", rhport, xferred_bytes);
+  TU_LOG_DRV("xmit_insert_required_zlp(%d,%ld)\n", rhport, xferred_bytes);
 
   if (xferred_bytes == 0 || xferred_bytes % CFG_TUD_NET_ENDPOINT_SIZE != 0) {
     return false;
@@ -521,11 +521,11 @@ static bool recv_validate_datagram(const recv_ntb_t *ntb, uint32_t len) {
     return false;
   }
   if (len < sizeof(nth16_t) + sizeof(ndp16_t) + 2 * sizeof(ndp16_datagram_t)) {
-    TU_LOG_DRV("(EE) ill min len: %d\n", len);
+    TU_LOG_DRV("(EE) ill min len: %lu\n", len);
     return false;
   }
   if (nth16->wBlockLength > len) {
-    TU_LOG_DRV("(EE) ill block length: %d > %d\n", nth16->wBlockLength, len);
+    TU_LOG_DRV("(EE) ill block length: %d > %lu\n", nth16->wBlockLength, len);
     return false;
   }
   if (nth16->wBlockLength > CFG_TUD_NCM_OUT_NTB_MAX_SIZE) {
@@ -533,7 +533,7 @@ static bool recv_validate_datagram(const recv_ntb_t *ntb, uint32_t len) {
     return false;
   }
   if (nth16->wNdpIndex < sizeof(nth16) || nth16->wNdpIndex > len - (sizeof(ndp16_t) + 2 * sizeof(ndp16_datagram_t))) {
-    TU_LOG_DRV("(EE) ill position of first ndp: %d (%d)\n", nth16->wNdpIndex, len);
+    TU_LOG_DRV("(EE) ill position of first ndp: %d (%lu)\n", nth16->wNdpIndex, len);
     return false;
   }
 
@@ -567,11 +567,11 @@ static bool recv_validate_datagram(const recv_ntb_t *ntb, uint32_t len) {
   while (ndp16_datagram[ndx].wDatagramIndex != 0 && ndp16_datagram[ndx].wDatagramLength != 0) {
     TU_LOG_DRV("  << %d %d\n", ndp16_datagram[ndx].wDatagramIndex, ndp16_datagram[ndx].wDatagramLength);
     if (ndp16_datagram[ndx].wDatagramIndex > len) {
-      TU_LOG_DRV("(EE) ill start of datagram[%d]: %d (%d)\n", ndx, ndp16_datagram[ndx].wDatagramIndex, len);
+      TU_LOG_DRV("(EE) ill start of datagram[%d]: %d (%lu)\n", ndx, ndp16_datagram[ndx].wDatagramIndex, len);
       return false;
     }
     if (ndp16_datagram[ndx].wDatagramIndex + ndp16_datagram[ndx].wDatagramLength > len) {
-      TU_LOG_DRV("(EE) ill end of datagram[%d]: %d (%d)\n", ndx, ndp16_datagram[ndx].wDatagramIndex + ndp16_datagram[ndx].wDatagramLength, len);
+      TU_LOG_DRV("(EE) ill end of datagram[%d]: %d (%lu)\n", ndx, ndp16_datagram[ndx].wDatagramIndex + ndp16_datagram[ndx].wDatagramLength, len);
       return false;
     }
     ++ndx;
diff --git a/test/hil/hil_test.py b/test/hil/hil_test.py
index dffb817656..c2699cc6f8 100644
--- a/test/hil/hil_test.py
+++ b/test/hil/hil_test.py
@@ -25,10 +25,10 @@
 # ACTION=="add", SUBSYSTEM=="tty", SUBSYSTEMS=="usb", MODE="0666", PROGRAM="/bin/sh -c 'echo $$ID_SERIAL_SHORT | rev | cut -c -8 | rev'", SYMLINK+="ttyUSB_%c.%s{bInterfaceNumber}"
 # ACTION=="add", SUBSYSTEM=="block", SUBSYSTEMS=="usb", ENV{ID_FS_USAGE}=="filesystem", MODE="0666", PROGRAM="/bin/sh -c 'echo $$ID_SERIAL_SHORT | rev | cut -c -8 | rev'", RUN{program}+="/usr/bin/systemd-mount --no-block --automount=yes --collect $devnode /media/blkUSB_%c.%s{bInterfaceNumber}"
 
+import argparse
 import os
 import sys
 import time
-import click
 import serial
 import subprocess
 import json
@@ -318,13 +318,18 @@ def test_hid_composite_freertos(id):
 # -------------------------------------------------------------
 # Main
 # -------------------------------------------------------------
-@click.command()
-@click.argument('config_file')
-@click.option('-b', '--board', multiple=True, default=None, help='Boards to test, all if not specified')
-def main(config_file, board):
+def main():
     """
     Hardware test on specified boards
     """
+    parser = argparse.ArgumentParser()
+    parser.add_argument('config_file', help='Configuration JSON file')
+    parser.add_argument('-b', '--board', action='append', default=[], help='Boards to test, all if not specified')
+    args = parser.parse_args()
+
+    config_file = args.config_file
+    boards = args.board
+
     config_file = os.path.join(os.path.dirname(__file__), config_file)
     with open(config_file) as f:
         config = json.load(f)
@@ -334,10 +339,10 @@ def main(config_file, board):
         'cdc_dual_ports', 'cdc_msc', 'dfu', 'dfu_runtime', 'hid_boot_interface',
     ]
 
-    if len(board) == 0:
+    if len(boards) == 0:
         config_boards = config['boards']
     else:
-        config_boards = [e for e in config['boards'] if e['name'] in board]
+        config_boards = [e for e in config['boards'] if e['name'] in boards]
 
     for item in config_boards:
         name = item['name']
diff --git a/test/hil/pi4.json b/test/hil/pi4.json
index 04329bb644..bdb8a5fa52 100644
--- a/test/hil/pi4.json
+++ b/test/hil/pi4.json
@@ -22,6 +22,16 @@
             "flasher_product": "ItsyBitsy M4 Express",
             "flasher_reset_pin": "2",
             "flasher_args": "--offset 0x4000"
+        },
+        {
+            "name": "espressif_s3_devkitm",
+            "uid": "84F703C084E4",
+            "tests": [
+                "cdc_msc_freertos", "hid_composite_freertos"
+            ],
+            "flasher": "esptool",
+            "flasher_sn": "3ea619acd1cdeb11a0a0b806e93fd3f1",
+            "flasher_args": "-b 1500000"
         }
     ]
 }
diff --git a/test/hil/pi4_esp32.json b/test/hil/pi4_esp32.json
deleted file mode 100644
index c95dd2d4e3..0000000000
--- a/test/hil/pi4_esp32.json
+++ /dev/null
@@ -1,14 +0,0 @@
-{
-    "boards": [
-        {
-            "name": "espressif_s3_devkitm",
-            "uid": "84F703C084E4",
-            "tests": [
-                "cdc_msc_freertos", "hid_composite_freertos"
-            ],
-            "flasher": "esptool",
-            "flasher_sn": "3ea619acd1cdeb11a0a0b806e93fd3f1",
-            "flasher_args": "-b 1500000"
-        }
-    ]
-}
diff --git a/tools/build.py b/tools/build.py
index 884cd56f40..967f7c95ec 100644
--- a/tools/build.py
+++ b/tools/build.py
@@ -1,8 +1,8 @@
+import argparse
 import os
 import sys
 import time
 import subprocess
-import click
 from pathlib import Path
 from multiprocessing import Pool
 
@@ -125,13 +125,20 @@ def build_family(family, toolchain, build_system):
     return ret
 
 
-@click.command()
-@click.argument('families', nargs=-1, required=False)
-@click.option('-b', '--board', multiple=True, default=None, help='Boards to build')
-@click.option('-t', '--toolchain', default='gcc', help='Toolchain to use, default is gcc')
-@click.option('-s', '--build-system', default='cmake', help='Build system to use, default is cmake')
-def main(families, board, toolchain, build_system):
-    if len(families) == 0 and len(board) == 0:
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument('families', nargs='*', default=[], help='Families to build')
+    parser.add_argument('-b', '--board', action='append', default=[], help='Boards to build')
+    parser.add_argument('-t', '--toolchain', default='gcc', help='Toolchain to use, default is gcc')
+    parser.add_argument('-s', '--build-system', default='cmake', help='Build system to use, default is cmake')
+    args = parser.parse_args()
+
+    families = args.families
+    boards = args.board
+    toolchain = args.toolchain
+    build_system = args.build_system
+
+    if len(families) == 0 and len(boards) == 0:
         print("Please specify families or board to build")
         return 1
 
@@ -159,12 +166,23 @@ def main(families, board, toolchain, build_system):
             total_result[2] += fret[2]
 
     # build board (only cmake)
-    if board is not None:
-        for b in board:
-            r = build_board_cmake(b, toolchain)
-            total_result[0] += r[0]
-            total_result[1] += r[1]
-            total_result[2] += r[2]
+    if boards is not None:
+        for b in boards:
+            if build_system == 'cmake':
+                r = build_board_cmake(b, toolchain)
+                total_result[0] += r[0]
+                total_result[1] += r[1]
+                total_result[2] += r[2]
+            elif build_system == 'make':
+                all_examples = get_examples(find_family(b))
+                with Pool(processes=os.cpu_count()) as pool:
+                    pool_args = list((map(lambda e, bb=b, o=f"TOOLCHAIN={toolchain}": [e, bb, o], all_examples)))
+                    r = pool.starmap(build_utils.build_example, pool_args)
+                    # sum all element of same index (column sum)
+                    rsum = list(map(sum, list(zip(*r))))
+                    total_result[0] += rsum[0]
+                    total_result[1] += rsum[1]
+                    total_result[2] += rsum[2]
 
     total_time = time.monotonic() - total_time
     print(build_separator)
diff --git a/tools/build_esp32.py b/tools/build_esp32.py
deleted file mode 100644
index 951467c23c..0000000000
--- a/tools/build_esp32.py
+++ /dev/null
@@ -1,106 +0,0 @@
-import os
-import glob
-import sys
-import subprocess
-import time
-
-import build_utils
-
-SUCCEEDED = "\033[32msucceeded\033[0m"
-FAILED = "\033[31mfailed\033[0m"
-SKIPPED = "\033[33mskipped\033[0m"
-
-success_count = 0
-fail_count = 0
-skip_count = 0
-exit_status = 0
-
-total_time = time.monotonic()
-
-build_format = '| {:30} | {:30} | {:18} | {:7} | {:6} | {:6} |'
-build_separator = '-' * 107
-
-def filter_with_input(mylist):
-    if len(sys.argv) > 1:
-        input_args = list(set(mylist).intersection(sys.argv))
-        if len(input_args) > 0:
-            mylist[:] = input_args
-
-
-# Build all examples if not specified
-all_examples = [entry.replace('examples/', '') for entry in glob.glob("examples/*/*_freertos")]
-filter_with_input(all_examples)
-all_examples.append('device/board_test')
-all_examples.sort()
-
-# Build all boards if not specified
-all_boards = []
-for entry in os.scandir("hw/bsp/espressif/boards"):
-    if entry.is_dir():
-        all_boards.append(entry.name)
-filter_with_input(all_boards)
-all_boards.sort()
-
-def build_board(example, board):
-    global success_count, fail_count, skip_count, exit_status
-    start_time = time.monotonic()
-
-    # Check if board is skipped
-    build_dir = f"cmake-build/cmake-build-{board}/{example}"
-
-    # Generate and build
-    r = subprocess.run(f"cmake examples/{example} -B {build_dir} -G \"Ninja\" -DBOARD={board} -DMAX3421_HOST=1",
-                       shell=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
-    if r.returncode == 0:
-        r = subprocess.run(f"cmake --build {build_dir}", shell=True, stdout=subprocess.PIPE,
-                           stderr=subprocess.STDOUT)
-    build_duration = time.monotonic() - start_time
-    flash_size = "-"
-    sram_size = "-"
-
-    if r.returncode == 0:
-        success = SUCCEEDED
-        success_count += 1
-        #(flash_size, sram_size) = build_size(example, board)
-    else:
-        exit_status = r.returncode
-        success = FAILED
-        fail_count += 1
-
-    title = build_format.format(example, board, success, "{:.2f}s".format(build_duration), flash_size, sram_size)
-    if os.getenv('CI'):
-        # always print build output if in CI
-        print(f"::group::{title}")
-        print(r.stdout.decode("utf-8"))
-        print(f"::endgroup::")
-    else:
-        # print build output if failed
-        print(title)
-        if r.returncode != 0:
-            print(r.stdout.decode("utf-8"))
-
-
-def build_size(example, board):
-    #elf_file = 'examples/device/{}/_build/{}/{}-firmware.elf'.format(example, board, board)
-    elf_file = 'examples/device/{}/_build/{}/*.elf'.format(example, board)
-    size_output = subprocess.run('size {}'.format(elf_file), shell=True, stdout=subprocess.PIPE).stdout.decode("utf-8")
-    size_list = size_output.split('\n')[1].split('\t')
-    flash_size = int(size_list[0])
-    sram_size = int(size_list[1]) + int(size_list[2])
-    return (flash_size, sram_size)
-
-
-print(build_separator)
-print(build_format.format('Example', 'Board', '\033[39mResult\033[0m', 'Time', 'Flash', 'SRAM'))
-print(build_separator)
-
-for example in all_examples:
-    for board in all_boards:
-        build_board(example, board)
-
-total_time = time.monotonic() - total_time
-print(build_separator)
-print("Build Summary: {} {}, {} {}, {} {} and took {:.2f}s".format(success_count, SUCCEEDED, fail_count, FAILED, skip_count, SKIPPED, total_time))
-print(build_separator)
-
-sys.exit(exit_status)
diff --git a/tools/get_deps.py b/tools/get_deps.py
index 2359b4bd07..20cbe64c7d 100644
--- a/tools/get_deps.py
+++ b/tools/get_deps.py
@@ -245,11 +245,10 @@ def main():
     args = parser.parse_args()
 
     families = args.families
-    board = args.board
+    boards = args.board
 
-    if len(families) == 0 and len(board) == 0:
-        print("Please specify family or board to fetch")
-        return
+    if len(families) == 0 and len(boards) == 0:
+        print("Warning: family and board are not specified, only fetching mandatory dependencies.")
 
     status = 0
     deps = list(deps_mandatory.keys())
@@ -258,8 +257,8 @@ def main():
         deps += deps_optional.keys()
     else:
         families = list(families)
-        if board is not None:
-            for b in board:
+        if boards is not None:
+            for b in boards:
                 f = find_family(b)
                 if f is not None:
                     families.append(f)