diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index fdebe9f0b63..547977f3eb7 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -30,15 +30,11 @@ name: Build
 
 on: [push, pull_request]
 
-jobs:
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
 
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
+jobs:
 
   pretty:
     runs-on: ubuntu-20.04
@@ -180,6 +176,8 @@ jobs:
         sudo pip3 install -U cmake==3.10.3
         cmake --version | grep 3.10.3
     - name: Build
+      env:
+        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
       run: |
         export PATH=/tmp/${{ matrix.gcc_extract_dir }}/bin:$PATH
         script/check-arm-build
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 339bb1a09a7..534dcf7c41b 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -30,15 +30,11 @@ name: Docker
 
 on: [push, pull_request]
 
-jobs:
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
 
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
+jobs:
 
   buildx:
     name: buildx-${{ matrix.docker_name }}
diff --git a/.github/workflows/fuzz.yml b/.github/workflows/fuzz.yml
index 8f549c50514..bce537431d2 100644
--- a/.github/workflows/fuzz.yml
+++ b/.github/workflows/fuzz.yml
@@ -27,7 +27,13 @@
 #
 
 name: CIFuzz
+
 on: [pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
+
 jobs:
  Fuzzing:
    runs-on: ubuntu-20.04
diff --git a/.github/workflows/makefile-check.yml b/.github/workflows/makefile-check.yml
index 37e80243cf0..4f955672710 100644
--- a/.github/workflows/makefile-check.yml
+++ b/.github/workflows/makefile-check.yml
@@ -30,15 +30,11 @@ name: Makefile Check
 
 on: [push, pull_request]
 
-jobs:
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
 
+jobs:
   makefile-check:
     runs-on: ubuntu-20.04
     steps:
diff --git a/.github/workflows/otbr.yml b/.github/workflows/otbr.yml
index 6f9412b8665..4e7d899cca0 100644
--- a/.github/workflows/otbr.yml
+++ b/.github/workflows/otbr.yml
@@ -30,15 +30,11 @@ name: Border Router
 
 on: [push, pull_request]
 
-jobs:
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
 
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
+jobs:
 
   backbone-router:
     runs-on: ubuntu-20.04
diff --git a/.github/workflows/otci.yml b/.github/workflows/otci.yml
index a1e3a9b99df..1a88ee686c1 100644
--- a/.github/workflows/otci.yml
+++ b/.github/workflows/otci.yml
@@ -30,15 +30,11 @@ name: OTCI
 
 on: [push, pull_request]
 
-jobs:
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
 
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
+jobs:
 
   cli-sim:
     name: cli-sim VIRTUAL_TIME=${{ matrix.virtual_time }}
diff --git a/.github/workflows/otns.yml b/.github/workflows/otns.yml
index 46dc33c65e6..a916a6e0176 100644
--- a/.github/workflows/otns.yml
+++ b/.github/workflows/otns.yml
@@ -30,6 +30,10 @@ name: OTNS
 
 on: [push, pull_request]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
+
 env:
   COVERAGE: 1
   REFERENCE_DEVICE: 1
@@ -40,14 +44,6 @@ env:
 
 jobs:
 
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
-
   unittests:
     name: Unittests
     runs-on: ubuntu-20.04
diff --git a/.github/workflows/posix.yml b/.github/workflows/posix.yml
index 3776b11e1b9..552db037ce6 100644
--- a/.github/workflows/posix.yml
+++ b/.github/workflows/posix.yml
@@ -30,15 +30,11 @@ name: POSIX
 
 on: [push, pull_request]
 
-jobs:
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
 
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
+jobs:
 
   expects-linux:
     runs-on: ubuntu-20.04
@@ -110,6 +106,17 @@ jobs:
       with:
         name: cov-expects-linux-2
         path: tmp/coverage.info
+  
+  tcplp-buffering:
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build
+      run: make -C third_party/tcplp/lib/test/
+    - name: Run
+      run: third_party/tcplp/lib/test/test_all
 
   thread-cert:
     runs-on: ubuntu-20.04
diff --git a/.github/workflows/simulation-1.1.yml b/.github/workflows/simulation-1.1.yml
index 3fadd17aa81..e3c269c07cf 100644
--- a/.github/workflows/simulation-1.1.yml
+++ b/.github/workflows/simulation-1.1.yml
@@ -30,15 +30,11 @@ name: Simulation 1.1
 
 on: [push, pull_request]
 
-jobs:
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
 
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
+jobs:
 
   distcheck:
     runs-on: ubuntu-20.04
diff --git a/.github/workflows/simulation-1.2.yml b/.github/workflows/simulation-1.2.yml
index 26166466d98..d099110ab51 100644
--- a/.github/workflows/simulation-1.2.yml
+++ b/.github/workflows/simulation-1.2.yml
@@ -30,15 +30,11 @@ name: Simulation 1.3
 
 on: [push, pull_request]
 
-jobs:
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
 
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
+jobs:
 
   thread-1-3:
     name: thread-1-3-${{ matrix.compiler.c }}-${{ matrix.arch }}
diff --git a/.github/workflows/size.yml b/.github/workflows/size.yml
index 763fb4584ad..2fae6778e53 100644
--- a/.github/workflows/size.yml
+++ b/.github/workflows/size.yml
@@ -30,15 +30,11 @@ name: Size
 
 on: [push, pull_request]
 
-jobs:
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
 
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
+jobs:
 
   size-report:
     runs-on: ubuntu-20.04
diff --git a/.github/workflows/toranj.yml b/.github/workflows/toranj.yml
index 8af954d8bdc..2d1f23b9e47 100644
--- a/.github/workflows/toranj.yml
+++ b/.github/workflows/toranj.yml
@@ -30,15 +30,11 @@ name: Toranj
 
 on: [push, pull_request]
 
-jobs:
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
 
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
+jobs:
 
   toranj-ncp:
     name: toranj-ncp-${{ matrix.TORANJ_RADIO }}
@@ -123,6 +119,27 @@ jobs:
         name: cov-toranj-cli-${{ matrix.TORANJ_RADIO }}
         path: tmp/coverage.info
 
+  toranj-unittest:
+    name: toranj-unittest
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Bootstrap
+      env:
+        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
+      run: |
+        sudo dpkg --add-architecture i386
+        sudo apt-get update
+        sudo apt-get --no-install-recommends install -y clang-10 clang++-10 ninja-build python3-setuptools python3-wheel llvm lcov
+        sudo apt-get --no-install-recommends install -y g++-multilib libreadline-dev:i386 libncurses-dev:i386
+        python3 -m pip install -r tests/scripts/thread-cert/requirements.txt
+    - name: Build & Run
+      run: |
+        ./tests/toranj/build.sh cmake
+        ninja test
+
   upload-coverage:
     needs:
     - toranj-ncp
diff --git a/.github/workflows/version.yml b/.github/workflows/version.yml
index 37b110ca8ed..6246f208149 100644
--- a/.github/workflows/version.yml
+++ b/.github/workflows/version.yml
@@ -30,15 +30,11 @@ name: API Version
 
 on: [pull_request]
 
-jobs:
-  cancel-previous-runs:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: rokroskar/workflow-run-cleanup-action@master
-      env:
-        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
-      if: "github.ref != 'refs/heads/main'"
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || (github.repository == 'openthread/openthread' && github.run_id) || github.ref }}
+  cancel-in-progress: true
 
+jobs:
   api-version:
     runs-on: ubuntu-20.04
     steps:
diff --git a/Android.mk b/Android.mk
index cd7e7e45abf..2cd8a5bc668 100644
--- a/Android.mk
+++ b/Android.mk
@@ -213,6 +213,7 @@ LOCAL_SRC_FILES                                                  := \
     src/core/api/srp_server_api.cpp                                 \
     src/core/api/tasklet_api.cpp                                    \
     src/core/api/tcp_api.cpp                                        \
+    src/core/api/tcp_ext_api.cpp                                    \
     src/core/api/thread_api.cpp                                     \
     src/core/api/thread_ftd_api.cpp                                 \
     src/core/api/trel_api.cpp                                       \
@@ -317,6 +318,7 @@ LOCAL_SRC_FILES                                                  := \
     src/core/net/srp_client.cpp                                     \
     src/core/net/srp_server.cpp                                     \
     src/core/net/tcp6.cpp                                           \
+    src/core/net/tcp6_ext.cpp                                       \
     src/core/net/udp6.cpp                                           \
     src/core/radio/radio.cpp                                        \
     src/core/radio/radio_callbacks.cpp                              \
diff --git a/configure.ac b/configure.ac
index 0394a7d8214..c86126d2f8f 100644
--- a/configure.ac
+++ b/configure.ac
@@ -828,14 +828,14 @@ AC_MSG_CHECKING([whether to build examples])
 
 AC_ARG_WITH(examples,
     [AS_HELP_STRING([--with-examples=TARGET],
-        [Build example applications for one of: simulation, cc2538 @<:@default=no@:>@.
+        [Build example applications for one of: simulation @<:@default=no@:>@.
          Note that building example applications also builds the associated OpenThread platform libraries
          and any third_party libraries needed to support the examples.])],
     [
         case "${with_examples}" in
         no)
             ;;
-        simulation|cc2538)
+        simulation)
             ;;
         *)
             AC_MSG_RESULT(ERROR)
@@ -848,7 +848,6 @@ AC_ARG_WITH(examples,
 AM_CONDITIONAL([OPENTHREAD_ENABLE_EXAMPLES], [test ${with_examples} != "no"])
 
 AM_CONDITIONAL([OPENTHREAD_EXAMPLES_SIMULATION],[test "${with_examples}" = "simulation"])
-AM_CONDITIONAL([OPENTHREAD_EXAMPLES_CC2538],    [test "${with_examples}" = "cc2538"])
 
 AM_COND_IF([OPENTHREAD_EXAMPLES_SIMULATION], CPPFLAGS="${CPPFLAGS} -DOPENTHREAD_EXAMPLES_SIMULATION=1", CPPFLAGS="${CPPFLAGS} -DOPENTHREAD_EXAMPLES_SIMULATION=0")
 
@@ -869,11 +868,11 @@ AC_MSG_CHECKING([whether to build platform libraries])
 
 AC_ARG_WITH(platform,
     [AS_HELP_STRING([--with-platform=TARGET],
-        [Build OpenThread platform libraries for one of: cc2538, posix, simulation @<:@default=simulation@:>@.])],
+        [Build OpenThread platform libraries for one of: posix, simulation @<:@default=simulation@:>@.])],
     [
         # Make sure the given target is valid.
         case "${with_platform}" in
-        no|cc2538|posix|simulation)
+        no|posix|simulation)
             ;;
         *)
             AC_MSG_RESULT(ERROR)
@@ -904,7 +903,6 @@ AM_CONDITIONAL([OPENTHREAD_ENABLE_PLATFORM], [test ${with_platform} != "no"])
 
 OPENTHREAD_ENABLE_PLATFORM=${with_platform}
 
-AM_CONDITIONAL([OPENTHREAD_PLATFORM_CC2538],    [test "${with_platform}" = "cc2538"])
 AM_CONDITIONAL([OPENTHREAD_PLATFORM_POSIX],     [test "${with_platform}" = "posix"])
 AM_CONDITIONAL([OPENTHREAD_PLATFORM_SIMULATION],[test "${with_platform}" = "simulation"])
 
@@ -1047,7 +1045,6 @@ examples/apps/Makefile
 examples/apps/cli/Makefile
 examples/apps/ncp/Makefile
 examples/platforms/Makefile
-examples/platforms/cc2538/Makefile
 examples/platforms/simulation/Makefile
 examples/platforms/utils/Makefile
 tools/Makefile
diff --git a/examples/Makefile-cc2538 b/examples/Makefile-cc2538
deleted file mode 100644
index 99d895a53a6..00000000000
--- a/examples/Makefile-cc2538
+++ /dev/null
@@ -1,309 +0,0 @@
-#
-#  Copyright (c) 2016, The OpenThread Authors.
-#  All rights reserved.
-#
-#  Redistribution and use in source and binary forms, with or without
-#  modification, are permitted provided that the following conditions are met:
-#  1. Redistributions of source code must retain the above copyright
-#     notice, this list of conditions and the following disclaimer.
-#  2. Redistributions in binary form must reproduce the above copyright
-#     notice, this list of conditions and the following disclaimer in the
-#     documentation and/or other materials provided with the distribution.
-#  3. Neither the name of the copyright holder nor the
-#     names of its contributors may be used to endorse or promote products
-#     derived from this software without specific prior written permission.
-#
-#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-#  POSSIBILITY OF SUCH DAMAGE.
-#
-
-.NOTPARALLEL:
-
-AR                              = arm-none-eabi-ar
-CCAS                            = arm-none-eabi-as
-CPP                             = arm-none-eabi-cpp
-CC                              = arm-none-eabi-gcc
-CXX                             = arm-none-eabi-g++
-LD                              = arm-none-eabi-ld
-STRIP                           = arm-none-eabi-strip
-NM                              = arm-none-eabi-nm
-RANLIB                          = arm-none-eabi-ranlib
-OBJCOPY                         = arm-none-eabi-objcopy
-
-BuildJobs                      ?= 10
-
-configure_OPTIONS               = \
-    --enable-cli                  \
-    --enable-ftd                  \
-    --enable-mtd                  \
-    --enable-ncp                  \
-    --enable-radio-only           \
-    --enable-linker-map           \
-    --with-examples=cc2538        \
-    $(NULL)
-
-TopSourceDir                    := $(dir $(shell readlink $(firstword $(MAKEFILE_LIST))))..
-AbsTopSourceDir                 := $(dir $(realpath $(firstword $(MAKEFILE_LIST))))..
-
-CC2538_CONFIG_FILE_CPPFLAGS  = -DOPENTHREAD_PROJECT_CORE_CONFIG_FILE='\"openthread-core-cc2538-config.h\"'
-CC2538_CONFIG_FILE_CPPFLAGS += -DOPENTHREAD_CORE_CONFIG_PLATFORM_CHECK_FILE='\"openthread-core-cc2538-config-check.h\"'
-CC2538_CONFIG_FILE_CPPFLAGS += -I$(AbsTopSourceDir)/examples/platforms/cc2538/
-
-COMMONCFLAGS                    := \
-    -fdata-sections                \
-    -ffunction-sections            \
-    -Os                            \
-    -g                             \
-    $(CC2538_CONFIG_FILE_CPPFLAGS) \
-    $(NULL)
-
-include $(dir $(abspath $(lastword $(MAKEFILE_LIST))))/common-switches.mk
-
-# Optional CC2592 options, first and foremost, whether to enable support for it
-# at all.
-ifeq ($(CC2592),1)
-COMMONCFLAGS += -DOPENTHREAD_CONFIG_CC2538_WITH_CC2592=1
-
-# If the PA_EN is on another port C pin, specify it with CC2592_PA_PIN.
-ifneq ($(CC2592_PA_EN),)
-COMMONCFLAGS += -DOPENTHREAD_CONFIG_CC2592_PA_EN_PIN=$(CC2592_PA_EN)
-endif
-
-# If the LNA_EN is on another port C pin, specify it with CC2592_LNA_PIN.
-ifneq ($(CC2592_LNA_EN),)
-COMMONCFLAGS += -DOPENTHREAD_CONFIG_CC2592_LNA_EN_PIN=$(CC2592_LNA_EN)
-endif
-
-# If we're not using HGM, set CC2538_USE_HGM to 0.
-ifeq ($(CC2592_USE_HGM),0)
-COMMONCFLAGS += -DOPENTHREAD_CONFIG_CC2592_USE_HGM=0
-else # CC2592_USE_HGM=1
-
-# HGM in use, if not on port D, specify the port here (A, B or C) with CC2592_HGM_PORT.
-ifneq ($(CC2592_HGM_PORT),)
-COMMONCFLAGS += -DOPENTHREAD_CONFIG_CC2592_HGM_PORT=GPIO_$(CC2592_HGM_PORT)_BASE
-endif
-
-# If HGM is not at pin 2, specify which pin here with CC2592_HGM_PIN.
-ifneq ($(CC2592_HGM_PIN),)
-COMMONCFLAGS += -DOPENTHREAD_CONFIG_CC2592_HGM_PIN=$(CC2592_HGM_PIN)
-endif
-
-# If we want it off by default, specify CC2592_HGM_DEFAULT_STATE=0
-ifeq ($(CC2592_HGM_DEFAULT_STATE),0)
-COMMONCFLAGS += -DOPENTHREAD_CONFIG_CC2592_HGM_DEFAULT_STATE=false
-endif
-
-endif # CC2592_USE_HGM
-
-endif # CC2592
-
-ifneq ($(CC2538_RECEIVE_SENSITIVITY),)
-COMMONCFLAGS += -DOPENTHREAD_CONFIG_CC2538_RECEIVE_SENSITIVITY=$(CC2538_RECEIVE_SENSITIVITY)
-endif
-
-ifneq ($(CC2538_RSSI_OFFSET),)
-COMMONCFLAGS += -DOPENTHREAD_CONFIG_CC2538_RSSI_OFFSET=$(CC2538_RSSI_OFFSET)
-endif
-
-CPPFLAGS                       += \
-    $(COMMONCFLAGS)               \
-    $(target_CPPFLAGS)            \
-    $(NULL)
-
-CFLAGS                         += \
-    $(COMMONCFLAGS)               \
-    $(target_CFLAGS)              \
-    $(NULL)
-
-CXXFLAGS                       += \
-    $(COMMONCFLAGS)               \
-    $(target_CXXFLAGS)            \
-    -fno-exceptions               \
-    -fno-rtti                     \
-    $(NULL)
-
-LDFLAGS                        += \
-    $(COMMONCFLAGS)               \
-    $(target_LDFLAGS)             \
-    -nostartfiles                 \
-    -specs=nano.specs             \
-    -specs=nosys.specs            \
-    -Wl,--gc-sections             \
-    $(NULL)
-
-ECHO                            := @echo
-MAKE                            := make
-MKDIR_P                         := mkdir -p
-LN_S                            := ln -s
-RM_F                            := rm -f
-
-INSTALL                         := /usr/bin/install
-INSTALLFLAGS                    := -p
-
-BuildPath                       = build
-TopBuildDir                     = $(BuildPath)
-AbsTopBuildDir                  = $(PWD)/$(TopBuildDir)
-
-ResultPath                      = output
-TopResultDir                    = $(ResultPath)
-AbsTopResultDir                 = $(PWD)/$(TopResultDir)
-
-TargetTuple                     = cc2538
-
-ARCHS                           = cortex-m3
-
-TopTargetLibDir                 = $(TopResultDir)/$(TargetTuple)/lib
-
-ifndef BuildJobs
-BuildJobs := $(shell getconf _NPROCESSORS_ONLN)
-endif
-JOBSFLAG := -j$(BuildJobs)
-
-#
-# configure-arch <arch>
-#
-# Configure OpenThread for the specified architecture.
-#
-#   arch - The architecture to configure.
-#
-define configure-arch
-$(ECHO) "  CONFIG   $(TargetTuple)..."
-(cd $(BuildPath)/$(TargetTuple) && $(AbsTopSourceDir)/configure \
-INSTALL="$(INSTALL) $(INSTALLFLAGS)" \
-CPP="$(CPP)" CC="$(CC)" CXX="$(CXX)" OBJC="$(OBJC)" OBJCXX="$(OBJCXX)" AR="$(AR)" RANLIB="$(RANLIB)" NM="$(NM)" STRIP="$(STRIP)" CPPFLAGS="$(CPPFLAGS)" CFLAGS="$(CFLAGS)" CXXFLAGS="$(CXXFLAGS)" LDFLAGS="$(LDFLAGS)" \
---host=arm-none-eabi \
---prefix=/ \
---exec-prefix=/$(TargetTuple) \
-$(configure_OPTIONS))
-endef # configure-arch
-
-#
-# build-arch <arch>
-#
-# Build the OpenThread intermediate build products for the specified
-# architecture.
-#
-#   arch - The architecture to build.
-#
-define build-arch
-$(ECHO) "  BUILD    $(TargetTuple)"
-$(MAKE) $(JOBSFLAG) -C $(BuildPath)/$(TargetTuple) --no-print-directory \
-all
-endef # build-arch
-
-#
-# stage-arch <arch>
-#
-# Stage (install) the OpenThread final build products for the specified
-# architecture.
-#
-#   arch - The architecture to stage.
-#
-define stage-arch
-$(ECHO) "  STAGE    $(TargetTuple)"
-$(MAKE) $(JOBSFLAG) -C $(BuildPath)/$(TargetTuple) --no-print-directory \
-DESTDIR=$(AbsTopResultDir) \
-install
-endef # stage-arch
-
-#
-# ARCH_template <arch>
-#
-# Define macros, targets and rules to configure, build, and stage the
-# OpenThread for a single architecture.
-#
-#   arch - The architecture to instantiate the template for.
-#
-define ARCH_template
-CONFIGURE_TARGETS += configure-$(1)
-BUILD_TARGETS     += do-build-$(1)
-STAGE_TARGETS     += stage-$(1)
-BUILD_DIRS        += $(BuildPath)/$(TargetTuple)
-DIRECTORIES       += $(BuildPath)/$(TargetTuple)
-
-configure-$(1): target_CPPFLAGS=$($(1)_target_CPPFLAGS)
-configure-$(1): target_CFLAGS=$($(1)_target_CFLAGS)
-configure-$(1): target_CXXFLAGS=$($(1)_target_CXXFLAGS)
-configure-$(1): target_LDFLAGS=$($(1)_target_LDFLAGS)
-
-configure-$(1): $(BuildPath)/$(TargetTuple)/config.status
-
-$(BuildPath)/$(TargetTuple)/config.status: | $(BuildPath)/$(TargetTuple)
-	$$(call configure-arch,$(1))
-
-do-build-$(1): configure-$(1)
-
-do-build-$(1):
-	+$$(call build-arch,$(1))
-
-stage-$(1): do-build-$(1)
-
-stage-$(1): | $(TopResultDir)
-	$$(call stage-arch,$(1))
-
-$(1): stage-$(1)
-endef # ARCH_template
-
-.DEFAULT_GOAL := all
-
-all: stage
-
-#
-# cortex-m3
-#
-
-cortex-m3_target_ABI                  = cortex-m3
-cortex-m3_target_CPPFLAGS             = -mcpu=cortex-m3 -mfloat-abi=soft -mthumb
-cortex-m3_target_CFLAGS               = -mcpu=cortex-m3 -mfloat-abi=soft -mthumb
-cortex-m3_target_CXXFLAGS             = -mcpu=cortex-m3 -mfloat-abi=soft -mthumb
-cortex-m3_target_LDFLAGS              = -mcpu=cortex-m3 -mfloat-abi=soft -mthumb
-
-# Instantiate an architecture-specific build template for each target
-# architecture.
-
-$(foreach arch,$(ARCHS),$(eval $(call ARCH_template,$(arch))))
-
-#
-# Common / Finalization
-#
-
-configure: $(CONFIGURE_TARGETS)
-
-build: $(BUILD_TARGETS)
-
-stage: $(STAGE_TARGETS)
-
-DIRECTORIES     = $(TopResultDir) $(TopResultDir)/$(TargetTuple)/lib $(BUILD_DIRS)
-
-CLEAN_DIRS      = $(TopResultDir) $(BUILD_DIRS)
-
-all: stage
-
-$(DIRECTORIES):
-	$(ECHO) "  MKDIR    $@"
-	@$(MKDIR_P) "$@"
-
-clean:
-	$(ECHO) "  CLEAN"
-	@$(RM_F) -r $(CLEAN_DIRS)
-
-help:
-	$(ECHO) "Simply type 'make -f $(firstword $(MAKEFILE_LIST))' to build OpenThread for the following "
-	$(ECHO) "architectures: "
-	$(ECHO) ""
-	$(ECHO) "    $(ARCHS)"
-	$(ECHO) ""
-	$(ECHO) "To build only a particular architecture, specify: "
-	$(ECHO) ""
-	$(ECHO) "    make -f $(firstword $(MAKEFILE_LIST)) <architecture>"
-	$(ECHO) ""
diff --git a/examples/apps/cli/main.c b/examples/apps/cli/main.c
index 165f32f9395..62b65105d95 100644
--- a/examples/apps/cli/main.c
+++ b/examples/apps/cli/main.c
@@ -50,12 +50,12 @@
 extern void otAppCliInit(otInstance *aInstance);
 
 #if OPENTHREAD_CONFIG_HEAP_EXTERNAL_ENABLE
-void *otPlatCAlloc(size_t aNum, size_t aSize)
+OT_TOOL_WEAK void *otPlatCAlloc(size_t aNum, size_t aSize)
 {
     return calloc(aNum, aSize);
 }
 
-void otPlatFree(void *aPtr)
+OT_TOOL_WEAK void otPlatFree(void *aPtr)
 {
     free(aPtr);
 }
@@ -67,7 +67,7 @@ void otTaskletsSignalPending(otInstance *aInstance)
 }
 
 #if OPENTHREAD_POSIX && !defined(FUZZING_BUILD_MODE_UNSAFE_FOR_PRODUCTION)
-static void ProcessExit(void *aContext, uint8_t aArgsLength, char *aArgs[])
+static otError ProcessExit(void *aContext, uint8_t aArgsLength, char *aArgs[])
 {
     OT_UNUSED_VARIABLE(aContext);
     OT_UNUSED_VARIABLE(aArgsLength);
@@ -75,8 +75,18 @@ static void ProcessExit(void *aContext, uint8_t aArgsLength, char *aArgs[])
 
     exit(EXIT_SUCCESS);
 }
-static const otCliCommand kCommands[] = {{"exit", ProcessExit}};
+
+#if OPENTHREAD_EXAMPLES_SIMULATION
+extern otError ProcessNodeIdFilter(void *aContext, uint8_t aArgsLength, char *aArgs[]);
+#endif
+
+static const otCliCommand kCommands[] = {
+    {"exit", ProcessExit},
+#if OPENTHREAD_EXAMPLES_SIMULATION
+    {"nodeidfilter", ProcessNodeIdFilter},
 #endif
+};
+#endif // OPENTHREAD_POSIX && !defined(FUZZING_BUILD_MODE_UNSAFE_FOR_PRODUCTION)
 
 int main(int argc, char *argv[])
 {
diff --git a/examples/apps/ncp/main.c b/examples/apps/ncp/main.c
index af50d145d0c..548cc69bfa7 100644
--- a/examples/apps/ncp/main.c
+++ b/examples/apps/ncp/main.c
@@ -46,12 +46,12 @@
 extern void otAppNcpInit(otInstance *aInstance);
 
 #if OPENTHREAD_CONFIG_HEAP_EXTERNAL_ENABLE
-void *otPlatCAlloc(size_t aNum, size_t aSize)
+OT_TOOL_WEAK void *otPlatCAlloc(size_t aNum, size_t aSize)
 {
     return calloc(aNum, aSize);
 }
 
-void otPlatFree(void *aPtr)
+OT_TOOL_WEAK void otPlatFree(void *aPtr)
 {
     free(aPtr);
 }
diff --git a/examples/platforms/Makefile.am b/examples/platforms/Makefile.am
index e7bd3ed6c2e..7f86919d855 100644
--- a/examples/platforms/Makefile.am
+++ b/examples/platforms/Makefile.am
@@ -30,6 +30,7 @@ include $(abs_top_nlbuild_autotools_dir)/automake/pre.am
 
 EXTRA_DIST                              = \
     cc1352                                \
+    cc2538                                \
     cc2652                                \
     efr32                                 \
     gp712                                 \
@@ -45,7 +46,6 @@ EXTRA_DIST                              = \
 # Always package (e.g. for 'make dist') these subdirectories.
 
 DIST_SUBDIRS                            = \
-    cc2538                                \
     simulation                            \
     utils                                 \
     $(NULL)
@@ -56,10 +56,6 @@ SUBDIRS                                 = \
     utils                                 \
     $(NULL)
 
-if OPENTHREAD_PLATFORM_CC2538
-SUBDIRS                                += cc2538
-endif
-
 if OPENTHREAD_PLATFORM_SIMULATION
 SUBDIRS                                += simulation
 endif
diff --git a/examples/platforms/Makefile.platform.am b/examples/platforms/Makefile.platform.am
index 8ab6520e2d3..71b82b0c2a7 100644
--- a/examples/platforms/Makefile.platform.am
+++ b/examples/platforms/Makefile.platform.am
@@ -41,10 +41,6 @@ LDFLAGS_COMMON      = $(NULL)
 SOURCES_COMMON      = $(NULL)
 LIBTOOLFLAGS_COMMON = --preserve-dup-deps
 
-if OPENTHREAD_EXAMPLES_CC2538
-include $(top_srcdir)/examples/platforms/cc2538/Makefile.platform.am
-endif
-
 if OPENTHREAD_EXAMPLES_SIMULATION
 include $(top_srcdir)/examples/platforms/simulation/Makefile.platform.am
 endif
diff --git a/examples/platforms/cc2538/CMakeLists.txt b/examples/platforms/cc2538/CMakeLists.txt
deleted file mode 100644
index f8ed5f212c5..00000000000
--- a/examples/platforms/cc2538/CMakeLists.txt
+++ /dev/null
@@ -1,79 +0,0 @@
-#
-#  Copyright (c) 2019, The OpenThread Authors.
-#  All rights reserved.
-#
-#  Redistribution and use in source and binary forms, with or without
-#  modification, are permitted provided that the following conditions are met:
-#  1. Redistributions of source code must retain the above copyright
-#     notice, this list of conditions and the following disclaimer.
-#  2. Redistributions in binary form must reproduce the above copyright
-#     notice, this list of conditions and the following disclaimer in the
-#     documentation and/or other materials provided with the distribution.
-#  3. Neither the name of the copyright holder nor the
-#     names of its contributors may be used to endorse or promote products
-#     derived from this software without specific prior written permission.
-#
-#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-#  POSSIBILITY OF SUCH DAMAGE.
-#
-
-set(OT_PLATFORM_LIB "openthread-cc2538" PARENT_SCOPE)
-
-if(NOT OT_CONFIG)
-    set(OT_CONFIG "openthread-core-cc2538-config.h")
-    set(OT_CONFIG ${OT_CONFIG} PARENT_SCOPE)
-endif()
-
-list(APPEND OT_PLATFORM_DEFINES
-    "OPENTHREAD_CORE_CONFIG_PLATFORM_CHECK_FILE=\"openthread-core-cc2538-config-check.h\""
-    "OPENTHREAD_CONFIG_NCP_HDLC_ENABLE=1"
-)
-set(OT_PLATFORM_DEFINES ${OT_PLATFORM_DEFINES} PARENT_SCOPE)
-
-list(APPEND OT_PLATFORM_DEFINES "OPENTHREAD_PROJECT_CORE_CONFIG_FILE=\"${OT_CONFIG}\"")
-
-add_library(openthread-cc2538
-    alarm.c
-    diag.c
-    entropy.c
-    flash.c
-    misc.c
-    radio.c
-    startup-gcc.c
-    system.c
-    logging.c
-    uart.c
-    $<TARGET_OBJECTS:openthread-platform-utils>
-)
-
-target_link_libraries(openthread-cc2538
-    PRIVATE
-        ot-config
-    PUBLIC
-        -T${PROJECT_SOURCE_DIR}/examples/platforms/cc2538/cc2538.ld
-        -Wl,--gc-sections -Wl,-Map=$<TARGET_PROPERTY:NAME>.map
-)
-
-target_compile_definitions(openthread-cc2538
-    PUBLIC
-        ${OT_PLATFORM_DEFINES}
-)
-
-target_compile_options(openthread-cc2538 PRIVATE
-    ${OT_CFLAGS}
-)
-
-target_include_directories(openthread-cc2538 PRIVATE
-    ${OT_PUBLIC_INCLUDES}
-    ${PROJECT_SOURCE_DIR}/examples/platforms
-    ${PROJECT_SOURCE_DIR}/src/core
-)
diff --git a/examples/platforms/cc2538/Makefile.am b/examples/platforms/cc2538/Makefile.am
deleted file mode 100644
index fb802f21183..00000000000
--- a/examples/platforms/cc2538/Makefile.am
+++ /dev/null
@@ -1,69 +0,0 @@
-#
-#  Copyright (c) 2016, The OpenThread Authors.
-#  All rights reserved.
-#
-#  Redistribution and use in source and binary forms, with or without
-#  modification, are permitted provided that the following conditions are met:
-#  1. Redistributions of source code must retain the above copyright
-#     notice, this list of conditions and the following disclaimer.
-#  2. Redistributions in binary form must reproduce the above copyright
-#     notice, this list of conditions and the following disclaimer in the
-#     documentation and/or other materials provided with the distribution.
-#  3. Neither the name of the copyright holder nor the
-#     names of its contributors may be used to endorse or promote products
-#     derived from this software without specific prior written permission.
-#
-#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-#  POSSIBILITY OF SUCH DAMAGE.
-#
-
-include $(abs_top_nlbuild_autotools_dir)/automake/pre.am
-
-# Do not enable -Wcast-align for this platform
-override CFLAGS    := $(filter-out -Wcast-align,$(CFLAGS))
-override CXXFLAGS  := $(filter-out -Wcast-align,$(CXXFLAGS))
-
-lib_LIBRARIES                             = libopenthread-cc2538.a
-
-libopenthread_cc2538_a_CPPFLAGS           = \
-    -I$(top_srcdir)/include                 \
-    -I$(top_srcdir)/examples/platforms      \
-    -I$(top_srcdir)/src/core                \
-    $(NULL)
-
-PLATFORM_SOURCES                          = \
-    alarm.c                                 \
-    cc2538-reg.h                            \
-    diag.c                                  \
-    entropy.c                               \
-    flash.c                                 \
-    misc.c                                  \
-    openthread-core-cc2538-config.h         \
-    openthread-core-cc2538-config-check.h   \
-    platform-cc2538.h                       \
-    radio.c                                 \
-    rom-utility.h                           \
-    startup-gcc.c                           \
-    system.c                                \
-    logging.c                               \
-    uart.c                                  \
-    $(NULL)
-
-libopenthread_cc2538_a_SOURCES            = \
-    $(PLATFORM_SOURCES)                     \
-    $(NULL)
-
-Dash                                      = -
-libopenthread_cc2538_a_LIBADD             = \
-    $(shell find $(top_builddir)/examples/platforms/utils $(Dash)type f $(Dash)name "*.o")
-
-include $(abs_top_nlbuild_autotools_dir)/automake/post.am
diff --git a/examples/platforms/cc2538/README.md b/examples/platforms/cc2538/README.md
index 91d5b7afbbb..d6674dde27d 100644
--- a/examples/platforms/cc2538/README.md
+++ b/examples/platforms/cc2538/README.md
@@ -1,112 +1 @@
-# OpenThread on CC2538 Example
-
-This directory contains example platform drivers for the [Texas Instruments CC2538][cc2538].
-
-[cc2538]: http://www.ti.com/product/CC2538
-
-The example platform drivers are intended to present the minimal code necessary to support OpenThread. As a result, the example platform drivers do not necessarily highlight the platform's full capabilities.
-
-## Toolchain
-
-Download and install the [GNU toolchain for ARM Cortex-M][gnu-toolchain].
-
-[gnu-toolchain]: https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm
-
-In a Bash terminal, follow these instructions to install the GNU toolchain and other dependencies.
-
-```bash
-$ cd <path-to-openthread>
-$ ./script/bootstrap
-```
-
-## Building
-
-In a Bash terminal, follow these instructions to build the cc2538 examples.
-
-```bash
-$ cd <path-to-openthread>
-$ ./bootstrap
-$ make -f examples/Makefile-cc2538
-```
-
-### CC2592 support
-
-If your board has a CC2592 range extender front-end IC connected to the CC2538 (e.g. the CC2538-CC2592 EM reference design), you need to initialise this part before reception of radio traffic will work.
-
-Support is enabled in OpenThread by building with `CC2592=1`:
-
-```bash
-$ make -f examples/Makefile-cc2538 CC2592=1
-```
-
-The default settings should work for any design following the integration advice given in TI's application report ["AN130 - Using CC2592 Front End With CC2538"](http://www.ti.com/lit/pdf/swra447).
-
-Additional settings can be customised:
-
-- `CC2592_PA_EN`: This specifies which pin (on port C of the CC2538) connects to the CC2592's `PA_EN` pin. The default is `3` (PC3).
-- `CC2592_LNA_EN`: This specifies which pin (on port C of the CC2538) connects to the CC2592's `LNA_EN` pin. The default is `2` (PC2).
-- `CC2592_USE_HGM`: This defines whether the HGM pin of the CC2592 is under GPIO control or not. If not, it is assumed that the HGM pin is tied to a power rail.
-- `CC2592_HGM_PORT`: The HGM pin can be connected to any free GPIO. TI recommend using PD2, however if you've used a pin on another GPIO port, you may specify that port (`A`, `B` or `C`) here.
-- `CC2592_HGM_PORT`: The HGM pin can be connected to any free GPIO. TI recommend using PD2, however if you've used a pin on another GPIO port, you may specify that port (`A`, `B` or `C`) here. Default is `D`.
-- `CC2592_HGM_PIN`: The HGM pin can be connected to any free GPIO. TI recommend using PD2, however if you've used a pin on another GPIO pin, you can specify the pin here. Default is `2`.
-- `CC2592_HGM_DEFAULT_STATE`: By default, HGM is enabled at power-on, but you may want to have it default to off, specify `CC2592_HGM_DEFAULT_STATE=0` to do so.
-- `CC2538_RECEIVE_SENSITIVITY`: If you have tied the HGM pin to a power rail, this allows you to calibrate the RSSI values according to the new receive sensitivity. This has no effect if `CC2592_USE_HGM=1` (the default).
-- `CC2538_RSSI_OFFSET`: If you have tied the HGM pin to a power rail, this allows you to calibrate the RSSI values according to the new RSSI offset. This has no effect if `CC2592_USE_HGM=1` (the default).
-
-## Flash Binaries
-
-If the build completed successfully, the `elf` files may be found in `<path-to-openthread>/output/cc2538/bin`.
-
-To flash the images with [Flash Programmer 2][ti-flash-programmer-2], the files must have the `*.elf` extension.
-
-```bash
-$ cd <path-to-openthread>/output/cc2538/bin
-$ cp ot-cli ot-cli.elf
-```
-
-To load the images with the [serial bootloader][ti-cc2538-bootloader], the images must be converted to `bin`. This is done using `arm-none-eabi-objcopy`
-
-```bash
-$ cd <path-to-openthread>/output/cc2538/bin
-$ arm-none-eabi-objcopy -O binary ot-cli ot-cli.bin
-```
-
-The [cc2538-bsl.py script][cc2538-bsl-tool] provides a convenient method for flashing a CC2538 via the UART. To enter the bootloader backdoor for flashing, hold down SELECT for CC2538DK (corresponds to logic '0') while you press the Reset button.
-
-[ti-flash-programmer-2]: http://www.ti.com/tool/flash-programmer
-[ti-cc2538-bootloader]: http://www.ti.com/lit/an/swra466a/swra466a.pdf
-[cc2538-bsl-tool]: https://github.com/JelmerT/cc2538-bsl
-
-## Interact
-
-1. Open terminal to `/dev/ttyUSB1` (serial port settings: 115200 8-N-1).
-2. Type `help` for list of commands.
-
-```bash
-> help
-help
-channel
-childtimeout
-contextreusedelay
-extaddr
-extpanid
-ipaddr
-keysequence
-leaderweight
-mode
-netdata register
-networkidtimeout
-networkkey
-networkname
-panid
-ping
-prefix
-releaserouterid
-rloc16
-route
-routerupgradethreshold
-scan
-start
-state
-stop
-```
+The OpenThread on CC2538 example has moved to https://github.com/openthread/ot-cc2538
diff --git a/examples/platforms/cc2538/alarm.c b/examples/platforms/cc2538/alarm.c
deleted file mode 100644
index 7deefda0c79..00000000000
--- a/examples/platforms/cc2538/alarm.c
+++ /dev/null
@@ -1,148 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file
- *   This file implements the OpenThread platform abstraction for the alarm.
- *
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include <openthread/config.h>
-#include <openthread/platform/alarm-milli.h>
-#include <openthread/platform/diag.h>
-
-#include "platform-cc2538.h"
-
-enum
-{
-    kSystemClock = 32000000, ///< MHz
-    kTicksPerSec = 1000,     ///< Ticks per second
-};
-
-static uint32_t sCounter   = 0;
-static uint32_t sAlarmT0   = 0;
-static uint32_t sAlarmDt   = 0;
-static bool     sIsRunning = false;
-
-static uint8_t  sTimersIsRunning = 0;
-static uint32_t sTimersExpireAt[OT_CC2538_TIMERS_COUNT];
-
-extern void cc2538EnergyScanTimerHandler(void);
-
-void cc2538SetTimer(otCC2538Timer aTimer, uint32_t aDelay)
-{
-    sTimersIsRunning |= (1 << aTimer);
-    sTimersExpireAt[aTimer] = sCounter + aDelay;
-}
-
-void cc2538AlarmInit(void)
-{
-    HWREG(NVIC_ST_RELOAD) = kSystemClock / kTicksPerSec;
-    HWREG(NVIC_ST_CTRL)   = NVIC_ST_CTRL_CLK_SRC | NVIC_ST_CTRL_INTEN | NVIC_ST_CTRL_ENABLE;
-}
-
-uint32_t otPlatAlarmMilliGetNow(void)
-{
-    return sCounter;
-}
-
-void otPlatAlarmMilliStartAt(otInstance *aInstance, uint32_t t0, uint32_t dt)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    sAlarmT0   = t0;
-    sAlarmDt   = dt;
-    sIsRunning = true;
-}
-
-void otPlatAlarmMilliStop(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    sIsRunning = false;
-}
-
-void cc2538AlarmProcess(otInstance *aInstance)
-{
-    uint32_t expires;
-    bool     fire = false;
-
-    if (sTimersIsRunning)
-    {
-        if ((int32_t)(sTimersExpireAt[OT_CC2538_TIMER_ENERGY_SCAN] - sCounter) < 0)
-        {
-            sTimersIsRunning &= ~(1 << OT_CC2538_TIMER_ENERGY_SCAN);
-            cc2538EnergyScanTimerHandler();
-        }
-    }
-
-    if (sIsRunning)
-    {
-        expires = sAlarmT0 + sAlarmDt;
-
-        if (sAlarmT0 <= sCounter)
-        {
-            if (expires >= sAlarmT0 && expires <= sCounter)
-            {
-                fire = true;
-            }
-        }
-        else
-        {
-            if (expires >= sAlarmT0 || expires <= sCounter)
-            {
-                fire = true;
-            }
-        }
-
-        if (fire)
-        {
-            sIsRunning = false;
-
-#if OPENTHREAD_CONFIG_DIAG_ENABLE
-
-            if (otPlatDiagModeGet())
-            {
-                otPlatDiagAlarmFired(aInstance);
-            }
-            else
-#endif
-            {
-                otPlatAlarmMilliFired(aInstance);
-            }
-        }
-    }
-}
-
-void SysTick_Handler()
-{
-    sCounter++;
-}
diff --git a/examples/platforms/cc2538/arm-none-eabi.cmake b/examples/platforms/cc2538/arm-none-eabi.cmake
deleted file mode 100644
index 2e39ec11d47..00000000000
--- a/examples/platforms/cc2538/arm-none-eabi.cmake
+++ /dev/null
@@ -1,42 +0,0 @@
-#
-#  Copyright (c) 2019, The OpenThread Authors.
-#  All rights reserved.
-#
-#  Redistribution and use in source and binary forms, with or without
-#  modification, are permitted provided that the following conditions are met:
-#  1. Redistributions of source code must retain the above copyright
-#     notice, this list of conditions and the following disclaimer.
-#  2. Redistributions in binary form must reproduce the above copyright
-#     notice, this list of conditions and the following disclaimer in the
-#     documentation and/or other materials provided with the distribution.
-#  3. Neither the name of the copyright holder nor the
-#     names of its contributors may be used to endorse or promote products
-#     derived from this software without specific prior written permission.
-#
-#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-#  POSSIBILITY OF SUCH DAMAGE.
-#
-
-set(CMAKE_SYSTEM_NAME              Generic)
-set(CMAKE_SYSTEM_PROCESSOR         ARM)
-
-set(CMAKE_C_COMPILER               arm-none-eabi-gcc)
-set(CMAKE_CXX_COMPILER             arm-none-eabi-g++)
-set(CMAKE_ASM_COMPILER             arm-none-eabi-as)
-set(CMAKE_RANLIB                   arm-none-eabi-ranlib)
-
-set(COMMON_C_FLAGS                 "-mthumb -fno-builtin -Wall -fdata-sections -ffunction-sections -mabi=aapcs -mcpu=cortex-m3 -mfloat-abi=soft")
-
-set(CMAKE_C_FLAGS_INIT             "${COMMON_C_FLAGS} -std=gnu99")
-set(CMAKE_CXX_FLAGS_INIT           "${COMMON_C_FLAGS} -fno-exceptions -fno-rtti")
-set(CMAKE_ASM_FLAGS_INIT           "${COMMON_C_FLAGS}")
-set(CMAKE_EXE_LINKER_FLAGS_INIT    "${COMMON_C_FLAGS} -specs=nano.specs -specs=nosys.specs -nostartfiles")
diff --git a/examples/platforms/cc2538/cc2538-reg.h b/examples/platforms/cc2538/cc2538-reg.h
deleted file mode 100644
index 54972fbeabe..00000000000
--- a/examples/platforms/cc2538/cc2538-reg.h
+++ /dev/null
@@ -1,326 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file
- *   This file includes CC2538 register definitions.
- *
- */
-
-#ifndef CC2538_REG_H_
-#define CC2538_REG_H_
-
-#include <stdint.h>
-
-// clang-format off
-
-#define HWREG(x)                                (*((volatile uint32_t *)(x)))
-
-/*!
- * For registers that are arrays of 32-bit integers.
- *
- * @param       reg     Register address
- * @param       idx     Register array index
- */
-#define HWREG_ARR(reg, idx)                     HWREG((reg) + ((idx) << 2))
-
-#define NVIC_ST_CTRL                            0xE000E010  // SysTick Control and Status
-#define NVIC_ST_RELOAD                          0xE000E014  // SysTick Reload Value Register
-#define NVIC_EN0                                0xE000E100  // Interrupt 0-31 Set Enable
-
-#define NVIC_ST_CTRL_COUNT                      0x00010000  // Count Flag
-#define NVIC_ST_CTRL_CLK_SRC                    0x00000004  // Clock Source
-#define NVIC_ST_CTRL_INTEN                      0x00000002  // Interrupt Enable
-#define NVIC_ST_CTRL_ENABLE                     0x00000001  // Enable
-
-#define RFCORE_XREG_SRCMATCH_EN                 0x00000001  // SRCMATCH.SRC_MATCH_EN(1)
-#define RFCORE_XREG_SRCMATCH_AUTOPEND           0x00000002  // SRCMATCH.AUTOPEND(1)
-#define RFCORE_XREG_SRCMATCH_PEND_DATAREQ_ONLY  0x00000004  // SRCMATCH.PEND_DATAREQ_ONLY(1)
-
-#define RFCORE_XREG_SRCMATCH_ENABLE_STATUS_SIZE 3           // Num of register for source match enable status
-#define RFCORE_XREG_SRCMATCH_SHORT_ENTRIES      24          // 24 short address entries in maximum
-#define RFCORE_XREG_SRCMATCH_EXT_ENTRIES        12          // 12 extended address entries in maximum
-#define RFCORE_XREG_SRCMATCH_SHORT_ENTRY_OFFSET 4           // address offset for one short address entry
-#define RFCORE_XREG_SRCMATCH_EXT_ENTRY_OFFSET   8           // address offset for one extended address entry
-
-#define INT_UART0                               21          // UART0 Rx and Tx
-
-#define IEEE_EUI64                              0x00280028  // Address of IEEE EUI-64 address
-
-#define RFCORE_FFSM_SRCADDRESS_TABLE            0x40088400  // Source Address Table
-
-#define RFCORE_FFSM_SRCEXTPENDEN0               0x40088590  // Enable/Disable automatic pending per extended address
-#define RFCORE_FFSM_SRCSHORTPENDEN0             0x4008859C  // Enable/Disable automatic pending per short address
-#define RFCORE_FFSM_EXT_ADDR0                   0x400885A8  // Local address information
-#define RFCORE_FFSM_PAN_ID0                     0x400885C8  // Local address information
-#define RFCORE_FFSM_PAN_ID1                     0x400885CC  // Local address information
-#define RFCORE_FFSM_SHORT_ADDR0                 0x400885D0  // Local address information
-#define RFCORE_FFSM_SHORT_ADDR1                 0x400885D4  // Local address information
-#define RFCORE_XREG_FRMFILT0                    0x40088600  // The frame filtering function
-#define RFCORE_XREG_SRCMATCH                    0x40088608  // Source address matching and pending bits
-#define RFCORE_XREG_SRCSHORTEN0                 0x4008860C  // Short address matching
-#define RFCORE_XREG_SRCEXTEN0                   0x40088618  // Extended address matching
-
-#define RFCORE_XREG_FRMCTRL0                    0x40088624  // Frame handling
-#define RFCORE_XREG_FRMCTRL1                    0x40088628  // Frame handling
-#define RFCORE_XREG_RXENABLE                    0x4008862C  // RX enabling
-#define RFCORE_XREG_FREQCTRL                    0x4008863C  // Controls the RF frequency
-#define RFCORE_XREG_TXPOWER                     0x40088640  // Controls the output power
-#define RFCORE_XREG_FSMSTAT0                    0x40088648  // Radio finite state machine status
-#define RFCORE_XREG_FSMSTAT1                    0x4008864C  // Radio status register
-#define RFCORE_XREG_FIFOPCTRL                   0x40088650  // FIFOP threshold
-#define RFCORE_XREG_CCACTRL0                    0x40088658  // CCA threshold
-#define RFCORE_XREG_RSSI                        0x40088660  // RSSI status register
-#define RFCORE_XREG_RSSISTAT                    0x40088664  // RSSI valid status register
-#define RFCORE_XREG_AGCCTRL1                    0x400886C8  // AGC reference level
-#define RFCORE_XREG_RFC_OBS_CTRL                0x400887AC  // RF Core observable output
-#define RFCORE_XREG_TXFILTCFG                   0x400887E8  // TX filter configuration
-#define RFCORE_XREG_RFRND                       0x4008869C  // Random data
-#define RFCORE_SFR_RFDATA                       0x40088828  // The TX FIFO and RX FIFO
-#define RFCORE_SFR_RFERRF                       0x4008882C  // RF error interrupt flags
-#define RFCORE_SFR_RFIRQF0                      0x40088834  // RF interrupt flags
-#define RFCORE_SFR_RFST                         0x40088838  // RF CSMA-CA/strobe processor
-#define CCTEST_OBSSEL                           0x44010014  // CCTEST observable output route
-
-#define RFCORE_XREG_FRMFILT0_FRAME_FILTER_EN    0x00000001  // Enables frame filtering
-
-#define RFCORE_XREG_FRMCTRL0_AUTOACK            0x00000020
-#define RFCORE_XREG_FRMCTRL0_ENERGY_SCAN        0x00000010
-#define RFCORE_XREG_FRMCTRL0_AUTOCRC            0x00000040
-#define RFCORE_XREG_FRMCTRL0_INFINITY_RX        0x00000008
-
-#define RFCORE_XREG_FRMCTRL1_PENDING_OR         0x00000004
-
-#define RFCORE_XREG_RFRND_IRND                  0x00000001
-
-#define RFCORE_XREG_FSMSTAT0_STATE_MASK         0x0000003F
-#define RFCORE_XREG_FSMSTAT0_CAL_DONE           0x00000080
-#define RFCORE_XREG_FSMSTAT0_CAL_RUN            0x00000040
-
-#define RFCORE_XREG_FSMSTAT0_STATE_IDLE         0x00000000
-#define RFCORE_XREG_FSMSTAT0_STATE_RX_CAL       0x00000002
-#define RFCORE_XREG_FSMSTAT0_STATE_SFD_WAIT0    0x00000003
-#define RFCORE_XREG_FSMSTAT0_STATE_SFD_WAIT1    0x00000004
-#define RFCORE_XREG_FSMSTAT0_STATE_SFD_WAIT2    0x00000005
-#define RFCORE_XREG_FSMSTAT0_STATE_SFD_WAIT3    0x00000006
-#define RFCORE_XREG_FSMSTAT0_STATE_RX0          0x00000007
-#define RFCORE_XREG_FSMSTAT0_STATE_RX1          0x00000008
-#define RFCORE_XREG_FSMSTAT0_STATE_RX2          0x00000009
-#define RFCORE_XREG_FSMSTAT0_STATE_RX3          0x0000000A
-#define RFCORE_XREG_FSMSTAT0_STATE_RX4          0x0000000B
-#define RFCORE_XREG_FSMSTAT0_STATE_RX5          0x0000000C
-#define RFCORE_XREG_FSMSTAT0_STATE_RX6          0x0000000D
-#define RFCORE_XREG_FSMSTAT0_STATE_RX_WAIT      0x0000000E
-#define RFCORE_XREG_FSMSTAT0_STATE_RX_FRST      0x00000010
-#define RFCORE_XREG_FSMSTAT0_STATE_RX_OVER      0x00000011
-#define RFCORE_XREG_FSMSTAT0_STATE_TX_CAL       0x00000020
-#define RFCORE_XREG_FSMSTAT0_STATE_TX0          0x00000022
-#define RFCORE_XREG_FSMSTAT0_STATE_TX1          0x00000023
-#define RFCORE_XREG_FSMSTAT0_STATE_TX2          0x00000024
-#define RFCORE_XREG_FSMSTAT0_STATE_TX3          0x00000025
-#define RFCORE_XREG_FSMSTAT0_STATE_TX4          0x00000026
-#define RFCORE_XREG_FSMSTAT0_STATE_TX_FINAL     0x00000027
-#define RFCORE_XREG_FSMSTAT0_STATE_RXTX_TRANS   0x00000028
-#define RFCORE_XREG_FSMSTAT0_STATE_ACK_CAL      0x00000030
-#define RFCORE_XREG_FSMSTAT0_STATE_ACK0         0x00000031
-#define RFCORE_XREG_FSMSTAT0_STATE_ACK1         0x00000032
-#define RFCORE_XREG_FSMSTAT0_STATE_ACK2         0x00000033
-#define RFCORE_XREG_FSMSTAT0_STATE_ACK3         0x00000034
-#define RFCORE_XREG_FSMSTAT0_STATE_ACK4         0x00000035
-#define RFCORE_XREG_FSMSTAT0_STATE_ACK5         0x00000036
-#define RFCORE_XREG_FSMSTAT0_STATE_ACK_DELAY    0x00000037
-#define RFCORE_XREG_FSMSTAT0_STATE_TX_UNDER     0x00000038
-#define RFCORE_XREG_FSMSTAT0_STATE_TX_DOWN0     0x0000001A
-#define RFCORE_XREG_FSMSTAT0_STATE_TX_DOWN1     0x0000003A
-
-#define RFCORE_XREG_FSMSTAT1_RX_ACTIVE          0x00000001
-#define RFCORE_XREG_FSMSTAT1_TX_ACTIVE          0x00000002
-#define RFCORE_XREG_FSMSTAT1_LOCK_STATUS        0x00000004
-#define RFCORE_XREG_FSMSTAT1_SAMPLED_CCA        0x00000008
-#define RFCORE_XREG_FSMSTAT1_CCA                0x00000010  // Clear channel assessment
-#define RFCORE_XREG_FSMSTAT1_SFD                0x00000020
-#define RFCORE_XREG_FSMSTAT1_FIFOP              0x00000040
-#define RFCORE_XREG_FSMSTAT1_FIFO               0x00000080
-
-#define RFCORE_XREG_RSSISTAT_RSSI_VALID         0x00000001  // RSSI value is valid.
-
-#define RFCORE_XREG_RFC_OBS_POL_INV             0x00000040  // Invert polarity of OBS signal
-#define RFCORE_XREG_RFC_OBS_MUX_ZERO            0x00000000  // Observable = constant zero
-#define RFCORE_XREG_RFC_OBS_MUX_ONE             0x00000001  // Observable = constant one
-#define RFCORE_XREG_RFC_OBS_MUX_SNIFF_DATA      0x00000008  // RFC sniff data
-#define RFCORE_XREG_RFC_OBS_MUX_SNIFF_CLK       0x00000009  // RFC sniff clock
-#define RFCORE_XREG_RFC_OBS_MUX_RSSI_VALID      0x0000000c  // RSSI valid
-#define RFCORE_XREG_RFC_OBS_MUX_DEMOD_CCA       0x0000000d  // Clear channel assessment
-#define RFCORE_XREG_RFC_OBS_MUX_SAMPLED_CCA     0x0000000e  // Sampled CCA signal
-#define RFCORE_XREG_RFC_OBS_MUX_SFD_SYNC        0x0000000f  // SFD received or transmitted
-#define RFCORE_XREG_RFC_OBS_MUX_TX_ACTIVE       0x00000010  // Transmitter is active
-#define RFCORE_XREG_RFC_OBS_MUX_RX_ACTIVE       0x00000011  // Receiver is active
-#define RFCORE_XREG_RFC_OBS_MUX_FFCTRL_FIFO     0x00000012  // One or more bytes in FIFO
-#define RFCORE_XREG_RFC_OBS_MUX_FFCTRL_FIFOP    0x00000013  // One or more frames in FIFO
-#define RFCORE_XREG_RFC_OBS_MUX_PACKET_DONE     0x00000014  // Packet received
-#define RFCORE_XREG_RFC_OBS_MUX_RFC_XOR_RAND_IQ 0x00000016  // RAND I ^ RAND Q
-#define RFCORE_XREG_RFC_OBS_MUX_RFC_RAND_Q      0x00000017  // Random data from Q channel
-#define RFCORE_XREG_RFC_OBS_MUX_RFC_RAND_I      0x00000018  // Random data from I channel
-#define RFCORE_XREG_RFC_OBS_MUX_LOCK_STATUS     0x00000019  // PLL is in lock
-#define RFCORE_XREG_RFC_OBS_MUX_PA_PD           0x00000028  // Power amp power down
-#define RFCORE_XREG_RFC_OBS_MUX_LNA_PD          0x0000002a  // LNA power down
-
-#define RFCORE_SFR_RFERRF_NLOCK                 0x00000001  // Failed to achieve PLL lock.
-#define RFCORE_SFR_RFERRF_RXABO                 0x00000002  // RX Aborted.
-#define RFCORE_SFR_RFERRF_RXOVERF               0x00000004  // RX FIFO overflowed.
-#define RFCORE_SFR_RFERRF_RXUNDERF              0x00000008  // RX FIFO underflowed.
-#define RFCORE_SFR_RFERRF_TXOVERF               0x00000010  // TX FIFO overflowed.
-#define RFCORE_SFR_RFERRF_TXUNDERF              0x00000020  // TX FIFO underflowed.
-#define RFCORE_SFR_RFERRF_STROBEERR             0x00000040  // Command Strobe Error.
-
-#define RFCORE_SFR_RFST_INSTR_RXON              0xE3        // Instruction set RX on
-#define RFCORE_SFR_RFST_INSTR_TXON              0xE9        // Instruction set TX on
-#define RFCORE_SFR_RFST_INSTR_RFOFF             0xEF        // Instruction set RF off
-#define RFCORE_SFR_RFST_INSTR_FLUSHRX           0xED        // Instruction set flush rx buffer
-#define RFCORE_SFR_RFST_INSTR_FLUSHTX           0xEE        // Instruction set flush tx buffer
-
-#define CCTEST_OBSSEL_EN                        0x00000080  // Enable the OBS output on this pin
-#define CCTEST_OBSSEL_SEL_OBS0                  0x00000000  // Route OBS0 to pin
-#define CCTEST_OBSSEL_SEL_OBS1                  0x00000001  // Route OBS1 to pin
-#define CCTEST_OBSSEL_SEL_OBS2                  0x00000002  // Route OBS2 to pin
-
-#define ANA_REGS_BASE                           0x400D6000  // ANA_REGS
-#define ANA_REGS_O_IVCTRL                       0x00000004  // Analog control register
-
-#define SYS_CTRL_CLOCK_CTRL                     0x400D2000  // The clock control register
-#define SYS_CTRL_SYSDIV_32MHZ                   0x00000000  // Sys_div for sysclk 32MHz
-#define SYS_CTRL_CLOCK_CTRL_AMP_DET             0x00200000
-
-#define SYS_CTRL_PWRDBG                         0x400D2074
-#define SYS_CTRL_PWRDBG_FORCE_WARM_RESET        0x00000008
-
-#define SYS_CTRL_RCGCUART                       0x400D2028
-#define SYS_CTRL_SCGCUART                       0x400D202C
-#define SYS_CTRL_DCGCUART                       0x400D2030
-#define SYS_CTRL_I_MAP                          0x400D2098
-#define SYS_CTRL_RCGCRFC                        0x400D20A8
-#define SYS_CTRL_SCGCRFC                        0x400D20AC
-#define SYS_CTRL_DCGCRFC                        0x400D20B0
-#define SYS_CTRL_EMUOVR                         0x400D20B4
-
-#define SYS_CTRL_RCGCRFC_RFC0                   0x00000001
-#define SYS_CTRL_SCGCRFC_RFC0                   0x00000001
-#define SYS_CTRL_DCGCRFC_RFC0                   0x00000001
-
-#define SYS_CTRL_I_MAP_ALTMAP                   0x00000001
-
-#define SYS_CTRL_RCGCUART_UART0                 0x00000001
-#define SYS_CTRL_SCGCUART_UART0                 0x00000001
-#define SYS_CTRL_DCGCUART_UART0                 0x00000001
-
-#define SYS_CTRL_RCGCUART_UART1                 0x00000002
-#define SYS_CTRL_SCGCUART_UART1                 0x00000002
-#define SYS_CTRL_DCGCUART_UART1                 0x00000002
-
-#define IOC_PA0_SEL                             0x400D4000  // Peripheral select control
-#define IOC_PA1_SEL                             0x400D4004  // Peripheral select control
-#define IOC_PA2_SEL                             0x400D4008
-#define IOC_PA3_SEL                             0x400D400C
-#define IOC_UARTRXD_UART0                       0x400D4100
-#define IOC_UARTRXD_UART1                       0x400D4108
-
-#define IOC_PA0_OVER                            0x400D4080
-#define IOC_PA1_OVER                            0x400D4084
-#define IOC_PA2_OVER                            0x400D4088
-#define IOC_PA3_OVER                            0x400D408C
-
-#define IOC_MUX_OUT_SEL_UART0_TXD               0x00000000
-#define IOC_MUX_OUT_SEL_UART1_TXD               0x00000002
-
-#define IOC_OVERRIDE_OE                         0x00000008  // PAD Config Override Output Enable
-#define IOC_OVERRIDE_DIS                        0x00000000  // PAD Config Override Disabled
-
-#define IOC_PAD_IN_SEL_PA0                      0x00000000  // PA0
-#define IOC_PAD_IN_SEL_PA1                      0x00000001  // PA1
-#define IOC_PAD_IN_SEL_PA2                      0x00000002  // PA2
-#define IOC_PAD_IN_SEL_PA3                      0x00000003  // PA3
-
-#define UART0_BASE                              0x4000C000
-#define UART1_BASE                              0x4000D000
-#define GPIO_A_BASE                             0x400D9000  // GPIO A
-#define GPIO_B_BASE                             0x400DA000  // GPIO B
-#define GPIO_C_BASE                             0x400DB000  // GPIO C
-#define GPIO_D_BASE                             0x400DC000  // GPIO D
-
-#define GPIO_O_DIR                              0x00000400
-#define GPIO_O_AFSEL                            0x00000420
-
-#define GPIO_PIN(x)                             (1UL << x)  // Arbitrary GPIO pin
-#define GPIO_PIN_0                              0x00000001  // GPIO pin 0
-#define GPIO_PIN_1                              0x00000002  // GPIO pin 1
-#define GPIO_PIN_2                              0x00000004  // GPIO pin 2
-#define GPIO_PIN_3                              0x00000008  // GPIO pin 3
-#define GPIO_PIN_4                              0x00000010  // GPIO pin 4
-#define GPIO_PIN_5                              0x00000020  // GPIO pin 5
-#define GPIO_PIN_6                              0x00000040  // GPIO pin 6
-#define GPIO_PIN_7                              0x00000080  // GPIO pin 7
-
-#define UART_O_DR                               0x00000000  // UART data
-#define UART_O_FR                               0x00000018  // UART flag
-#define UART_O_IBRD                             0x00000024
-#define UART_O_FBRD                             0x00000028
-#define UART_O_LCRH                             0x0000002C
-#define UART_O_CTL                              0x00000030  // UART control
-#define UART_O_IM                               0x00000038  // UART interrupt mask
-#define UART_O_MIS                              0x00000040  // UART masked interrupt status
-#define UART_O_ICR                              0x00000044  // UART interrupt clear
-#define UART_O_CC                               0x00000FC8  // UART clock configuration
-
-#define UART_FR_RXFE                            0x00000010  // UART receive FIFO empty
-#define UART_FR_TXFF                            0x00000020  // UART transmit FIFO full
-#define UART_FR_RXFF                            0x00000040  // UART receive FIFO full
-
-#define UART_CONFIG_WLEN_8                      0x00000060  // 8 bit data
-#define UART_CONFIG_STOP_ONE                    0x00000000  // One stop bit
-#define UART_CONFIG_PAR_NONE                    0x00000000  // No parity
-
-#define UART_CTL_UARTEN                         0x00000001  // UART enable
-#define UART_CTL_TXE                            0x00000100  // UART transmit enable
-#define UART_CTL_RXE                            0x00000200  // UART receive enable
-
-#define UART_IM_RXIM                            0x00000010  // UART receive interrupt mask
-#define UART_IM_RTIM                            0x00000040  // UART receive time-out interrupt
-
-#define SOC_ADC_ADCCON1                         0x400D7000  // ADC Control
-#define SOC_ADC_RNDL                            0x400D7014  // RNG low data
-#define SOC_ADC_RNDH                            0x400D7018  // RNG high data
-
-#define SOC_ADC_ADCCON1_RCTRL0                  0x00000004  // ADCCON1 RCTRL bit 0
-#define SOC_ADC_ADCCON1_RCTRL1                  0x00000008  // ADCCON1 RCTRL bit 1
-
-#define FLASH_CTRL_FCTL                         0x400D3008  // Flash control
-#define FLASH_CTRL_DIECFG0                      0x400D3014  // Flash information
-
-// clang-format on
-
-#endif
diff --git a/examples/platforms/cc2538/cc2538.ld b/examples/platforms/cc2538/cc2538.ld
deleted file mode 100644
index daff1621f24..00000000000
--- a/examples/platforms/cc2538/cc2538.ld
+++ /dev/null
@@ -1,138 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file
- *   GCC linker script for CC2538.
- */
-
-_512k_bytes             = (512*1024);
-_256k_bytes             = (256*1024);
-_128k_bytes             = (128*1024);
-_FLASH_page_size        = 2048;
-
-/*
- * Change for your chip, default is 512k chips
- */
-_FLASH_size_bytes       = _512k_bytes;
-_FLASH_n_pages          = (_FLASH_size_bytes / _FLASH_page_size);
-/* reduce the usable size by: the CCA + settings Page A & B, total 3 pages */
-_FLASH_usable_size      = (_FLASH_size_bytes - (3 * _FLASH_page_size));
-_FLASH_start            = 0x00200000;
-_FLASH_end              = (_FLASH_start + _FLASH_size_bytes);
-
-/*
- * The CCA (Customer Configuration Area) is always the last page.
- * See: http://www.ti.com/lit/ug/swru319c/swru319c.pdf
- * table 8-2 for more details.
- */
-_FLASH_cca_page         = (_FLASH_end - (1 * _FLASH_page_size));
-
-/*
- * OpenThread NV storage goes in the settings page.
- * OpenThread requires at least 2 adjacent pages, call them A and B.
- */
-_FLASH_settings_pageB   = (_FLASH_end - (2 * _FLASH_page_size));
-_FLASH_settings_pageA   = (_FLASH_end - (3 * _FLASH_page_size));
-
-MEMORY
-{
-  /* would like to use SYMBOLS (from above)here but we cannot
-   * GCC version 4.9 does not support symbolic expressions here.
-   * But later versions do support the feature.
-   */
-  FLASH (rx) :     ORIGIN = 0x00200000,     LENGTH = 0x0007c000
-  FLASH_CCA (rx) : ORIGIN = 0x0027FFD4,     LENGTH = 0x2c
-  SRAM (rwx) :     ORIGIN = 0x20000000,     LENGTH = 32K
-}
-/*
- * To safty check what would have been the SYMBOL values
- * we use these ASSERTS to verify things are still good.
- */
-ASSERT( _FLASH_start       == 0x00200000, "invalid flash start address for cc2538")
-ASSERT( _FLASH_cca_page    == 0x0027f800, "invalid cca start address for cc2538")
-ASSERT( _FLASH_usable_size == 0x0007e800, "Invalid usable size for this config")
-
-
-
-ENTRY(flash_cca_lock_page)
-SECTIONS
-{
-    .text : ALIGN(4)
-    {
-        _text = .;
-        *(.vectors)
-        *(.text*)
-        *(.rodata*)
-        KEEP(*(.init))
-        KEEP(*(.fini))
-        _etext = .;
-    } > FLASH= 0
-
-    .init_array :
-    {
-        _init_array = .;
-        KEEP(*(SORT(.init_array.*)))
-        KEEP(*(.init_array*))
-        _einit_array = .;
-    } > FLASH
-
-    .ARM.exidx : ALIGN(4)
-    {
-        *(.ARM.exidx*)
-    } > FLASH
-
-    .data : ALIGN(4)
-    {
-        _data = .;
-        *(.data*)
-        _edata = .;
-    } > SRAM AT > FLASH
-    _ldata = LOADADDR(.data);
-
-    .bss : ALIGN(4)
-    {
-        _bss = .;
-        *(.bss*)
-        *(COMMON)
-        _ebss = .;
-    } > SRAM
-
-    _heap = .;
-    end = .;
-
-    .stack : ALIGN(4)
-    {
-        *(.stack)
-    } > SRAM
-
-    .flashcca :
-    {
-        KEEP(*(.flash_cca))
-    } > FLASH_CCA
-}
diff --git a/examples/platforms/cc2538/diag.c b/examples/platforms/cc2538/diag.c
deleted file mode 100644
index 579c1e7948c..00000000000
--- a/examples/platforms/cc2538/diag.c
+++ /dev/null
@@ -1,80 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <sys/time.h>
-
-#include <openthread/config.h>
-#include <openthread/platform/alarm-milli.h>
-#include <openthread/platform/radio.h>
-
-#include "platform-cc2538.h"
-
-#if OPENTHREAD_CONFIG_DIAG_ENABLE
-
-/**
- * Diagnostics mode variables.
- *
- */
-static bool sDiagMode = false;
-
-void otPlatDiagModeSet(bool aMode)
-{
-    sDiagMode = aMode;
-}
-
-bool otPlatDiagModeGet()
-{
-    return sDiagMode;
-}
-
-void otPlatDiagChannelSet(uint8_t aChannel)
-{
-    OT_UNUSED_VARIABLE(aChannel);
-}
-
-void otPlatDiagTxPowerSet(int8_t aTxPower)
-{
-    OT_UNUSED_VARIABLE(aTxPower);
-}
-
-void otPlatDiagRadioReceived(otInstance *aInstance, otRadioFrame *aFrame, otError aError)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-    OT_UNUSED_VARIABLE(aFrame);
-    OT_UNUSED_VARIABLE(aError);
-}
-
-void otPlatDiagAlarmCallback(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-}
-
-#endif // OPENTHREAD_CONFIG_DIAG_ENABLE
diff --git a/examples/platforms/cc2538/entropy.c b/examples/platforms/cc2538/entropy.c
deleted file mode 100644
index 47a31be04d4..00000000000
--- a/examples/platforms/cc2538/entropy.c
+++ /dev/null
@@ -1,112 +0,0 @@
-/*
- *  Copyright (c) 2019, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file
- *   This file implements an entropy source based on ADC.
- *
- */
-
-#include <openthread/platform/entropy.h>
-
-#include <openthread/platform/radio.h>
-
-#include "platform-cc2538.h"
-#include "utils/code_utils.h"
-
-static void generateRandom(uint8_t *aOutput, uint16_t aOutputLength)
-{
-    uint32_t frmctrl0;
-
-    HWREG(SOC_ADC_ADCCON1) &= ~(SOC_ADC_ADCCON1_RCTRL1 | SOC_ADC_ADCCON1_RCTRL0);
-    HWREG(SYS_CTRL_RCGCRFC) = SYS_CTRL_RCGCRFC_RFC0;
-
-    while (HWREG(SYS_CTRL_RCGCRFC) != SYS_CTRL_RCGCRFC_RFC0)
-        ;
-
-    frmctrl0                    = HWREG(RFCORE_XREG_FRMCTRL0);
-    HWREG(RFCORE_XREG_FRMCTRL0) = RFCORE_XREG_FRMCTRL0_INFINITY_RX;
-    HWREG(RFCORE_SFR_RFST)      = RFCORE_SFR_RFST_INSTR_RXON;
-
-    while (!HWREG(RFCORE_XREG_RSSISTAT) & RFCORE_XREG_RSSISTAT_RSSI_VALID)
-        ;
-
-    for (uint16_t index = 0; index < aOutputLength; index++)
-    {
-        aOutput[index] = 0;
-
-        for (uint8_t offset = 0; offset < 8 * sizeof(uint8_t); offset++)
-        {
-            aOutput[index] <<= 1;
-            aOutput[index] |= (HWREG(RFCORE_XREG_RFRND) & RFCORE_XREG_RFRND_IRND);
-        }
-    }
-
-    HWREG(RFCORE_SFR_RFST)      = RFCORE_SFR_RFST_INSTR_RFOFF;
-    HWREG(RFCORE_XREG_FRMCTRL0) = frmctrl0;
-}
-
-void cc2538RandomInit(void)
-{
-    uint16_t seed = 0;
-
-    while (seed == 0x0000 || seed == 0x8003)
-    {
-        generateRandom((uint8_t *)&seed, sizeof(seed));
-    }
-
-    HWREG(SOC_ADC_RNDL) = (seed >> 8) & 0xff;
-    HWREG(SOC_ADC_RNDL) = seed & 0xff;
-}
-
-otError otPlatEntropyGet(uint8_t *aOutput, uint16_t aOutputLength)
-{
-    otError error   = OT_ERROR_NONE;
-    uint8_t channel = 0;
-
-    otEXPECT_ACTION(aOutput, error = OT_ERROR_INVALID_ARGS);
-
-    if (sInstance && otPlatRadioIsEnabled(sInstance))
-    {
-        channel = 11 + (HWREG(RFCORE_XREG_FREQCTRL) - 11) / 5;
-        otPlatRadioSleep(sInstance);
-        otPlatRadioDisable(sInstance);
-    }
-
-    generateRandom(aOutput, aOutputLength);
-
-    if (channel)
-    {
-        cc2538RadioInit();
-        otPlatRadioEnable(sInstance);
-        otPlatRadioReceive(sInstance, channel);
-    }
-
-exit:
-    return error;
-}
diff --git a/examples/platforms/cc2538/flash.c b/examples/platforms/cc2538/flash.c
deleted file mode 100644
index 04c8a655941..00000000000
--- a/examples/platforms/cc2538/flash.c
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include <assert.h>
-#include <stdint.h>
-#include <string.h>
-
-#include "platform-cc2538.h"
-#include "rom-utility.h"
-
-#define FLASH_CTRL_FCTL_BUSY 0x00000080
-
-#define FLASH_PAGE_SIZE 2048
-#define FLASH_PAGE_NUM 2
-#define FLASH_SWAP_SIZE (FLASH_PAGE_SIZE * (FLASH_PAGE_NUM / 2))
-
-/* The linker script creates this external symbol */
-extern uint8_t _FLASH_settings_pageA[];
-
-/* Convert a settings offset to the physical address within the flash settings pages */
-static uint32_t flashPhysAddr(uint8_t aSwapIndex, uint32_t aOffset)
-{
-    uint32_t address = (uint32_t)(&_FLASH_settings_pageA[0]) + aOffset;
-
-    if (aSwapIndex)
-    {
-        address += FLASH_SWAP_SIZE;
-    }
-
-    return address;
-}
-
-void otPlatFlashInit(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-}
-
-uint32_t otPlatFlashGetSwapSize(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    return FLASH_SWAP_SIZE;
-}
-
-void otPlatFlashErase(otInstance *aInstance, uint8_t aSwapIndex)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    ROM_PageErase(flashPhysAddr(aSwapIndex, 0), FLASH_PAGE_SIZE);
-    while (HWREG(FLASH_CTRL_FCTL) & FLASH_CTRL_FCTL_BUSY)
-    {
-    }
-}
-
-void otPlatFlashWrite(otInstance *aInstance, uint8_t aSwapIndex, uint32_t aOffset, const void *aData, uint32_t aSize)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    uint32_t *data = (uint32_t *)(aData);
-
-    for (uint32_t size = 0; size < aSize; size += sizeof(uint32_t), aOffset += sizeof(uint32_t), data++)
-    {
-        ROM_ProgramFlash(data, flashPhysAddr(aSwapIndex, aOffset), sizeof(uint32_t));
-
-        while (HWREG(FLASH_CTRL_FCTL) & FLASH_CTRL_FCTL_BUSY)
-        {
-        }
-    }
-}
-
-void otPlatFlashRead(otInstance *aInstance, uint8_t aSwapIndex, uint32_t aOffset, uint8_t *aData, uint32_t aSize)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    memcpy(aData, (void *)flashPhysAddr(aSwapIndex, aOffset), aSize);
-}
diff --git a/examples/platforms/cc2538/logging.c b/examples/platforms/cc2538/logging.c
deleted file mode 100644
index 82158aeed3a..00000000000
--- a/examples/platforms/cc2538/logging.c
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file logging.c
- * Platform abstraction for the logging
- *
- */
-
-#include <openthread-core-config.h>
-#include <openthread/config.h>
-#include <openthread/platform/logging.h>
-#include <openthread/platform/toolchain.h>
-
-#if (OPENTHREAD_CONFIG_LOG_OUTPUT == OPENTHREAD_CONFIG_LOG_OUTPUT_PLATFORM_DEFINED)
-OT_TOOL_WEAK void otPlatLog(otLogLevel aLogLevel, otLogRegion aLogRegion, const char *aFormat, ...)
-{
-    OT_UNUSED_VARIABLE(aLogLevel);
-    OT_UNUSED_VARIABLE(aLogRegion);
-    OT_UNUSED_VARIABLE(aFormat);
-}
-#endif
diff --git a/examples/platforms/cc2538/misc.c b/examples/platforms/cc2538/misc.c
deleted file mode 100644
index 94dca3dd010..00000000000
--- a/examples/platforms/cc2538/misc.c
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include <openthread/platform/misc.h>
-
-#include "platform-cc2538.h"
-
-void otPlatReset(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-    HWREG(SYS_CTRL_PWRDBG) = SYS_CTRL_PWRDBG_FORCE_WARM_RESET;
-}
-
-otPlatResetReason otPlatGetResetReason(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-    // TODO: Write me!
-    return OT_PLAT_RESET_REASON_POWER_ON;
-}
-
-void otPlatWakeHost(void)
-{
-    // TODO: implement an operation to wake the host from sleep state.
-}
diff --git a/examples/platforms/cc2538/openthread-core-cc2538-config-check.h b/examples/platforms/cc2538/openthread-core-cc2538-config-check.h
deleted file mode 100644
index 93788b12165..00000000000
--- a/examples/platforms/cc2538/openthread-core-cc2538-config-check.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
- *  Copyright (c) 2019, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef OPENTHREAD_CORE_CC2538_CONFIG_CHECK_H_
-#define OPENTHREAD_CORE_CC2538_CONFIG_CHECK_H_
-
-#if OPENTHREAD_CONFIG_RADIO_915MHZ_OQPSK_SUPPORT
-#error "Platform cc2538 doesn't support configuration option: OPENTHREAD_CONFIG_RADIO_915MHZ_OQPSK_SUPPORT"
-#endif
-
-#endif /* OPENTHREAD_CORE_CC2538_CONFIG_CHECK_H_ */
diff --git a/examples/platforms/cc2538/openthread-core-cc2538-config.h b/examples/platforms/cc2538/openthread-core-cc2538-config.h
deleted file mode 100644
index 1f262173e18..00000000000
--- a/examples/platforms/cc2538/openthread-core-cc2538-config.h
+++ /dev/null
@@ -1,255 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file
- *   This file includes cc2538 compile-time configuration constants for OpenThread.
- */
-
-#ifndef OPENTHREAD_CORE_CC2538_CONFIG_H_
-#define OPENTHREAD_CORE_CC2538_CONFIG_H_
-
-/**
- * @def OPENTHREAD_CONFIG_PLATFORM_INFO
- *
- * The platform-specific string to insert into the OpenThread version string.
- *
- */
-#define OPENTHREAD_CONFIG_PLATFORM_INFO "CC2538"
-
-/**
- * @def OPENTHREAD_CONFIG_MAC_SOFTWARE_ACK_TIMEOUT_ENABLE
- *
- * Define to 1 if you want to enable software ACK timeout logic.
- *
- */
-#define OPENTHREAD_CONFIG_MAC_SOFTWARE_ACK_TIMEOUT_ENABLE 1
-
-/**
- * @def OPENTHREAD_CONFIG_MAC_SOFTWARE_RETRANSMIT_ENABLE
- *
- * Define to 1 if you want to enable software retransmission logic.
- *
- */
-#define OPENTHREAD_CONFIG_MAC_SOFTWARE_RETRANSMIT_ENABLE 1
-
-/**
- * @def OPENTHREAD_CONFIG_MAC_SOFTWARE_CSMA_BACKOFF_ENABLE
- *
- * Define to 1 if you want to enable software CSMA-CA backoff logic.
- *
- */
-#define OPENTHREAD_CONFIG_MAC_SOFTWARE_CSMA_BACKOFF_ENABLE 1
-
-/**
- * @def OPENTHREAD_CONFIG_MAC_SOFTWARE_TX_SECURITY_ENABLE
- *
- * Define to 1 if you want to enable software transmission security logic.
- *
- */
-#define OPENTHREAD_CONFIG_MAC_SOFTWARE_TX_SECURITY_ENABLE 0
-
-/**
- * @def OPENTHREAD_CONFIG_MAC_SOFTWARE_ENERGY_SCAN_ENABLE
- *
- * Define to 1 if you want to enable software energy scanning logic.
- *
- */
-#define OPENTHREAD_CONFIG_MAC_SOFTWARE_ENERGY_SCAN_ENABLE 1
-
-/**
- * @def OPENTHREAD_CONFIG_NCP_HDLC_ENABLE
- *
- * Define to 1 to enable NCP HDLC support.
- *
- */
-#define OPENTHREAD_CONFIG_NCP_HDLC_ENABLE 1
-
-/**
- * @def OPENTHREAD_CONFIG_CC2538_USE_RADIO_RX_INTERRUPT
- *
- * Enable support for using interrupt-driven radio reception.  This allows
- * for a single frame to be received whilst the CPU is busy processing some
- * other code.
- *
- * To disable interrupts and just rely on polling, set this to 0.
- *
- */
-#ifndef OPENTHREAD_CONFIG_CC2538_USE_RADIO_RX_INTERRUPT
-#define OPENTHREAD_CONFIG_CC2538_USE_RADIO_RX_INTERRUPT 1
-#endif
-
-/**
- * @def OPENTHREAD_CONFIG_CC2538_WITH_CC2592
- *
- * Enable support for the CC2592 range-extender front-end.
- *
- * This is a feature of the CC2538-CC2592 EM and other peripherals which
- * extends the range of the bare CC2538 to over a kilometre line-of-sight.
- * The CC2592 needs to be wired up to the RF port on the CC2538 in accordance
- * with application note 130 ("Using CC2592 Front End With CC2538", TI doc
- * SWRA447).
- *
- * If you have such a board, change this to 1.
- *
- */
-#ifndef OPENTHREAD_CONFIG_CC2538_WITH_CC2592
-#define OPENTHREAD_CONFIG_CC2538_WITH_CC2592 0
-#endif
-
-/**
- * @def OPENTHREAD_CONFIG_CC2592_PA_EN_PIN
- *
- * Define the pin (on port C) that connects to the CC2592 PA_EN pin.
- *
- * One of the 3 observable channels on the CC2538 radio module will be
- * configured to take the "PA power down" signal from the radio module itself,
- * invert it, and emit it on this GPIO pin.  Due to hardware constraints, it
- * may only be connected to a pin on GPIO port C.
- *
- * The default (PC3) is as per TI recommendations in AN130.
- *
- */
-#ifndef OPENTHREAD_CONFIG_CC2592_PA_EN_PIN
-#define OPENTHREAD_CONFIG_CC2592_PA_EN_PIN 3
-#endif
-
-/**
- * @def OPENTHREAD_CONFIG_CC2592_LNA_EN_PIN
- *
- * Define the pin (on port C) that connects to the CC2592 LNA_EN pin.
- *
- * One of the 3 observable channels on the CC2538 radio module will be
- * configured to take the "LNA power down" signal from the radio module itself,
- * invert it, and emit it on this GPIO pin.  Due to hardware constraints, it
- * may only be connected to a pin on GPIO port C.
- *
- * The default (PC2) is as per TI recommendations in AN130.
- *
- */
-#ifndef OPENTHREAD_CONFIG_CC2592_LNA_EN_PIN
-#define OPENTHREAD_CONFIG_CC2592_LNA_EN_PIN 2
-#endif
-
-/**
- * @def OPENTHREAD_CONFIG_CC2592_USE_HGM
- *
- * Enable control of the high-gain mode signal.
- *
- * High-gain mode is enabled through the `HGM` pin on the CC2592, which may be
- * connected to any free GPIO pin for software control, or may be linked to
- * VDD or 0V to hard-wire it to a given state.
- *
- * Set this to 0 if you have wired this pin to a power rail, or have a
- * non-standard way of controlling it.
- *
- */
-#ifndef OPENTHREAD_CONFIG_CC2592_USE_HGM
-#define OPENTHREAD_CONFIG_CC2592_USE_HGM 1
-#endif
-
-/**
- * @def OPENTHREAD_CONFIG_CC2538_RECEIVE_SENSITIVITY
- *
- * Set the CC2538 receive sensitivity.
- *
- * A bare CC2538 has a receive sensitivity of -88dBm.  The CC2592 changes this
- * to -85 or -81 depending on whether the HGM pin is high or low.  If
- * `OPENTHREAD_CONFIG_CC2592_USE_HGM` is 0, then this sets the receive
- * sensitivity.
- *
- */
-#ifndef OPENTHREAD_CONFIG_CC2538_RECEIVE_SENSITIVITY
-#define OPENTHREAD_CONFIG_CC2538_RECEIVE_SENSITIVITY -88
-#endif
-
-/**
- * @def OPENTHREAD_CONFIG_CC2538_RSSI_OFFSET
- *
- * Set the CC2538 RSSI offset.  This calibrates the RSSI readings received from
- * the CC2538 radio module to give a reading in dBm.
- *
- * For a standard CC2538 (no front-end), the RSSI offset is 73.
- *
- * For a CC2592 hard-wired in high-gain mode, an offset of 85 should be used;
- * or for low-gain mode, 81.  If `OPENTHREAD_CONFIG_CC2592_USE_HGM` is 0, then
- * this calibrates the RSSI value accordingly.
- */
-#ifndef OPENTHREAD_CONFIG_CC2538_RSSI_OFFSET
-#define OPENTHREAD_CONFIG_CC2538_RSSI_OFFSET 73
-#endif
-
-/**
- * @def OPENTHREAD_CONFIG_CC2592_HGM_PORT
- *
- * Define the GPIO port that the HGM pin is connected to.  It may be
- * connected to any available GPIO pin.
- *
- * The default (GPIO port D) is as per TI recommendations.
- *
- */
-#ifndef OPENTHREAD_CONFIG_CC2592_HGM_PORT
-#define OPENTHREAD_CONFIG_CC2592_HGM_PORT GPIO_D_BASE
-#endif
-
-/**
- * @def OPENTHREAD_CONFIG_CC2592_HGM_PIN
- *
- * Define the pin on the GPIO port that the HGM pin is connected to.  It
- * may be connected to any available GPIO pin.
- *
- * The default (PD2) is as per TI recommendations.
- *
- */
-#ifndef OPENTHREAD_CONFIG_CC2592_HGM_PIN
-#define OPENTHREAD_CONFIG_CC2592_HGM_PIN 2
-#endif
-
-/**
- * @def OPENTHREAD_CONFIG_CC2592_HGM_DEFAULT_STATE
- *
- * Define the default state of the CC2592's HGM pin.
- *
- * The default is to turn high-gain mode on.
- *
- */
-#ifndef OPENTHREAD_CONFIG_CC2592_HGM_DEFAULT_STATE
-#define OPENTHREAD_CONFIG_CC2592_HGM_DEFAULT_STATE true
-#endif
-
-/**
- * @def OPENTHREAD_CONFIG_PLATFORM_FLASH_API_ENABLE
- *
- * Define to 1 to enable otPlatFlash* APIs to support non-volatile storage.
- *
- * When defined to 1, the platform MUST implement the otPlatFlash* APIs instead of the otPlatSettings* APIs.
- *
- */
-#define OPENTHREAD_CONFIG_PLATFORM_FLASH_API_ENABLE 1
-
-#endif // OPENTHREAD_CORE_CC2538_CONFIG_H_
diff --git a/examples/platforms/cc2538/platform-cc2538.h b/examples/platforms/cc2538/platform-cc2538.h
deleted file mode 100644
index f89b01bbb85..00000000000
--- a/examples/platforms/cc2538/platform-cc2538.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file
- *   This file includes the platform-specific initializers.
- *
- */
-
-#ifndef PLATFORM_CC2538_H_
-#define PLATFORM_CC2538_H_
-
-#include <openthread-core-config.h>
-#include <stdint.h>
-#include <openthread/config.h>
-#include <openthread/instance.h>
-
-#include "cc2538-reg.h"
-
-// Global OpenThread instance structure
-extern otInstance *sInstance;
-
-/**
- * Initialize the debug uart
- */
-void cc2538DebugUartInit(void);
-
-/**
- * This function initializes the alarm service used by OpenThread.
- *
- */
-void cc2538AlarmInit(void);
-
-/**
- * This function performs alarm driver processing.
- *
- * @param[in]  aInstance  The OpenThread instance structure.
- *
- */
-void cc2538AlarmProcess(otInstance *aInstance);
-
-/**
- * This function initializes the radio service used by OpenThread.
- *
- */
-void cc2538RadioInit(void);
-
-/**
- * This function performs radio driver processing.
- *
- * @param[in]  aInstance  The OpenThread instance structure.
- *
- */
-void cc2538RadioProcess(otInstance *aInstance);
-
-/**
- * This function initializes the random number service used by OpenThread.
- *
- */
-void cc2538RandomInit(void);
-
-/**
- * This function performs UART driver processing.
- *
- */
-void cc2538UartProcess(void);
-
-#if OPENTHREAD_CONFIG_CC2538_WITH_CC2592 && OPENTHREAD_CONFIG_CC2592_USE_HGM
-/**
- * Change the state of the CC2592 HGM pin.
- *
- * @param	aState	Whether or not to enable HGM
- */
-void cc2538RadioSetHgm(bool aState);
-
-/**
- * Retrieve the state of the CC2592 HGM pin.
- */
-bool cc2538RadioGetHgm(void);
-#endif // OPENTHREAD_CONFIG_CC2538_WITH_CC2592 && OPENTHREAD_CONFIG_CC2592_USE_HGM
-
-typedef enum
-{
-    OT_CC2538_TIMER_ENERGY_SCAN, ///< Internal timer for energy scan
-    OT_CC2538_TIMERS_COUNT,      ///< Number of internal timers
-} otCC2538Timer;
-
-/**
- * This function sets the internal timer.
- *
- * @param[in]   aTimer  The timer identifier.
- * @param[in]   aDelay  The delay to trigger the timer, and must be no more than `INT32_MAX`.
- *
- */
-void cc2538SetTimer(otCC2538Timer aTimer, uint32_t aDelay);
-
-#endif // PLATFORM_CC2538_H_
diff --git a/examples/platforms/cc2538/radio.c b/examples/platforms/cc2538/radio.c
deleted file mode 100644
index 0878f115da0..00000000000
--- a/examples/platforms/cc2538/radio.c
+++ /dev/null
@@ -1,1273 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file
- *   This file implements the OpenThread platform abstraction for radio communication.
- *
- */
-
-#include <openthread/config.h>
-#include <openthread/logging.h>
-#include <openthread/platform/alarm-milli.h>
-#include <openthread/platform/diag.h>
-#include <openthread/platform/radio.h>
-
-#include "platform-cc2538.h"
-#include "utils/code_utils.h"
-
-#define RFCORE_XREG_RFIRQM0 0x4008868C // RF interrupt masks
-#define RFCORE_XREG_RFIRQM1 0x40088690 // RF interrupt masks
-#define RFCORE_XREG_RFERRM 0x40088694  // RF error interrupt mask
-
-#define RFCORE_SFR_RFIRQF0_RXMASKZERO 0x00000080      // RXENABLE is now completely clear
-#define RFCORE_SFR_RFIRQF0_RXPKTDONE 0x00000040       // A complete frame has been received
-#define RFCORE_SFR_RFIRQF0_FRAME_ACCEPTED 0x00000020  // Frame has passed frame filtering
-#define RFCORE_SFR_RFIRQF0_SRC_MATCH_FOUND 0x00000010 // Source match is found
-#define RFCORE_SFR_RFIRQF0_SRC_MATCH_DONE 0x00000008  // Source matching is complete
-#define RFCORE_SFR_RFIRQF0_FIFOP 0x00000004           // The number of bytes in the RX fifo is above threshold
-#define RFCORE_SFR_RFIRQF0_SFD 0x00000002             // SFD has been received or transmitted
-#define RFCORE_SFR_RFIRQF0_ACT_UNUSED 0x00000001      // Reserved
-
-#define RFCORE_XREG_RFIRQM0_RXMASKZERO 0x00000080
-#define RFCORE_XREG_RFIRQM0_RXPKTDONE 0x00000040
-#define RFCORE_XREG_RFIRQM0_FRAME_ACCEPTED 0x00000020
-#define RFCORE_XREG_RFIRQM0_SRC_MATCH_FOUND 0x00000010
-#define RFCORE_XREG_RFIRQM0_SRC_MATCH_DONE 0x00000008
-#define RFCORE_XREG_RFIRQM0_FIFOP 0x00000004
-#define RFCORE_XREG_RFIRQM0_SFD 0x00000002
-#define RFCORE_XREG_RFIRQM0_ACT_UNUSED 0x00000001
-
-#define RFCORE_SFR_RFIRQF1_CSP_WAIT 0x00000020
-#define RFCORE_SFR_RFIRQF1_CSP_STOP 0x00000010
-#define RFCORE_SFR_RFIRQF1_CSP_MANINT 0x00000008
-#define RFCORE_SFR_RFIRQF1_RF_IDLE 0x00000004
-#define RFCORE_SFR_RFIRQF1_TXDONE 0x00000002
-#define RFCORE_SFR_RFIRQF1_TXACKDONE 0x00000001
-
-#define RFCORE_XREG_RFIRQM1_CSP_WAIT 0x00000020
-#define RFCORE_XREG_RFIRQM1_CSP_STOP 0x00000010
-#define RFCORE_XREG_RFIRQM1_CSP_MANINT 0x00000008
-#define RFCORE_XREG_RFIRQM1_RF_IDLE 0x00000004
-#define RFCORE_XREG_RFIRQM1_TXDONE 0x00000002
-#define RFCORE_XREG_RFIRQM1_TXACKDONE 0x00000001
-
-#define RFCORE_XREG_RFERRM_STROBE_ERR 0x00000040
-#define RFCORE_XREG_RFERRM_TXUNDERF 0x00000020
-#define RFCORE_XREG_RFERRM_TXOVERF 0x00000010
-#define RFCORE_XREG_RFERRM_RXUNDERF 0x00000008
-#define RFCORE_XREG_RFERRM_RXOVERF 0x00000004
-#define RFCORE_XREG_RFERRM_RXABO 0x00000002
-#define RFCORE_XREG_RFERRM_NLOCK 0x00000001
-
-enum
-{
-    IEEE802154_MIN_LENGTH      = 5,
-    IEEE802154_MAX_LENGTH      = 127,
-    IEEE802154_ACK_LENGTH      = 5,
-    IEEE802154_FRAME_TYPE_MASK = 0x7,
-    IEEE802154_FRAME_TYPE_ACK  = 0x2,
-    IEEE802154_FRAME_PENDING   = 1 << 4,
-    IEEE802154_ACK_REQUEST     = 1 << 5,
-    IEEE802154_DSN_OFFSET      = 2,
-};
-
-enum
-{
-    CC2538_RSSI_OFFSET = OPENTHREAD_CONFIG_CC2538_RSSI_OFFSET,
-    // TI AN130 (SWRA447) Table 4 (bottom of page 3)
-    CC2592_RSSI_OFFSET_HGM = 85,
-    CC2592_RSSI_OFFSET_LGM = 81,
-    CC2538_CRC_BIT_MASK    = 0x80,
-    CC2538_LQI_BIT_MASK    = 0x7f,
-};
-
-// All values in dBm
-enum
-{
-    CC2538_RECEIVE_SENSITIVITY = OPENTHREAD_CONFIG_CC2538_RECEIVE_SENSITIVITY,
-    // TI AN130 (SWRA447) Table 3 (middle of page 3)
-    CC2592_RECEIVE_SENSITIVITY_LGM = -99,
-    CC2592_RECEIVE_SENSITIVITY_HGM = -101,
-};
-
-typedef struct TxPowerTable
-{
-    int8_t  mTxPowerVal;
-    uint8_t mTxPowerReg;
-} TxPowerTable;
-
-// The transmit power table.
-static const TxPowerTable sTxPowerTable[] = {
-#if OPENTHREAD_CONFIG_CC2538_WITH_CC2592
-    // CC2538 using CC2592 PA
-    // Values are from AN130 table 6 (page 4)
-    {22, 0xFF}, // 22.0dBm =~ 158.5mW
-    {21, 0xD5}, // 20.9dBm =~ 123.0mW
-    {20, 0xC5}, // 20.1dBm =~ 102.3mW
-    {19, 0xB0}, // 19.0dBm =~  79.4mW
-    {18, 0xA1}, // 17.8dBm =~  60.3mW
-    {16, 0x91}, // 16.4dBm =~  43.7mW
-    {15, 0x88}, // 14.9dBm =~  30.9mW
-    {13, 0x72}, // 13.0dBm =~  20.0mW
-    {11, 0x62}, // 11.0dBm =~  12.6mW
-    {10, 0x58}, //  9.5dBm =~   8.9mW
-    {8, 0x42},  //  7.5dBm =~   5.6mW
-#else
-    // CC2538 operating "bare foot"
-    // Values are from SmartRF Studio 2.4.0
-    {7, 0xFF},   //
-    {5, 0xED},   //
-    {3, 0xD5},   //
-    {1, 0xC5},   //
-    {0, 0xB6},   //
-    {-1, 0xB0},  //
-    {-3, 0xA1},  //
-    {-5, 0x91},  //
-    {-7, 0x88},  //
-    {-9, 0x72},  //
-    {-11, 0x62}, //
-    {-13, 0x58}, //
-    {-15, 0x42}, //
-    {-24, 0x00}, //
-#endif
-};
-
-static otRadioFrame sTransmitFrame;
-static otRadioFrame sReceiveFrame;
-static otError      sTransmitError;
-static otError      sReceiveError;
-
-static uint8_t sTransmitPsdu[IEEE802154_MAX_LENGTH];
-static uint8_t sReceivePsdu[IEEE802154_MAX_LENGTH];
-static uint8_t sChannel = 0;
-static int8_t  sTxPower = 0;
-
-static otRadioState sState             = OT_RADIO_STATE_DISABLED;
-static bool         sIsReceiverEnabled = false;
-
-#if OPENTHREAD_CONFIG_LOG_PLATFORM && OPENTHREAD_CONFIG_CC2538_USE_RADIO_RX_INTERRUPT
-// Debugging _and_ logging are enabled, so if there's a dropped frame
-// we'll need to store the length here as using snprintf from an interrupt
-// handler is not a good idea.
-static uint8_t sDroppedFrameLength = 0;
-#endif
-
-static int8_t cc2538RadioGetRssiOffset(void);
-
-void enableReceiver(void)
-{
-    if (!sIsReceiverEnabled)
-    {
-        otLogInfoPlat("Enabling receiver", NULL);
-
-        // flush rxfifo
-        HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHRX;
-        HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHRX;
-
-        // enable receiver
-        HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_RXON;
-        sIsReceiverEnabled     = true;
-    }
-}
-
-void disableReceiver(void)
-{
-    if (sIsReceiverEnabled)
-    {
-        otLogInfoPlat("Disabling receiver", NULL);
-
-        while (HWREG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_TX_ACTIVE)
-            ;
-
-        // flush rxfifo
-        HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHRX;
-        HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHRX;
-
-        if (HWREG(RFCORE_XREG_RXENABLE) != 0)
-        {
-            // disable receiver
-            HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_RFOFF;
-        }
-
-        sIsReceiverEnabled = false;
-    }
-}
-
-void setChannel(uint8_t aChannel)
-{
-    if (sChannel != aChannel)
-    {
-        bool enabled = false;
-
-        if (sIsReceiverEnabled)
-        {
-            disableReceiver();
-            enabled = true;
-        }
-
-        otLogInfoPlat("Channel=%d", aChannel);
-
-        HWREG(RFCORE_XREG_FREQCTRL) = 11 + (aChannel - 11) * 5;
-        sChannel                    = aChannel;
-
-        if (enabled)
-        {
-            enableReceiver();
-        }
-    }
-}
-
-void setTxPower(int8_t aTxPower)
-{
-    uint8_t i = 0;
-
-    if (sTxPower != aTxPower)
-    {
-        otLogInfoPlat("TxPower=%d", aTxPower);
-
-        for (i = sizeof(sTxPowerTable) / sizeof(TxPowerTable) - 1; i > 0; i--)
-        {
-            if (aTxPower < sTxPowerTable[i].mTxPowerVal)
-            {
-                break;
-            }
-        }
-
-        HWREG(RFCORE_XREG_TXPOWER) = sTxPowerTable[i].mTxPowerReg;
-        sTxPower                   = aTxPower;
-    }
-}
-
-static bool cc2538SrcMatchEnabled(void)
-{
-    return (HWREG(RFCORE_XREG_FRMCTRL1) & RFCORE_XREG_FRMCTRL1_PENDING_OR) == 0;
-}
-
-static bool cc2538GetSrcMatchFoundIntFlag(void)
-{
-    bool flag = (HWREG(RFCORE_SFR_RFIRQF0) & RFCORE_SFR_RFIRQF0_SRC_MATCH_FOUND) != 0;
-    if (flag)
-    {
-        HWREG(RFCORE_SFR_RFIRQF0) &= ~RFCORE_SFR_RFIRQF0_SRC_MATCH_FOUND;
-    }
-    return flag;
-}
-
-void otPlatRadioGetIeeeEui64(otInstance *aInstance, uint8_t *aIeeeEui64)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    // EUI64 is in a mixed-endian format.  Split in two halves, each 32-bit
-    // half is in little-endian format (machine endian).  However, the
-    // most significant part of the EUI64 comes first, so we can't cheat
-    // with a uint64_t!
-    //
-    // See https://e2e.ti.com/support/wireless_connectivity/low_power_rf_tools/f/155/p/307344/1072252
-
-    volatile uint32_t *eui64 = &HWREG(IEEE_EUI64);
-
-    // Read first 32-bits
-    uint32_t part = eui64[0];
-    for (uint8_t i = 0; i < (OT_EXT_ADDRESS_SIZE / 2); i++)
-    {
-        aIeeeEui64[3 - i] = part;
-        part >>= 8;
-    }
-
-    // Read the last 32-bits
-    part = eui64[1];
-    for (uint8_t i = 0; i < (OT_EXT_ADDRESS_SIZE / 2); i++)
-    {
-        aIeeeEui64[7 - i] = part;
-        part >>= 8;
-    }
-}
-
-void otPlatRadioSetPanId(otInstance *aInstance, uint16_t aPanid)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otLogInfoPlat("PANID=%X", aPanid);
-
-    HWREG(RFCORE_FFSM_PAN_ID0) = aPanid & 0xFF;
-    HWREG(RFCORE_FFSM_PAN_ID1) = aPanid >> 8;
-}
-
-void otPlatRadioSetExtendedAddress(otInstance *aInstance, const otExtAddress *aAddress)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otLogInfoPlat("ExtAddr=%X%X%X%X%X%X%X%X", aAddress->m8[7], aAddress->m8[6], aAddress->m8[5], aAddress->m8[4],
-                  aAddress->m8[3], aAddress->m8[2], aAddress->m8[1], aAddress->m8[0]);
-
-    for (int i = 0; i < 8; i++)
-    {
-        ((volatile uint32_t *)RFCORE_FFSM_EXT_ADDR0)[i] = aAddress->m8[i];
-    }
-}
-
-void otPlatRadioSetShortAddress(otInstance *aInstance, uint16_t aAddress)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otLogInfoPlat("ShortAddr=%X", aAddress);
-
-    HWREG(RFCORE_FFSM_SHORT_ADDR0) = aAddress & 0xFF;
-    HWREG(RFCORE_FFSM_SHORT_ADDR1) = aAddress >> 8;
-}
-
-void cc2538RadioInit(void)
-{
-    sTransmitFrame.mLength = 0;
-    sTransmitFrame.mPsdu   = sTransmitPsdu;
-    sReceiveFrame.mLength  = 0;
-    sReceiveFrame.mPsdu    = sReceivePsdu;
-
-#if OPENTHREAD_CONFIG_CC2538_USE_RADIO_RX_INTERRUPT
-    // Enable interrupts for RX/TX, interrupt 26.
-    // That's NVIC index 0 (26 >> 5) bit 26 (26 & 0x1f).
-    HWREG(NVIC_EN0 + (0 * 4)) = (1 << 26);
-    HWREG(RFCORE_XREG_RFIRQM0) |= RFCORE_XREG_RFIRQM0_RXPKTDONE;
-#endif
-
-    // enable clock
-    HWREG(SYS_CTRL_RCGCRFC) = SYS_CTRL_RCGCRFC_RFC0;
-    HWREG(SYS_CTRL_SCGCRFC) = SYS_CTRL_SCGCRFC_RFC0;
-    HWREG(SYS_CTRL_DCGCRFC) = SYS_CTRL_DCGCRFC_RFC0;
-
-    // Table 23-7.
-    HWREG(RFCORE_XREG_AGCCTRL1)              = 0x15;
-    HWREG(RFCORE_XREG_TXFILTCFG)             = 0x09;
-    HWREG(ANA_REGS_BASE + ANA_REGS_O_IVCTRL) = 0x0b;
-
-    HWREG(RFCORE_XREG_CCACTRL0)  = 0xf8;
-    HWREG(RFCORE_XREG_FIFOPCTRL) = IEEE802154_MAX_LENGTH;
-
-    HWREG(RFCORE_XREG_FRMCTRL0) = RFCORE_XREG_FRMCTRL0_AUTOCRC | RFCORE_XREG_FRMCTRL0_AUTOACK;
-
-    // default: SRCMATCH.SRC_MATCH_EN(1), SRCMATCH.AUTOPEND(1),
-    // SRCMATCH.PEND_DATAREQ_ONLY(1), RFCORE_XREG_FRMCTRL1_PENDING_OR(0)
-
-    HWREG(RFCORE_XREG_TXPOWER) = sTxPowerTable[0].mTxPowerReg;
-    sTxPower                   = sTxPowerTable[0].mTxPowerVal;
-
-#if OPENTHREAD_CONFIG_CC2538_WITH_CC2592
-    // PA_EN pin configuration.
-    // Step 1. make it an output
-    HWREG(GPIO_C_BASE | GPIO_O_DIR) |= GPIO_PIN(OPENTHREAD_CONFIG_CC2592_PA_EN_PIN);
-    // Step 2. Route PA_PD to OBS0 and invert it to produce PA_EN
-    HWREG_ARR(RFCORE_XREG_RFC_OBS_CTRL, 0) = RFCORE_XREG_RFC_OBS_POL_INV      // Invert the output
-                                             | RFCORE_XREG_RFC_OBS_MUX_PA_PD; // PA "power down" signal
-    // Step 3. Connect the selected pin to OBS0 and enable OBS0.
-    HWREG_ARR(CCTEST_OBSSEL, OPENTHREAD_CONFIG_CC2592_PA_EN_PIN) = CCTEST_OBSSEL_EN          // Enable the output
-                                                                   | CCTEST_OBSSEL_SEL_OBS0; // Select OBS0
-
-    // LNA_EN pin configuration.
-    HWREG(GPIO_C_BASE | GPIO_O_DIR) |= GPIO_PIN(OPENTHREAD_CONFIG_CC2592_LNA_EN_PIN);
-    HWREG_ARR(RFCORE_XREG_RFC_OBS_CTRL, 1) = RFCORE_XREG_RFC_OBS_POL_INV | RFCORE_XREG_RFC_OBS_MUX_LNA_PD;
-    HWREG_ARR(CCTEST_OBSSEL, OPENTHREAD_CONFIG_CC2592_LNA_EN_PIN) = CCTEST_OBSSEL_EN | CCTEST_OBSSEL_SEL_OBS1;
-
-#if OPENTHREAD_CONFIG_CC2592_USE_HGM
-    // HGM pin configuration.  Set the pin state first so we don't glitch.
-    cc2538RadioSetHgm(OPENTHREAD_CONFIG_CC2592_HGM_DEFAULT_STATE);
-    HWREG(OPENTHREAD_CONFIG_CC2592_HGM_PORT | GPIO_O_DIR) |= GPIO_PIN(OPENTHREAD_CONFIG_CC2592_HGM_PIN);
-#endif // OPENTHREAD_CONFIG_CC2592_USE_HGM
-#endif // OPENTHREAD_CONFIG_CC2538_WITH_CC2592
-
-    otLogInfoPlat("Initialized", NULL);
-}
-
-#if OPENTHREAD_CONFIG_CC2538_WITH_CC2592 && OPENTHREAD_CONFIG_CC2592_USE_HGM
-void cc2538RadioSetHgm(bool aState)
-{
-    if (aState)
-    {
-        HWREG_ARR(OPENTHREAD_CONFIG_CC2592_HGM_PORT, GPIO_PIN(OPENTHREAD_CONFIG_CC2592_HGM_PIN)) =
-            GPIO_PIN(OPENTHREAD_CONFIG_CC2592_HGM_PIN);
-    }
-    else
-    {
-        HWREG_ARR(OPENTHREAD_CONFIG_CC2592_HGM_PORT, GPIO_PIN(OPENTHREAD_CONFIG_CC2592_HGM_PIN)) = 0;
-    }
-}
-
-bool cc2538RadioGetHgm(void)
-{
-    if (HWREG_ARR(OPENTHREAD_CONFIG_CC2592_HGM_PORT, GPIO_PIN(OPENTHREAD_CONFIG_CC2592_HGM_PIN)) &
-        GPIO_PIN(OPENTHREAD_CONFIG_CC2592_HGM_PIN))
-    {
-        return true;
-    }
-    else
-    {
-        return false;
-    }
-}
-#endif // OPENTHREAD_CONFIG_CC2538_WITH_CC2592 && OPENTHREAD_CONFIG_CC2592_USE_HGM
-
-bool otPlatRadioIsEnabled(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    return (sState != OT_RADIO_STATE_DISABLED) ? true : false;
-}
-
-otError otPlatRadioEnable(otInstance *aInstance)
-{
-    if (!otPlatRadioIsEnabled(aInstance))
-    {
-        otLogDebgPlat("State=OT_RADIO_STATE_SLEEP", NULL);
-        sState = OT_RADIO_STATE_SLEEP;
-    }
-
-    return OT_ERROR_NONE;
-}
-
-otError otPlatRadioDisable(otInstance *aInstance)
-{
-    if (otPlatRadioIsEnabled(aInstance))
-    {
-        otLogDebgPlat("State=OT_RADIO_STATE_DISABLED", NULL);
-        sState = OT_RADIO_STATE_DISABLED;
-    }
-
-    return OT_ERROR_NONE;
-}
-
-otError otPlatRadioSleep(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otError error = OT_ERROR_INVALID_STATE;
-
-    if (sState == OT_RADIO_STATE_SLEEP || sState == OT_RADIO_STATE_RECEIVE)
-    {
-        otLogDebgPlat("State=OT_RADIO_STATE_SLEEP", NULL);
-        error  = OT_ERROR_NONE;
-        sState = OT_RADIO_STATE_SLEEP;
-        disableReceiver();
-    }
-
-    return error;
-}
-
-otError otPlatRadioReceive(otInstance *aInstance, uint8_t aChannel)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otError error = OT_ERROR_INVALID_STATE;
-
-    if (sState != OT_RADIO_STATE_DISABLED)
-    {
-        otLogDebgPlat("State=OT_RADIO_STATE_RECEIVE", NULL);
-
-        error  = OT_ERROR_NONE;
-        sState = OT_RADIO_STATE_RECEIVE;
-        setChannel(aChannel);
-        sReceiveFrame.mChannel = aChannel;
-        enableReceiver();
-    }
-
-    return error;
-}
-
-static void setupTransmit(otRadioFrame *aFrame)
-{
-    int i;
-
-    // wait for current TX operation to complete, if any.
-    while (HWREG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_TX_ACTIVE)
-        ;
-
-    // flush txfifo
-    HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHTX;
-    HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHTX;
-
-    // frame length
-    HWREG(RFCORE_SFR_RFDATA) = aFrame->mLength;
-
-    // frame data
-    for (i = 0; i < aFrame->mLength; i++)
-    {
-        HWREG(RFCORE_SFR_RFDATA) = aFrame->mPsdu[i];
-    }
-
-    setChannel(aFrame->mChannel);
-}
-
-otError otPlatRadioTransmit(otInstance *aInstance, otRadioFrame *aFrame)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otError error = OT_ERROR_INVALID_STATE;
-
-    if (sState == OT_RADIO_STATE_RECEIVE)
-    {
-        int i;
-
-        error          = OT_ERROR_NONE;
-        sState         = OT_RADIO_STATE_TRANSMIT;
-        sTransmitError = OT_ERROR_NONE;
-
-        setupTransmit(aFrame);
-
-        // Set up a counter to inform us if we get stuck.
-        i = 1000000;
-
-        // Wait for radio to enter receive state.
-        while ((HWREG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_RX_ACTIVE) == 0)
-        {
-            // Count down the cycles, and emit a message if we get to zero.
-            // Ideally, we should never get there!
-            if (i)
-            {
-                i--;
-            }
-            else
-            {
-                otLogCritPlat("Radio is stuck!!! FSMSTAT0=0x%08x FSMSTAT1=0x%08x RFERRF=0x%08x",
-                              HWREG(RFCORE_XREG_FSMSTAT0), HWREG(RFCORE_XREG_FSMSTAT1), HWREG(RFCORE_SFR_RFERRF));
-                i = 1000000;
-            }
-
-            // Ensure we haven't overflowed the RX buffer in the mean time, as this
-            // will cause a deadlock here otherwise.  Similarly, if we see an aborted
-            // RX, handle that here too to prevent deadlock.
-            if (HWREG(RFCORE_SFR_RFERRF) & (RFCORE_SFR_RFERRF_RXOVERF | RFCORE_SFR_RFERRF_RXABO))
-            {
-                if (HWREG(RFCORE_SFR_RFERRF) & RFCORE_SFR_RFERRF_RXOVERF)
-                {
-                    otLogCritPlat("RX Buffer Overflow detected", NULL);
-                }
-
-                if (HWREG(RFCORE_SFR_RFERRF) & RFCORE_SFR_RFERRF_RXABO)
-                {
-                    otLogCritPlat("Aborted RX detected", NULL);
-                }
-
-                // Flush the RX buffer
-                HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHRX;
-                HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHRX;
-            }
-
-            // Check for idle state.  After flushing the RX buffer, we may wind up here.
-            if (!(HWREG(RFCORE_XREG_FSMSTAT1) & (RFCORE_XREG_FSMSTAT1_TX_ACTIVE | RFCORE_XREG_FSMSTAT1_RX_ACTIVE)))
-            {
-                otLogCritPlat("Idle state detected", NULL);
-
-                // In this case, the state of our driver mis-matches our state.  So force
-                // matters by clearing our channel variable and calling setChannel.  This
-                // should bring our radio into the RX state, which should allow us to go
-                // into TX.
-                sChannel = 0;
-                setupTransmit(aFrame);
-            }
-        }
-
-        // wait for valid rssi
-        while ((HWREG(RFCORE_XREG_RSSISTAT) & RFCORE_XREG_RSSISTAT_RSSI_VALID) == 0)
-            ;
-
-        otEXPECT_ACTION(((HWREG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_CCA) &&
-                         !((HWREG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_SFD))),
-                        sTransmitError = OT_ERROR_CHANNEL_ACCESS_FAILURE);
-
-        // begin transmit
-        HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_TXON;
-
-        otPlatRadioTxStarted(aInstance, aFrame);
-
-        while (HWREG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_TX_ACTIVE)
-            ;
-
-        otLogDebgPlat("Transmitted %d bytes", aFrame->mLength);
-    }
-
-exit:
-    return error;
-}
-
-otRadioFrame *otPlatRadioGetTransmitBuffer(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    return &sTransmitFrame;
-}
-
-int8_t otPlatRadioGetRssi(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    int8_t rssi = OT_RADIO_RSSI_INVALID;
-
-    if ((HWREG(RFCORE_XREG_RSSISTAT) & RFCORE_XREG_RSSISTAT_RSSI_VALID) != 0)
-    {
-        rssi = HWREG(RFCORE_XREG_RSSI) & 0xff;
-
-        if (rssi > cc2538RadioGetRssiOffset() - 128)
-        {
-            rssi -= cc2538RadioGetRssiOffset();
-        }
-        else
-        {
-            rssi = -128;
-        }
-    }
-
-    return rssi;
-}
-
-otRadioCaps otPlatRadioGetCaps(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    return OT_RADIO_CAPS_ENERGY_SCAN;
-}
-
-static bool cc2538RadioGetPromiscuous(void)
-{
-    return (HWREG(RFCORE_XREG_FRMFILT0) & RFCORE_XREG_FRMFILT0_FRAME_FILTER_EN) == 0;
-}
-
-bool otPlatRadioGetPromiscuous(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    return cc2538RadioGetPromiscuous();
-}
-
-static int8_t cc2538RadioGetRssiOffset(void)
-{
-#if OPENTHREAD_CONFIG_CC2538_WITH_CC2592 && OPENTHREAD_CONFIG_CC2592_USE_HGM
-    if (cc2538RadioGetHgm())
-    {
-        return CC2592_RSSI_OFFSET_HGM;
-    }
-    else
-    {
-        return CC2592_RSSI_OFFSET_LGM;
-    }
-#else  // OPENTHREAD_CONFIG_CC2538_WITH_CC2592 && OPENTHREAD_CONFIG_CC2592_USE_HGM
-    return CC2538_RSSI_OFFSET;
-#endif // OPENTHREAD_CONFIG_CC2538_WITH_CC2592 && OPENTHREAD_CONFIG_CC2592_USE_HGM
-}
-
-void otPlatRadioSetPromiscuous(otInstance *aInstance, bool aEnable)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otLogInfoPlat("PromiscuousMode=%d", aEnable ? 1 : 0);
-
-    if (aEnable)
-    {
-        HWREG(RFCORE_XREG_FRMFILT0) &= ~RFCORE_XREG_FRMFILT0_FRAME_FILTER_EN;
-    }
-    else
-    {
-        HWREG(RFCORE_XREG_FRMFILT0) |= RFCORE_XREG_FRMFILT0_FRAME_FILTER_EN;
-    }
-}
-
-static void readFrame(void)
-{
-    uint8_t length;
-    uint8_t crcCorr;
-    int     i;
-
-    /*
-     * There is already a frame present in the buffer, return early so
-     * we do not overwrite it (hopefully we'll catch it on the next run).
-     */
-    otEXPECT(sReceiveFrame.mLength == 0);
-
-    otEXPECT(sState == OT_RADIO_STATE_RECEIVE || sState == OT_RADIO_STATE_TRANSMIT);
-    otEXPECT((HWREG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_FIFOP) != 0);
-
-    // read length
-    length = HWREG(RFCORE_SFR_RFDATA);
-    otEXPECT(IEEE802154_MIN_LENGTH <= length && length <= IEEE802154_MAX_LENGTH);
-
-#if OPENTHREAD_CONFIG_TIME_SYNC_ENABLE
-#error Time sync requires the timestamp of SFD rather than that of rx done!
-#else
-    // Timestamp
-    if (cc2538RadioGetPromiscuous())
-#endif
-    {
-        // The current driver only supports milliseconds resolution.
-        sReceiveFrame.mInfo.mRxInfo.mTimestamp = otPlatAlarmMilliGetNow() * 1000;
-    }
-
-    // read psdu
-    for (i = 0; i < length - 2; i++)
-    {
-        sReceiveFrame.mPsdu[i] = HWREG(RFCORE_SFR_RFDATA);
-    }
-
-    sReceiveFrame.mInfo.mRxInfo.mRssi = (int8_t)HWREG(RFCORE_SFR_RFDATA) - cc2538RadioGetRssiOffset();
-    crcCorr                           = HWREG(RFCORE_SFR_RFDATA);
-
-    if (crcCorr & CC2538_CRC_BIT_MASK)
-    {
-        sReceiveFrame.mLength            = length;
-        sReceiveFrame.mInfo.mRxInfo.mLqi = crcCorr & CC2538_LQI_BIT_MASK;
-
-        if (length > IEEE802154_ACK_LENGTH)
-        {
-            // Set ACK FP flag for the received frame according to whether SRC_MATCH_FOUND was triggered just before
-            // if SRC MATCH is not enabled, SRC_MATCH_FOUND is not triggered and all ACK FP is always set
-            sReceiveFrame.mInfo.mRxInfo.mAckedWithFramePending =
-                cc2538SrcMatchEnabled() ? cc2538GetSrcMatchFoundIntFlag() : true;
-        }
-    }
-    else
-    {
-        // resets rxfifo
-        HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHRX;
-        HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHRX;
-#if OPENTHREAD_CONFIG_LOG_PLATFORM && OPENTHREAD_CONFIG_CC2538_USE_RADIO_RX_INTERRUPT
-        // Debugging _and_ logging are enabled, it may not be safe to do
-        // logging if we're in the interrupt context, so just stash the
-        // length and do the logging later.
-        sDroppedFrameLength = length;
-#else
-        otLogDebgPlat("Dropping %d received bytes (Invalid CRC)", length);
-#endif
-    }
-
-    // check for rxfifo overflow
-    if ((HWREG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_FIFOP) != 0 &&
-        (HWREG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_FIFO) == 0)
-    {
-        HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHRX;
-        HWREG(RFCORE_SFR_RFST) = RFCORE_SFR_RFST_INSTR_FLUSHRX;
-    }
-
-exit:
-    return;
-}
-
-void cc2538RadioProcess(otInstance *aInstance)
-{
-#if OPENTHREAD_CONFIG_CC2538_USE_RADIO_RX_INTERRUPT
-    // Disable the receive interrupt so that sReceiveFrame doesn't get
-    // blatted by the interrupt handler while we're polling.
-    HWREG(RFCORE_XREG_RFIRQM0) &= ~RFCORE_XREG_RFIRQM0_RXPKTDONE;
-#endif
-
-    readFrame();
-
-#if OPENTHREAD_CONFIG_LOG_PLATFORM && OPENTHREAD_CONFIG_CC2538_USE_RADIO_RX_INTERRUPT
-    if (sDroppedFrameLength != 0)
-    {
-        otLogDebgPlat("Dropping %d received bytes (Invalid CRC)", sDroppedFrameLength);
-        sDroppedFrameLength = 0;
-    }
-#endif
-
-    if ((sState == OT_RADIO_STATE_RECEIVE && sReceiveFrame.mLength > 0) ||
-        (sState == OT_RADIO_STATE_TRANSMIT && sReceiveFrame.mLength > IEEE802154_ACK_LENGTH))
-    {
-#if OPENTHREAD_CONFIG_DIAG_ENABLE
-
-        if (otPlatDiagModeGet())
-        {
-            otPlatDiagRadioReceiveDone(aInstance, &sReceiveFrame, sReceiveError);
-        }
-        else
-#endif
-        {
-            // signal MAC layer for each received frame if promiscuous is enabled
-            // otherwise only signal MAC layer for non-ACK frame
-            if (((HWREG(RFCORE_XREG_FRMFILT0) & RFCORE_XREG_FRMFILT0_FRAME_FILTER_EN) == 0) ||
-                (sReceiveFrame.mLength > IEEE802154_ACK_LENGTH))
-            {
-                otLogDebgPlat("Received %d bytes", sReceiveFrame.mLength);
-                otPlatRadioReceiveDone(aInstance, &sReceiveFrame, sReceiveError);
-            }
-        }
-    }
-
-    if (sState == OT_RADIO_STATE_TRANSMIT)
-    {
-        if (sTransmitError != OT_ERROR_NONE || (sTransmitFrame.mPsdu[0] & IEEE802154_ACK_REQUEST) == 0)
-        {
-            if (sTransmitError != OT_ERROR_NONE)
-            {
-                otLogDebgPlat("Transmit failed ErrorCode=%d", sTransmitError);
-            }
-
-            sState = OT_RADIO_STATE_RECEIVE;
-
-#if OPENTHREAD_CONFIG_DIAG_ENABLE
-
-            if (otPlatDiagModeGet())
-            {
-                otPlatDiagRadioTransmitDone(aInstance, &sTransmitFrame, sTransmitError);
-            }
-            else
-#endif
-            {
-                otPlatRadioTxDone(aInstance, &sTransmitFrame, NULL, sTransmitError);
-            }
-        }
-        else if (sReceiveFrame.mLength == IEEE802154_ACK_LENGTH &&
-                 (sReceiveFrame.mPsdu[0] & IEEE802154_FRAME_TYPE_MASK) == IEEE802154_FRAME_TYPE_ACK &&
-                 (sReceiveFrame.mPsdu[IEEE802154_DSN_OFFSET] == sTransmitFrame.mPsdu[IEEE802154_DSN_OFFSET]))
-        {
-            sState = OT_RADIO_STATE_RECEIVE;
-
-            otPlatRadioTxDone(aInstance, &sTransmitFrame, &sReceiveFrame, sTransmitError);
-        }
-    }
-
-    sReceiveFrame.mLength = 0;
-
-#if OPENTHREAD_CONFIG_CC2538_USE_RADIO_RX_INTERRUPT
-    // Turn the receive interrupt handler back on now the buffer is clear.
-    HWREG(RFCORE_XREG_RFIRQM0) |= RFCORE_XREG_RFIRQM0_RXPKTDONE;
-#endif
-}
-
-void RFCoreRxTxIntHandler(void)
-{
-#if OPENTHREAD_CONFIG_CC2538_USE_RADIO_RX_INTERRUPT
-    if (HWREG(RFCORE_SFR_RFIRQF0) & RFCORE_SFR_RFIRQF0_RXPKTDONE)
-    {
-        readFrame();
-
-        if (sReceiveFrame.mLength > 0)
-        {
-            // A frame has been received, disable the interrupt handler
-            // until the main loop has dealt with this previous frame,
-            // otherwise we might overwrite it whilst it is being read.
-            HWREG(RFCORE_XREG_RFIRQM0) &= ~RFCORE_XREG_RFIRQM0_RXPKTDONE;
-        }
-    }
-#endif
-
-    HWREG(RFCORE_SFR_RFIRQF0) = 0;
-}
-
-void RFCoreErrIntHandler(void)
-{
-    HWREG(RFCORE_SFR_RFERRF) = 0;
-}
-
-uint32_t getSrcMatchEntriesEnableStatus(bool aShort)
-{
-    uint32_t  status = 0;
-    uint32_t *addr   = aShort ? (uint32_t *)RFCORE_XREG_SRCSHORTEN0 : (uint32_t *)RFCORE_XREG_SRCEXTEN0;
-
-    for (uint8_t i = 0; i < RFCORE_XREG_SRCMATCH_ENABLE_STATUS_SIZE; i++)
-    {
-        status |= HWREG(addr++) << (i * 8);
-    }
-
-    return status;
-}
-
-int8_t findSrcMatchShortEntry(uint16_t aShortAddress)
-{
-    int8_t    entry = -1;
-    uint16_t  shortAddr;
-    uint32_t  bitMask;
-    uint32_t *addr   = NULL;
-    uint32_t  status = getSrcMatchEntriesEnableStatus(true);
-
-    for (uint8_t i = 0; i < RFCORE_XREG_SRCMATCH_SHORT_ENTRIES; i++)
-    {
-        bitMask = 0x00000001 << i;
-
-        if ((status & bitMask) == 0)
-        {
-            continue;
-        }
-
-        addr = (uint32_t *)RFCORE_FFSM_SRCADDRESS_TABLE + (i * RFCORE_XREG_SRCMATCH_SHORT_ENTRY_OFFSET);
-
-        shortAddr = HWREG(addr + 2);
-        shortAddr |= HWREG(addr + 3) << 8;
-
-        if ((shortAddr == aShortAddress))
-        {
-            entry = i;
-            break;
-        }
-    }
-
-    return entry;
-}
-
-int8_t findSrcMatchExtEntry(const otExtAddress *aExtAddress)
-{
-    int8_t    entry = -1;
-    uint32_t  bitMask;
-    uint32_t *addr   = NULL;
-    uint32_t  status = getSrcMatchEntriesEnableStatus(false);
-
-    for (uint8_t i = 0; i < RFCORE_XREG_SRCMATCH_EXT_ENTRIES; i++)
-    {
-        uint8_t j = 0;
-        bitMask   = 0x00000001 << 2 * i;
-
-        if ((status & bitMask) == 0)
-        {
-            continue;
-        }
-
-        addr = (uint32_t *)RFCORE_FFSM_SRCADDRESS_TABLE + (i * RFCORE_XREG_SRCMATCH_EXT_ENTRY_OFFSET);
-
-        for (j = 0; j < sizeof(otExtAddress); j++)
-        {
-            if (HWREG(addr + j) != aExtAddress->m8[j])
-            {
-                break;
-            }
-        }
-
-        if (j == sizeof(otExtAddress))
-        {
-            entry = i;
-            break;
-        }
-    }
-
-    return entry;
-}
-
-void setSrcMatchEntryEnableStatus(bool aShort, uint8_t aEntry, bool aEnable)
-{
-    uint8_t   entry          = aShort ? aEntry : (2 * aEntry);
-    uint8_t   index          = entry / 8;
-    uint32_t *addrEn         = aShort ? (uint32_t *)RFCORE_XREG_SRCSHORTEN0 : (uint32_t *)RFCORE_XREG_SRCEXTEN0;
-    uint32_t *addrAutoPendEn = aShort ? (uint32_t *)RFCORE_FFSM_SRCSHORTPENDEN0 : (uint32_t *)RFCORE_FFSM_SRCEXTPENDEN0;
-    uint32_t  bitMask        = 0x00000001;
-
-    if (aEnable)
-    {
-        HWREG(addrEn + index) |= (bitMask) << (entry % 8);
-        HWREG(addrAutoPendEn + index) |= (bitMask) << (entry % 8);
-    }
-    else
-    {
-        HWREG(addrEn + index) &= ~((bitMask) << (entry % 8));
-        HWREG(addrAutoPendEn + index) &= ~((bitMask) << (entry % 8));
-    }
-}
-
-int8_t findSrcMatchAvailEntry(bool aShort)
-{
-    int8_t   entry = -1;
-    uint32_t bitMask;
-    uint32_t shortEnableStatus = getSrcMatchEntriesEnableStatus(true);
-    uint32_t extEnableStatus   = getSrcMatchEntriesEnableStatus(false);
-
-    otLogDebgPlat("Short enable status: 0x%x", shortEnableStatus);
-    otLogDebgPlat("Ext enable status: 0x%x", extEnableStatus);
-
-    if (aShort)
-    {
-        bitMask = 0x00000001;
-
-        for (uint8_t i = 0; i < RFCORE_XREG_SRCMATCH_SHORT_ENTRIES; i++)
-        {
-            if ((extEnableStatus & bitMask) == 0)
-            {
-                if ((shortEnableStatus & bitMask) == 0)
-                {
-                    entry = i;
-                    break;
-                }
-            }
-
-            if (i % 2 == 1)
-            {
-                extEnableStatus = extEnableStatus >> 2;
-            }
-
-            shortEnableStatus = shortEnableStatus >> 1;
-        }
-    }
-    else
-    {
-        bitMask = 0x00000003;
-
-        for (uint8_t i = 0; i < RFCORE_XREG_SRCMATCH_EXT_ENTRIES; i++)
-        {
-            if (((extEnableStatus | shortEnableStatus) & bitMask) == 0)
-            {
-                entry = i;
-                break;
-            }
-
-            extEnableStatus   = extEnableStatus >> 2;
-            shortEnableStatus = shortEnableStatus >> 2;
-        }
-    }
-
-    return entry;
-}
-
-void cc2538EnergyScanTimerHandler(void)
-{
-    int8_t rssi = otPlatRadioGetRssi(sInstance);
-
-    disableReceiver();
-
-    HWREG(RFCORE_XREG_FRMCTRL0) &= ~RFCORE_XREG_FRMCTRL0_ENERGY_SCAN;
-    HWREG(RFCORE_XREG_FREQCTRL) = 11 + (sChannel - 11) * 5;
-
-    if (sIsReceiverEnabled)
-    {
-        enableReceiver();
-    }
-
-    otPlatRadioEnergyScanDone(sInstance, rssi);
-}
-
-void otPlatRadioEnableSrcMatch(otInstance *aInstance, bool aEnable)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otLogInfoPlat("EnableSrcMatch=%d", aEnable ? 1 : 0);
-
-    if (aEnable)
-    {
-        // only set FramePending when ack for data poll if there are queued messages
-        // for entries in the source match table.
-        HWREG(RFCORE_XREG_FRMCTRL1) &= ~RFCORE_XREG_FRMCTRL1_PENDING_OR;
-    }
-    else
-    {
-        // set FramePending for all ack.
-        HWREG(RFCORE_XREG_FRMCTRL1) |= RFCORE_XREG_FRMCTRL1_PENDING_OR;
-    }
-}
-
-otError otPlatRadioAddSrcMatchShortEntry(otInstance *aInstance, uint16_t aShortAddress)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otError   error = OT_ERROR_NONE;
-    int8_t    entry = findSrcMatchAvailEntry(true);
-    uint32_t *addr  = (uint32_t *)RFCORE_FFSM_SRCADDRESS_TABLE;
-
-    otLogDebgPlat("Add ShortAddr entry: %d", entry);
-
-    otEXPECT_ACTION(entry >= 0, error = OT_ERROR_NO_BUFS);
-
-    addr += (entry * RFCORE_XREG_SRCMATCH_SHORT_ENTRY_OFFSET);
-
-    HWREG(addr++) = HWREG(RFCORE_FFSM_PAN_ID0);
-    HWREG(addr++) = HWREG(RFCORE_FFSM_PAN_ID1);
-    HWREG(addr++) = aShortAddress & 0xFF;
-    HWREG(addr++) = aShortAddress >> 8;
-
-    setSrcMatchEntryEnableStatus(true, (uint8_t)(entry), true);
-
-exit:
-    return error;
-}
-
-otError otPlatRadioAddSrcMatchExtEntry(otInstance *aInstance, const otExtAddress *aExtAddress)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otError   error = OT_ERROR_NONE;
-    int8_t    entry = findSrcMatchAvailEntry(false);
-    uint32_t *addr  = (uint32_t *)RFCORE_FFSM_SRCADDRESS_TABLE;
-
-    otLogDebgPlat("Add ExtAddr entry: %d", entry);
-
-    otEXPECT_ACTION(entry >= 0, error = OT_ERROR_NO_BUFS);
-
-    addr += (entry * RFCORE_XREG_SRCMATCH_EXT_ENTRY_OFFSET);
-
-    for (uint8_t i = 0; i < sizeof(otExtAddress); i++)
-    {
-        HWREG(addr++) = aExtAddress->m8[i];
-    }
-
-    setSrcMatchEntryEnableStatus(false, (uint8_t)(entry), true);
-
-exit:
-    return error;
-}
-
-otError otPlatRadioClearSrcMatchShortEntry(otInstance *aInstance, uint16_t aShortAddress)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otError error = OT_ERROR_NONE;
-    int8_t  entry = findSrcMatchShortEntry(aShortAddress);
-
-    otLogDebgPlat("Clear ShortAddr entry: %d", entry);
-
-    otEXPECT_ACTION(entry >= 0, error = OT_ERROR_NO_ADDRESS);
-
-    setSrcMatchEntryEnableStatus(true, (uint8_t)(entry), false);
-
-exit:
-    return error;
-}
-
-otError otPlatRadioClearSrcMatchExtEntry(otInstance *aInstance, const otExtAddress *aExtAddress)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otError error = OT_ERROR_NONE;
-    int8_t  entry = findSrcMatchExtEntry(aExtAddress);
-
-    otLogDebgPlat("Clear ExtAddr entry: %d", entry);
-
-    otEXPECT_ACTION(entry >= 0, error = OT_ERROR_NO_ADDRESS);
-
-    setSrcMatchEntryEnableStatus(false, (uint8_t)(entry), false);
-
-exit:
-    return error;
-}
-
-void otPlatRadioClearSrcMatchShortEntries(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    uint32_t *addrEn         = (uint32_t *)RFCORE_XREG_SRCSHORTEN0;
-    uint32_t *addrAutoPendEn = (uint32_t *)RFCORE_FFSM_SRCSHORTPENDEN0;
-
-    otLogDebgPlat("Clear ShortAddr entries", NULL);
-
-    for (uint8_t i = 0; i < RFCORE_XREG_SRCMATCH_ENABLE_STATUS_SIZE; i++)
-    {
-        HWREG(addrEn++)         = 0;
-        HWREG(addrAutoPendEn++) = 0;
-    }
-}
-
-void otPlatRadioClearSrcMatchExtEntries(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    uint32_t *addrEn         = (uint32_t *)RFCORE_XREG_SRCEXTEN0;
-    uint32_t *addrAutoPendEn = (uint32_t *)RFCORE_FFSM_SRCEXTPENDEN0;
-
-    otLogDebgPlat("Clear ExtAddr entries", NULL);
-
-    for (uint8_t i = 0; i < RFCORE_XREG_SRCMATCH_ENABLE_STATUS_SIZE; i++)
-    {
-        HWREG(addrEn++)         = 0;
-        HWREG(addrAutoPendEn++) = 0;
-    }
-}
-
-otError otPlatRadioEnergyScan(otInstance *aInstance, uint8_t aScanChannel, uint16_t aScanDuration)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otLogInfoPlat("ScanChannel=%d", aScanChannel);
-
-    if (aScanChannel != sChannel)
-    {
-        if (sIsReceiverEnabled)
-        {
-            disableReceiver();
-        }
-
-        HWREG(RFCORE_XREG_FREQCTRL) = 11 + (aScanChannel - 11) * 5;
-
-        enableReceiver();
-    }
-    else if (!sIsReceiverEnabled)
-    {
-        enableReceiver();
-    }
-
-    // Collect peak signal strength
-    HWREG(RFCORE_XREG_FRMCTRL0) |= RFCORE_XREG_FRMCTRL0_ENERGY_SCAN;
-
-    cc2538SetTimer(OT_CC2538_TIMER_ENERGY_SCAN, aScanDuration);
-
-    return OT_ERROR_NONE;
-}
-
-otError otPlatRadioGetTransmitPower(otInstance *aInstance, int8_t *aPower)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    otError error = OT_ERROR_NONE;
-
-    otEXPECT_ACTION(aPower != NULL, error = OT_ERROR_INVALID_ARGS);
-    *aPower = sTxPower;
-
-exit:
-    return error;
-}
-
-otError otPlatRadioSetTransmitPower(otInstance *aInstance, int8_t aPower)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-    setTxPower(aPower);
-    return OT_ERROR_NONE;
-}
-
-otError otPlatRadioGetCcaEnergyDetectThreshold(otInstance *aInstance, int8_t *aThreshold)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-    OT_UNUSED_VARIABLE(aThreshold);
-
-    return OT_ERROR_NOT_IMPLEMENTED;
-}
-
-otError otPlatRadioSetCcaEnergyDetectThreshold(otInstance *aInstance, int8_t aThreshold)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-    OT_UNUSED_VARIABLE(aThreshold);
-
-    return OT_ERROR_NOT_IMPLEMENTED;
-}
-
-int8_t otPlatRadioGetReceiveSensitivity(otInstance *aInstance)
-{
-    OT_UNUSED_VARIABLE(aInstance);
-
-#if OPENTHREAD_CONFIG_CC2538_WITH_CC2592 && OPENTHREAD_CONFIG_CC2592_USE_HGM
-    if (cc2538RadioGetHgm())
-    {
-        return CC2592_RECEIVE_SENSITIVITY_HGM;
-    }
-    else
-    {
-        return CC2592_RECEIVE_SENSITIVITY_LGM;
-    }
-#else  // OPENTHREAD_CONFIG_CC2538_WITH_CC2592 && OPENTHREAD_CONFIG_CC2592_USE_HGM
-    return CC2538_RECEIVE_SENSITIVITY;
-#endif // OPENTHREAD_CONFIG_CC2538_WITH_CC2592 && OPENTHREAD_CONFIG_CC2592_USE_HGM
-}
diff --git a/examples/platforms/cc2538/rom-utility.h b/examples/platforms/cc2538/rom-utility.h
deleted file mode 100644
index d0686efdee7..00000000000
--- a/examples/platforms/cc2538/rom-utility.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef ROM_UTILITY_H_
-#define ROM_UTILITY_H_
-
-#define ROM_API_TABLE_ADDR 0x00000048
-
-typedef uint32_t (*volatile FPTR_CRC32_T)(uint8_t * /*pData*/, uint32_t /*byteCount*/);
-typedef uint32_t (*volatile FPTR_GETFLSIZE_T)(void);
-typedef uint32_t (*volatile FPTR_GETCHIPID_T)(void);
-typedef int32_t (*volatile FPTR_PAGEERASE_T)(uint32_t /*FlashAddr*/, uint32_t /*Size*/);
-typedef int32_t (*volatile FPTR_PROGFLASH_T)(uint32_t * /*pRamData*/, uint32_t /*FlashAdr*/, uint32_t /*ByteCount*/);
-typedef void (*volatile FPTR_RESETDEV_T)(void);
-typedef void *(*volatile FPTR_MEMSET_T)(void * /*s*/, int32_t /*c*/, uint32_t /*n*/);
-typedef void *(*volatile FPTR_MEMCPY_T)(void * /*s1*/, const void * /*s2*/, uint32_t /*n*/);
-typedef int32_t (*volatile FPTR_MEMCMP_T)(const void * /*s1*/, const void * /*s2*/, uint32_t /*n*/);
-typedef void *(*volatile FPTR_MEMMOVE_T)(void * /*s1*/, const void * /*s2*/, uint32_t /*n*/);
-
-typedef struct
-{
-    FPTR_CRC32_T     Crc32;
-    FPTR_GETFLSIZE_T GetFlashSize;
-    FPTR_GETCHIPID_T GetChipId;
-    FPTR_PAGEERASE_T PageErase;
-    FPTR_PROGFLASH_T ProgramFlash;
-    FPTR_RESETDEV_T  ResetDevice;
-    FPTR_MEMSET_T    memset;
-    FPTR_MEMCPY_T    memcpy;
-    FPTR_MEMCMP_T    memcmp;
-    FPTR_MEMMOVE_T   memmove;
-} ROM_API_T;
-
-// clang-format off
-
-#define P_ROM_API               ((ROM_API_T*)ROM_API_TABLE_ADDR)
-
-#define ROM_Crc32(a,b)          P_ROM_API->Crc32(a,b)
-#define ROM_GetFlashSize()      P_ROM_API->GetFlashSize()
-#define ROM_GetChipId()         P_ROM_API->GetChipId()
-#define ROM_PageErase(a,b)      P_ROM_API->PageErase(a,b)
-#define ROM_ProgramFlash(a,b,c) P_ROM_API->ProgramFlash(a,b,c)
-#define ROM_ResetDevice()       P_ROM_API->ResetDevice()
-#define ROM_Memset(a,b,c)       P_ROM_API->memset(a,b,c)
-#define ROM_Memcpy(a,b,c)       P_ROM_API->memcpy(a,b,c)
-#define ROM_Memcmp(a,b,c)       P_ROM_API->memcmp(a,b,c)
-#define ROM_Memmove(a,b,c)      P_ROM_API->memmove(a,b,c)
-
-// clang-format on
-
-#endif // ROM_UTILITY_H_
diff --git a/examples/platforms/cc2538/startup-gcc.c b/examples/platforms/cc2538/startup-gcc.c
deleted file mode 100644
index f174bfa099b..00000000000
--- a/examples/platforms/cc2538/startup-gcc.c
+++ /dev/null
@@ -1,215 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file
- *   This file implements gcc-specific startup code for the cc2538.
- */
-
-#include <stdint.h>
-#include <string.h>
-
-#include "cc2538-reg.h"
-
-extern uint8_t _ldata;
-extern uint8_t _data;
-extern uint8_t _edata;
-extern uint8_t _bss;
-extern uint8_t _ebss;
-extern uint8_t _init_array;
-extern uint8_t _einit_array;
-
-__extension__ typedef int __guard __attribute__((mode(__DI__)));
-
-int __cxa_guard_acquire(__guard *g)
-{
-    return !*(char *)(g);
-}
-
-void __cxa_guard_release(__guard *g)
-{
-    *(char *)g = 1;
-}
-
-void __cxa_guard_abort(__guard *g)
-{
-    (void)g;
-}
-
-void __cxa_pure_virtual(void)
-{
-    while (1)
-        ;
-}
-
-void IntDefaultHandler(void);
-void ResetHandler(void);
-
-extern void SysTick_Handler(void);
-extern void UART0IntHandler(void);
-extern void RFCoreRxTxIntHandler(void);
-extern void RFCoreErrIntHandler(void);
-extern void main(void);
-
-static uint64_t stack[640] __attribute__((section(".stack")));
-
-__attribute__((section(".vectors"), used)) void (*const vectors[])(void) = {
-    (void (*)(void))((unsigned long)stack + sizeof(stack)), // Initial Stack Pointer
-    ResetHandler,                                           // 1 The reset handler
-    ResetHandler,                                           // 2 The NMI handler
-    IntDefaultHandler,                                      // 3 The hard fault handler
-    IntDefaultHandler,                                      // 4 The MPU fault handler
-    IntDefaultHandler,                                      // 5 The bus fault handler
-    IntDefaultHandler,                                      // 6 The usage fault handler
-    0,                                                      // 7 Reserved
-    0,                                                      // 8 Reserved
-    0,                                                      // 9 Reserved
-    0,                                                      // 10 Reserved
-    IntDefaultHandler,                                      // 11 SVCall handler
-    IntDefaultHandler,                                      // 12 Debug monitor handler
-    0,                                                      // 13 Reserved
-    IntDefaultHandler,                                      // 14 The PendSV handler
-    SysTick_Handler,                                        // 15 The SysTick handler
-    IntDefaultHandler,                                      // 16 GPIO Port A
-    IntDefaultHandler,                                      // 17 GPIO Port B
-    IntDefaultHandler,                                      // 18 GPIO Port C
-    IntDefaultHandler,                                      // 19 GPIO Port D
-    0,                                                      // 20 none
-    UART0IntHandler,                                        // 21 UART0 Rx and Tx
-    IntDefaultHandler,                                      // 22 UART1 Rx and Tx
-    IntDefaultHandler,                                      // 23 SSI0 Rx and Tx
-    IntDefaultHandler,                                      // 24 I2C Master and Slave
-    0,                                                      // 25 Reserved
-    0,                                                      // 26 Reserved
-    0,                                                      // 27 Reserved
-    0,                                                      // 28 Reserved
-    0,                                                      // 29 Reserved
-    IntDefaultHandler,                                      // 30 ADC Sequence 0
-    0,                                                      // 31 Reserved
-    0,                                                      // 32 Reserved
-    0,                                                      // 33 Reserved
-    IntDefaultHandler,                                      // 34 Watchdog timer, timer 0
-    IntDefaultHandler,                                      // 35 Timer 0 subtimer A
-    IntDefaultHandler,                                      // 36 Timer 0 subtimer B
-    IntDefaultHandler,                                      // 37 Timer 1 subtimer A
-    IntDefaultHandler,                                      // 38 Timer 1 subtimer B
-    IntDefaultHandler,                                      // 39 Timer 2 subtimer A
-    IntDefaultHandler,                                      // 40 Timer 2 subtimer B
-    IntDefaultHandler,                                      // 41 Analog Comparator 0
-    RFCoreRxTxIntHandler,                                   // 42 RFCore Rx/Tx
-    RFCoreErrIntHandler,                                    // 43 RFCore Error
-    IntDefaultHandler,                                      // 44 IcePick
-    IntDefaultHandler,                                      // 45 FLASH Control
-    IntDefaultHandler,                                      // 46 AES
-    IntDefaultHandler,                                      // 47 PKA
-    IntDefaultHandler,                                      // 48 Sleep Timer
-    IntDefaultHandler,                                      // 49 MacTimer
-    IntDefaultHandler,                                      // 50 SSI1 Rx and Tx
-    IntDefaultHandler,                                      // 51 Timer 3 subtimer A
-    IntDefaultHandler,                                      // 52 Timer 3 subtimer B
-    0,                                                      // 53 Reserved
-    0,                                                      // 54 Reserved
-    0,                                                      // 55 Reserved
-    0,                                                      // 56 Reserved
-    0,                                                      // 57 Reserved
-    0,                                                      // 58 Reserved
-    0,                                                      // 59 Reserved
-    IntDefaultHandler,                                      // 60 USB 2538
-    0,                                                      // 61 Reserved
-    IntDefaultHandler,                                      // 62 uDMA
-    IntDefaultHandler,                                      // 63 uDMA Error
-};
-
-void IntDefaultHandler(void)
-{
-    while (1)
-        ;
-}
-
-// clang-format off
-
-#define FLASH_CCA_BOOTLDR_CFG_DISABLE               0xEFFFFFFF ///< Disable backdoor function
-#define FLASH_CCA_BOOTLDR_CFG_ENABLE                0xF0FFFFFF ///< Enable backdoor function
-#define FLASH_CCA_BOOTLDR_CFG_ACTIVE_HIGH           0x08000000 ///< Selected pin on pad A active high
-#define FLASH_CCA_BOOTLDR_CFG_PORT_A_PIN_M          0x07000000 ///< Selected pin on pad A mask
-#define FLASH_CCA_BOOTLDR_CFG_PORT_A_PIN_S          24         ///< Selected pin on pad A shift
-#define FLASH_CCA_IMAGE_VALID                       0x00000000 ///< Indicates valid image in flash
-
-#define FLASH_CCA_CONF_BOOTLDR_BACKDOOR_PORT_A_PIN  3      ///< Select Button on SmartRF06 Eval Board
-
-// clang-format on
-
-typedef struct
-{
-    uint32_t ui32BootldrCfg;
-    uint32_t ui32ImageValid;
-    uint32_t ui32ImageVectorAddr;
-    uint8_t  ui8lock[32];
-} flash_cca_lock_page_t;
-
-__attribute__((__section__(".flashcca"), used)) const flash_cca_lock_page_t flash_cca_lock_page = {
-    FLASH_CCA_BOOTLDR_CFG_ENABLE | (FLASH_CCA_CONF_BOOTLDR_BACKDOOR_PORT_A_PIN << FLASH_CCA_BOOTLDR_CFG_PORT_A_PIN_S),
-    FLASH_CCA_IMAGE_VALID,
-    (uint32_t)&vectors,
-    {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-     0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}};
-
-typedef void (*init_fn_t)(void);
-
-void ResetHandler(void)
-{
-    HWREG(SYS_CTRL_EMUOVR) = 0xFF;
-
-    // configure clocks
-    HWREG(SYS_CTRL_CLOCK_CTRL) |= SYS_CTRL_CLOCK_CTRL_AMP_DET;
-    HWREG(SYS_CTRL_CLOCK_CTRL) = SYS_CTRL_SYSDIV_32MHZ;
-
-    // alternate map
-    HWREG(SYS_CTRL_I_MAP) |= SYS_CTRL_I_MAP_ALTMAP;
-
-    // copy the data segment initializers from flash to SRAM
-    memcpy(&_data, &_ldata, &_edata - &_data);
-
-    // zero-fill the bss segment
-    memset(&_bss, 0, &_ebss - &_bss);
-
-    // C++ runtime initialization (BSS, Data, relocation, etc.)
-    init_fn_t *fp;
-
-    for (fp = (init_fn_t *)&_init_array; fp < (init_fn_t *)&_einit_array; fp++)
-    {
-        (*fp)();
-    }
-
-    // call the application's entry point
-    main();
-
-    // end here if main() returns
-    while (1)
-        ;
-}
diff --git a/examples/platforms/cc2538/system.c b/examples/platforms/cc2538/system.c
deleted file mode 100644
index 0d1cd63de79..00000000000
--- a/examples/platforms/cc2538/system.c
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file
- * @brief
- *   This file includes the platform-specific initializers.
- */
-#include "platform-cc2538.h"
-#include <openthread/config.h>
-
-otInstance *sInstance;
-
-void otSysInit(int argc, char *argv[])
-{
-    OT_UNUSED_VARIABLE(argc);
-    OT_UNUSED_VARIABLE(argv);
-
-#if OPENTHREAD_CONFIG_ENABLE_DEBUG_UART
-    cc2538DebugUartInit();
-#endif
-    cc2538AlarmInit();
-    cc2538RandomInit();
-    cc2538RadioInit();
-}
-
-bool otSysPseudoResetWasRequested(void)
-{
-    return false;
-}
-
-void otSysProcessDrivers(otInstance *aInstance)
-{
-    sInstance = aInstance;
-
-    // should sleep and wait for interrupts here
-
-    cc2538UartProcess();
-    cc2538RadioProcess(aInstance);
-    cc2538AlarmProcess(aInstance);
-}
diff --git a/examples/platforms/cc2538/uart.c b/examples/platforms/cc2538/uart.c
deleted file mode 100644
index 3325c990427..00000000000
--- a/examples/platforms/cc2538/uart.c
+++ /dev/null
@@ -1,318 +0,0 @@
-/*
- *  Copyright (c) 2016, The OpenThread Authors.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions are met:
- *  1. Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *  2. Redistributions in binary form must reproduce the above copyright
- *     notice, this list of conditions and the following disclaimer in the
- *     documentation and/or other materials provided with the distribution.
- *  3. Neither the name of the copyright holder nor the
- *     names of its contributors may be used to endorse or promote products
- *     derived from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/**
- * @file
- *   This file implements the OpenThread platform abstraction for UART communication.
- *
- */
-
-#include <openthread-core-config.h>
-#include <openthread/config.h>
-
-#include <stdarg.h>
-#include <stddef.h>
-#include <stdio.h>
-
-#include <openthread/platform/debug_uart.h>
-#include <openthread/platform/logging.h>
-
-#include "platform-cc2538.h"
-#include "utils/code_utils.h"
-#include "utils/uart.h"
-
-enum
-{
-    kPlatformClock     = 32000000,
-    kBaudRate          = 115200,
-    kReceiveBufferSize = 128,
-};
-
-extern void UART0IntHandler(void);
-
-static void processReceive(void);
-static void processTransmit(void);
-
-static const uint8_t *sTransmitBuffer = NULL;
-static uint16_t       sTransmitLength = 0;
-
-typedef struct RecvBuffer
-{
-    // The data buffer
-    uint8_t mBuffer[kReceiveBufferSize];
-    // The offset of the first item written to the list.
-    uint16_t mHead;
-    // The offset of the next item to be written to the list.
-    uint16_t mTail;
-} RecvBuffer;
-
-static RecvBuffer sReceive;
-
-static void enable_uart_clocks(void)
-{
-    static int uart_clocks_done = 0;
-
-    if (uart_clocks_done)
-    {
-        return;
-    }
-
-    uart_clocks_done = 1;
-
-#if OPENTHREAD_CONFIG_ENABLE_DEBUG_UART
-    HWREG(SYS_CTRL_RCGCUART) = (SYS_CTRL_RCGCUART_UART0 | SYS_CTRL_RCGCUART_UART1);
-    HWREG(SYS_CTRL_SCGCUART) = (SYS_CTRL_SCGCUART_UART0 | SYS_CTRL_SCGCUART_UART1);
-    HWREG(SYS_CTRL_DCGCUART) = (SYS_CTRL_DCGCUART_UART0 | SYS_CTRL_DCGCUART_UART1);
-#else
-    HWREG(SYS_CTRL_RCGCUART) = SYS_CTRL_RCGCUART_UART0;
-    HWREG(SYS_CTRL_SCGCUART) = SYS_CTRL_SCGCUART_UART0;
-    HWREG(SYS_CTRL_DCGCUART) = SYS_CTRL_DCGCUART_UART0;
-#endif
-}
-
-otError otPlatUartEnable(void)
-{
-    uint32_t div;
-
-    sReceive.mHead = 0;
-    sReceive.mTail = 0;
-
-    // clock
-    enable_uart_clocks();
-
-    HWREG(UART0_BASE + UART_O_CC) = 0;
-
-    // tx pin
-    HWREG(IOC_PA1_SEL)  = IOC_MUX_OUT_SEL_UART0_TXD;
-    HWREG(IOC_PA1_OVER) = IOC_OVERRIDE_OE;
-    HWREG(GPIO_A_BASE + GPIO_O_AFSEL) |= GPIO_PIN_1;
-
-    // rx pin
-    HWREG(IOC_UARTRXD_UART0) = IOC_PAD_IN_SEL_PA0;
-    HWREG(IOC_PA0_OVER)      = IOC_OVERRIDE_DIS;
-    HWREG(GPIO_A_BASE + GPIO_O_AFSEL) |= GPIO_PIN_0;
-
-    HWREG(UART0_BASE + UART_O_CTL) = 0;
-
-    // baud rate
-    div                             = (((kPlatformClock * 8) / kBaudRate) + 1) / 2;
-    HWREG(UART0_BASE + UART_O_IBRD) = div / 64;
-    HWREG(UART0_BASE + UART_O_FBRD) = div % 64;
-    HWREG(UART0_BASE + UART_O_LCRH) = UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE;
-
-    // configure interrupts
-    HWREG(UART0_BASE + UART_O_IM) |= UART_IM_RXIM | UART_IM_RTIM;
-
-    // enable
-    HWREG(UART0_BASE + UART_O_CTL) = UART_CTL_UARTEN | UART_CTL_TXE | UART_CTL_RXE;
-
-    // enable interrupts
-    HWREG(NVIC_EN0) = 1 << ((INT_UART0 - 16) & 31);
-
-    return OT_ERROR_NONE;
-}
-
-otError otPlatUartDisable(void)
-{
-    return OT_ERROR_NONE;
-}
-
-otError otPlatUartSend(const uint8_t *aBuf, uint16_t aBufLength)
-{
-    otError error = OT_ERROR_NONE;
-
-    otEXPECT_ACTION(sTransmitBuffer == NULL, error = OT_ERROR_BUSY);
-
-    sTransmitBuffer = aBuf;
-    sTransmitLength = aBufLength;
-
-exit:
-    return error;
-}
-
-void processReceive(void)
-{
-    // Copy tail to prevent multiple reads
-    uint16_t tail = sReceive.mTail;
-
-    // If the data wraps around, process the first part
-    if (sReceive.mHead > tail)
-    {
-        otPlatUartReceived(sReceive.mBuffer + sReceive.mHead, kReceiveBufferSize - sReceive.mHead);
-
-        // Reset the buffer mHead back to zero.
-        sReceive.mHead = 0;
-    }
-
-    // For any data remaining, process it
-    if (sReceive.mHead != tail)
-    {
-        otPlatUartReceived(sReceive.mBuffer + sReceive.mHead, tail - sReceive.mHead);
-
-        // Set mHead to the local tail we have cached
-        sReceive.mHead = tail;
-    }
-}
-
-otError otPlatUartFlush(void)
-{
-    otEXPECT(sTransmitBuffer != NULL);
-
-    for (; sTransmitLength > 0; sTransmitLength--)
-    {
-        while (HWREG(UART0_BASE + UART_O_FR) & UART_FR_TXFF)
-            ;
-
-        HWREG(UART0_BASE + UART_O_DR) = *sTransmitBuffer++;
-    }
-
-    sTransmitBuffer = NULL;
-    return OT_ERROR_NONE;
-
-exit:
-    return OT_ERROR_INVALID_STATE;
-}
-
-void processTransmit(void)
-{
-    otPlatUartFlush();
-    otPlatUartSendDone();
-}
-
-void cc2538UartProcess(void)
-{
-    processReceive();
-    processTransmit();
-}
-
-void UART0IntHandler(void)
-{
-    uint32_t mis;
-    uint8_t  byte;
-
-    mis                            = HWREG(UART0_BASE + UART_O_MIS);
-    HWREG(UART0_BASE + UART_O_ICR) = mis;
-
-    if (mis & (UART_IM_RXIM | UART_IM_RTIM))
-    {
-        while (!(HWREG(UART0_BASE + UART_O_FR) & UART_FR_RXFE))
-        {
-            byte = HWREG(UART0_BASE + UART_O_DR);
-
-            // We can only write if incrementing mTail doesn't equal mHead
-            if (sReceive.mHead != (sReceive.mTail + 1) % kReceiveBufferSize)
-            {
-                sReceive.mBuffer[sReceive.mTail] = byte;
-                sReceive.mTail                   = (sReceive.mTail + 1) % kReceiveBufferSize;
-            }
-        }
-    }
-}
-
-#if OPENTHREAD_CONFIG_ENABLE_DEBUG_UART
-
-int otPlatDebugUart_kbhit(void)
-{
-    uint32_t v;
-
-    /* get flags */
-    v = HWREG(UART1_BASE + UART_O_FR);
-
-    /* if FIFO empty we have no data */
-    return !(v & UART_FR_RXFE);
-}
-
-int otPlatDebugUart_getc(void)
-{
-    int v = 1;
-
-    /* if nothing in fifo */
-    if (!otPlatDebugUart_kbhit())
-    {
-        return -1;
-    }
-
-    /* fetch */
-    v = (int)HWREG(UART0_BASE + UART_O_DR);
-    v = (v & 0x0ff);
-    return v;
-}
-
-void otPlatDebugUart_putchar_raw(int b)
-{
-    /* wait till not busy */
-    while (HWREG(UART1_BASE + UART_O_FR) & UART_FR_TXFF)
-        ;
-
-    /* write byte */
-    HWREG(UART1_BASE + UART_O_DR) = ((uint32_t)(b & 0x0ff));
-}
-
-void cc2538DebugUartInit(void)
-{
-    int32_t a, b;
-
-    // clocks
-    enable_uart_clocks();
-
-    HWREG(UART1_BASE + UART_O_CC) = 0;
-
-    // UART1 - tx pin
-    // Using an RF06 Evaluation board
-    // http://www.ti.com/tool/cc2538dk
-    // PA3 => is jumper position RF1.14
-    // To use these, you will require a "flying-lead" UART adapter
-    HWREG(IOC_PA3_SEL)  = IOC_MUX_OUT_SEL_UART1_TXD;
-    HWREG(IOC_PA3_OVER) = IOC_OVERRIDE_OE;
-    HWREG(GPIO_A_BASE + GPIO_O_AFSEL) |= GPIO_PIN_3;
-
-    // UART1 - rx pin we don't really use but we setup anyway
-    // PA2 => is jumper position RF1.16
-    HWREG(IOC_UARTRXD_UART1) = IOC_PAD_IN_SEL_PA2;
-    HWREG(IOC_PA2_OVER)      = IOC_OVERRIDE_DIS;
-    HWREG(GPIO_A_BASE + GPIO_O_AFSEL) |= GPIO_PIN_2;
-
-    HWREG(UART1_BASE + UART_O_CC) = 0;
-
-    // baud rate
-    b = (((kPlatformClock * 8) / kBaudRate) + 1) / 2;
-    a = b / 64;
-    b = b % 64;
-
-    HWREG(UART1_BASE + UART_O_IBRD) = a;
-    HWREG(UART1_BASE + UART_O_FBRD) = b;
-    HWREG(UART1_BASE + UART_O_LCRH) = UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE;
-
-    /* NOTE:
-     *  uart1 is not using IRQs it is tx only
-     *  and we block when writing bytes
-     */
-    HWREG(UART1_BASE + UART_O_CTL) = UART_CTL_UARTEN | UART_CTL_TXE | UART_CTL_RXE;
-}
-
-#endif
diff --git a/examples/platforms/simulation/platform-simulation.h b/examples/platforms/simulation/platform-simulation.h
index 9379421d46a..ecd40b9eec3 100644
--- a/examples/platforms/simulation/platform-simulation.h
+++ b/examples/platforms/simulation/platform-simulation.h
@@ -232,6 +232,18 @@ void otSimSendUartWriteEvent(const uint8_t *aData, uint16_t aLength);
  */
 bool platformRadioIsTransmitPending(void);
 
+/**
+ * This function parses an environment variable as an unsigned 16-bit integer.
+ *
+ * If the environment variable does not exist, this function does nothing.
+ * If it is not a valid integer, this function will terminate the process with an error message.
+ *
+ * @param[in]   aEnvName  The name of the environment variable.
+ * @param[out]  aValue    A pointer to the unsigned 16-bit integer.
+ *
+ */
+void parseFromEnvAsUint16(const char *aEnvName, uint16_t *aValue);
+
 #if OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE
 
 /**
diff --git a/examples/platforms/simulation/radio.c b/examples/platforms/simulation/radio.c
index 297495c5ce2..139864e0176 100644
--- a/examples/platforms/simulation/radio.c
+++ b/examples/platforms/simulation/radio.c
@@ -71,10 +71,12 @@ enum
 
 #if OPENTHREAD_SIMULATION_VIRTUAL_TIME
 extern int      sSockFd;
+extern uint16_t sPortBase;
 extern uint16_t sPortOffset;
 #else
 static int      sTxFd       = -1;
 static int      sRxFd       = -1;
+static uint16_t sPortBase   = 9000;
 static uint16_t sPortOffset = 0;
 static uint16_t sPort       = 0;
 #endif
@@ -166,6 +168,75 @@ static otRadioKeyType   sKeyType;
 
 static int8_t GetRssi(uint16_t aChannel);
 
+#if OPENTHREAD_SIMULATION_VIRTUAL_TIME == 0
+static uint8_t sDeniedNodeIdsBitVector[(MAX_NETWORK_SIZE + 7) / 8];
+
+static bool NodeIdFilterIsConnectable(uint16_t aNodeId)
+{
+    uint16_t index = aNodeId - 1;
+
+    return (sDeniedNodeIdsBitVector[index / 8] & (0x80 >> (index % 8))) == 0;
+}
+
+static void NodeIdFilterDeny(uint16_t aNodeId)
+{
+    uint16_t index = aNodeId - 1;
+
+    sDeniedNodeIdsBitVector[index / 8] |= 0x80 >> (index % 8);
+}
+
+static void NodeIdFilterClear(void)
+{
+    memset(sDeniedNodeIdsBitVector, 0, sizeof(sDeniedNodeIdsBitVector));
+}
+
+otError ProcessNodeIdFilter(void *aContext, uint8_t aArgsLength, char *aArgs[])
+{
+    OT_UNUSED_VARIABLE(aContext);
+
+    otError error = OT_ERROR_NONE;
+
+    otEXPECT_ACTION(aArgsLength > 0, error = OT_ERROR_INVALID_COMMAND);
+
+    if (!strcmp(aArgs[0], "clear"))
+    {
+        otEXPECT_ACTION(aArgsLength == 1, error = OT_ERROR_INVALID_ARGS);
+
+        NodeIdFilterClear();
+    }
+    else if (!strcmp(aArgs[0], "deny"))
+    {
+        uint16_t nodeId;
+        char *   endptr;
+
+        otEXPECT_ACTION(aArgsLength == 2, error = OT_ERROR_INVALID_ARGS);
+
+        nodeId = (uint16_t)strtol(aArgs[1], &endptr, 0);
+
+        otEXPECT_ACTION(*endptr == '\0', error = OT_ERROR_INVALID_ARGS);
+        otEXPECT_ACTION(1 <= nodeId && nodeId <= MAX_NETWORK_SIZE, error = OT_ERROR_INVALID_ARGS);
+
+        NodeIdFilterDeny(nodeId);
+    }
+    else
+    {
+        error = OT_ERROR_INVALID_COMMAND;
+    }
+
+exit:
+    return error;
+}
+#else
+otError ProcessNodeIdFilter(void *aContext, uint8_t aArgsLength, char *aArgs[])
+{
+    OT_UNUSED_VARIABLE(aContext);
+    OT_UNUSED_VARIABLE(aArgsLength);
+    OT_UNUSED_VARIABLE(aArgs);
+
+    return OT_ERROR_NOT_IMPLEMENTED;
+}
+#endif // OPENTHREAD_SIMULATION_VIRTUAL_TIME == 0
+
 static bool IsTimeAfterOrEqual(uint32_t aTimeA, uint32_t aTimeB)
 {
     return (aTimeA - aTimeB) < (1U << 31);
@@ -298,7 +369,7 @@ static void initFds(void)
 
     otEXPECT_ACTION((fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) != -1, perror("socket(sTxFd)"));
 
-    sPort                    = (uint16_t)(9000 + sPortOffset + gNodeId);
+    sPort                    = (uint16_t)(sPortBase + sPortOffset + gNodeId);
     sockaddr.sin_family      = AF_INET;
     sockaddr.sin_port        = htons(sPort);
     sockaddr.sin_addr.s_addr = inet_addr("127.0.0.1");
@@ -337,7 +408,7 @@ static void initFds(void)
     }
 
     sockaddr.sin_family      = AF_INET;
-    sockaddr.sin_port        = htons((uint16_t)(9000 + sPortOffset));
+    sockaddr.sin_port        = htons((uint16_t)(sPortBase + sPortOffset));
     sockaddr.sin_addr.s_addr = inet_addr(OT_RADIO_GROUP);
 
     otEXPECT_ACTION(bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != -1, perror("bind(sRxFd)"));
@@ -356,24 +427,10 @@ static void initFds(void)
 void platformRadioInit(void)
 {
 #if OPENTHREAD_SIMULATION_VIRTUAL_TIME == 0
-    char *offset;
-
-    offset = getenv("PORT_OFFSET");
+    parseFromEnvAsUint16("PORT_BASE", &sPortBase);
 
-    if (offset)
-    {
-        char *endptr;
-
-        sPortOffset = (uint16_t)strtol(offset, &endptr, 0);
-
-        if (*endptr != '\0')
-        {
-            fprintf(stderr, "Invalid PORT_OFFSET: %s\n", offset);
-            exit(EXIT_FAILURE);
-        }
-
-        sPortOffset *= (MAX_NETWORK_SIZE + 1);
-    }
+    parseFromEnvAsUint16("PORT_OFFSET", &sPortOffset);
+    sPortOffset *= (MAX_NETWORK_SIZE + 1);
 
     initFds();
 #endif // OPENTHREAD_SIMULATION_VIRTUAL_TIME == 0
@@ -829,7 +886,10 @@ void platformRadioProcess(otInstance *aInstance, const fd_set *aReadFdSet, const
 
         if (rval > 0)
         {
-            if (sockaddr.sin_port != htons(sPort))
+            uint16_t srcPort   = ntohs(sockaddr.sin_port);
+            uint16_t srcNodeId = srcPort - sPortOffset - sPortBase;
+
+            if (NodeIdFilterIsConnectable(srcNodeId) && srcPort != sPort)
             {
                 sReceiveFrame.mLength = (uint16_t)(rval - 1);
 
@@ -847,7 +907,7 @@ void platformRadioProcess(otInstance *aInstance, const fd_set *aReadFdSet, const
             exit(EXIT_FAILURE);
         }
     }
-#endif
+#endif // OPENTHREAD_SIMULATION_VIRTUAL_TIME == 0
     if (platformRadioIsTransmitPending())
     {
         radioSendMessage(aInstance);
@@ -870,7 +930,7 @@ void radioTransmit(struct RadioMessage *aMessage, const struct otRadioFrame *aFr
     sockaddr.sin_family = AF_INET;
     inet_pton(AF_INET, OT_RADIO_GROUP, &sockaddr.sin_addr);
 
-    sockaddr.sin_port = htons((uint16_t)(9000 + sPortOffset));
+    sockaddr.sin_port = htons((uint16_t)(sPortBase + sPortOffset));
     rval =
         sendto(sTxFd, (const char *)aMessage, 1 + aFrame->mLength, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
 
@@ -1321,3 +1381,21 @@ otError otPlatRadioGetRegion(otInstance *aInstance, uint16_t *aRegionCode)
 exit:
     return error;
 }
+
+void parseFromEnvAsUint16(const char *aEnvName, uint16_t *aValue)
+{
+    char *env = getenv(aEnvName);
+
+    if (env)
+    {
+        char *endptr;
+
+        *aValue = (uint16_t)strtol(env, &endptr, 0);
+
+        if (*endptr != '\0')
+        {
+            fprintf(stderr, "Invalid %s: %s\n", aEnvName, env);
+            exit(EXIT_FAILURE);
+        }
+    }
+}
diff --git a/examples/platforms/simulation/virtual_time/platform-sim.c b/examples/platforms/simulation/virtual_time/platform-sim.c
index fa0dd905599..20eb94717bf 100644
--- a/examples/platforms/simulation/virtual_time/platform-sim.c
+++ b/examples/platforms/simulation/virtual_time/platform-sim.c
@@ -61,6 +61,7 @@ char **gArguments      = NULL;
 
 uint64_t sNow = 0; // microseconds
 int      sSockFd;
+uint16_t sPortBase = 9000;
 uint16_t sPortOffset;
 
 static void handleSignal(int aSignal)
@@ -78,7 +79,7 @@ void otSimSendEvent(const struct Event *aEvent)
     memset(&sockaddr, 0, sizeof(sockaddr));
     sockaddr.sin_family = AF_INET;
     inet_pton(AF_INET, "127.0.0.1", &sockaddr.sin_addr);
-    sockaddr.sin_port = htons(9000 + sPortOffset);
+    sockaddr.sin_port = htons(sPortBase + sPortOffset);
 
     rval = sendto(sSockFd, aEvent, offsetof(struct Event, mData) + aEvent->mDataLength, 0, (struct sockaddr *)&sockaddr,
                   sizeof(sockaddr));
@@ -176,28 +177,15 @@ otError otPlatUartFlush(void)
 static void socket_init(void)
 {
     struct sockaddr_in sockaddr;
-    char *             offset;
     memset(&sockaddr, 0, sizeof(sockaddr));
     sockaddr.sin_family = AF_INET;
 
-    offset = getenv("PORT_OFFSET");
+    parseFromEnvAsUint16("PORT_BASE", &sPortBase);
 
-    if (offset)
-    {
-        char *endptr;
-
-        sPortOffset = (uint16_t)strtol(offset, &endptr, 0);
-
-        if (*endptr != '\0')
-        {
-            fprintf(stderr, "Invalid PORT_OFFSET: %s\n", offset);
-            exit(EXIT_FAILURE);
-        }
-
-        sPortOffset *= (MAX_NETWORK_SIZE + 1);
-    }
+    parseFromEnvAsUint16("PORT_OFFSET", &sPortOffset);
+    sPortOffset *= (MAX_NETWORK_SIZE + 1);
 
-    sockaddr.sin_port        = htons((uint16_t)(9000 + sPortOffset + gNodeId));
+    sockaddr.sin_port        = htons((uint16_t)(sPortBase + sPortOffset + gNodeId));
     sockaddr.sin_addr.s_addr = INADDR_ANY;
 
     sSockFd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
diff --git a/tools/harness-simulation/posix/config.py b/examples/platforms/zephyr/CMakeLists.txt
similarity index 87%
rename from tools/harness-simulation/posix/config.py
rename to examples/platforms/zephyr/CMakeLists.txt
index 8e12d8d8403..dcdad63b8ce 100644
--- a/tools/harness-simulation/posix/config.py
+++ b/examples/platforms/zephyr/CMakeLists.txt
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 #
 #  Copyright (c) 2022, The OpenThread Authors.
 #  All rights reserved.
@@ -27,10 +26,5 @@
 #  POSSIBILITY OF SUCH DAMAGE.
 #
 
-MAX_NODES_NUM = 64
-MAX_SNIFFER_NUM = 2
-SNIFFER_SERVER_PORT_BASE = 50051
-
-OT_PATH = '/home/pi/work/src/openthread-pr'
-OTBR_DOCKER_IMAGE = 'otbr-reference-device-1.2'
-OTBR_DOCKER_NAME_PREFIX = 'otbr_'
+# Intentionally empty, the file is only needed to enable "zephyr" target
+# as OT platform for CMake
diff --git a/examples/platforms/zephyr/README.md b/examples/platforms/zephyr/README.md
new file mode 100644
index 00000000000..b6e9828823d
--- /dev/null
+++ b/examples/platforms/zephyr/README.md
@@ -0,0 +1,3 @@
+The OpenThread stack is integrated with ZephyrOS and nRF Connect SDK.
+
+See the [Zephyr's OpenThread platform](https://github.com/zephyrproject-rtos/zephyr/tree/main/modules/openthread) and [CLI example](https://github.com/nrfconnect/sdk-nrf/tree/main/samples/openthread/cli) for more information about the integration.
diff --git a/include/openthread/cli.h b/include/openthread/cli.h
index 3f463d797ab..9b07e2fefd0 100644
--- a/include/openthread/cli.h
+++ b/include/openthread/cli.h
@@ -52,9 +52,9 @@ extern "C" {
 typedef struct otCliCommand
 {
     const char *mName; ///< A pointer to the command string.
-    void (*mCommand)(void *  aContext,
-                     uint8_t aArgsLength,
-                     char *  aArgs[]); ///< A function pointer to process the command.
+    otError (*mCommand)(void *  aContext,
+                        uint8_t aArgsLength,
+                        char *  aArgs[]); ///< A function pointer to process the command.
 } otCliCommand;
 
 /**
diff --git a/include/openthread/instance.h b/include/openthread/instance.h
index e5460a85e7c..0b47bbe9939 100644
--- a/include/openthread/instance.h
+++ b/include/openthread/instance.h
@@ -53,7 +53,7 @@ extern "C" {
  * @note This number versions both OpenThread platform and user APIs.
  *
  */
-#define OPENTHREAD_API_VERSION (241)
+#define OPENTHREAD_API_VERSION (246)
 
 /**
  * @addtogroup api-instance
diff --git a/include/openthread/nat64.h b/include/openthread/nat64.h
index 2ab22058419..09a26b87cc6 100644
--- a/include/openthread/nat64.h
+++ b/include/openthread/nat64.h
@@ -88,13 +88,151 @@ typedef struct otIp4Cidr
     uint8_t      mLength;
 } otIp4Cidr;
 
+/**
+ * Represents the counters for NAT64.
+ *
+ */
+typedef struct otNat64Counters
+{
+    uint64_t m4To6Packets; ///< Number of packets translated from IPv4 to IPv6.
+    uint64_t m4To6Bytes;   ///< Sum of size of packets translated from IPv4 to IPv6.
+    uint64_t m6To4Packets; ///< Number of packets translated from IPv6 to IPv4.
+    uint64_t m6To4Bytes;   ///< Sum of size of packets translated from IPv6 to IPv4.
+} otNat64Counters;
+
+/**
+ * Represents the counters for the protocols supported by NAT64.
+ *
+ */
+typedef struct otNat64ProtocolCounters
+{
+    otNat64Counters mTotal; ///< Counters for sum of all protocols.
+    otNat64Counters mIcmp;  ///< Counters for ICMP and ICMPv6.
+    otNat64Counters mUdp;   ///< Counters for UDP.
+    otNat64Counters mTcp;   ///< Counters for TCP.
+} otNat64ProtocolCounters;
+
+/**
+ * Packet drop reasons.
+ *
+ */
+typedef enum otNat64DropReason
+{
+    OT_NAT64_DROP_REASON_UNKNOWN = 0,       ///< Packet drop for unknown reasons.
+    OT_NAT64_DROP_REASON_ILLEGAL_PACKET,    ///< Packet drop due to failed to parse the datagram.
+    OT_NAT64_DROP_REASON_UNSUPPORTED_PROTO, ///< Packet drop due to unsupported IP protocol.
+    OT_NAT64_DROP_REASON_NO_MAPPING,        ///< Packet drop due to no mappings found or mapping pool exhausted.
+    //---
+    OT_NAT64_DROP_REASON_COUNT,
+} otNat64DropReason;
+
+/**
+ * Represents the counters of dropped packets due to errors when handling NAT64 packets.
+ *
+ */
+typedef struct otNat64ErrorCounters
+{
+    uint64_t mCount4To6[OT_NAT64_DROP_REASON_COUNT]; ///< Errors translating IPv4 packets.
+    uint64_t mCount6To4[OT_NAT64_DROP_REASON_COUNT]; ///< Errors translating IPv6 packets.
+} otNat64ErrorCounters;
+
+/**
+ * Gets NAT64 translator counters.
+ *
+ * The counter is counted since the instance initialized.
+ *
+ * Available when `OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE` is enabled.
+ *
+ * @param[in]  aInstance A pointer to an OpenThread instance.
+ * @param[out] aCounters A pointer to an `otNat64Counters` where the counters of NAT64 translator will be placed.
+ *
+ */
+void otNat64GetCounters(otInstance *aInstance, otNat64ProtocolCounters *aCounters);
+
+/**
+ * Gets the NAT64 translator error counters.
+ *
+ * The counters are initialized to zero when the OpenThread instance is initialized.
+ *
+ * @param[in]  aInstance A pointer to an OpenThread instance.
+ * @param[out] aCounters A pointer to an `otNat64Counters` where the counters of NAT64 translator will be placed.
+ *
+ */
+void otNat64GetErrorCounters(otInstance *aInstance, otNat64ErrorCounters *aCounters);
+
+/**
+ * Represents an address mapping record for NAT64.
+ *
+ * @note The counters will be reset for each mapping session even for the same address pair. Applications can use `mId`
+ * to identify different sessions to calculate the packets correctly.
+ *
+ */
+typedef struct otNat64AddressMapping
+{
+    uint64_t mId; ///< The unique id for a mapping session.
+
+    otIp4Address mIp4;             ///< The IPv4 address of the mapping.
+    otIp6Address mIp6;             ///< The IPv6 address of the mapping.
+    uint32_t     mRemainingTimeMs; ///< Remaining time before expiry in milliseconds.
+
+    otNat64ProtocolCounters mCounters;
+} otNat64AddressMapping;
+
+/**
+ * Used to iterate through NAT64 address mappings.
+ *
+ * The fields in this type are opaque (intended for use by OpenThread core only) and therefore should not be
+ * accessed or used by caller.
+ *
+ * Before using an iterator, it MUST be initialized using `otNat64AddressMappingIteratorInit()`.
+ *
+ */
+typedef struct otNat64AddressMappingIterator
+{
+    void *mPtr;
+} otNat64AddressMappingIterator;
+
+/**
+ * Initializes an `otNat64AddressMappingIterator`.
+ *
+ * An iterator MUST be initialized before it is used.
+ *
+ * An iterator can be initialized again to restart from the beginning of the mapping info.
+ *
+ * @param[in]  aInstance  The OpenThread instance.
+ * @param[out] aIterator  A pointer to the iterator to initialize.
+ *
+ */
+void otNat64InitAddressMappingIterator(otInstance *aInstance, otNat64AddressMappingIterator *aIterator);
+
+/**
+ * Gets the next AddressMapping info (using an iterator).
+ *
+ * Available when `OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE` is enabled.
+ *
+ * @param[in]      aInstance      A pointer to an OpenThread instance.
+ * @param[in,out]  aIterator      A pointer to the iterator. On success the iterator will be updated to point to next
+ *                                NAT64 address mapping record. To get the first entry the iterator should be set to
+ *                                OT_NAT64_ADDRESS_MAPPING_ITERATOR_INIT.
+ * @param[out]     aMapping       A pointer to an `otNat64AddressMapping` where information of next NAT64 address
+ *                                mapping record is placed (on success).
+ *
+ * @retval OT_ERROR_NONE       Successfully found the next NAT64 address mapping info (@p aMapping was successfully
+ *                             updated).
+ * @retval OT_ERROR_NOT_FOUND  No subsequent NAT64 address mapping info was found.
+ *
+ */
+otError otNat64GetNextAddressMapping(otInstance *                   aInstance,
+                                     otNat64AddressMappingIterator *aIterator,
+                                     otNat64AddressMapping *        aMapping);
+
 /**
  * Allocate a new message buffer for sending an IPv4 message to the NAT64 translator.
  *
  * Message buffers allocated by this function will have 20 bytes (difference between the size of IPv6 headers
  * and IPv4 header sizes) reserved.
  *
- * This function is available only when `OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE` is enabled.
+ * Available when `OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE` is enabled.
  *
  * @note If @p aSettings is `NULL`, the link layer security is enabled and the message priority is set to
  * OT_MESSAGE_PRIORITY_NORMAL by default.
@@ -174,6 +312,17 @@ typedef void (*otNat64ReceiveIp4Callback)(otMessage *aMessage, void *aContext);
  */
 void otNat64SetReceiveIp4Callback(otInstance *aInstance, otNat64ReceiveIp4Callback aCallback, void *aContext);
 
+/**
+ * Gets the IPv4 CIDR configured in the NAT64 translator.
+ *
+ * Available when `OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE` is enabled.
+ *
+ * @param[in]  aInstance         A pointer to an OpenThread instance.
+ * @param[out] aCidr             A pointer to an otIp4Cidr. Where the CIDR will be filled.
+ *
+ */
+otError otNat64GetCidr(otInstance *aInstance, otIp4Cidr *aCidr);
+
 /**
  * Test if two IPv4 addresses are the same.
  *
@@ -200,6 +349,67 @@ bool otIp4IsAddressEqual(const otIp4Address *aFirst, const otIp4Address *aSecond
  */
 void otIp4ExtractFromIp6Address(uint8_t aPrefixLength, const otIp6Address *aIp6Address, otIp4Address *aIp4Address);
 
+#define OT_IP4_ADDRESS_STRING_SIZE 17 ///< Length of 000.000.000.000 plus a suffix NUL
+
+/**
+ * Converts the address to a string.
+ *
+ * The string format uses quad-dotted notation of four bytes in the address (e.g., "127.0.0.1").
+ *
+ * If the resulting string does not fit in @p aBuffer (within its @p aSize characters), the string will be
+ * truncated but the outputted string is always null-terminated.
+ *
+ * @param[in]  aAddress  A pointer to an IPv4 address (MUST NOT be NULL).
+ * @param[out] aBuffer   A pointer to a char array to output the string (MUST NOT be `nullptr`).
+ * @param[in]  aSize     The size of @p aBuffer (in bytes).
+ *
+ */
+void otIp4AddressToString(const otIp4Address *aAddress, char *aBuffer, uint16_t aSize);
+
+#define OT_IP4_CIDR_STRING_SIZE 20 ///< Length of 000.000.000.000/00 plus a suffix NUL
+
+/**
+ * Converts the IPv4 CIDR to a string.
+ *
+ * The string format uses quad-dotted notation of four bytes in the address with the length of prefix (e.g.,
+ * "127.0.0.1/32").
+ *
+ * If the resulting string does not fit in @p aBuffer (within its @p aSize characters), the string will be
+ * truncated but the outputted string is always null-terminated.
+ *
+ * @param[in]  aCidr     A pointer to an IPv4 CIDR (MUST NOT be NULL).
+ * @param[out] aBuffer   A pointer to a char array to output the string (MUST NOT be `nullptr`).
+ * @param[in]  aSize     The size of @p aBuffer (in bytes).
+ *
+ */
+void otIp4CidrToString(const otIp4Cidr *aCidr, char *aBuffer, uint16_t aSize);
+
+/**
+ * Converts a human-readable IPv4 address string into a binary representation.
+ *
+ * @param[in]   aString   A pointer to a NULL-terminated string.
+ * @param[out]  aAddress  A pointer to an IPv4 address.
+ *
+ * @retval OT_ERROR_NONE          Successfully parsed the string.
+ * @retval OT_ERROR_INVALID_ARGS  Failed to parse the string.
+ *
+ */
+otError otIp4AddressFromString(const char *aString, otIp4Address *aAddress);
+
+/**
+ * Sets the IPv6 address by performing NAT64 address translation from the preferred NAT64 prefix and the given IPv4
+ * address as specified in RFC 6052.
+ *
+ * @param[in]   aInstance    A pointer to an OpenThread instance.
+ * @param[in]   aIp4Address  A pointer to the IPv4 address to translate to IPv6.
+ * @param[out]  aIp6Address  A pointer to the synthesized IPv6 address.
+ *
+ * @returns  OT_ERROR_NONE           Successfully synthesized the IPv6 address from NAT64 prefix and IPv4 address.
+ * @returns  OT_ERROR_INVALID_STATE  No valid NAT64 prefix in the network data.
+ *
+ */
+otError otNat64SynthersizeIp6Address(otInstance *aInstance, const otIp4Address *aIp4Address, otIp6Address *aIp6Address);
+
 /**
  * @}
  *
diff --git a/include/openthread/srp_server.h b/include/openthread/srp_server.h
index fba71749b03..4c928e0d261 100644
--- a/include/openthread/srp_server.h
+++ b/include/openthread/srp_server.h
@@ -132,14 +132,14 @@ enum
 };
 
 /**
- * Represents the state of an SRP server
+ * This enumeration represents the state of the SRP server.
  *
  */
 typedef enum
 {
     OT_SRP_SERVER_STATE_DISABLED = 0, ///< The SRP server is disabled.
-    OT_SRP_SERVER_STATE_RUNNING  = 1, ///< The SRP server is running.
-    OT_SRP_SERVER_STATE_STOPPED  = 2, ///< The SRP server is stopped.
+    OT_SRP_SERVER_STATE_RUNNING  = 1, ///< The SRP server is enabled and running.
+    OT_SRP_SERVER_STATE_STOPPED  = 2, ///< The SRP server is enabled but stopped.
 } otSrpServerState;
 
 /**
@@ -302,12 +302,49 @@ otError otSrpServerSetAnycastModeSequenceNumber(otInstance *aInstance, uint8_t a
 /**
  * This function enables/disables the SRP server.
  *
+ * On a Border Router, it is recommended to use `otSrpServerSetAutoEnableMode()` instead.
+ *
  * @param[in]  aInstance  A pointer to an OpenThread instance.
  * @param[in]  aEnabled   A boolean to enable/disable the SRP server.
  *
  */
 void otSrpServerSetEnabled(otInstance *aInstance, bool aEnabled);
 
+/**
+ * This function enables/disables the auto-enable mode on SRP server.
+ *
+ * This function requires `OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE` feature.
+ *
+ * When this mode is enabled, the Border Routing Manager controls if/when to enable or disable the SRP server.
+ * SRP sever is auto-enabled if/when Border Routing is started and it is done with the initial prefix and route
+ * configurations (when the OMR and on-link prefixes are determined, advertised in emitted Router Advertisement message
+ * on infrastructure side and published in the Thread Network Data). The SRP server is auto-disabled if/when BR is
+ * stopped (e.g., if the infrastructure network interface is brought down or if BR gets detached).
+ *
+ * This mode can be disabled by a `otSrpServerSetAutoEnableMode()` call with @p aEnabled set to `false` or if the SRP
+ * server is explicitly enabled or disabled by a call to `otSrpServerSetEnabled()` function. Disabling auto-enable mode
+ * using `otSrpServerSetAutoEnableMode(false)` will not change the current state of SRP sever (e.g., if it is enabled
+ * it stays enabled).
+ *
+ * @param[in] aInstance   A pointer to an OpenThread instance.
+ * @param[in] aEnbaled    A boolean to enable/disable the auto-enable mode.
+ *
+ */
+void otSrpServerSetAutoEnableMode(otInstance *aInstance, bool aEnabled);
+
+/**
+ * This function indicates whether the auto-enable mode is enabled or disabled.
+ *
+ * This function requires `OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE` feature.
+ *
+ * @param[in]  aInstance  A pointer to an OpenThread instance.
+ *
+ * @retval TRUE   The auto-enable mode is enabled.
+ * @retval FALSE  The auto-enable mode is disabled.
+ *
+ */
+bool otSrpServerIsAutoEnableMode(otInstance *aInstance);
+
 /**
  * This function returns SRP server TTL configuration.
  *
diff --git a/include/openthread/tcp_ext.h b/include/openthread/tcp_ext.h
index 5c0ddc678e5..75808abe00d 100644
--- a/include/openthread/tcp_ext.h
+++ b/include/openthread/tcp_ext.h
@@ -88,10 +88,10 @@ extern "C" {
  */
 typedef struct otTcpCircularSendBuffer
 {
-    const uint8_t *mDataBuffer;   ///< Pointer to data in the circular send buffer
-    size_t         mCapacity;     ///< Length of the circular send buffer
-    size_t         mStartIndex;   ///< Index of the first valid byte in the send buffer
-    size_t         mCapacityUsed; ///< Number of bytes stored in the send buffer
+    uint8_t *mDataBuffer;   ///< Pointer to data in the circular send buffer
+    size_t   mCapacity;     ///< Length of the circular send buffer
+    size_t   mStartIndex;   ///< Index of the first valid byte in the send buffer
+    size_t   mCapacityUsed; ///< Number of bytes stored in the send buffer
 
     otLinkedBuffer mSendLinks[2];
     uint8_t        mFirstSendLinkIndex;
@@ -107,6 +107,15 @@ typedef struct otTcpCircularSendBuffer
  */
 void otTcpCircularSendBufferInitialize(otTcpCircularSendBuffer *aSendBuffer, void *aDataBuffer, size_t aCapacity);
 
+/**
+ * This enumeration defines flags passed to @p otTcpCircularSendBufferWrite.
+ *
+ */
+enum
+{
+    OT_TCP_CIRCULAR_SEND_BUFFER_WRITE_MORE_TO_COME = 1 << 0,
+};
+
 /**
  * Sends out data on a TCP endpoint, using the provided TCP circular send
  * buffer to manage buffering.
@@ -136,15 +145,17 @@ void otTcpCircularSendBufferInitialize(otTcpCircularSendBuffer *aSendBuffer, voi
  * @param[in]   aLength      The length of the data pointed to by @p aData to copy into the TCP circular send buffer.
  * @param[out]  aWritten     Populated with the amount of data copied into the send buffer, which might be less than
  *                           @p aLength if the send buffer reaches capacity.
+ * @param[in]   aFlags       Flags specifying options for this operation (see enumeration above).
  *
  * @returns OT_ERROR_NONE    Successfully copied data into the send buffer and sent it on the TCP endpoint.
  * @returns OT_ERROR_FAILED  Failed to send out data on the TCP endpoint.
  */
 otError otTcpCircularSendBufferWrite(otTcpEndpoint *          aEndpoint,
                                      otTcpCircularSendBuffer *aSendBuffer,
-                                     void *                   aData,
+                                     const void *             aData,
                                      size_t                   aLength,
-                                     size_t *                 aWritten);
+                                     size_t *                 aWritten,
+                                     uint32_t                 aFlags);
 
 /**
  * Performs circular-send-buffer-specific handling in the otTcpForwardProgress
@@ -175,7 +186,7 @@ void otTcpCircularSendBufferHandleForwardProgress(otTcpCircularSendBuffer *aSend
  *
  * @return The amount of free space in the send buffer.
  */
-size_t otTcpCircularSendBufferFreeSpace(otTcpCircularSendBuffer *aSendBuffer);
+size_t otTcpCircularSendBufferGetFreeSpace(const otTcpCircularSendBuffer *aSendBuffer);
 
 /**
  * Forcibly discards all data in the circular send buffer.
diff --git a/script/check-arm-build b/script/check-arm-build
index 2f302d625f5..75b36606332 100755
--- a/script/check-arm-build
+++ b/script/check-arm-build
@@ -29,10 +29,77 @@
 
 set -euxo pipefail
 
+readonly OT_TMP_DIR=/tmp/ot-arm-build-cmake
+readonly OT_SHA_NEW=${GITHUB_SHA:-$(git rev-parse HEAD)}
+
+build_nrf52840()
+{
+    local options=(
+        "-DOT_ANYCAST_LOCATOR=ON"
+        "-DOT_BACKBONE_ROUTER=ON"
+        "-DOT_BORDER_AGENT=ON"
+        "-DOT_BORDER_ROUTER=ON"
+        "-DOT_CHANNEL_MANAGER=ON"
+        "-DOT_CHANNEL_MONITOR=ON"
+        "-DOT_CHILD_SUPERVISION=ON"
+        "-DOT_COAP=ON"
+        "-DOT_COAPS=ON"
+        "-DOT_COMMISSIONER=ON"
+        "-DOT_CSL_RECEIVER=ON"
+        "-DOT_DATASET_UPDATER=ON"
+        "-DOT_DHCP6_CLIENT=ON"
+        "-DOT_DHCP6_SERVER=ON"
+        "-DOT_DIAGNOSTIC=ON"
+        "-DOT_DNSSD_SERVER=ON"
+        "-DOT_DNS_CLIENT=ON"
+        "-DOT_DUA=ON"
+        "-DOT_ECDSA=ON"
+        "-DOT_FULL_LOGS=ON"
+        "-DOT_JAM_DETECTION=ON"
+        "-DOT_JOINER=ON"
+        "-DOT_LINK_METRICS_INITIATOR=ON"
+        "-DOT_LINK_METRICS_SUBJECT=ON"
+        "-DOT_LINK_RAW=ON"
+        "-DOT_MAC_FILTER=ON"
+        "-DOT_MESSAGE_USE_HEAP=ON"
+        "-DOT_MLR=ON"
+        "-DOT_MTD_NETDIAG=ON"
+        "-DOT_NETDATA_PUBLISHER=ON"
+        "-DOT_PING_SENDER=ON"
+        "-DOT_SERVICE=ON"
+        "-DOT_SLAAC=ON"
+        "-DOT_SNTP_CLIENT=ON"
+        "-DOT_SRP_CLIENT=ON"
+        "-DOT_SRP_SERVER=ON"
+        "-DOT_THREAD_VERSION=1.3"
+        "-DOT_TIME_SYNC=ON"
+        "-DOT_UDP_FORWARD=ON"
+        "-DOT_UPTIME=ON"
+    )
+
+    rm -rf "${OT_TMP_DIR}"
+
+    script/git-tool clone https://github.com/openthread/ot-nrf528xx.git "${OT_TMP_DIR}"
+    rm -rf "${OT_TMP_DIR}/openthread/*"
+    git archive "${OT_SHA_NEW}" | tar x -C "${OT_TMP_DIR}/openthread"
+
+    cd "${OT_TMP_DIR}"
+    script/build nrf52840 UART_trans "${options[@]}"
+}
+
 main()
 {
-    "$(dirname "$0")"/check-arm-build-autotools
-    "$(dirname "$0")"/check-arm-build-cmake
+    export CPPFLAGS="${CPPFLAGS:-} -DNDEBUG"
+
+    if [[ $# == 0 ]]; then
+        build_nrf52840
+        return 0
+    fi
+
+    while [[ $# != 0 ]]; do
+        "build_$1"
+        shift
+    done
 }
 
 main "$@"
diff --git a/script/check-arm-build-autotools b/script/check-arm-build-autotools
deleted file mode 100755
index e994c202525..00000000000
--- a/script/check-arm-build-autotools
+++ /dev/null
@@ -1,71 +0,0 @@
-#!/bin/bash
-#
-#  Copyright (c) 2020, The OpenThread Authors.
-#  All rights reserved.
-#
-#  Redistribution and use in source and binary forms, with or without
-#  modification, are permitted provided that the following conditions are met:
-#  1. Redistributions of source code must retain the above copyright
-#     notice, this list of conditions and the following disclaimer.
-#  2. Redistributions in binary form must reproduce the above copyright
-#     notice, this list of conditions and the following disclaimer in the
-#     documentation and/or other materials provided with the distribution.
-#  3. Neither the name of the copyright holder nor the
-#     names of its contributors may be used to endorse or promote products
-#     derived from this software without specific prior written permission.
-#
-#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-#  POSSIBILITY OF SUCH DAMAGE.
-#
-
-set -euxo pipefail
-
-reset_source()
-{
-    rm -rf build output tmp
-}
-
-build_cc2538()
-{
-    local options=(
-        "COMMISSIONER=1"
-        "DHCP6_CLIENT=1"
-        "DHCP6_SERVER=1"
-        "DNS_CLIENT=1"
-        "JOINER=1"
-        "SLAAC=1"
-        # cc2538 does not have enough resources to support Thread 1.3
-        "THREAD_VERSION=1.1"
-    )
-
-    reset_source
-    make -f examples/Makefile-cc2538 "${options[@]}"
-}
-
-main()
-{
-    ./bootstrap
-
-    export CPPFLAGS="${CPPFLAGS:-} -DNDEBUG"
-
-    if [[ $# == 0 ]]; then
-        build_cc2538
-        return 0
-    fi
-
-    while [[ $# != 0 ]]; do
-        "build_$1"
-        shift
-    done
-}
-
-main "$@"
diff --git a/script/check-arm-build-cmake b/script/check-arm-build-cmake
deleted file mode 100755
index 3ee62b06e6d..00000000000
--- a/script/check-arm-build-cmake
+++ /dev/null
@@ -1,77 +0,0 @@
-#!/bin/bash
-#
-#  Copyright (c) 2020, The OpenThread Authors.
-#  All rights reserved.
-#
-#  Redistribution and use in source and binary forms, with or without
-#  modification, are permitted provided that the following conditions are met:
-#  1. Redistributions of source code must retain the above copyright
-#     notice, this list of conditions and the following disclaimer.
-#  2. Redistributions in binary form must reproduce the above copyright
-#     notice, this list of conditions and the following disclaimer in the
-#     documentation and/or other materials provided with the distribution.
-#  3. Neither the name of the copyright holder nor the
-#     names of its contributors may be used to endorse or promote products
-#     derived from this software without specific prior written permission.
-#
-#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-#  POSSIBILITY OF SUCH DAMAGE.
-#
-
-set -euxo pipefail
-
-readonly OT_BUILDDIR="$(pwd)/build"
-
-readonly OT_COMMON_OPTIONS=(
-    "-DOT_COMPILE_WARNING_AS_ERROR=ON"
-)
-
-readonly OT_BASIC_CHECK_OPTIONS=(
-    "-DOT_COMMISSIONER=ON"
-    "-DOT_DHCP6_CLIENT=ON"
-    "-DOT_DHCP6_SERVER=ON"
-    "-DOT_DNS_CLIENT=ON"
-    "-DOT_JOINER=ON"
-)
-
-reset_source()
-{
-    rm -rf "$OT_BUILDDIR"
-}
-
-build_cc2538()
-{
-    local options=(
-        # cc2538 does not have enough resources to support Thread 1.3
-        "-DOT_THREAD_VERSION=1.1"
-    )
-
-    reset_source
-    "$(dirname "$0")"/cmake-build cc2538 "${OT_COMMON_OPTIONS[@]}" "${OT_BASIC_CHECK_OPTIONS[@]}" "${options[@]}"
-}
-
-main()
-{
-    export CPPFLAGS="${CPPFLAGS:-} -DNDEBUG"
-
-    if [[ $# == 0 ]]; then
-        build_cc2538
-        return 0
-    fi
-
-    while [[ $# != 0 ]]; do
-        "build_$1"
-        shift
-    done
-}
-
-main "$@"
diff --git a/script/cmake-build b/script/cmake-build
index 215e197ecb1..3b592e52b8b 100755
--- a/script/cmake-build
+++ b/script/cmake-build
@@ -66,7 +66,7 @@ OT_CMAKE_NINJA_TARGET=${OT_CMAKE_NINJA_TARGET:-}
 OT_SRCDIR="$(cd "$(dirname "$0")"/.. && pwd)"
 
 readonly OT_SRCDIR
-readonly OT_PLATFORMS=(cc2538 simulation posix)
+readonly OT_PLATFORMS=(simulation posix)
 readonly OT_POSIX_BUILD_TYPES=(multipan_rcp)
 readonly OT_POSIX_SIM_COMMON_OPTIONS=(
     "-DOT_ANYCAST_LOCATOR=ON"
@@ -184,9 +184,6 @@ main()
             local_options=("-DOT_LINK_RAW=ON")
             options+=("${OT_POSIX_SIM_COMMON_OPTIONS[@]}" "${local_options[@]}")
             ;;
-        cc2538)
-            options+=("-DCMAKE_TOOLCHAIN_FILE=examples/platforms/${platform}/arm-none-eabi.cmake" "-DCMAKE_BUILD_TYPE=MinSizeRel")
-            ;;
         *)
             options+=("-DCMAKE_TOOLCHAIN_FILE=examples/platforms/${platform}/arm-none-eabi.cmake")
             ;;
diff --git a/src/cli/README.md b/src/cli/README.md
index 8a2201af168..16408874261 100644
--- a/src/cli/README.md
+++ b/src/cli/README.md
@@ -70,6 +70,7 @@ Done
 - [mlr](#mlr-reg-ipaddr--timeout)
 - [mode](#mode)
 - [multiradio](#multiradio)
+- [nat64](#nat64-cidr)
 - [neighbor](#neighbor-list)
 - [netdata](README_NETDATA.md)
 - [netstat](#netstat)
@@ -82,7 +83,7 @@ Done
 - [parent](#parent)
 - [parentpriority](#parentpriority)
 - [partitionid](#partitionid)
-- [ping](#ping--i-source-ipaddr-size-count-interval-hoplimit-timeout)
+- [ping](#ping-async--i-source-ipaddr-size-count-interval-hoplimit-timeout)
 - [pollperiod](#pollperiod-pollperiod)
 - [preferrouterid](#preferrouterid-routerid)
 - [prefix](#prefix)
@@ -1835,6 +1836,61 @@ This command is only available when device supports more than one radio link.
 Done
 ```
 
+### nat64 cidr
+
+Gets the IPv4 configured CIDR in the NAT64 translator.
+
+This command is only available when device enables NAT64 translator.
+
+```bash
+> nat64 cidr
+192.168.64.0/24
+Done
+```
+
+### nat64 mappings
+
+Get the NAT64 translator mappings.
+
+This command is only available when device enables NAT64 translator.
+
+```bash
+> nat64 mappings
+|          | Address                   |        | 4 to 6       | 6 to 4       |
++----------+---------------------------+--------+--------------+--------------+
+| ID       | IPv6       | IPv4         | Expiry | Pkts | Bytes | Pkts | Bytes |
++----------+------------+--------------+--------+------+-------+------+-------+
+| 00021cb9 | fdc7::df79 | 192.168.64.2 |  7196s |    6 |   456 |   11 |  1928 |
+|          |                                TCP |    0 |     0 |    0 |     0 |
+|          |                                UDP |    1 |   136 |   16 |  1608 |
+|          |                               ICMP |    5 |   320 |    5 |   320 |
+```
+
+### nat64 counters
+
+Get the NAT64 translator packet and error counters.
+
+This command is only available when device enables NAT64 translator.
+
+```bash
+> nat64 counters
+|               | 4 to 6                  | 6 to 4                  |
++---------------+-------------------------+-------------------------+
+| Protocol      | Pkts     | Bytes        | Pkts     | Bytes        |
++---------------+----------+--------------+----------+--------------+
+|         Total |       11 |          704 |       11 |          704 |
+|           TCP |        0 |            0 |        0 |            0 |
+|           UDP |        0 |            0 |        0 |            0 |
+|          ICMP |       11 |          704 |       11 |          704 |
+| Errors        | Pkts                    | Pkts                    |
++---------------+-------------------------+-------------------------+
+|         Total |                       8 |                       4 |
+|   Illegal Pkt |                       0 |                       0 |
+|   Unsup Proto |                       0 |                       0 |
+|    No Mapping |                       2 |                       0 |
+Done
+```
+
 ### neighbor list
 
 List RLOC16 of neighbors.
@@ -2067,10 +2123,11 @@ Set the preferred Thread Leader Partition ID.
 Done
 ```
 
-### ping \[-I source\] \<ipaddr\> \[size\] \[count\] \[interval\] \[hoplimit\] \[timeout\]
+### ping \[async\] \[-I source\] \<ipaddr\> \[size\] \[count\] \[interval\] \[hoplimit\] \[timeout\]
 
 Send an ICMPv6 Echo Request.
 
+- async: Use the non-blocking mode. New commands are allowed before the ping process terminates.
 - source: The source IPv6 address of the echo request.
 - size: The number of data bytes to be sent.
 - count: The number of ICMPv6 Echo Requests to be sent.
@@ -2090,6 +2147,18 @@ Done
 Done
 ```
 
+The address can be an IPv4 address, which will be synthesized to an IPv6 address using the preferred NAT64 prefix from the network data.
+
+> Note: The command will return `InvalidState` when the preferred NAT64 prefix is unavailable.
+
+```bash
+> ping 172.17.0.1
+Pinging synthesized IPv6 address: fdde:ad00:beef:2:0:0:ac11:1
+> 16 bytes from fdde:ad00:beef:2:0:0:ac11:1: icmp_seq=5 hlim=64 time=0ms
+1 packets transmitted, 1 packets received. Packet loss = 0.0%. Round-trip min/avg/max = 0/0.0/0 ms.
+Done
+```
+
 ### ping stop
 
 Stop sending ICMPv6 Echo Requests.
diff --git a/src/cli/README_TCP.md b/src/cli/README_TCP.md
index c1aba71d05c..eb42fbaff50 100644
--- a/src/cli/README_TCP.md
+++ b/src/cli/README_TCP.md
@@ -109,7 +109,7 @@ Establishes a connection with the specified peer.
 
 If the connection establishment is successful, the resulting TCP connection is associated with the example TCP endpoint.
 
-- ip: the peer's IPv6 address.
+- ip: the peer's IP address.
 - port: the peer's TCP port.
 
 ```bash
@@ -118,6 +118,16 @@ Done
 TCP: Connection established
 ```
 
+The address can be an IPv4 address, which will be synthesized to an IPv6 address using the preferred NAT64 prefix from the network data.
+
+> Note: The command will return `InvalidState` when the preferred NAT64 prefix is unavailable.
+
+```bash
+> tcp connect 172.17.0.1 1234
+Connecting to synthesized IPv6 address: fdde:ad00:beef:2:0:0:ac11:1
+Done
+```
+
 ### deinit
 
 Deinitializes the example TCP listener and the example TCP endpoint.
diff --git a/src/cli/README_UDP.md b/src/cli/README_UDP.md
index 51cd8cc5b1f..14444cdaf14 100644
--- a/src/cli/README_UDP.md
+++ b/src/cli/README_UDP.md
@@ -96,7 +96,7 @@ Done
 
 Specifies the peer with which the socket is to be associated.
 
-- ip: the peer's IPv6 address.
+- ip: the peer's IP address.
 - port: the peer's UDP port.
 
 ```bash
@@ -104,6 +104,16 @@ Specifies the peer with which the socket is to be associated.
 Done
 ```
 
+The address can be an IPv4 address, which will be synthesized to an IPv6 address using the preferred NAT64 prefix from the network data.
+
+> Note: The command will return `InvalidState` when the preferred NAT64 prefix is unavailable.
+
+```bash
+> udp connect 172.17.0.1 1234
+Connecting to synthesized IPv6 address: fdde:ad00:beef:2:0:0:ac11:1
+Done
+```
+
 ### linksecurity
 
 Indicates whether the link security is enabled or disabled.
@@ -145,7 +155,7 @@ Done
 
 Send a UDP message.
 
-- ip: the IPv6 destination address.
+- ip: the destination address.
 - port: the UDP destination port.
 - message: the message to send.
 
@@ -154,6 +164,16 @@ Send a UDP message.
 Done
 ```
 
+The address can be an IPv4 address, which will be synthesized to an IPv6 address using the preferred NAT64 prefix from the network data.
+
+> Note: The command will return `InvalidState` when the preferred NAT64 prefix is unavailable.
+
+```bash
+> udp send 172.17.0.1 1234
+Sending to synthesized IPv6 address: fdde:ad00:beef:2:0:0:ac11:1
+Done
+```
+
 ### send \<ip\> \<port\> \<type\> \<value\>
 
 Send a few bytes over UDP.
diff --git a/src/cli/cli.cpp b/src/cli/cli.cpp
index 2dfd8450ef8..ecc836b875b 100644
--- a/src/cli/cli.cpp
+++ b/src/cli/cli.cpp
@@ -87,6 +87,9 @@
 #if OPENTHREAD_CONFIG_RADIO_LINK_TREL_ENABLE
 #include <openthread/trel.h>
 #endif
+#if OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE
+#include <openthread/nat64.h>
+#endif
 
 #include "common/new.hpp"
 #include "common/string.hpp"
@@ -462,6 +465,31 @@ const char *Interpreter::PreferenceToString(signed int aPreference)
     return str;
 }
 
+otError Interpreter::ParseToIp6Address(otInstance *  aInstance,
+                                       const Arg &   aArg,
+                                       otIp6Address &aAddress,
+                                       bool &        aSynthesized)
+{
+    Error error = kErrorNone;
+
+    VerifyOrExit(!aArg.IsEmpty(), error = OT_ERROR_INVALID_ARGS);
+    error        = aArg.ParseAsIp6Address(aAddress);
+    aSynthesized = false;
+    if (error != kErrorNone)
+    {
+        // It might be an IPv4 address, let's have a try.
+        otIp4Address ip4Address;
+
+        // Do not touch the error value if we failed to parse it as an IPv4 address.
+        SuccessOrExit(aArg.ParseAsIp4Address(ip4Address));
+        SuccessOrExit(error = otNat64SynthersizeIp6Address(aInstance, &ip4Address, &aAddress));
+        aSynthesized = true;
+    }
+
+exit:
+    return error;
+}
+
 #if OPENTHREAD_CONFIG_HISTORY_TRACKER_ENABLE
 template <> otError Interpreter::Process<Cmd("history")>(Arg aArgs[])
 {
@@ -717,6 +745,213 @@ template <> otError Interpreter::Process<Cmd("br")>(Arg aArgs[])
 }
 #endif // OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
 
+#if OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE
+template <> otError Interpreter::Process<Cmd("nat64")>(Arg aArgs[])
+{
+    otError error = OT_ERROR_NONE;
+
+    if (aArgs[0].IsEmpty())
+    {
+        ExitNow(error = OT_ERROR_INVALID_COMMAND);
+    }
+    /**
+     * @cli nat64 cidr
+     * @code
+     * nat64 cidr
+     * 192.168.64.0/24
+     * Done
+     * @endcode
+     * @par api_copy
+     * #otNat64GetCidr
+     *
+     */
+    else if (aArgs[0] == "cidr")
+    {
+        otIp4Cidr cidr;
+        char      cidrString[OT_IP4_CIDR_STRING_SIZE];
+
+        SuccessOrExit(error = otNat64GetCidr(GetInstancePtr(), &cidr));
+        otIp4CidrToString(&cidr, cidrString, sizeof(cidrString));
+        OutputLine("%s", cidrString);
+    }
+    /**
+     * @cli nat64 mappings
+     * @code
+     * nat64 mappings
+     * |          | Address                   |        | 4 to 6       | 6 to 4       |
+     * +----------+---------------------------+--------+--------------+--------------+
+     * | ID       | IPv6       | IPv4         | Expiry | Pkts | Bytes | Pkts | Bytes |
+     * +----------+------------+--------------+--------+------+-------+------+-------+
+     * | 00021cb9 | fdc7::df79 | 192.168.64.2 |  7196s |    6 |   456 |   11 |  1928 |
+     * |          |                                TCP |    0 |     0 |    0 |     0 |
+     * |          |                                UDP |    1 |   136 |   16 |  1608 |
+     * |          |                               ICMP |    5 |   320 |    5 |   320 |
+     * @endcode
+     * @par api_copy
+     * #otNat64GetNextAddressMapping
+     *
+     */
+    else if (aArgs[0] == "mappings")
+    {
+        otNat64AddressMappingIterator iterator;
+        otNat64AddressMapping         mapping;
+
+        static const char *const kNat64StatusLevel1Title[] = {"", "Address", "", "4 to 6", "6 to 4"};
+
+        static const uint8_t kNat64StatusLevel1ColumnWidths[] = {
+            18, 61, 8, 25, 25,
+        };
+
+        static const char *const kNat64StatusTableHeader[] = {
+            "ID", "IPv6", "IPv4", "Expiry", "Pkts", "Bytes", "Pkts", "Bytes",
+        };
+
+        static const uint8_t kNat64StatusTableColumnWidths[] = {
+            18, 42, 18, 8, 10, 14, 10, 14,
+        };
+
+        OutputTableHeader(kNat64StatusLevel1Title, kNat64StatusLevel1ColumnWidths);
+        OutputTableHeader(kNat64StatusTableHeader, kNat64StatusTableColumnWidths);
+
+        otNat64InitAddressMappingIterator(GetInstancePtr(), &iterator);
+        while (otNat64GetNextAddressMapping(GetInstancePtr(), &iterator, &mapping) == OT_ERROR_NONE)
+        {
+            char ip4AddressString[OT_IP4_ADDRESS_STRING_SIZE];
+            char ip6AddressString[OT_IP6_PREFIX_STRING_SIZE];
+
+            otIp6AddressToString(&mapping.mIp6, ip6AddressString, sizeof(ip6AddressString));
+            otIp4AddressToString(&mapping.mIp4, ip4AddressString, sizeof(ip4AddressString));
+
+            OutputFormat("| %016llx ", mapping.mId);
+            OutputFormat("| %40s ", ip6AddressString);
+            OutputFormat("| %16s ", ip4AddressString);
+            OutputFormat("| %5llus ", mapping.mRemainingTimeMs / 1000);
+            OutputFormat("| %8llu ", mapping.mCounters.mTotal.m4To6Packets);
+            OutputFormat("| %12llu ", mapping.mCounters.mTotal.m4To6Bytes);
+            OutputFormat("| %8llu ", mapping.mCounters.mTotal.m6To4Packets);
+            OutputFormat("| %12llu ", mapping.mCounters.mTotal.m6To4Bytes);
+
+            OutputLine("|");
+
+            OutputFormat("| %016s ", "");
+            OutputFormat("| %68s ", "TCP");
+            OutputFormat("| %8llu ", mapping.mCounters.mTcp.m4To6Packets);
+            OutputFormat("| %12llu ", mapping.mCounters.mTcp.m4To6Bytes);
+            OutputFormat("| %8llu ", mapping.mCounters.mTcp.m6To4Packets);
+            OutputFormat("| %12llu ", mapping.mCounters.mTcp.m6To4Bytes);
+            OutputLine("|");
+
+            OutputFormat("| %016s ", "");
+            OutputFormat("| %68s ", "UDP");
+            OutputFormat("| %8llu ", mapping.mCounters.mUdp.m4To6Packets);
+            OutputFormat("| %12llu ", mapping.mCounters.mUdp.m4To6Bytes);
+            OutputFormat("| %8llu ", mapping.mCounters.mUdp.m6To4Packets);
+            OutputFormat("| %12llu ", mapping.mCounters.mUdp.m6To4Bytes);
+            OutputLine("|");
+
+            OutputFormat("| %016s ", "");
+            OutputFormat("| %68s ", "ICMP");
+            OutputFormat("| %8llu ", mapping.mCounters.mIcmp.m4To6Packets);
+            OutputFormat("| %12llu ", mapping.mCounters.mIcmp.m4To6Bytes);
+            OutputFormat("| %8llu ", mapping.mCounters.mIcmp.m6To4Packets);
+            OutputFormat("| %12llu ", mapping.mCounters.mIcmp.m6To4Bytes);
+            OutputLine("|");
+        }
+    }
+    /**
+     * @cli nat64 counters
+     * @code
+     * nat64 counters
+     * |               | 4 to 6                  | 6 to 4                  |
+     * +---------------+-------------------------+-------------------------+
+     * | Protocol      | Pkts     | Bytes        | Pkts     | Bytes        |
+     * +---------------+----------+--------------+----------+--------------+
+     * |         Total |       11 |          704 |       11 |          704 |
+     * |           TCP |        0 |            0 |        0 |            0 |
+     * |           UDP |        0 |            0 |        0 |            0 |
+     * |          ICMP |       11 |          704 |       11 |          704 |
+     * | Errors        | Pkts                    | Pkts                    |
+     * +---------------+-------------------------+-------------------------+
+     * |         Total |                       8 |                       4 |
+     * |   Illegal Pkt |                       0 |                       0 |
+     * |   Unsup Proto |                       0 |                       0 |
+     * |    No Mapping |                       2 |                       0 |
+     * Done
+     * @endcode
+     * @par
+     * Gets the NAT64 translator packet and error counters.
+     * @par
+     * Available when `OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE` is enabled.
+     * @sa otNat64GetCounters
+     * @sa otNat64GetErrorCounters
+     *
+     */
+    else if (aArgs[0] == "counters")
+    {
+        static const char *const kNat64CounterTableHeader[] = {
+            "",
+            "4 to 6",
+            "6 to 4",
+        };
+        static const uint8_t     kNat64CounterTableHeaderColumns[] = {15, 25, 25};
+        static const char *const kNat64CounterTableSubHeader[]     = {
+            "Protocol", "Pkts", "Bytes", "Pkts", "Bytes",
+        };
+        static const uint8_t kNat64CounterTableSubHeaderColumns[] = {
+            15, 10, 14, 10, 14,
+        };
+        static const char *const kNat64CounterTableErrorSubHeader[] = {
+            "Errors",
+            "Pkts",
+            "Pkts",
+        };
+        static const uint8_t kNat64CounterTableErrorSubHeaderColumns[] = {
+            15,
+            25,
+            25,
+        };
+        static const char *const kNat64CounterErrorType[] = {
+            "Unknown",
+            "Illegal Pkt",
+            "Unsup Proto",
+            "No Mapping",
+        };
+
+        otNat64ProtocolCounters counters;
+        otNat64ErrorCounters    errorCounters;
+
+        OutputTableHeader(kNat64CounterTableHeader, kNat64CounterTableHeaderColumns);
+        OutputTableHeader(kNat64CounterTableSubHeader, kNat64CounterTableSubHeaderColumns);
+
+        otNat64GetCounters(GetInstancePtr(), &counters);
+        otNat64GetErrorCounters(GetInstancePtr(), &errorCounters);
+
+        OutputLine("| %13s | %8llu | %12llu | %8llu | %12llu |", "Total", counters.mTotal.m4To6Packets,
+                   counters.mTotal.m4To6Bytes, counters.mTotal.m6To4Packets, counters.mTotal.m6To4Bytes);
+        OutputLine("| %13s | %8llu | %12llu | %8llu | %12llu |", "TCP", counters.mTcp.m4To6Packets,
+                   counters.mTcp.m4To6Bytes, counters.mTcp.m6To4Packets, counters.mTcp.m6To4Bytes);
+        OutputLine("| %13s | %8llu | %12llu | %8llu | %12llu |", "UDP", counters.mUdp.m4To6Packets,
+                   counters.mUdp.m4To6Bytes, counters.mUdp.m6To4Packets, counters.mUdp.m6To4Bytes);
+        OutputLine("| %13s | %8llu | %12llu | %8llu | %12llu |", "ICMP", counters.mIcmp.m4To6Packets,
+                   counters.mIcmp.m4To6Bytes, counters.mIcmp.m6To4Packets, counters.mIcmp.m6To4Bytes);
+
+        OutputTableHeader(kNat64CounterTableErrorSubHeader, kNat64CounterTableErrorSubHeaderColumns);
+        for (uint8_t i = 0; i < OT_NAT64_DROP_REASON_COUNT; i++)
+        {
+            OutputLine("| %13s | %23llu | %23llu |", kNat64CounterErrorType[i], errorCounters.mCount4To6[i],
+                       errorCounters.mCount6To4[i]);
+        }
+    }
+    else
+    {
+        ExitNow(error = OT_ERROR_INVALID_COMMAND);
+    }
+
+exit:
+    return error;
+}
+#endif // OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE
+
 #if (OPENTHREAD_CONFIG_THREAD_VERSION >= OT_THREAD_VERSION_1_2)
 template <> otError Interpreter::Process<Cmd("bbr")>(Arg aArgs[])
 {
@@ -4560,6 +4795,7 @@ template <> otError Interpreter::Process<Cmd("ping")>(Arg aArgs[])
     otError            error = OT_ERROR_NONE;
     otPingSenderConfig config;
     bool               async = false;
+    bool               nat64SynthesizedAddress;
 
     if (aArgs[0] == "stop")
     {
@@ -4599,7 +4835,12 @@ template <> otError Interpreter::Process<Cmd("ping")>(Arg aArgs[])
         aArgs += 2;
     }
 
-    SuccessOrExit(error = aArgs[0].ParseAsIp6Address(config.mDestination));
+    SuccessOrExit(error = ParseToIp6Address(GetInstancePtr(), aArgs[0], config.mDestination, nat64SynthesizedAddress));
+    if (nat64SynthesizedAddress)
+    {
+        OutputFormat("Pinging synthesized IPv6 address: ");
+        OutputIp6AddressLine(config.mDestination);
+    }
 
     if (!aArgs[1].IsEmpty())
     {
@@ -6468,6 +6709,9 @@ otError Interpreter::ProcessCommand(Arg aArgs[])
 #endif
         CmdEntry("mode"),
         CmdEntry("multiradio"),
+#if OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE
+        CmdEntry("nat64"),
+#endif
 #if OPENTHREAD_FTD
         CmdEntry("neighbor"),
 #endif
diff --git a/src/cli/cli.hpp b/src/cli/cli.hpp
index 1a171952701..13972757a26 100644
--- a/src/cli/cli.hpp
+++ b/src/cli/cli.hpp
@@ -243,6 +243,27 @@ class Interpreter : public Output
      */
     static const char *PreferenceToString(signed int aPreference);
 
+    /**
+     * This method parses the argument as an IP address.
+     *
+     * If the argument string is an IPv4 address, this method will try to synthersize an IPv6 address using preferred
+     * NAT64 prefix in the network data.
+     *
+     * @param[in]  aInstance       A pointer to openthread instance.
+     * @param[in]  aArg            The argument string to parse.
+     * @param[out] aAddress        A reference to an `otIp6Address` to output the parsed IPv6 address.
+     * @param[out] aSynthesized    Whether @p aAddress is synthesized from an IPv4 address.
+     *
+     * @retval OT_ERROR_NONE          The argument was parsed successfully.
+     * @retval OT_ERROR_INVALID_ARGS  The argument is empty or does not contain valid IP address.
+     * @retval OT_ERROR_INVALID_STATE No valid NAT64 prefix in the network data.
+     *
+     */
+    static otError ParseToIp6Address(otInstance *  aInstance,
+                                     const Arg &   aArg,
+                                     otIp6Address &aAddress,
+                                     bool &        aSynthesized);
+
 protected:
     static Interpreter *sInterpreter;
 
diff --git a/src/cli/cli_srp_server.cpp b/src/cli/cli_srp_server.cpp
index e13b8eca68d..474b950ab8c 100644
--- a/src/cli/cli_srp_server.cpp
+++ b/src/cli/cli_srp_server.cpp
@@ -96,6 +96,47 @@ otError SrpServer::ProcessAddrMode(Arg aArgs[])
     return error;
 }
 
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+otError SrpServer::ProcessAuto(Arg aArgs[])
+{
+    otError error = OT_ERROR_NONE;
+
+    /**
+     * @cli srp server auto
+     * @code
+     * srp server auto
+     * Disabled
+     * Done
+     * @endcode
+     * @par api_copy
+     * #otSrpServerIsAutoEnableMode
+     */
+    if (aArgs[0].IsEmpty())
+    {
+        OutputEnabledDisabledStatus(otSrpServerIsAutoEnableMode(GetInstancePtr()));
+    }
+    /**
+     * @cli srp server auto enable
+     * @code
+     * srp server auto enable
+     * Done
+     * @endcode
+     * @par api_copy
+     * #otSrpServerSetAutoEnableMode
+     */
+    else
+    {
+        bool enable;
+
+        SuccessOrExit(error = Interpreter::ParseEnableOrDisable(aArgs[0], enable));
+        otSrpServerSetAutoEnableMode(GetInstancePtr(), enable);
+    }
+
+exit:
+    return error;
+}
+#endif
+
 otError SrpServer::ProcessDomain(Arg aArgs[])
 {
     otError error = OT_ERROR_NONE;
diff --git a/src/cli/cli_srp_server.hpp b/src/cli/cli_srp_server.hpp
index 363f5911863..1a29c9e95d8 100644
--- a/src/cli/cli_srp_server.hpp
+++ b/src/cli/cli_srp_server.hpp
@@ -82,6 +82,9 @@ class SrpServer : private OutputWrapper
     using Command = CommandEntry<SrpServer>;
 
     otError ProcessAddrMode(Arg aArgs[]);
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+    otError ProcessAuto(Arg aArgs[]);
+#endif
     otError ProcessDomain(Arg aArgs[]);
     otError ProcessState(Arg aArgs[]);
     otError ProcessEnable(Arg aArgs[]);
@@ -96,11 +99,19 @@ class SrpServer : private OutputWrapper
     void OutputHostAddresses(const otSrpServerHost *aHost);
 
     static constexpr Command sCommands[] = {
-        {"addrmode", &SrpServer::ProcessAddrMode}, {"disable", &SrpServer::ProcessDisable},
-        {"domain", &SrpServer::ProcessDomain},     {"enable", &SrpServer::ProcessEnable},
-        {"help", &SrpServer::ProcessHelp},         {"host", &SrpServer::ProcessHost},
-        {"lease", &SrpServer::ProcessLease},       {"seqnum", &SrpServer::ProcessSeqNum},
-        {"service", &SrpServer::ProcessService},   {"state", &SrpServer::ProcessState},
+        {"addrmode", &SrpServer::ProcessAddrMode},
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+        {"auto", &SrpServer::ProcessAuto},
+#endif
+        {"disable", &SrpServer::ProcessDisable},
+        {"domain", &SrpServer::ProcessDomain},
+        {"enable", &SrpServer::ProcessEnable},
+        {"help", &SrpServer::ProcessHelp},
+        {"host", &SrpServer::ProcessHost},
+        {"lease", &SrpServer::ProcessLease},
+        {"seqnum", &SrpServer::ProcessSeqNum},
+        {"service", &SrpServer::ProcessService},
+        {"state", &SrpServer::ProcessState},
         {"ttl", &SrpServer::ProcessTtl},
     };
 
diff --git a/src/cli/cli_tcp.cpp b/src/cli/cli_tcp.cpp
index 97076e9dfd9..79ece00d7a6 100644
--- a/src/cli/cli_tcp.cpp
+++ b/src/cli/cli_tcp.cpp
@@ -39,6 +39,7 @@
 
 #include "cli_tcp.hpp"
 
+#include <openthread/nat64.h>
 #include <openthread/tcp.h>
 
 #include "cli/cli.hpp"
@@ -55,8 +56,9 @@ TcpExample::TcpExample(Output &aOutput)
     , mInitialized(false)
     , mEndpointConnected(false)
     , mSendBusy(false)
+    , mUseCircularSendBuffer(true)
     , mBenchmarkBytesTotal(0)
-    , mBenchmarkLinksLeft(0)
+    , mBenchmarkBytesUnsent(0)
 {
 }
 
@@ -81,30 +83,59 @@ otError TcpExample::ProcessInit(Arg aArgs[])
 
     if (aArgs[0].IsEmpty())
     {
-        receiveBufferSize = sizeof(mReceiveBuffer);
+        mUseCircularSendBuffer = true;
+        receiveBufferSize      = sizeof(mReceiveBufferBytes);
     }
     else
     {
-        uint32_t windowSize;
+        if (aArgs[0] == "circular")
+        {
+            mUseCircularSendBuffer = true;
+        }
+        else if (aArgs[0] == "linked")
+        {
+            mUseCircularSendBuffer = false;
+        }
+        else
+        {
+            ExitNow(error = OT_ERROR_INVALID_ARGS);
+        }
 
-        SuccessOrExit(error = aArgs[0].ParseAsUint32(windowSize));
-        VerifyOrExit(aArgs[1].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
+        if (aArgs[1].IsEmpty())
+        {
+            receiveBufferSize = sizeof(mReceiveBufferBytes);
+        }
+        else
+        {
+            uint32_t windowSize;
 
-        receiveBufferSize = windowSize + ((windowSize + 7) >> 3);
-        VerifyOrExit(receiveBufferSize <= sizeof(mReceiveBuffer) && receiveBufferSize != 0,
-                     error = OT_ERROR_INVALID_ARGS);
+            SuccessOrExit(error = aArgs[1].ParseAsUint32(windowSize));
+
+            receiveBufferSize = windowSize + ((windowSize + 7) >> 3);
+            VerifyOrExit(receiveBufferSize <= sizeof(mReceiveBufferBytes) && receiveBufferSize != 0,
+                         error = OT_ERROR_INVALID_ARGS);
+        }
     }
 
+    otTcpCircularSendBufferInitialize(&mSendBuffer, mSendBufferBytes, sizeof(mSendBufferBytes));
+
     {
         otTcpEndpointInitializeArgs endpointArgs;
 
         memset(&endpointArgs, 0x00, sizeof(endpointArgs));
-        endpointArgs.mEstablishedCallback      = HandleTcpEstablishedCallback;
-        endpointArgs.mSendDoneCallback         = HandleTcpSendDoneCallback;
+        endpointArgs.mEstablishedCallback = HandleTcpEstablishedCallback;
+        if (mUseCircularSendBuffer)
+        {
+            endpointArgs.mForwardProgressCallback = HandleTcpForwardProgressCallback;
+        }
+        else
+        {
+            endpointArgs.mSendDoneCallback = HandleTcpSendDoneCallback;
+        }
         endpointArgs.mReceiveAvailableCallback = HandleTcpReceiveAvailableCallback;
         endpointArgs.mDisconnectedCallback     = HandleTcpDisconnectedCallback;
         endpointArgs.mContext                  = this;
-        endpointArgs.mReceiveBuffer            = mReceiveBuffer;
+        endpointArgs.mReceiveBuffer            = mReceiveBufferBytes;
         endpointArgs.mReceiveBufferSize        = receiveBufferSize;
 
         SuccessOrExit(error = otTcpEndpointInitialize(GetInstancePtr(), &mEndpoint, &endpointArgs));
@@ -136,6 +167,7 @@ otError TcpExample::ProcessDeinit(Arg aArgs[])
 {
     otError error = OT_ERROR_NONE;
     otError endpointError;
+    otError bufferError;
     otError listenerError;
 
     VerifyOrExit(aArgs[0].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
@@ -144,10 +176,14 @@ otError TcpExample::ProcessDeinit(Arg aArgs[])
     endpointError = otTcpEndpointDeinitialize(&mEndpoint);
     mSendBusy     = false;
 
+    otTcpCircularSendBufferForceDiscardAll(&mSendBuffer);
+    bufferError = otTcpCircularSendBufferDeinitialize(&mSendBuffer);
+
     listenerError = otTcpListenerDeinitialize(&mListener);
     mInitialized  = false;
 
     SuccessOrExit(error = endpointError);
+    SuccessOrExit(error = bufferError);
     SuccessOrExit(error = listenerError);
 
 exit:
@@ -175,10 +211,18 @@ otError TcpExample::ProcessConnect(Arg aArgs[])
 {
     otError    error;
     otSockAddr sockaddr;
+    bool       nat64SynthesizedAddress;
 
     VerifyOrExit(mInitialized, error = OT_ERROR_INVALID_STATE);
 
-    SuccessOrExit(error = aArgs[0].ParseAsIp6Address(sockaddr.mAddress));
+    SuccessOrExit(
+        error = Interpreter::ParseToIp6Address(GetInstancePtr(), aArgs[0], sockaddr.mAddress, nat64SynthesizedAddress));
+    if (nat64SynthesizedAddress)
+    {
+        OutputFormat("Connecting to synthesized IPv6 address: ");
+        OutputIp6AddressLine(sockaddr.mAddress);
+    }
+
     SuccessOrExit(error = aArgs[1].ParseAsUint16(sockaddr.mPort));
     VerifyOrExit(aArgs[2].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
 
@@ -194,18 +238,28 @@ otError TcpExample::ProcessSend(Arg aArgs[])
     otError error;
 
     VerifyOrExit(mInitialized, error = OT_ERROR_INVALID_STATE);
-    VerifyOrExit(!mSendBusy, error = OT_ERROR_BUSY);
     VerifyOrExit(mBenchmarkBytesTotal == 0, error = OT_ERROR_BUSY);
-
-    mSendLink.mNext = nullptr;
-    mSendLink.mData = mSendBuffer;
     VerifyOrExit(!aArgs[0].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
-    mSendLink.mLength = OT_MIN(aArgs[0].GetLength(), sizeof(mSendBuffer));
-    memcpy(mSendBuffer, aArgs[0].GetCString(), mSendLink.mLength);
     VerifyOrExit(aArgs[1].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
 
-    SuccessOrExit(error = otTcpSendByReference(&mEndpoint, &mSendLink, 0));
-    mSendBusy = true;
+    if (mUseCircularSendBuffer)
+    {
+        size_t written;
+        SuccessOrExit(error = otTcpCircularSendBufferWrite(&mEndpoint, &mSendBuffer, aArgs[0].GetCString(),
+                                                           aArgs[0].GetLength(), &written, 0));
+    }
+    else
+    {
+        VerifyOrExit(!mSendBusy, error = OT_ERROR_BUSY);
+
+        mSendLink.mNext   = nullptr;
+        mSendLink.mData   = mSendBufferBytes;
+        mSendLink.mLength = OT_MIN(aArgs[0].GetLength(), sizeof(mSendBufferBytes));
+        memcpy(mSendBufferBytes, aArgs[0].GetCString(), mSendLink.mLength);
+
+        SuccessOrExit(error = otTcpSendByReference(&mEndpoint, &mSendLink, 0));
+        mSendBusy = true;
+    }
 
 exit:
     return error;
@@ -213,8 +267,7 @@ otError TcpExample::ProcessSend(Arg aArgs[])
 
 otError TcpExample::ProcessBenchmark(Arg aArgs[])
 {
-    otError  error = OT_ERROR_NONE;
-    uint32_t toSendOut;
+    otError error = OT_ERROR_NONE;
 
     VerifyOrExit(!mSendBusy, error = OT_ERROR_BUSY);
     VerifyOrExit(mBenchmarkBytesTotal == 0, error = OT_ERROR_BUSY);
@@ -230,30 +283,37 @@ otError TcpExample::ProcessBenchmark(Arg aArgs[])
     }
     VerifyOrExit(aArgs[1].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
 
-    memset(mSendBuffer, 'a', sizeof(mSendBuffer));
+    mBenchmarkStart       = TimerMilli::GetNow();
+    mBenchmarkBytesUnsent = mBenchmarkBytesTotal;
 
-    mBenchmarkLinksLeft = (mBenchmarkBytesTotal + sizeof(mSendBuffer) - 1) / sizeof(mSendBuffer);
-    toSendOut           = OT_MIN(OT_ARRAY_LENGTH(mBenchmarkLinks), mBenchmarkLinksLeft);
-    mBenchmarkStart     = TimerMilli::GetNow();
-    for (uint32_t i = 0; i != toSendOut; i++)
+    if (mUseCircularSendBuffer)
     {
-        mBenchmarkLinks[i].mNext   = nullptr;
-        mBenchmarkLinks[i].mData   = mSendBuffer;
-        mBenchmarkLinks[i].mLength = sizeof(mSendBuffer);
-        if (i == 0 && mBenchmarkBytesTotal % sizeof(mSendBuffer) != 0)
+        SuccessOrExit(error = ContinueBenchmarkCircularSend());
+    }
+    else
+    {
+        uint32_t benchmarkLinksLeft = (mBenchmarkBytesTotal + sizeof(mSendBufferBytes) - 1) / sizeof(mSendBufferBytes);
+        uint32_t toSendOut          = OT_MIN(OT_ARRAY_LENGTH(mBenchmarkLinks), benchmarkLinksLeft);
+
+        /* We could also point the linked buffers directly to sBenchmarkData. */
+        memset(mSendBufferBytes, 'a', sizeof(mSendBufferBytes));
+
+        for (uint32_t i = 0; i != toSendOut; i++)
         {
-            mBenchmarkLinks[i].mLength = mBenchmarkBytesTotal % sizeof(mSendBuffer);
+            mBenchmarkLinks[i].mNext   = nullptr;
+            mBenchmarkLinks[i].mData   = mSendBufferBytes;
+            mBenchmarkLinks[i].mLength = sizeof(mSendBufferBytes);
+            if (i == 0 && mBenchmarkBytesTotal % sizeof(mSendBufferBytes) != 0)
+            {
+                mBenchmarkLinks[i].mLength = mBenchmarkBytesTotal % sizeof(mSendBufferBytes);
+            }
+            error = otTcpSendByReference(&mEndpoint, &mBenchmarkLinks[i],
+                                         i == toSendOut - 1 ? 0 : OT_TCP_SEND_MORE_TO_COME);
+            VerifyOrExit(error == OT_ERROR_NONE, mBenchmarkBytesTotal = 0);
         }
-        SuccessOrExit(error = otTcpSendByReference(&mEndpoint, &mBenchmarkLinks[i],
-                                                   i == toSendOut - 1 ? 0 : OT_TCP_SEND_MORE_TO_COME));
     }
 
 exit:
-    if (error != OT_ERROR_NONE)
-    {
-        mBenchmarkBytesTotal = 0;
-        mBenchmarkLinksLeft  = 0;
-    }
     return error;
 }
 
@@ -341,6 +401,12 @@ void TcpExample::HandleTcpSendDoneCallback(otTcpEndpoint *aEndpoint, otLinkedBuf
     static_cast<TcpExample *>(otTcpEndpointGetContext(aEndpoint))->HandleTcpSendDone(aEndpoint, aData);
 }
 
+void TcpExample::HandleTcpForwardProgressCallback(otTcpEndpoint *aEndpoint, size_t aInSendBuffer, size_t aBacklog)
+{
+    static_cast<TcpExample *>(otTcpEndpointGetContext(aEndpoint))
+        ->HandleTcpForwardProgress(aEndpoint, aInSendBuffer, aBacklog);
+}
+
 void TcpExample::HandleTcpReceiveAvailableCallback(otTcpEndpoint *aEndpoint,
                                                    size_t         aBytesAvailable,
                                                    bool           aEndOfStream,
@@ -379,6 +445,7 @@ void TcpExample::HandleTcpEstablished(otTcpEndpoint *aEndpoint)
 void TcpExample::HandleTcpSendDone(otTcpEndpoint *aEndpoint, otLinkedBuffer *aData)
 {
     OT_UNUSED_VARIABLE(aEndpoint);
+    OT_ASSERT(!mUseCircularSendBuffer); // this callback is not used when using the circular send buffer
 
     if (mBenchmarkBytesTotal == 0)
     {
@@ -393,25 +460,44 @@ void TcpExample::HandleTcpSendDone(otTcpEndpoint *aEndpoint, otLinkedBuffer *aDa
     else
     {
         OT_ASSERT(aData != &mSendLink);
-        mBenchmarkLinksLeft--;
-        if (mBenchmarkLinksLeft >= OT_ARRAY_LENGTH(mBenchmarkLinks))
+        OT_ASSERT(mBenchmarkBytesUnsent >= aData->mLength);
+        mBenchmarkBytesUnsent -= aData->mLength; // could be less than sizeof(mSendBufferBytes) for the first link
+        if (mBenchmarkBytesUnsent >= OT_ARRAY_LENGTH(mBenchmarkLinks) * sizeof(mSendBufferBytes))
         {
-            aData->mLength = sizeof(mSendBuffer);
+            aData->mLength = sizeof(mSendBufferBytes);
             if (otTcpSendByReference(&mEndpoint, aData, 0) != OT_ERROR_NONE)
             {
                 OutputLine("TCP Benchmark Failed");
                 mBenchmarkBytesTotal = 0;
             }
         }
-        else if (mBenchmarkLinksLeft == 0)
+        else if (mBenchmarkBytesUnsent == 0)
         {
-            uint32_t milliseconds         = TimerMilli::GetNow() - mBenchmarkStart;
-            uint32_t thousandTimesGoodput = (1000 * (mBenchmarkBytesTotal << 3) + (milliseconds >> 1)) / milliseconds;
+            CompleteBenchmark();
+        }
+    }
+}
+
+void TcpExample::HandleTcpForwardProgress(otTcpEndpoint *aEndpoint, size_t aInSendBuffer, size_t aBacklog)
+{
+    OT_UNUSED_VARIABLE(aEndpoint);
+    OT_UNUSED_VARIABLE(aBacklog);
+    OT_ASSERT(mUseCircularSendBuffer); // this callback is only used when using the circular send buffer
+
+    otTcpCircularSendBufferHandleForwardProgress(&mSendBuffer, aInSendBuffer);
 
-            OutputLine("TCP Benchmark Complete: Transferred %u bytes in %u milliseconds",
-                       static_cast<unsigned int>(mBenchmarkBytesTotal), static_cast<unsigned int>(milliseconds));
-            OutputLine("TCP Goodput: %u.%03u kb/s", thousandTimesGoodput / 1000, thousandTimesGoodput % 1000);
-            mBenchmarkBytesTotal = 0;
+    /* Handle case where we're in a benchmark. */
+    if (mBenchmarkBytesTotal != 0)
+    {
+        if (mBenchmarkBytesUnsent != 0)
+        {
+            /* Continue sending out data if there's data we haven't sent. */
+            IgnoreError(ContinueBenchmarkCircularSend());
+        }
+        else if (aInSendBuffer == 0)
+        {
+            /* Handle case where all data is sent out and the send buffer has drained. */
+            CompleteBenchmark();
         }
     }
 }
@@ -432,7 +518,7 @@ void TcpExample::HandleTcpReceiveAvailable(otTcpEndpoint *aEndpoint,
         IgnoreError(otTcpReceiveByReference(aEndpoint, &data));
         for (; data != nullptr; data = data->mNext)
         {
-            OutputLine("TCP: Received %u bytes: %.*s", static_cast<unsigned int>(data->mLength), data->mLength,
+            OutputLine("TCP: Received %u bytes: %.*s", data->mLength, data->mLength,
                        reinterpret_cast<const char *>(data->mData));
             totalReceived += data->mLength;
         }
@@ -473,17 +559,18 @@ void TcpExample::HandleTcpDisconnected(otTcpEndpoint *aEndpoint, otTcpDisconnect
     mSendBusy          = false;
 
     // Mark the benchmark as inactive if the connection was disconnected.
-    if (mBenchmarkBytesTotal != 0)
-    {
-        mBenchmarkBytesTotal = 0;
-        mBenchmarkLinksLeft  = 0;
-    }
+    mBenchmarkBytesTotal  = 0;
+    mBenchmarkBytesUnsent = 0;
+
+    otTcpCircularSendBufferForceDiscardAll(&mSendBuffer);
 }
 
 otTcpIncomingConnectionAction TcpExample::HandleTcpAcceptReady(otTcpListener *   aListener,
                                                                const otSockAddr *aPeer,
                                                                otTcpEndpoint **  aAcceptInto)
 {
+    otTcpIncomingConnectionAction action;
+
     OT_UNUSED_VARIABLE(aListener);
 
     if (mEndpointConnected)
@@ -492,11 +579,14 @@ otTcpIncomingConnectionAction TcpExample::HandleTcpAcceptReady(otTcpListener *
         OutputSockAddr(*aPeer);
         OutputLine(" (active socket is busy)");
 
-        return OT_TCP_INCOMING_CONNECTION_ACTION_DEFER;
+        ExitNow(action = OT_TCP_INCOMING_CONNECTION_ACTION_DEFER);
     }
 
     *aAcceptInto = &mEndpoint;
-    return OT_TCP_INCOMING_CONNECTION_ACTION_ACCEPT;
+    action       = OT_TCP_INCOMING_CONNECTION_ACTION_ACCEPT;
+
+exit:
+    return action;
 }
 
 void TcpExample::HandleTcpAcceptDone(otTcpListener *aListener, otTcpEndpoint *aEndpoint, const otSockAddr *aPeer)
@@ -508,6 +598,45 @@ void TcpExample::HandleTcpAcceptDone(otTcpListener *aListener, otTcpEndpoint *aE
     OutputSockAddrLine(*aPeer);
 }
 
+otError TcpExample::ContinueBenchmarkCircularSend(void)
+{
+    otError error = OT_ERROR_NONE;
+    size_t  freeSpace;
+
+    while (mBenchmarkBytesUnsent != 0 && (freeSpace = otTcpCircularSendBufferGetFreeSpace(&mSendBuffer)) != 0)
+    {
+        size_t   toSendThisIteration = OT_MIN(mBenchmarkBytesUnsent, sBenchmarkDataLength);
+        uint32_t flag                = (toSendThisIteration < freeSpace && toSendThisIteration < mBenchmarkBytesUnsent)
+                            ? OT_TCP_CIRCULAR_SEND_BUFFER_WRITE_MORE_TO_COME
+                            : 0;
+        size_t written;
+
+        SuccessOrExit(error = otTcpCircularSendBufferWrite(&mEndpoint, &mSendBuffer, sBenchmarkData,
+                                                           toSendThisIteration, &written, flag));
+        mBenchmarkBytesUnsent -= written;
+    }
+
+exit:
+    if (error != OT_ERROR_NONE)
+    {
+        OutputLine("TCP Benchmark Failed");
+        mBenchmarkBytesTotal  = 0;
+        mBenchmarkBytesUnsent = 0;
+    }
+
+    return error;
+}
+
+void TcpExample::CompleteBenchmark(void)
+{
+    uint32_t milliseconds         = TimerMilli::GetNow() - mBenchmarkStart;
+    uint32_t thousandTimesGoodput = (1000 * (mBenchmarkBytesTotal << 3) + (milliseconds >> 1)) / milliseconds;
+
+    OutputLine("TCP Benchmark Complete: Transferred %u bytes in %u milliseconds", mBenchmarkBytesTotal, milliseconds);
+    OutputLine("TCP Goodput: %u.%03u kb/s", thousandTimesGoodput / 1000, thousandTimesGoodput % 1000);
+    mBenchmarkBytesTotal = 0;
+}
+
 } // namespace Cli
 } // namespace ot
 
diff --git a/src/cli/cli_tcp.hpp b/src/cli/cli_tcp.hpp
index 4bebc963222..d450a37d0cc 100644
--- a/src/cli/cli_tcp.hpp
+++ b/src/cli/cli_tcp.hpp
@@ -37,6 +37,7 @@
 #include "openthread-core-config.h"
 
 #include <openthread/tcp.h>
+#include <openthread/tcp_ext.h>
 
 #include "cli/cli_config.h"
 #include "cli/cli_output.hpp"
@@ -85,8 +86,12 @@ class TcpExample : private OutputWrapper
     otError ProcessListen(Arg aArgs[]);
     otError ProcessStopListening(Arg aArgs[]);
 
+    otError ContinueBenchmarkCircularSend(void);
+    void    CompleteBenchmark(void);
+
     static void HandleTcpEstablishedCallback(otTcpEndpoint *aEndpoint);
     static void HandleTcpSendDoneCallback(otTcpEndpoint *aEndpoint, otLinkedBuffer *aData);
+    static void HandleTcpForwardProgressCallback(otTcpEndpoint *aEndpoint, size_t aInSendBuffer, size_t aBacklog);
     static void HandleTcpReceiveAvailableCallback(otTcpEndpoint *aEndpoint,
                                                   size_t         aBytesAvailable,
                                                   bool           aEndOfStream,
@@ -99,13 +104,14 @@ class TcpExample : private OutputWrapper
                                                                      otTcpEndpoint *   aEndpoint,
                                                                      const otSockAddr *aPeer);
 
-    void                          HandleTcpEstablished(otTcpEndpoint *aEndpoint);
-    void                          HandleTcpSendDone(otTcpEndpoint *aEndpoint, otLinkedBuffer *aData);
-    void                          HandleTcpReceiveAvailable(otTcpEndpoint *aEndpoint,
-                                                            size_t         aBytesAvailable,
-                                                            bool           aEndOfStream,
-                                                            size_t         aBytesRemaining);
-    void                          HandleTcpDisconnected(otTcpEndpoint *aEndpoint, otTcpDisconnectedReason aReason);
+    void HandleTcpEstablished(otTcpEndpoint *aEndpoint);
+    void HandleTcpSendDone(otTcpEndpoint *aEndpoint, otLinkedBuffer *aData);
+    void HandleTcpForwardProgress(otTcpEndpoint *aEndpoint, size_t aInSendBuffer, size_t aBacklog);
+    void HandleTcpReceiveAvailable(otTcpEndpoint *aEndpoint,
+                                   size_t         aBytesAvailable,
+                                   bool           aEndOfStream,
+                                   size_t         aBytesRemaining);
+    void HandleTcpDisconnected(otTcpEndpoint *aEndpoint, otTcpDisconnectedReason aReason);
     otTcpIncomingConnectionAction HandleTcpAcceptReady(otTcpListener *   aListener,
                                                        const otSockAddr *aPeer,
                                                        otTcpEndpoint **  aAcceptInto);
@@ -133,15 +139,21 @@ class TcpExample : private OutputWrapper
     bool mInitialized;
     bool mEndpointConnected;
     bool mSendBusy;
+    bool mUseCircularSendBuffer;
+
+    otTcpCircularSendBuffer mSendBuffer;
+    otLinkedBuffer          mSendLink;
+    uint8_t                 mSendBufferBytes[OPENTHREAD_CONFIG_CLI_TCP_RECEIVE_BUFFER_SIZE];
+    uint8_t                 mReceiveBufferBytes[OPENTHREAD_CONFIG_CLI_TCP_RECEIVE_BUFFER_SIZE];
 
-    otLinkedBuffer mSendLink;
-    uint8_t        mSendBuffer[OPENTHREAD_CONFIG_CLI_MAX_LINE_LENGTH];
-    uint8_t        mReceiveBuffer[OPENTHREAD_CONFIG_CLI_TCP_RECEIVE_BUFFER_SIZE];
+    otLinkedBuffer
+              mBenchmarkLinks[(sizeof(mReceiveBufferBytes) + sizeof(mSendBufferBytes) - 1) / sizeof(mSendBufferBytes)];
+    uint32_t  mBenchmarkBytesTotal;
+    uint32_t  mBenchmarkBytesUnsent;
+    TimeMilli mBenchmarkStart;
 
-    otLinkedBuffer mBenchmarkLinks[(sizeof(mReceiveBuffer) + sizeof(mSendBuffer) - 1) / sizeof(mSendBuffer)];
-    uint32_t       mBenchmarkBytesTotal;
-    uint32_t       mBenchmarkLinksLeft;
-    TimeMilli      mBenchmarkStart;
+    static constexpr const char * sBenchmarkData       = "aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa";
+    static constexpr const size_t sBenchmarkDataLength = 52;
 };
 
 } // namespace Cli
diff --git a/src/cli/cli_udp.cpp b/src/cli/cli_udp.cpp
index 62ad05790ad..22b39cc1775 100644
--- a/src/cli/cli_udp.cpp
+++ b/src/cli/cli_udp.cpp
@@ -34,6 +34,7 @@
 #include "cli_udp.hpp"
 
 #include <openthread/message.h>
+#include <openthread/nat64.h>
 #include <openthread/udp.h>
 
 #include "cli/cli.hpp"
@@ -94,8 +95,16 @@ otError UdpExample::ProcessConnect(Arg aArgs[])
 {
     otError    error;
     otSockAddr sockaddr;
+    bool       nat64SynthesizedAddress;
+
+    SuccessOrExit(
+        error = Interpreter::ParseToIp6Address(GetInstancePtr(), aArgs[0], sockaddr.mAddress, nat64SynthesizedAddress));
+    if (nat64SynthesizedAddress)
+    {
+        OutputFormat("Connecting to synthesized IPv6 address: ");
+        OutputIp6AddressLine(sockaddr.mAddress);
+    }
 
-    SuccessOrExit(error = aArgs[0].ParseAsIp6Address(sockaddr.mAddress));
     SuccessOrExit(error = aArgs[1].ParseAsUint16(sockaddr.mPort));
     VerifyOrExit(aArgs[2].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
 
@@ -143,7 +152,16 @@ otError UdpExample::ProcessSend(Arg aArgs[])
 
     if (!aArgs[2].IsEmpty())
     {
-        SuccessOrExit(error = aArgs[0].ParseAsIp6Address(messageInfo.mPeerAddr));
+        bool nat64SynthesizedAddress;
+
+        SuccessOrExit(error = Interpreter::ParseToIp6Address(GetInstancePtr(), aArgs[0], messageInfo.mPeerAddr,
+                                                             nat64SynthesizedAddress));
+        if (nat64SynthesizedAddress)
+        {
+            OutputFormat("Sending to synthesized IPv6 address: ");
+            OutputIp6AddressLine(messageInfo.mPeerAddr);
+        }
+
         SuccessOrExit(error = aArgs[1].ParseAsUint16(messageInfo.mPeerPort));
         aArgs += 2;
     }
diff --git a/src/core/BUILD.gn b/src/core/BUILD.gn
index 17a5836bd61..f49d659fe4f 100644
--- a/src/core/BUILD.gn
+++ b/src/core/BUILD.gn
@@ -356,6 +356,7 @@ openthread_core_files = [
   "api/srp_server_api.cpp",
   "api/tasklet_api.cpp",
   "api/tcp_api.cpp",
+  "api/tcp_ext_api.cpp",
   "api/thread_api.cpp",
   "api/thread_ftd_api.cpp",
   "api/trel_api.cpp",
@@ -590,6 +591,8 @@ openthread_core_files = [
   "net/srp_server.hpp",
   "net/tcp6.cpp",
   "net/tcp6.hpp",
+  "net/tcp6_ext.cpp",
+  "net/tcp6_ext.hpp",
   "net/udp6.cpp",
   "net/udp6.hpp",
   "radio/max_power_table.hpp",
diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt
index d95baa6c88d..657ac7d8b12 100644
--- a/src/core/CMakeLists.txt
+++ b/src/core/CMakeLists.txt
@@ -79,6 +79,7 @@ set(COMMON_SOURCES
     api/srp_server_api.cpp
     api/tasklet_api.cpp
     api/tcp_api.cpp
+    api/tcp_ext_api.cpp
     api/thread_api.cpp
     api/thread_ftd_api.cpp
     api/trel_api.cpp
@@ -183,6 +184,7 @@ set(COMMON_SOURCES
     net/srp_client.cpp
     net/srp_server.cpp
     net/tcp6.cpp
+    net/tcp6_ext.cpp
     net/udp6.cpp
     radio/radio.cpp
     radio/radio_callbacks.cpp
diff --git a/src/core/Makefile.am b/src/core/Makefile.am
index 63576b7f940..d417fe75e53 100644
--- a/src/core/Makefile.am
+++ b/src/core/Makefile.am
@@ -169,6 +169,7 @@ SOURCES_COMMON                                  = \
     api/srp_server_api.cpp                        \
     api/tasklet_api.cpp                           \
     api/tcp_api.cpp                               \
+    api/tcp_ext_api.cpp                           \
     api/thread_api.cpp                            \
     api/thread_ftd_api.cpp                        \
     api/trel_api.cpp                              \
@@ -273,6 +274,7 @@ SOURCES_COMMON                                  = \
     net/srp_client.cpp                            \
     net/srp_server.cpp                            \
     net/tcp6.cpp                                  \
+    net/tcp6_ext.cpp                              \
     net/udp6.cpp                                  \
     radio/radio.cpp                               \
     radio/radio_callbacks.cpp                     \
@@ -590,6 +592,7 @@ HEADERS_COMMON                                  = \
     net/srp_client.hpp                            \
     net/srp_server.hpp                            \
     net/tcp6.hpp                                  \
+    net/tcp6_ext.hpp                              \
     net/udp6.hpp                                  \
     openthread-core-config.h                      \
     radio/max_power_table.hpp                     \
diff --git a/src/core/api/ip6_api.cpp b/src/core/api/ip6_api.cpp
index 2da28f00446..454132b4d15 100644
--- a/src/core/api/ip6_api.cpp
+++ b/src/core/api/ip6_api.cpp
@@ -39,6 +39,7 @@
 #include "common/locator_getters.hpp"
 #include "net/ip4_types.hpp"
 #include "net/ip6_headers.hpp"
+#include "thread/network_data_leader.hpp"
 #include "utils/slaac_address.hpp"
 
 using namespace ot;
diff --git a/src/core/api/nat64_api.cpp b/src/core/api/nat64_api.cpp
index 61d66f2cb0d..5e16c284d1a 100644
--- a/src/core/api/nat64_api.cpp
+++ b/src/core/api/nat64_api.cpp
@@ -66,6 +66,38 @@ void otNat64SetReceiveIp4Callback(otInstance *aInstance, otNat64ReceiveIp4Callba
 {
     AsCoreType(aInstance).Get<Ip6::Ip6>().SetNat64ReceiveIp4DatagramCallback(aCallback, aContext);
 }
+
+void otNat64InitAddressMappingIterator(otInstance *aInstance, otNat64AddressMappingIterator *aIterator)
+{
+    AssertPointerIsNotNull(aIterator);
+
+    AsCoreType(aInstance).Get<Nat64::Translator>().InitAddressMappingIterator(*aIterator);
+}
+
+otError otNat64GetNextAddressMapping(otInstance *                   aInstance,
+                                     otNat64AddressMappingIterator *aIterator,
+                                     otNat64AddressMapping *        aMapping)
+{
+    AssertPointerIsNotNull(aIterator);
+    AssertPointerIsNotNull(aMapping);
+
+    return AsCoreType(aInstance).Get<Nat64::Translator>().GetNextAddressMapping(*aIterator, *aMapping);
+}
+
+void otNat64GetCounters(otInstance *aInstance, otNat64ProtocolCounters *aCounters)
+{
+    AsCoreType(aInstance).Get<Nat64::Translator>().GetCounters(AsCoreType(aCounters));
+}
+
+void otNat64GetErrorCounters(otInstance *aInstance, otNat64ErrorCounters *aCounters)
+{
+    AsCoreType(aInstance).Get<Nat64::Translator>().GetErrorCounters(AsCoreType(aCounters));
+}
+
+otError otNat64GetCidr(otInstance *aInstance, otIp4Cidr *aCidr)
+{
+    return AsCoreType(aInstance).Get<Nat64::Translator>().GetIp4Cidr(AsCoreType(aCidr));
+}
 #endif // OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE
 
 bool otIp4IsAddressEqual(const otIp4Address *aFirst, const otIp4Address *aSecond)
@@ -77,3 +109,36 @@ void otIp4ExtractFromIp6Address(uint8_t aPrefixLength, const otIp6Address *aIp6A
 {
     AsCoreType(aIp4Address).ExtractFromIp6Address(aPrefixLength, AsCoreType(aIp6Address));
 }
+
+otError otIp4AddressFromString(const char *aString, otIp4Address *aAddress)
+{
+    AssertPointerIsNotNull(aString);
+    return AsCoreType(aAddress).FromString(aString);
+}
+
+otError otNat64SynthersizeIp6Address(otInstance *aInstance, const otIp4Address *aIp4Address, otIp6Address *aIp6Address)
+{
+    otError                          err = OT_ERROR_NONE;
+    NetworkData::ExternalRouteConfig nat64Prefix;
+
+    VerifyOrExit(AsCoreType(aInstance).Get<NetworkData::Leader>().GetPreferredNat64Prefix(nat64Prefix) == OT_ERROR_NONE,
+                 err = OT_ERROR_INVALID_STATE);
+    AsCoreType(aIp6Address).SynthesizeFromIp4Address(nat64Prefix.GetPrefix(), AsCoreType(aIp4Address));
+
+exit:
+    return err;
+}
+
+void otIp4AddressToString(const otIp4Address *aAddress, char *aBuffer, uint16_t aSize)
+{
+    AssertPointerIsNotNull(aBuffer);
+
+    AsCoreType(aAddress).ToString(aBuffer, aSize);
+}
+
+void otIp4CidrToString(const otIp4Cidr *aCidr, char *aBuffer, uint16_t aSize)
+{
+    AssertPointerIsNotNull(aBuffer);
+
+    AsCoreType(aCidr).ToString(aBuffer, aSize);
+}
diff --git a/src/core/api/srp_server_api.cpp b/src/core/api/srp_server_api.cpp
index f9d4367e41d..488164a256c 100644
--- a/src/core/api/srp_server_api.cpp
+++ b/src/core/api/srp_server_api.cpp
@@ -87,6 +87,18 @@ void otSrpServerSetEnabled(otInstance *aInstance, bool aEnabled)
     AsCoreType(aInstance).Get<Srp::Server>().SetEnabled(aEnabled);
 }
 
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+void otSrpServerSetAutoEnableMode(otInstance *aInstance, bool aEnabled)
+{
+    AsCoreType(aInstance).Get<Srp::Server>().SetAutoEnableMode(aEnabled);
+}
+
+bool otSrpServerIsAutoEnableMode(otInstance *aInstance)
+{
+    return AsCoreType(aInstance).Get<Srp::Server>().IsAutoEnableMode();
+}
+#endif
+
 void otSrpServerGetTtlConfig(otInstance *aInstance, otSrpServerTtlConfig *aTtlConfig)
 {
     AsCoreType(aInstance).Get<Srp::Server>().GetTtlConfig(AsCoreType(aTtlConfig));
diff --git a/src/core/api/tcp_ext_api.cpp b/src/core/api/tcp_ext_api.cpp
new file mode 100644
index 00000000000..2e98b7f3992
--- /dev/null
+++ b/src/core/api/tcp_ext_api.cpp
@@ -0,0 +1,82 @@
+/*
+ *  Copyright (c) 2022, The OpenThread Authors.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *  1. Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *  2. Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *  3. Neither the name of the copyright holder nor the
+ *     names of its contributors may be used to endorse or promote products
+ *     derived from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * @file
+ *   This file implements extensions to the OpenThread TCP API.
+ */
+
+#include "openthread-core-config.h"
+
+#if OPENTHREAD_CONFIG_TCP_ENABLE
+
+#include <openthread/tcp_ext.h>
+
+#include "common/as_core_type.hpp"
+#include "common/locator_getters.hpp"
+#include "net/tcp6_ext.hpp"
+
+using namespace ot;
+
+void otTcpCircularSendBufferInitialize(otTcpCircularSendBuffer *aSendBuffer, void *aDataBuffer, size_t aCapacity)
+{
+    AsCoreType(aSendBuffer).Initialize(aDataBuffer, aCapacity);
+}
+
+otError otTcpCircularSendBufferWrite(otTcpEndpoint *          aEndpoint,
+                                     otTcpCircularSendBuffer *aSendBuffer,
+                                     const void *             aData,
+                                     size_t                   aLength,
+                                     size_t *                 aWritten,
+                                     uint32_t                 aFlags)
+{
+    AssertPointerIsNotNull(aWritten);
+    return AsCoreType(aSendBuffer).Write(AsCoreType(aEndpoint), aData, aLength, *aWritten, aFlags);
+}
+
+void otTcpCircularSendBufferHandleForwardProgress(otTcpCircularSendBuffer *aSendBuffer, size_t aInSendBuffer)
+{
+    AsCoreType(aSendBuffer).HandleForwardProgress(aInSendBuffer);
+}
+
+size_t otTcpCircularSendBufferGetFreeSpace(const otTcpCircularSendBuffer *aSendBuffer)
+{
+    return AsCoreType(aSendBuffer).GetFreeSpace();
+}
+
+void otTcpCircularSendBufferForceDiscardAll(otTcpCircularSendBuffer *aSendBuffer)
+{
+    AsCoreType(aSendBuffer).ForceDiscardAll();
+}
+
+otError otTcpCircularSendBufferDeinitialize(otTcpCircularSendBuffer *aSendBuffer)
+{
+    return AsCoreType(aSendBuffer).Deinitialize();
+}
+
+#endif // OPENTHREAD_CONFIG_TCP_ENABLE
diff --git a/src/core/border_router/infra_if.cpp b/src/core/border_router/infra_if.cpp
index 2b754cbde01..c1875d1d23f 100644
--- a/src/core/border_router/infra_if.cpp
+++ b/src/core/border_router/infra_if.cpp
@@ -128,7 +128,7 @@ void InfraIf::DiscoverNat64PrefixDone(uint32_t aIfIndex, const Ip6::Prefix &aPre
     VerifyOrExit(aIfIndex == mIfIndex, error = kErrorInvalidArgs);
 
 #if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-    Get<RoutingManager>().UpdateInfraIfNat64Prefix(aPrefix);
+    Get<RoutingManager>().HandleDiscoverNat64PrefixDone(aPrefix);
 #endif
 
 exit:
diff --git a/src/core/border_router/routing_manager.cpp b/src/core/border_router/routing_manager.cpp
index 642b15f54bd..827af13ce18 100644
--- a/src/core/border_router/routing_manager.cpp
+++ b/src/core/border_router/routing_manager.cpp
@@ -72,21 +72,15 @@ RoutingManager::RoutingManager(Instance &aInstance)
     , mLocalOnLinkPrefix(aInstance)
     , mDiscoveredPrefixTable(aInstance)
 #if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-    , mInfraIfNat64PrefixStaleTimer(aInstance, HandleInfraIfNat64PrefixStaleTimer)
+    , mNat64PrefixManager(aInstance)
 #endif
+    , mRsSender(aInstance)
     , mDiscoveredPrefixStaleTimer(aInstance, HandleDiscoveredPrefixStaleTimer)
-    , mRouterSolicitTimer(aInstance, HandleRouterSolicitTimer)
-    , mRouterSolicitCount(0)
     , mRoutingPolicyTimer(aInstance, HandleRoutingPolicyTimer)
 {
     mFavoredDiscoveredOnLinkPrefix.Clear();
 
     mBrUlaPrefix.Clear();
-#if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-    mInfraIfNat64Prefix.Clear();
-    mLocalNat64Prefix.Clear();
-    mPublishedNat64Prefix.Clear();
-#endif
 }
 
 Error RoutingManager::Init(uint32_t aInfraIfIndex, bool aInfraIfIsRunning)
@@ -98,7 +92,7 @@ Error RoutingManager::Init(uint32_t aInfraIfIndex, bool aInfraIfIsRunning)
     SuccessOrExit(error = LoadOrGenerateRandomBrUlaPrefix());
     mLocalOmrPrefix.GenerateFrom(mBrUlaPrefix);
 #if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-    GenerateNat64Prefix();
+    mNat64PrefixManager.GenerateLocalPrefix(mBrUlaPrefix);
 #endif
     mLocalOnLinkPrefix.Generate();
 
@@ -181,7 +175,7 @@ Error RoutingManager::GetNat64Prefix(Ip6::Prefix &aPrefix)
     Error error = kErrorNone;
 
     VerifyOrExit(IsInitialized(), error = kErrorInvalidState);
-    aPrefix = mLocalNat64Prefix;
+    aPrefix = mNat64PrefixManager.GetLocalPrefix();
 
 exit:
     return error;
@@ -192,9 +186,7 @@ Error RoutingManager::GetFavoredNat64Prefix(Ip6::Prefix &aPrefix, RoutePreferenc
     Error error = kErrorNone;
 
     VerifyOrExit(IsInitialized(), error = kErrorInvalidState);
-    aPrefix = mInfraIfNat64Prefix.IsValidNat64() ? mInfraIfNat64Prefix : mLocalNat64Prefix;
-    aRoutePreference =
-        mInfraIfNat64Prefix.IsValidNat64() ? NetworkData::kRoutePreferenceMedium : NetworkData::kRoutePreferenceLow;
+    aPrefix = mNat64PrefixManager.GetFavoredPrefix(aRoutePreference);
 
 exit:
     return error;
@@ -234,47 +226,6 @@ Error RoutingManager::LoadOrGenerateRandomBrUlaPrefix(void)
     return error;
 }
 
-#if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-void RoutingManager::DiscoverInfraIfNat64Prefix(void)
-{
-    Error error = kErrorNone;
-
-    VerifyOrExit(IsInitialized() && mInfraIf.IsRunning(), error = kErrorInvalidState);
-
-    LogInfo("Discovering infrastructure NAT64 prefix on %s", mInfraIf.ToString().AsCString());
-    error = mInfraIf.DiscoverNat64Prefix();
-
-exit:
-    if (error != kErrorNone)
-    {
-        LogWarn("Failed to request infrastructure NAT64 prefix on %s: %s", mInfraIf.ToString().AsCString(),
-                ErrorToString(error));
-    }
-}
-
-void RoutingManager::UpdateInfraIfNat64Prefix(const Ip6::Prefix &aPrefix)
-{
-    mInfraIfNat64Prefix = aPrefix;
-    LogInfo("Get infrastructure NAT64 prefix: %s",
-            mInfraIfNat64Prefix.IsValidNat64() ? mInfraIfNat64Prefix.ToString().AsCString() : "none");
-
-    if (mIsRunning)
-    {
-        ScheduleRoutingPolicyEvaluation(kAfterRandomDelay);
-    }
-}
-
-void RoutingManager::GenerateNat64Prefix(void)
-{
-    mLocalNat64Prefix = mBrUlaPrefix;
-    mLocalNat64Prefix.SetSubnetId(kNat64PrefixSubnetId);
-    mLocalNat64Prefix.mPrefix.mFields.m32[2] = 0;
-    mLocalNat64Prefix.SetLength(kNat64PrefixLength);
-
-    LogInfo("Generated local NAT64 prefix: %s", mLocalNat64Prefix.ToString().AsCString());
-}
-#endif
-
 void RoutingManager::EvaluateState(void)
 {
     if (mIsEnabled && Get<Mle::MleRouter>().IsAttached() && mInfraIf.IsRunning())
@@ -296,9 +247,9 @@ void RoutingManager::Start(void)
         mIsRunning = true;
         UpdateDiscoveredPrefixTableOnNetDataChange();
         mLocalOnLinkPrefix.Start();
-        StartRouterSolicitationDelay();
+        mRsSender.Start();
 #if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-        mInfraIfNat64PrefixStaleTimer.Start(0);
+        mNat64PrefixManager.Start();
 #endif
     }
 }
@@ -315,14 +266,9 @@ void RoutingManager::Stop(void)
     mLocalOnLinkPrefix.Stop();
 
 #if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-    if (mPublishedNat64Prefix.IsValidNat64())
-    {
-        UnpublishExternalRoute(mPublishedNat64Prefix);
-    }
-    mPublishedNat64Prefix.Clear();
-    mInfraIfNat64Prefix.Clear();
-    mInfraIfNat64PrefixStaleTimer.Stop();
+    mNat64PrefixManager.Stop();
 #endif
+
     SendRouterAdvertisement(kInvalidateAllPrevPrefixes);
 
     mAdvertisedPrefixes.Clear();
@@ -332,8 +278,7 @@ void RoutingManager::Stop(void)
 
     mRaInfo.mTxCount = 0;
 
-    mRouterSolicitTimer.Stop();
-    mRouterSolicitCount = 0;
+    mRsSender.Stop();
 
     mRoutingPolicyTimer.Stop();
 
@@ -341,9 +286,35 @@ void RoutingManager::Stop(void)
 
     mIsRunning = false;
 
+#if OPENTHREAD_CONFIG_SRP_SERVER_ENABLE
+    if (Get<Srp::Server>().IsAutoEnableMode())
+    {
+        Get<Srp::Server>().Disable();
+    }
+#endif
+
+exit:
+    return;
+}
+
+#if OPENTHREAD_CONFIG_SRP_SERVER_ENABLE
+void RoutingManager::HandleSrpServerAutoEnableMode(void)
+{
+    VerifyOrExit(Get<Srp::Server>().IsAutoEnableMode());
+
+    if (IsInitalPolicyEvaluationDone())
+    {
+        Get<Srp::Server>().Enable();
+    }
+    else
+    {
+        Get<Srp::Server>().Disable();
+    }
+
 exit:
     return;
 }
+#endif
 
 void RoutingManager::HandleReceived(const InfraIf::Icmp6Packet &aPacket, const Ip6::Address &aSrcAddress)
 {
@@ -465,7 +436,7 @@ void RoutingManager::EvaluateOmrPrefix(void)
     {
         LogInfo("EvaluateOmrPrefix: No preferred OMR prefix found in Thread network");
 
-        // The `aNewPrefixes` remains empty if we fail to publish
+        // The `mFavoredOmrPrefix` remains empty if we fail to publish
         // the local OMR prefix.
         SuccessOrExit(mLocalOmrPrefix.AddToNetData());
 
@@ -521,7 +492,7 @@ void RoutingManager::UnpublishExternalRoute(const Ip6::Prefix &aPrefix)
 
 void RoutingManager::EvaluateOnLinkPrefix(void)
 {
-    VerifyOrExit(!IsRouterSolicitationInProgress());
+    VerifyOrExit(!mRsSender.IsInProgress());
 
     mDiscoveredPrefixTable.FindFavoredOnLinkPrefix(mFavoredDiscoveredOnLinkPrefix);
 
@@ -562,7 +533,7 @@ void RoutingManager::EvaluateOnLinkPrefix(void)
         // converge to the same smallest/favored on-link prefix and the
         // application-specific prefix is not used.
 
-        if (!(mLocalOmrPrefix.GetPrefix() < mFavoredDiscoveredOnLinkPrefix))
+        if (!(mLocalOnLinkPrefix.GetPrefix() < mFavoredDiscoveredOnLinkPrefix))
         {
             LogInfo("EvaluateOnLinkPrefix: There is already favored on-link prefix %s on %s",
                     mFavoredDiscoveredOnLinkPrefix.ToString().AsCString(), mInfraIf.ToString().AsCString());
@@ -574,48 +545,6 @@ void RoutingManager::EvaluateOnLinkPrefix(void)
     return;
 }
 
-#if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-void RoutingManager::EvaluateNat64Prefix(void)
-{
-    Ip6::Prefix                      nat64Prefix;
-    RoutePreference                  routePreference;
-    Error                            error;
-    NetworkData::ExternalRouteConfig preferredNat64PrefixConfig;
-    bool                             shouldPublish;
-
-    OT_ASSERT(mIsRunning);
-
-    LogInfo("Evaluating NAT64 prefix");
-
-    SuccessOrAssert(GetFavoredNat64Prefix(nat64Prefix, routePreference));
-    error = Get<NetworkData::Leader>().GetPreferredNat64Prefix(preferredNat64PrefixConfig);
-
-    // NAT64 prefix is expected to be published from this BR when one of the following is true:
-    // - no NAT64 prefix exits in Network Data yet
-    // - the preferred NAT64 prefix in Network Data has lower preference than this BR's prefix
-    // - the preferred NAT64 prefix in Network Data was published by this BR
-    // - the preferred NAT64 prefix in Network Data is same as the infrastructure prefix
-    // TODO: change to check RLOC16 to determine if the NAT64 prefix was published by this BR
-    shouldPublish = (error == kErrorNotFound || preferredNat64PrefixConfig.mPreference < routePreference ||
-                     preferredNat64PrefixConfig.GetPrefix() == mPublishedNat64Prefix ||
-                     preferredNat64PrefixConfig.GetPrefix() == mInfraIfNat64Prefix);
-
-    if (mPublishedNat64Prefix.IsValidNat64() && (!shouldPublish || nat64Prefix != mPublishedNat64Prefix))
-    {
-        UnpublishExternalRoute(mPublishedNat64Prefix);
-        mPublishedNat64Prefix.Clear();
-    }
-    if (shouldPublish && nat64Prefix != mPublishedNat64Prefix &&
-        PublishExternalRoute(nat64Prefix, routePreference, /* aNat64= */ true) == kErrorNone)
-    {
-        mPublishedNat64Prefix = nat64Prefix;
-    }
-#if OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE
-    Get<Nat64::Translator>().SetNat64Prefix(mPublishedNat64Prefix);
-#endif
-}
-#endif
-
 // This method evaluate the routing policy depends on prefix and route
 // information on Thread Network and infra link. As a result, this
 // method May send RA messages on infra link and publish/unpublish
@@ -629,14 +558,38 @@ void RoutingManager::EvaluateRoutingPolicy(void)
     EvaluateOnLinkPrefix();
     EvaluateOmrPrefix();
 #if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-    EvaluateNat64Prefix();
+    mNat64PrefixManager.Evaluate();
 #endif
 
     SendRouterAdvertisement(kAdvPrefixesFromNetData);
 
+#if OPENTHREAD_CONFIG_SRP_SERVER_ENABLE
+    if (Get<Srp::Server>().IsAutoEnableMode() && IsInitalPolicyEvaluationDone())
+    {
+        // If SRP server uses the auto-enable mode, we enable the SRP
+        // server on the first RA transmission after we are done with
+        // initial prefix/route configurations. Note that if SRP server
+        // is already enabled, calling `Enable()` again does nothing.
+
+        Get<Srp::Server>().Enable();
+    }
+#endif
+
     ScheduleRoutingPolicyEvaluation(kForNextRa);
 }
 
+bool RoutingManager::IsInitalPolicyEvaluationDone(void) const
+{
+    // This method indicates whether or not we are done with the
+    // initial policy evaluation and prefix and route setup, i.e.,
+    // the OMR and on-link prefixes are determined, advertised in
+    // the emitted Router Advert message on infrastructure side
+    // and published in the Thread Network Data.
+
+    return mIsRunning && !mFavoredOmrPrefix.IsEmpty() &&
+           (mFavoredDiscoveredOnLinkPrefix.GetLength() != 0 || mLocalOnLinkPrefix.IsAdvertising());
+}
+
 void RoutingManager::ScheduleRoutingPolicyEvaluation(ScheduleMode aMode)
 {
     TimeMilli now   = TimerMilli::GetNow();
@@ -675,58 +628,18 @@ void RoutingManager::ScheduleRoutingPolicyEvaluation(ScheduleMode aMode)
     mRoutingPolicyTimer.FireAtIfEarlier(evaluateTime);
 }
 
-// starts sending Router Solicitations in random delay
-// between 0 and kMaxRtrSolicitationDelay.
-void RoutingManager::StartRouterSolicitationDelay(void)
-{
-    uint32_t randomDelay;
-
-    VerifyOrExit(!IsRouterSolicitationInProgress());
-
-    OT_ASSERT(mRouterSolicitCount == 0);
-
-    static_assert(kMaxRtrSolicitationDelay > 0, "invalid maximum Router Solicitation delay");
-    randomDelay = Random::NonCrypto::GetUint32InRange(0, Time::SecToMsec(kMaxRtrSolicitationDelay));
-
-    LogInfo("Start Router Solicitation, scheduled in %u milliseconds", randomDelay);
-    mTimeRouterSolicitStart = TimerMilli::GetNow();
-    mRouterSolicitTimer.Start(randomDelay);
-
-exit:
-    return;
-}
-
-bool RoutingManager::IsRouterSolicitationInProgress(void) const
-{
-    return mRouterSolicitTimer.IsRunning() || mRouterSolicitCount > 0;
-}
-
-Error RoutingManager::SendRouterSolicitation(void)
-{
-    Ip6::Address                  destAddress;
-    Ip6::Nd::RouterSolicitMessage routerSolicit;
-    InfraIf::Icmp6Packet          packet;
-
-    OT_ASSERT(IsInitialized());
-
-    packet.InitFrom(routerSolicit);
-    destAddress.SetToLinkLocalAllRoutersMulticast();
-
-    return mInfraIf.Send(packet, destAddress);
-}
-
 void RoutingManager::SendRouterAdvertisement(RouterAdvTxMode aRaTxMode)
 {
     // RA message max length is derived to accommodate:
     //
     // - The RA header,
-    // - At most one PIO (for local on-link prefix),
+    // - At most two PIOs (for current and old local on-link prefixes),
     // - At most twice `kMaxOnMeshPrefixes` RIO for on-mesh prefixes.
     //   Factor two is used for RIO to account for entries invalidating
     //   previous prefixes while adding new ones.
 
     static constexpr uint16_t kMaxRaLength =
-        sizeof(Ip6::Nd::RouterAdvertMessage::Header) + sizeof(Ip6::Nd::PrefixInfoOption) +
+        sizeof(Ip6::Nd::RouterAdvertMessage::Header) + sizeof(Ip6::Nd::PrefixInfoOption) * 2 +
         2 * kMaxOnMeshPrefixes * (sizeof(Ip6::Nd::RouteInfoOption) + sizeof(Ip6::Prefix));
 
     uint8_t                         buffer[kMaxRaLength];
@@ -735,9 +648,10 @@ void RoutingManager::SendRouterAdvertisement(RouterAdvTxMode aRaTxMode)
     NetworkData::OnMeshPrefixConfig prefixConfig;
 
     // Append PIO for local on-link prefix if is either being
-    // advertised or deprecated.
+    // advertised or deprecated and for old prefix if is being
+    // deprecated.
 
-    mLocalOnLinkPrefix.AppendAsPioTo(raMsg);
+    mLocalOnLinkPrefix.AppendAsPiosTo(raMsg);
 
     // Determine which previously advertised prefixes need to be
     // invalidated. Under `kInvalidateAllPrevPrefixes` mode we need
@@ -973,61 +887,25 @@ bool RoutingManager::IsValidOnLinkPrefix(const Ip6::Prefix &aOnLinkPrefix)
            !aOnLinkPrefix.IsMulticast();
 }
 
-void RoutingManager::HandleRouterSolicitTimer(Timer &aTimer)
+void RoutingManager::HandleRsSenderFinished(TimeMilli aStartTime)
 {
-    aTimer.Get<RoutingManager>().HandleRouterSolicitTimer();
-}
+    // This is a callback from `RsSender` and is invoked when it
+    // finishes a cycle of sending Router Solicitations. `aStartTime`
+    // specifies the start time of the RS transmission cycle.
+    //
+    // We remove or deprecate old entries in discovered table that are
+    // not refreshed during Router Solicitation. We also invalidate
+    // the learned RA header if it is not refreshed during Router
+    // Solicitation.
 
-void RoutingManager::HandleRouterSolicitTimer(void)
-{
-    LogInfo("Router solicitation times out");
+    mDiscoveredPrefixTable.RemoveOrDeprecateOldEntries(aStartTime);
 
-    if (mRouterSolicitCount < kMaxRtrSolicitations)
+    if (mRaInfo.mHeaderUpdateTime <= aStartTime)
     {
-        uint32_t nextSolicitationDelay;
-        Error    error;
-
-        error = SendRouterSolicitation();
-
-        if (error == kErrorNone)
-        {
-            LogDebg("Successfully sent %uth Router Solicitation", mRouterSolicitCount);
-            ++mRouterSolicitCount;
-            nextSolicitationDelay =
-                (mRouterSolicitCount == kMaxRtrSolicitations) ? kMaxRtrSolicitationDelay : kRtrSolicitationInterval;
-        }
-        else
-        {
-            LogCrit("Failed to send %uth Router Solicitation: %s", mRouterSolicitCount, ErrorToString(error));
-
-            // It's unexpected that RS will fail and we will retry sending RS messages in 60 seconds.
-            // Notice that `mRouterSolicitCount` is not incremented for failed RS and thus we will
-            // not start configuring on-link prefixes before `kMaxRtrSolicitations` successful RS
-            // messages have been sent.
-            nextSolicitationDelay = kRtrSolicitationRetryDelay;
-            mRouterSolicitCount   = 0;
-        }
-
-        LogDebg("Router solicitation timer scheduled in %u seconds", nextSolicitationDelay);
-        mRouterSolicitTimer.Start(Time::SecToMsec(nextSolicitationDelay));
+        UpdateRouterAdvertHeader(/* aRouterAdvertMessage */ nullptr);
     }
-    else
-    {
-        // Remove route prefixes and deprecate on-link prefixes that
-        // are not refreshed during Router Solicitation.
-        mDiscoveredPrefixTable.RemoveOrDeprecateOldEntries(mTimeRouterSolicitStart);
 
-        // Invalidate the learned RA message if it is not refreshed during Router Solicitation.
-        if (mRaInfo.mHeaderUpdateTime <= mTimeRouterSolicitStart)
-        {
-            UpdateRouterAdvertHeader(/* aRouterAdvertMessage */ nullptr);
-        }
-
-        mRouterSolicitCount = 0;
-
-        // Re-evaluate our routing policy and send Router Advertisement if necessary.
-        ScheduleRoutingPolicyEvaluation(kImmediately);
-    }
+    ScheduleRoutingPolicyEvaluation(kImmediately);
 }
 
 void RoutingManager::HandleDiscoveredPrefixStaleTimer(Timer &aTimer)
@@ -1038,7 +916,7 @@ void RoutingManager::HandleDiscoveredPrefixStaleTimer(Timer &aTimer)
 void RoutingManager::HandleDiscoveredPrefixStaleTimer(void)
 {
     LogInfo("Stale On-Link or OMR Prefixes or RA messages are detected");
-    StartRouterSolicitationDelay();
+    mRsSender.Start();
 }
 
 void RoutingManager::HandleRoutingPolicyTimer(Timer &aTimer)
@@ -1046,21 +924,6 @@ void RoutingManager::HandleRoutingPolicyTimer(Timer &aTimer)
     aTimer.Get<RoutingManager>().EvaluateRoutingPolicy();
 }
 
-#if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-void RoutingManager::HandleInfraIfNat64PrefixStaleTimer(Timer &aTimer)
-{
-    aTimer.Get<RoutingManager>().HandleInfraIfNat64PrefixStaleTimer();
-}
-
-void RoutingManager::HandleInfraIfNat64PrefixStaleTimer(void)
-{
-    DiscoverInfraIfNat64Prefix();
-
-    mInfraIfNat64PrefixStaleTimer.Start(TimeMilli::SecToMsec(kDefaultNat64PrefixLifetime));
-    LogInfo("NAT64 prefix timer scheduled in %u seconds", kDefaultNat64PrefixLifetime);
-}
-#endif
-
 void RoutingManager::HandleRouterSolicit(const InfraIf::Icmp6Packet &aPacket, const Ip6::Address &aSrcAddress)
 {
     OT_UNUSED_VARIABLE(aPacket);
@@ -2116,6 +1979,7 @@ RoutingManager::LocalOnLinkPrefix::LocalOnLinkPrefix(Instance &aInstance)
     , mTimer(aInstance, HandleTimer)
 {
     mPrefix.Clear();
+    mOldPrefix.Clear();
 }
 
 void RoutingManager::LocalOnLinkPrefix::Generate(void)
@@ -2139,9 +2003,18 @@ void RoutingManager::LocalOnLinkPrefix::Start(void)
 
 void RoutingManager::LocalOnLinkPrefix::Stop(void)
 {
+    mTimer.Stop();
+
+    if (mOldPrefix.GetLength() != 0)
+    {
+        Get<RoutingManager>().UnpublishExternalRoute(mOldPrefix);
+        mOldPrefix.Clear();
+    }
+
     VerifyOrExit(mState != kIdle);
 
     Get<RoutingManager>().UnpublishExternalRoute(mPrefix);
+
     mState = kDeprecating;
 
     // Start deprecating the local on-link prefix to send a PIO
@@ -2162,11 +2035,10 @@ Error RoutingManager::LocalOnLinkPrefix::Advertise(void)
 
     VerifyOrExit(mState != kAdvertising);
 
-    mTimer.Stop();
-
     SuccessOrExit(error = Get<RoutingManager>().PublishExternalRoute(mPrefix, NetworkData::kRoutePreferenceMedium));
 
-    mState = kAdvertising;
+    mState      = kAdvertising;
+    mExpireTime = TimerMilli::GetNow() + TimeMilli::SecToMsec(kDefaultOnLinkPrefixLifetime);
     LogInfo("Start advertising on-link prefix %s", mPrefix.ToString().AsCString());
 
 exit:
@@ -2185,36 +2057,41 @@ void RoutingManager::LocalOnLinkPrefix::Deprecate(void)
     VerifyOrExit(mState == kAdvertising);
 
     mState = kDeprecating;
+    mTimer.FireAtIfEarlier(mExpireTime);
     LogInfo("Deprecate local on-link prefix %s", mPrefix.ToString().AsCString());
 
 exit:
     return;
 }
 
-void RoutingManager::LocalOnLinkPrefix::AppendAsPioTo(Ip6::Nd::RouterAdvertMessage &aRaMessage)
+void RoutingManager::LocalOnLinkPrefix::AppendAsPiosTo(Ip6::Nd::RouterAdvertMessage &aRaMessage)
+{
+    AppendCurPrefix(aRaMessage);
+    AppendOldPrefix(aRaMessage);
+}
+
+void RoutingManager::LocalOnLinkPrefix::AppendCurPrefix(Ip6::Nd::RouterAdvertMessage &aRaMessage)
 {
     // Append the local on-link prefix to the `aRaMessage` as a PIO
     // only if it is being advertised or deprecated.
     //
-    // If in `kAdvertising` state, we restart the lifetime timer.
+    // If in `kAdvertising` state, we reset the expire time.
     // If in `kDeprecating` state, we include it as PIO with zero
-    // preferred lifetime and the remaining valid lifetime which
-    // is tracked by the timer.
+    // preferred lifetime and the remaining valid lifetime.
 
     uint32_t  validLifetime     = kDefaultOnLinkPrefixLifetime;
     uint32_t  preferredLifetime = kDefaultOnLinkPrefixLifetime;
-    TimeMilli now;
+    TimeMilli now               = TimerMilli::GetNow();
 
     switch (mState)
     {
     case kAdvertising:
-        mTimer.Start(TimeMilli::SecToMsec(kDefaultOnLinkPrefixLifetime));
+        mExpireTime = now + TimeMilli::SecToMsec(kDefaultOnLinkPrefixLifetime);
         break;
 
     case kDeprecating:
-        now = TimerMilli::GetNow();
-        VerifyOrExit(mTimer.IsRunning() && (mTimer.GetFireTime() > now));
-        validLifetime     = TimeMilli::MsecToSec(mTimer.GetFireTime() - now);
+        VerifyOrExit(mExpireTime > now);
+        validLifetime     = TimeMilli::MsecToSec(mExpireTime - now);
         preferredLifetime = 0;
         break;
 
@@ -2231,22 +2108,41 @@ void RoutingManager::LocalOnLinkPrefix::AppendAsPioTo(Ip6::Nd::RouterAdvertMessa
     return;
 }
 
+void RoutingManager::LocalOnLinkPrefix::AppendOldPrefix(Ip6::Nd::RouterAdvertMessage &aRaMessage)
+{
+    TimeMilli now = TimerMilli::GetNow();
+    uint32_t  validLifetime;
+
+    VerifyOrExit((mOldPrefix.GetLength() != 0) && (mOldExpireTime > now));
+
+    validLifetime = TimeMilli::MsecToSec(mOldExpireTime - now);
+    SuccessOrAssert(aRaMessage.AppendPrefixInfoOption(mOldPrefix, validLifetime, 0));
+
+    LogInfo("RouterAdvert: Added PIO for %s (valid=%u, preferred=0)", mOldPrefix.ToString().AsCString(), validLifetime);
+
+exit:
+    return;
+}
+
 void RoutingManager::LocalOnLinkPrefix::HandleExtPanIdChange(void)
 {
+    // If the prefix is advertised or being deprecated we remember it
+    // as `mOldPrefix` and deprecate it. It will be included in
+    // emitted RAs as PIO with zero preferred lifetime. It will still
+    // be present in Network Data until its expire time so to allow
+    // Thread nodes to continue to communicate with `InfraIf` devices
+    // using addresses based on this prefix.
+
     switch (mState)
     {
     case kIdle:
         break;
 
     case kAdvertising:
-        Get<RoutingManager>().UnpublishExternalRoute(mPrefix);
-
-        // TODO: consider deprecating/invalidating the existing
-        // on-link prefix.
-        break;
-
     case kDeprecating:
-        mTimer.Stop();
+        mOldPrefix     = mPrefix;
+        mOldExpireTime = mExpireTime;
+        mTimer.FireAtIfEarlier(mOldExpireTime);
         break;
     }
 
@@ -2261,19 +2157,41 @@ void RoutingManager::LocalOnLinkPrefix::HandleTimer(Timer &aTimer)
 
 void RoutingManager::LocalOnLinkPrefix::HandleTimer(void)
 {
-    VerifyOrExit(mState == kDeprecating);
+    TimeMilli now = TimerMilli::GetNow();
 
-    LogInfo("Local on-link prefix %s expired", mPrefix.ToString().AsCString());
+    if ((mState == kDeprecating) && (now >= mExpireTime))
+    {
+        LogInfo("Local on-link prefix %s expired", mPrefix.ToString().AsCString());
+        Unpublish(mPrefix);
+        mState = kIdle;
+    }
 
-    if (!Get<RoutingManager>().mDiscoveredPrefixTable.ContainsOnLinkPrefix(mPrefix))
+    if ((mOldPrefix.GetLength() != 0) && (now >= mOldExpireTime))
     {
-        Get<RoutingManager>().UnpublishExternalRoute(mPrefix);
+        LogInfo("Old local on-link prefix %s expired", mOldPrefix.ToString().AsCString());
+        Unpublish(mOldPrefix);
+        mOldPrefix.Clear();
     }
 
-    mState = kIdle;
+    // Re-schedule the timer
 
-exit:
-    return;
+    if (mState == kDeprecating)
+    {
+        mTimer.FireAt(mExpireTime);
+    }
+
+    if (mOldPrefix.GetLength() != 0)
+    {
+        mTimer.FireAtIfEarlier(mOldExpireTime);
+    }
+}
+
+void RoutingManager::LocalOnLinkPrefix::Unpublish(const Ip6::Prefix &aPrefix)
+{
+    if (!Get<RoutingManager>().mDiscoveredPrefixTable.ContainsOnLinkPrefix(aPrefix))
+    {
+        Get<RoutingManager>().UnpublishExternalRoute(aPrefix);
+    }
 }
 
 //---------------------------------------------------------------------------------------------------------------------
@@ -2312,6 +2230,237 @@ void RoutingManager::OnMeshPrefixArray::MarkAsDeleted(const OnMeshPrefix &aPrefi
     }
 }
 
+#if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
+
+//---------------------------------------------------------------------------------------------------------------------
+// Nat64PrefixManager
+
+RoutingManager::Nat64PrefixManager::Nat64PrefixManager(Instance &aInstance)
+    : InstanceLocator(aInstance)
+    , mTimer(aInstance, HandleTimer)
+{
+    mInfraIfPrefix.Clear();
+    mLocalPrefix.Clear();
+    mPublishedPrefix.Clear();
+}
+
+void RoutingManager::Nat64PrefixManager::Start(void)
+{
+    mTimer.Start(0);
+}
+
+void RoutingManager::Nat64PrefixManager::Stop(void)
+{
+    if (mPublishedPrefix.IsValidNat64())
+    {
+        Get<RoutingManager>().UnpublishExternalRoute(mPublishedPrefix);
+    }
+
+    mPublishedPrefix.Clear();
+    mInfraIfPrefix.Clear();
+    mTimer.Stop();
+}
+
+void RoutingManager::Nat64PrefixManager::GenerateLocalPrefix(const Ip6::Prefix &aBrUlaPrefix)
+{
+    mLocalPrefix = aBrUlaPrefix;
+    mLocalPrefix.SetSubnetId(kNat64PrefixSubnetId);
+    mLocalPrefix.mPrefix.mFields.m32[2] = 0;
+    mLocalPrefix.SetLength(kNat64PrefixLength);
+
+    LogInfo("Generated local NAT64 prefix: %s", mLocalPrefix.ToString().AsCString());
+}
+
+const Ip6::Prefix &RoutingManager::Nat64PrefixManager::GetFavoredPrefix(RoutePreference &aPreference) const
+{
+    const Ip6::Prefix *favoredPrefix = &mInfraIfPrefix;
+
+    if (mInfraIfPrefix.IsValidNat64())
+    {
+        aPreference = NetworkData::kRoutePreferenceMedium;
+    }
+    else
+    {
+        favoredPrefix = &mLocalPrefix;
+        aPreference   = NetworkData::kRoutePreferenceLow;
+    }
+
+    return *favoredPrefix;
+}
+
+void RoutingManager::Nat64PrefixManager::Evaluate(void)
+{
+    Error                            error;
+    Ip6::Prefix                      prefix;
+    RoutePreference                  preference;
+    NetworkData::ExternalRouteConfig netdataPrefixConfig;
+    bool                             shouldPublish;
+
+    LogInfo("Evaluating NAT64 prefix");
+
+    prefix = GetFavoredPrefix(preference);
+
+    error = Get<NetworkData::Leader>().GetPreferredNat64Prefix(netdataPrefixConfig);
+
+    // NAT64 prefix is expected to be published from this BR
+    // when one of the following is true:
+    //
+    // - No NAT64 prefix in Network Data.
+    // - The preferred NAT64 prefix in Network Data has lower
+    //   preference than this BR's prefix.
+    // - The preferred NAT64 prefix in Network Data was published
+    //   by this BR.
+    // - The preferred NAT64 prefix in Network Data is same as the
+    //   discovered infrastructure prefix.
+    //
+    // TODO: change to check RLOC16 to determine if the NAT64 prefix
+    // was published by this BR.
+
+    shouldPublish =
+        ((error == kErrorNotFound) || (netdataPrefixConfig.mPreference < preference) ||
+         (netdataPrefixConfig.GetPrefix() == mPublishedPrefix) || (netdataPrefixConfig.GetPrefix() == mInfraIfPrefix));
+
+    if (mPublishedPrefix.IsValidNat64() && (!shouldPublish || (prefix != mPublishedPrefix)))
+    {
+        Get<RoutingManager>().UnpublishExternalRoute(mPublishedPrefix);
+        mPublishedPrefix.Clear();
+    }
+
+    if (shouldPublish && (prefix != mPublishedPrefix) &&
+        (Get<RoutingManager>().PublishExternalRoute(prefix, preference, /* aNat64 */ true) == kErrorNone))
+    {
+        mPublishedPrefix = prefix;
+    }
+
+#if OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE
+    Get<Nat64::Translator>().SetNat64Prefix(mPublishedPrefix);
+#endif
+}
+
+void RoutingManager::Nat64PrefixManager::HandleTimer(Timer &aTimer)
+{
+    aTimer.Get<RoutingManager>().mNat64PrefixManager.HandleTimer();
+}
+
+void RoutingManager::Nat64PrefixManager::HandleTimer(void)
+{
+    Discover();
+
+    mTimer.Start(TimeMilli::SecToMsec(kDefaultNat64PrefixLifetime));
+    LogInfo("NAT64 prefix timer scheduled in %u seconds", kDefaultNat64PrefixLifetime);
+}
+
+void RoutingManager::Nat64PrefixManager::Discover(void)
+{
+    Error error = Get<RoutingManager>().mInfraIf.DiscoverNat64Prefix();
+
+    if (error == kErrorNone)
+    {
+        LogInfo("Discovering infraif NAT64 prefix");
+    }
+    else
+    {
+        LogWarn("Failed to discover infraif NAT64 prefix: %s", ErrorToString(error));
+    }
+}
+
+void RoutingManager::Nat64PrefixManager::HandleDiscoverDone(const Ip6::Prefix &aPrefix)
+{
+    mInfraIfPrefix = aPrefix;
+
+    LogInfo("Infraif NAT64 prefix: %s", mInfraIfPrefix.IsValidNat64() ? mInfraIfPrefix.ToString().AsCString() : "none");
+
+    if (Get<RoutingManager>().mIsRunning)
+    {
+        Get<RoutingManager>().ScheduleRoutingPolicyEvaluation(kAfterRandomDelay);
+    }
+}
+
+#endif // OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
+
+//---------------------------------------------------------------------------------------------------------------------
+// RsSender
+
+RoutingManager::RsSender::RsSender(Instance &aInstance)
+    : InstanceLocator(aInstance)
+    , mTxCount(0)
+    , mTimer(aInstance, HandleTimer)
+{
+}
+
+void RoutingManager::RsSender::Start(void)
+{
+    uint32_t delay;
+
+    VerifyOrExit(!IsInProgress());
+
+    delay = Random::NonCrypto::GetUint32InRange(0, kMaxStartDelay);
+    LogInfo("Scheduled Router Solicitation in %u milliseconds", delay);
+
+    mTxCount   = 0;
+    mStartTime = TimerMilli::GetNow();
+    mTimer.Start(delay);
+
+exit:
+    return;
+}
+
+void RoutingManager::RsSender::Stop(void)
+{
+    mTimer.Stop();
+}
+
+Error RoutingManager::RsSender::SendRs(void)
+{
+    Ip6::Address                  destAddress;
+    Ip6::Nd::RouterSolicitMessage routerSolicit;
+    InfraIf::Icmp6Packet          packet;
+
+    packet.InitFrom(routerSolicit);
+    destAddress.SetToLinkLocalAllRoutersMulticast();
+
+    return Get<RoutingManager>().mInfraIf.Send(packet, destAddress);
+}
+
+void RoutingManager::RsSender::HandleTimer(Timer &aTimer)
+{
+    aTimer.Get<RoutingManager>().mRsSender.HandleTimer();
+}
+
+void RoutingManager::RsSender::HandleTimer(void)
+{
+    Error    error;
+    uint32_t delay;
+
+    if (mTxCount >= kMaxTxCount)
+    {
+        Get<RoutingManager>().HandleRsSenderFinished(mStartTime);
+        ExitNow();
+    }
+
+    error = SendRs();
+
+    if (error == kErrorNone)
+    {
+        mTxCount++;
+        LogInfo("Successfully sent RS %d/%d", mTxCount, kMaxTxCount);
+        delay = (mTxCount == kMaxTxCount) ? kWaitOnLastAttempt : kTxInterval;
+    }
+    else
+    {
+        LogCrit("Failed to send RS %d, error:%s", mTxCount + 1, ErrorToString(error));
+
+        // Note that `mTxCount` is intentionally not incremented
+        // if the tx fails.
+        delay = kRetryDelay;
+    }
+
+    mTimer.Start(delay);
+
+exit:
+    return;
+}
+
 } // namespace BorderRouter
 
 } // namespace ot
diff --git a/src/core/border_router/routing_manager.hpp b/src/core/border_router/routing_manager.hpp
index e3a0087cd4b..88003206539 100644
--- a/src/core/border_router/routing_manager.hpp
+++ b/src/core/border_router/routing_manager.hpp
@@ -230,12 +230,14 @@ class RoutingManager : public InstanceLocator
     Error GetFavoredNat64Prefix(Ip6::Prefix &aPrefix, RoutePreference &aRoutePreference);
 
     /**
-     * This method updates mInfraIfNat64Prefix to @p aPrefix.
+     * This method informs `RoutingManager` of the result of the discovery request of NAT64 prefix on infrastructure
+     * interface (`InfraIf::DiscoverNat64Prefix()`).
      *
-     * @param[in]  aPrefix  A NAT64 prefix on infrastructure link.
+     * @param[in]  aPrefix  The discovered NAT64 prefix on `InfraIf`.
      *
      */
-    void UpdateInfraIfNat64Prefix(const Ip6::Prefix &aPrefix);
+    void HandleDiscoverNat64PrefixDone(const Ip6::Prefix &aPrefix) { mNat64PrefixManager.HandleDiscoverDone(aPrefix); }
+
 #endif // OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
 
     /**
@@ -308,6 +310,16 @@ class RoutingManager : public InstanceLocator
         return mDiscoveredPrefixTable.GetNextEntry(aIterator, aEntry);
     }
 
+#if OPENTHREAD_CONFIG_SRP_SERVER_ENABLE
+    /**
+     * This method determines whether to enable/disable SRP server when the auto-enable mode is changed on SRP server.
+     *
+     * This should be called from `Srp::Server` when auto-enable mode is changed.
+     *
+     */
+    void HandleSrpServerAutoEnableMode(void);
+#endif
+
 private:
     static constexpr uint8_t kMaxOnMeshPrefixes = OPENTHREAD_CONFIG_BORDER_ROUTING_MAX_ON_MESH_PREFIXES;
 
@@ -322,9 +334,6 @@ class RoutingManager : public InstanceLocator
     // The maximum number of initial Router Advertisements.
     static constexpr uint32_t kMaxInitRtrAdvertisements = 3;
 
-    // The maximum number of Router Solicitations before sending Router Advertisements.
-    static constexpr uint32_t kMaxRtrSolicitations = 3;
-
     static constexpr uint32_t kDefaultOmrPrefixLifetime    = 1800; // The default OMR prefix valid lifetime. In sec.
     static constexpr uint32_t kDefaultOnLinkPrefixLifetime = 1800; // The default on-link prefix valid lifetime. In sec.
     static constexpr uint32_t kDefaultNat64PrefixLifetime  = 300;  // The default NAT64 prefix valid lifetime. In sec.
@@ -332,13 +341,9 @@ class RoutingManager : public InstanceLocator
     static constexpr uint32_t kMinRtrAdvInterval           = kMaxRtrAdvInterval / 3; // Min RA Interval. In sec.
     static constexpr uint32_t kMaxInitRtrAdvInterval       = 16;                     // Max Initial RA Interval. In sec.
     static constexpr uint32_t kRaReplyJitter               = 500;  // Jitter for sending RA after rx RS. In msec.
-    static constexpr uint32_t kRtrSolicitationInterval     = 4;    // Interval between RSs. In sec.
-    static constexpr uint32_t kMaxRtrSolicitationDelay     = 1;    // Max delay for initial solicitation. In sec.
     static constexpr uint32_t kPolicyEvaluationMinDelay    = 2000; // Min delay for policy evaluation. In msec.
     static constexpr uint32_t kPolicyEvaluationMaxDelay    = 4000; // Max delay for policy evaluation. In msec.
-    static constexpr uint32_t kRtrSolicitationRetryDelay =
-        kRtrSolicitationInterval;                             // The delay before retrying failed RS tx. In Sec.
-    static constexpr uint32_t kMinDelayBetweenRtrAdvs = 3000; // Min delay (msec) between consecutive RAs.
+    static constexpr uint32_t kMinDelayBetweenRtrAdvs      = 3000; // Min delay (msec) between consecutive RAs.
 
     // The STALE_RA_TIME in seconds. The Routing Manager will consider the prefixes
     // and learned RA parameters STALE when they are not refreshed in STALE_RA_TIME
@@ -597,7 +602,7 @@ class RoutingManager : public InstanceLocator
         void               Stop(void);
         Error              Advertise(void);
         void               Deprecate(void);
-        void               AppendAsPioTo(Ip6::Nd::RouterAdvertMessage &aRaMessage);
+        void               AppendAsPiosTo(Ip6::Nd::RouterAdvertMessage &aRaMessage);
         const Ip6::Prefix &GetPrefix(void) const { return mPrefix; }
         bool               IsAdvertising(void) const { return (mState == kAdvertising); }
         void               HandleExtPanIdChange(void);
@@ -610,11 +615,18 @@ class RoutingManager : public InstanceLocator
             kDeprecating,
         };
 
+        void AppendCurPrefix(Ip6::Nd::RouterAdvertMessage &aRaMessage);
+        void AppendOldPrefix(Ip6::Nd::RouterAdvertMessage &aRaMessage);
+        void Unpublish(const Ip6::Prefix &aPrefix);
+
         static void HandleTimer(Timer &aTimer);
         void        HandleTimer(void);
 
         Ip6::Prefix mPrefix;
         State       mState;
+        TimeMilli   mExpireTime;
+        Ip6::Prefix mOldPrefix;
+        TimeMilli   mOldExpireTime;
         TimerMilli  mTimer;
     };
 
@@ -627,6 +639,38 @@ class RoutingManager : public InstanceLocator
         void MarkAsDeleted(const OnMeshPrefix &aPrefix);
     };
 
+#if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
+    class Nat64PrefixManager : public InstanceLocator
+    {
+    public:
+        // This class manages the NAT64 related functions including
+        // generation of local NAT64 prefix, discovery of infra
+        // interface prefix, maintaining the discovered prefix
+        // lifetime, and selection of the NAT64 prefix to publish in
+        // Network Data.
+
+        explicit Nat64PrefixManager(Instance &aInstance);
+
+        void               Start(void);
+        void               Stop(void);
+        void               GenerateLocalPrefix(const Ip6::Prefix &aBrUlaPrefix);
+        const Ip6::Prefix &GetLocalPrefix(void) const { return mLocalPrefix; }
+        const Ip6::Prefix &GetFavoredPrefix(RoutePreference &aPreference) const;
+        void               Evaluate(void);
+        void               HandleDiscoverDone(const Ip6::Prefix &aPrefix);
+
+    private:
+        void        Discover(void);
+        static void HandleTimer(Timer &aTimer);
+        void        HandleTimer(void);
+
+        Ip6::Prefix mInfraIfPrefix;   // The latest NAT64 prefix discovered on the infrastructure interface.
+        Ip6::Prefix mLocalPrefix;     // The local prefix (from BR ULA prefix).
+        Ip6::Prefix mPublishedPrefix; // The prefix published in Network Data (may be empty or local or from infra-if).
+        TimerMilli  mTimer;
+    };
+#endif // OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
+
     struct RaInfo
     {
         // Tracks info about emitted RA messages: Number of RAs sent,
@@ -651,6 +695,39 @@ class RoutingManager : public InstanceLocator
         TimeMilli                            mLastTxTime;
     };
 
+    class RsSender : public InstanceLocator
+    {
+    public:
+        // This class implements tx of Router Solicitation (RS)
+        // messages to discover other routers. `Start()` schedules
+        // a cycle of RS transmissions of `kMaxTxCount` separated
+        // by `kTxInterval`. At the end of cycle the callback
+        // `HandleRsSenderFinished()` is invoked to inform end of
+        // the cycle to `RoutingManager`.
+
+        explicit RsSender(Instance &aInstance);
+
+        bool IsInProgress(void) const { return mTimer.IsRunning(); }
+        void Start(void);
+        void Stop(void);
+
+    private:
+        // All time intervals are in msec.
+        static constexpr uint32_t kMaxStartDelay     = 1000;        // Max random delay to send the first RS.
+        static constexpr uint32_t kTxInterval        = 4000;        // Interval between RS tx.
+        static constexpr uint32_t kRetryDelay        = kTxInterval; // Interval to wait to retry a failed RS tx.
+        static constexpr uint32_t kWaitOnLastAttempt = 1000;        // Wait interval after last RS tx.
+        static constexpr uint8_t  kMaxTxCount        = 3;           // Number of RS tx in one cycle.
+
+        Error       SendRs(void);
+        static void HandleTimer(Timer &aTimer);
+        void        HandleTimer(void);
+
+        uint8_t    mTxCount;
+        TimerMilli mTimer;
+        TimeMilli  mStartTime;
+    };
+
     void  EvaluateState(void);
     void  Start(void);
     void  Stop(void);
@@ -659,37 +736,22 @@ class RoutingManager : public InstanceLocator
     bool  IsEnabled(void) const { return mIsEnabled; }
     Error LoadOrGenerateRandomBrUlaPrefix(void);
 
-    void EvaluateOnLinkPrefix(void);
-
-#if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-    void DiscoverInfraIfNat64Prefix(void);
-    void GenerateNat64Prefix(void);
-    void EvaluateNat64Prefix(void);
-#endif
-
+    void  EvaluateOnLinkPrefix(void);
     void  EvaluateRoutingPolicy(void);
+    bool  IsInitalPolicyEvaluationDone(void) const;
     void  ScheduleRoutingPolicyEvaluation(ScheduleMode aMode);
     void  EvaluateOmrPrefix(void);
     Error PublishExternalRoute(const Ip6::Prefix &aPrefix, RoutePreference aRoutePreference, bool aNat64 = false);
     void  UnpublishExternalRoute(const Ip6::Prefix &aPrefix);
-    void  StartRouterSolicitationDelay(void);
-    Error SendRouterSolicitation(void);
+    void  HandleRsSenderFinished(TimeMilli aStartTime);
     void  SendRouterAdvertisement(RouterAdvTxMode aRaTxMode);
-    bool  IsRouterSolicitationInProgress(void) const;
 
-    static void HandleRouterSolicitTimer(Timer &aTimer);
-    void        HandleRouterSolicitTimer(void);
     static void HandleDiscoveredPrefixInvalidTimer(Timer &aTimer);
     void        HandleDiscoveredPrefixInvalidTimer(void);
     static void HandleDiscoveredPrefixStaleTimer(Timer &aTimer);
     void        HandleDiscoveredPrefixStaleTimer(void);
     static void HandleRoutingPolicyTimer(Timer &aTimer);
-#if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-    static void HandleInfraIfNat64PrefixStaleTimer(Timer &aTimer);
-    void        HandleInfraIfNat64PrefixStaleTimer(void);
-#endif
 
-    void DeprecateOnLinkPrefix(void);
     void HandleRouterSolicit(const InfraIf::Icmp6Packet &aPacket, const Ip6::Address &aSrcAddress);
     void HandleRouterAdvertisement(const InfraIf::Icmp6Packet &aPacket, const Ip6::Address &aSrcAddress);
     bool ShouldProcessPrefixInfoOption(const Ip6::Nd::PrefixInfoOption &aPio, const Ip6::Prefix &aPrefix);
@@ -735,27 +797,13 @@ class RoutingManager : public InstanceLocator
     DiscoveredPrefixTable mDiscoveredPrefixTable;
 
 #if OPENTHREAD_CONFIG_NAT64_BORDER_ROUTING_ENABLE
-    // The latest NAT64 prefix discovered on the infrastructure interface.
-    Ip6::Prefix mInfraIfNat64Prefix;
-    // The NAT64 prefix allocated from the /48 BR ULA prefix.
-    Ip6::Prefix mLocalNat64Prefix;
-    // The NAT64 prefix published in Network Data. It can have the following value:
-    // - empty: no NAT64 prefix is published from this BR
-    // - the local NAT64 prefix
-    // - the latest published infrastructure NAT64 prefix, which might differs from mInfraIfNat64Prefix
-    Ip6::Prefix mPublishedNat64Prefix;
-
-    TimerMilli mInfraIfNat64PrefixStaleTimer;
+    Nat64PrefixManager mNat64PrefixManager;
 #endif
 
-    RaInfo mRaInfo;
+    RaInfo   mRaInfo;
+    RsSender mRsSender;
 
     TimerMilli mDiscoveredPrefixStaleTimer;
-
-    TimerMilli mRouterSolicitTimer;
-    TimeMilli  mTimeRouterSolicitStart;
-    uint8_t    mRouterSolicitCount;
-
     TimerMilli mRoutingPolicyTimer;
 };
 
diff --git a/src/core/config/srp_client.h b/src/core/config/srp_client.h
index a8036757b14..ca609abeb43 100644
--- a/src/core/config/srp_client.h
+++ b/src/core/config/srp_client.h
@@ -35,6 +35,8 @@
 #ifndef CONFIG_SRP_CLIENT_H_
 #define CONFIG_SRP_CLIENT_H_
 
+#include "config/misc.h"
+
 /**
  * @def OPENTHREAD_CONFIG_SRP_CLIENT_ENABLE
  *
diff --git a/src/core/ftd.cmake b/src/core/ftd.cmake
index 0100a1ffd6b..8bf3e0e6a85 100644
--- a/src/core/ftd.cmake
+++ b/src/core/ftd.cmake
@@ -47,5 +47,5 @@ target_link_libraries(openthread-ftd
 )
 
 if(NOT OT_EXCLUDE_TCPLP_LIB)
-    target_link_libraries(openthread-ftd PRIVATE tcplp)
+    target_link_libraries(openthread-ftd PRIVATE tcplp-ftd)
 endif()
diff --git a/src/core/meshcop/dtls.cpp b/src/core/meshcop/dtls.cpp
index aae1c5d81aa..790c78e7d42 100644
--- a/src/core/meshcop/dtls.cpp
+++ b/src/core/meshcop/dtls.cpp
@@ -184,17 +184,11 @@ void Dtls::HandleUdpReceive(Message &aMessage, const Ip6::MessageInfo &aMessageI
         ExitNow();
 
     case Dtls::kStateOpen:
-        IgnoreError(mSocket.Connect(Ip6::SockAddr(aMessageInfo.GetPeerAddr(), aMessageInfo.GetPeerPort())));
-
         mMessageInfo.SetPeerAddr(aMessageInfo.GetPeerAddr());
         mMessageInfo.SetPeerPort(aMessageInfo.GetPeerPort());
         mMessageInfo.SetIsHostInterface(aMessageInfo.IsHostInterface());
 
-        if (Get<ThreadNetif>().HasUnicastAddress(aMessageInfo.GetSockAddr()))
-        {
-            mMessageInfo.SetSockAddr(aMessageInfo.GetSockAddr());
-        }
-
+        mMessageInfo.SetSockAddr(aMessageInfo.GetSockAddr());
         mMessageInfo.SetSockPort(aMessageInfo.GetSockPort());
 
         SuccessOrExit(Setup(false));
diff --git a/src/core/mtd.cmake b/src/core/mtd.cmake
index 7d6f0ef8b80..feec81e4151 100644
--- a/src/core/mtd.cmake
+++ b/src/core/mtd.cmake
@@ -47,5 +47,5 @@ target_link_libraries(openthread-mtd
 )
 
 if(NOT OT_EXCLUDE_TCPLP_LIB)
-    target_link_libraries(openthread-mtd PRIVATE tcplp)
+    target_link_libraries(openthread-mtd PRIVATE tcplp-mtd)
 endif()
diff --git a/src/core/net/ip4_types.cpp b/src/core/net/ip4_types.cpp
index a23f51e3325..47e4841969b 100644
--- a/src/core/net/ip4_types.cpp
+++ b/src/core/net/ip4_types.cpp
@@ -127,20 +127,44 @@ void Address::SynthesizeFromCidrAndHost(const Cidr &aCidr, const uint32_t aHost)
     mFields.m32 = (aCidr.mAddress.mFields.m32 & aCidr.SubnetMask()) | (HostSwap32(aHost) & aCidr.HostMask());
 }
 
+void Address::ToString(StringWriter &aWriter) const
+{
+    aWriter.Append("%d.%d.%d.%d", mFields.m8[0], mFields.m8[1], mFields.m8[2], mFields.m8[3]);
+}
+
+void Address::ToString(char *aBuffer, uint16_t aSize) const
+{
+    StringWriter writer(aBuffer, aSize);
+
+    ToString(writer);
+}
+
 Address::InfoString Address::ToString(void) const
 {
     InfoString string;
 
-    string.Append("%d.%d.%d.%d", mFields.m8[0], mFields.m8[1], mFields.m8[2], mFields.m8[3]);
+    ToString(string);
 
     return string;
 }
 
+void Cidr::ToString(StringWriter &aWriter) const
+{
+    aWriter.Append("%s/%d", AsCoreType(&mAddress).ToString().AsCString(), mLength);
+}
+
+void Cidr::ToString(char *aBuffer, uint16_t aSize) const
+{
+    StringWriter writer(aBuffer, aSize);
+
+    ToString(writer);
+}
+
 Cidr::InfoString Cidr::ToString(void) const
 {
     InfoString string;
 
-    string.Append("%s/%d", AsCoreType(&mAddress).ToString().AsCString(), mLength);
+    ToString(string);
 
     return string;
 }
diff --git a/src/core/net/ip4_types.hpp b/src/core/net/ip4_types.hpp
index 042e4ca4980..fa4bb416506 100644
--- a/src/core/net/ip4_types.hpp
+++ b/src/core/net/ip4_types.hpp
@@ -161,6 +161,20 @@ class Address : public otIp4Address, public Equatable<Address>, public Clearable
      */
     Error FromString(const char *aString);
 
+    /**
+     * This method converts the address to a string.
+     *
+     * The string format uses quad-dotted notation of four bytes in the address (e.g., "127.0.0.1").
+     *
+     * If the resulting string does not fit in @p aBuffer (within its @p aSize characters), the string will be
+     * truncated but the outputted string is always null-terminated.
+     *
+     * @param[out] aBuffer   A pointer to a char array to output the string (MUST NOT be `nullptr`).
+     * @param[in]  aSize     The size of @p aBuffer (in bytes).
+     *
+     */
+    void ToString(char *aBuffer, uint16_t aSize) const;
+
     /**
      * This method converts the IPv4 address to a string.
      *
@@ -170,6 +184,9 @@ class Address : public otIp4Address, public Equatable<Address>, public Clearable
      *
      */
     InfoString ToString(void) const;
+
+private:
+    void ToString(StringWriter &aWriter) const;
 } OT_TOOL_PACKED_END;
 
 /**
@@ -189,6 +206,21 @@ class Cidr : public otIp4Cidr, public Unequatable<Cidr>, public Clearable<Addres
      */
     typedef String<Address::kAddressStringSize + kCidrSuffixSize> InfoString;
 
+    /**
+     * This method converts the IPv4 CIDR to a string.
+     *
+     * The string format uses quad-dotted notation of four bytes in the address with the length of prefix (e.g.,
+     * "127.0.0.1/32").
+     *
+     * If the resulting string does not fit in @p aBuffer (within its @p aSize characters), the string will be
+     * truncated but the outputted string is always null-terminated.
+     *
+     * @param[out] aBuffer   A pointer to a char array to output the string (MUST NOT be `nullptr`).
+     * @param[in]  aSize     The size of @p aBuffer (in bytes).
+     *
+     */
+    void ToString(char *aBuffer, uint16_t aSize) const;
+
     /**
      * This method converts the IPv4 CIDR to a string.
      *
@@ -237,6 +269,8 @@ class Cidr : public otIp4Cidr, public Unequatable<Cidr>, public Clearable<Addres
     }
 
     uint32_t SubnetMask(void) const { return ~HostMask(); }
+
+    void ToString(StringWriter &aWriter) const;
 };
 
 /**
diff --git a/src/core/net/nat64_translator.cpp b/src/core/net/nat64_translator.cpp
index c7c86248ddb..80963ba052a 100644
--- a/src/core/net/nat64_translator.cpp
+++ b/src/core/net/nat64_translator.cpp
@@ -52,6 +52,8 @@ Translator::Translator(Instance &aInstance)
     : InstanceLocator(aInstance)
     , mMappingExpirer(aInstance, MappingExpirerHandler)
 {
+    Random::NonCrypto::FillBuffer(reinterpret_cast<uint8_t *>(&mNextMappingId), sizeof(mNextMappingId));
+
     mNat64Prefix.Clear();
     mIp4Cidr.Clear();
     mMappingExpirer.Start(kAddressMappingIdleTimeoutMsec);
@@ -91,10 +93,11 @@ Error Translator::SendMessage(Message &aMessage)
 
 Translator::Result Translator::TranslateFromIp6(Message &aMessage)
 {
-    Result          res = kDrop;
-    Ip6::Header     ip6Header;
-    Ip4::Header     ip4Header;
-    AddressMapping *mapping = nullptr;
+    Result                res        = kDrop;
+    ErrorCounters::Reason dropReason = ErrorCounters::kUnknown;
+    Ip6::Header           ip6Header;
+    Ip4::Header           ip4Header;
+    AddressMapping *      mapping = nullptr;
 
     if (mIp4Cidr.mLength == 0 || !mNat64Prefix.IsValidNat64())
     {
@@ -105,6 +108,7 @@ Translator::Result Translator::TranslateFromIp6(Message &aMessage)
     if (ip6Header.ParseFrom(aMessage) != kErrorNone)
     {
         LogWarn("outgoing datagram is not a valid IPv6 datagram, drop");
+        dropReason = ErrorCounters::Reason::kIllegalPacket;
         ExitNow(res = kDrop);
     }
 
@@ -117,6 +121,7 @@ Translator::Result Translator::TranslateFromIp6(Message &aMessage)
     if (mapping == nullptr)
     {
         LogWarn("failed to get a mapping for %s (mapping pool full?)", ip6Header.GetSource().ToString().AsCString());
+        dropReason = ErrorCounters::Reason::kNoMapping;
         ExitNow(res = kDrop);
     }
 
@@ -145,6 +150,7 @@ Translator::Result Translator::TranslateFromIp6(Message &aMessage)
         res = kForward;
         break;
     default:
+        dropReason = ErrorCounters::Reason::kUnsupportedProto;
         ExitNow(res = kDrop);
     }
 
@@ -161,17 +167,24 @@ Translator::Result Translator::TranslateFromIp6(Message &aMessage)
         ExitNow(res = kDrop);
     }
     aMessage.SetType(Message::kTypeIp4);
+    mCounters.Count6To4Packet(ip6Header.GetNextHeader(), ip6Header.GetPayloadLength());
+    mapping->mCounters.Count6To4Packet(ip6Header.GetNextHeader(), ip6Header.GetPayloadLength());
 
 exit:
+    if (res == Result::kDrop)
+    {
+        mErrorCounters.Count6To4(dropReason);
+    }
     return res;
 }
 
 Translator::Result Translator::TranslateToIp6(Message &aMessage)
 {
-    Result          res = Result::kDrop;
-    Ip6::Header     ip6Header;
-    Ip4::Header     ip4Header;
-    AddressMapping *mapping = nullptr;
+    Result                res        = Result::kDrop;
+    ErrorCounters::Reason dropReason = ErrorCounters::kUnknown;
+    Ip6::Header           ip6Header;
+    Ip4::Header           ip4Header;
+    AddressMapping *      mapping = nullptr;
 
     // Ip6::Header::ParseFrom may return an error value when the incoming message is an IPv4 datagram.
     // If the message is already an IPv6 datagram, forward it directly.
@@ -193,6 +206,7 @@ Translator::Result Translator::TranslateToIp6(Message &aMessage)
     if (ip4Header.ParseFrom(aMessage) != kErrorNone)
     {
         LogWarn("incoming message is neither IPv4 nor an IPv6 datagram, drop");
+        dropReason = ErrorCounters::Reason::kIllegalPacket;
         ExitNow(res = kDrop);
     }
 
@@ -200,6 +214,7 @@ Translator::Result Translator::TranslateToIp6(Message &aMessage)
     if (mapping == nullptr)
     {
         LogWarn("no mapping found for the IPv4 address");
+        dropReason = ErrorCounters::Reason::kNoMapping;
         ExitNow(res = kDrop);
     }
 
@@ -230,6 +245,7 @@ Translator::Result Translator::TranslateToIp6(Message &aMessage)
         res = kForward;
         break;
     default:
+        dropReason = ErrorCounters::Reason::kUnsupportedProto;
         ExitNow(res = kDrop);
     }
 
@@ -245,8 +261,15 @@ Translator::Result Translator::TranslateToIp6(Message &aMessage)
         ExitNow(res = kDrop);
     }
     aMessage.SetType(Message::kTypeIp6);
+    mCounters.Count4To6Packet(ip4Header.GetProtocol(), ip4Header.GetTotalLength() - sizeof(ip4Header));
+    mapping->mCounters.Count4To6Packet(ip4Header.GetProtocol(), ip4Header.GetTotalLength() - sizeof(ip4Header));
 
 exit:
+    if (res == Result::kDrop)
+    {
+        mErrorCounters.Count4To6(dropReason);
+    }
+
     return res;
 }
 
@@ -259,6 +282,25 @@ Translator::AddressMapping::InfoString Translator::AddressMapping::ToString(void
     return string;
 }
 
+void Translator::AddressMapping::CopyTo(otNat64AddressMapping &aMapping, TimeMilli aNow) const
+{
+    aMapping.mId       = mId;
+    aMapping.mIp4      = mIp4;
+    aMapping.mIp6      = mIp6;
+    aMapping.mCounters = mCounters;
+
+    // We are removing expired mappings lazily, and an expired mapping might become active again before actually
+    // removed. Report the mapping to be "just expired" to avoid confusion.
+    if (mExpiry < aNow)
+    {
+        aMapping.mRemainingTimeMs = 0;
+    }
+    else
+    {
+        aMapping.mRemainingTimeMs = mExpiry - aNow;
+    }
+}
+
 void Translator::ReleaseMapping(AddressMapping &aMapping)
 {
     IgnoreError(mIp4AddressPool.PushBack(aMapping.mIp4));
@@ -300,6 +342,7 @@ Translator::AddressMapping *Translator::AllocateMapping(const Ip6::Address &aIp6
     VerifyOrExit(mapping != nullptr);
 
     mActiveAddressMappings.Push(*mapping);
+    mapping->mId  = ++mNextMappingId;
     mapping->mIp6 = aIp6Addr;
     // PopBack must return a valid address since it is not empty.
     mapping->mIp4 = *mIp4AddressPool.PopBack();
@@ -460,6 +503,93 @@ void Translator::MappingExpirerHandler(Timer &aTimer)
     aTimer.Get<Translator>().mMappingExpirer.Start(kAddressMappingIdleTimeoutMsec);
 }
 
+void Translator::InitAddressMappingIterator(AddressMappingIterator &aIterator)
+{
+    aIterator.mPtr = mActiveAddressMappings.GetHead();
+}
+
+Error Translator::GetNextAddressMapping(AddressMappingIterator &aIterator, otNat64AddressMapping &aMapping)
+{
+    Error           err  = kErrorNotFound;
+    TimeMilli       now  = TimerMilli::GetNow();
+    AddressMapping *item = static_cast<AddressMapping *>(aIterator.mPtr);
+
+    VerifyOrExit(item != nullptr);
+
+    item->CopyTo(aMapping, now);
+    aIterator.mPtr = item->GetNext();
+    err            = kErrorNone;
+
+exit:
+    return err;
+}
+
+Error Translator::GetIp4Cidr(Ip4::Cidr &aCidr)
+{
+    Error err = kErrorNone;
+
+    VerifyOrExit(mIp4Cidr.mLength > 0, err = kErrorNotFound);
+    aCidr = mIp4Cidr;
+
+exit:
+    return err;
+}
+
+Error Translator::GetIp6Prefix(Ip6::Prefix &aPrefix)
+{
+    Error err = kErrorNone;
+
+    VerifyOrExit(mNat64Prefix.mLength > 0, err = kErrorNotFound);
+    aPrefix = mNat64Prefix;
+
+exit:
+    return err;
+}
+
+void Translator::ProtocolCounters::Count6To4Packet(uint8_t aProtocol, uint64_t aPacketSize)
+{
+    switch (aProtocol)
+    {
+    case Ip6::kProtoUdp:
+        mUdp.m6To4Packets++;
+        mUdp.m6To4Bytes += aPacketSize;
+        break;
+    case Ip6::kProtoTcp:
+        mTcp.m6To4Packets++;
+        mTcp.m6To4Bytes += aPacketSize;
+        break;
+    case Ip6::kProtoIcmp6:
+        mIcmp.m6To4Packets++;
+        mIcmp.m6To4Bytes += aPacketSize;
+        break;
+    }
+
+    mTotal.m6To4Packets++;
+    mTotal.m6To4Bytes += aPacketSize;
+}
+
+void Translator::ProtocolCounters::Count4To6Packet(uint8_t aProtocol, uint64_t aPacketSize)
+{
+    switch (aProtocol)
+    {
+    case Ip4::kProtoUdp:
+        mUdp.m4To6Packets++;
+        mUdp.m4To6Bytes += aPacketSize;
+        break;
+    case Ip4::kProtoTcp:
+        mTcp.m4To6Packets++;
+        mTcp.m4To6Bytes += aPacketSize;
+        break;
+    case Ip4::kProtoIcmp:
+        mIcmp.m4To6Packets++;
+        mIcmp.m4To6Bytes += aPacketSize;
+        break;
+    }
+
+    mTotal.m4To6Packets++;
+    mTotal.m4To6Bytes += aPacketSize;
+}
+
 } // namespace Nat64
 } // namespace ot
 
diff --git a/src/core/net/nat64_translator.hpp b/src/core/net/nat64_translator.hpp
index e10548361a2..2df74e57600 100644
--- a/src/core/net/nat64_translator.hpp
+++ b/src/core/net/nat64_translator.hpp
@@ -61,6 +61,8 @@ class Translator : public InstanceLocator, private NonCopyable
         OPENTHREAD_CONFIG_NAT64_IDLE_TIMEOUT_SECONDS * Time::kOneSecondInMsec;
     static constexpr uint32_t kAddressMappingPoolSize = OPENTHREAD_CONFIG_NAT64_MAX_MAPPINGS;
 
+    typedef otNat64AddressMappingIterator AddressMappingIterator; ///< Address mapping Iterator.
+
     /**
      * The possible results of NAT64 translation.
      *
@@ -74,6 +76,64 @@ class Translator : public InstanceLocator, private NonCopyable
         kDrop,          ///< The caller should drop the datagram silently.
     };
 
+    /**
+     * Represents the counters for the protocols supported by NAT64.
+     *
+     */
+    class ProtocolCounters : public otNat64ProtocolCounters, public Clearable<ProtocolCounters>
+    {
+    public:
+        /**
+         * Adds the packet to the counter for the given IPv6 protocol.
+         *
+         * @param[in] aProtocol    The protocol of the packet.
+         * @param[in] aPacketSize  The size of the packet.
+         *
+         */
+        void Count6To4Packet(uint8_t aProtocol, uint64_t aPacketSize);
+
+        /**
+         * Adds the packet to the counter for the given IPv4 protocol.
+         *
+         * @param[in] aProtocol    The protocol of the packet.
+         * @param[in] aPacketSize  The size of the packet.
+         *
+         */
+        void Count4To6Packet(uint8_t aProtocol, uint64_t aPacketSize);
+    };
+
+    /**
+     * Represents the counters of dropped packets due to errors when handling NAT64 packets.
+     *
+     */
+    class ErrorCounters : public otNat64ErrorCounters, public Clearable<otNat64ErrorCounters>
+    {
+    public:
+        enum Reason : uint8_t
+        {
+            kUnknown          = OT_NAT64_DROP_REASON_UNKNOWN,
+            kIllegalPacket    = OT_NAT64_DROP_REASON_ILLEGAL_PACKET,
+            kUnsupportedProto = OT_NAT64_DROP_REASON_UNSUPPORTED_PROTO,
+            kNoMapping        = OT_NAT64_DROP_REASON_NO_MAPPING,
+        };
+
+        /**
+         * Adds the counter for the given reason when translating an IPv4 datagram.
+         *
+         * @param[in] aReason    The reason of packet drop.
+         *
+         */
+        void Count4To6(Reason aReason) { mCount4To6[aReason]++; }
+
+        /**
+         * Adds the counter for the given reason when translating an IPv6 datagram.
+         *
+         * @param[in] aReason    The reason of packet drop.
+         *
+         */
+        void Count6To4(Reason aReason) { mCount6To4[aReason]++; }
+    };
+
     /**
      * This constructor initializes the NAT64 translator.
      *
@@ -163,6 +223,76 @@ class Translator : public InstanceLocator, private NonCopyable
      */
     void SetNat64Prefix(const Ip6::Prefix &aNat64Prefix);
 
+    /**
+     * Initializes an `otNat64AddressMappingIterator`.
+     *
+     * An iterator MUST be initialized before it is used.
+     *
+     * An iterator can be initialized again to restart from the beginning of the mapping info.
+     *
+     * @param[out] aIterator  An iterator to initialize.
+     *
+     */
+    void InitAddressMappingIterator(AddressMappingIterator &aIterator);
+
+    /**
+     * Gets the next AddressMapping info (using an iterator).
+     *
+     * @param[in,out]  aIterator      The iterator. On success the iterator will be updated to point to next NAT64
+     *                                address mapping record. To get the first entry the iterator should be set to
+     *                                OT_NAT64_ADDRESS_MAPPING_ITERATOR_INIT.
+     * @param[out]     aMapping       An `otNat64AddressMapping` where information of next NAT64 address mapping record
+     *                                is placed (on success).
+     *
+     * @retval kErrorNone      Successfully found the next NAT64 address mapping info (@p aMapping was successfully
+     *                         updated).
+     * @retval kErrorNotFound  No subsequent NAT64 address mapping info was found.
+     *
+     */
+    Error GetNextAddressMapping(AddressMappingIterator &aIterator, otNat64AddressMapping &aMapping);
+
+    /**
+     * Gets the NAT64 translator counters.
+     *
+     * The counters are initialized to zero when the OpenThread instance is initialized.
+     *
+     * @param[out] aCounters A `ProtocolCounters` where the counters of NAT64 translator will be placed.
+     *
+     */
+    void GetCounters(ProtocolCounters &aCounters) const { aCounters = mCounters; }
+
+    /**
+     * Gets the NAT64 translator error counters.
+     *
+     * The counters are initialized to zero when the OpenThread instance is initialized.
+     *
+     * @param[out] aCounters  An `ErrorCounters` where the counters of NAT64 translator will be placed.
+     *
+     */
+    void GetErrorCounters(ErrorCounters &aCounters) const { aCounters = mErrorCounters; }
+
+    /**
+     * Gets the configured CIDR in the NAT64 translator.
+     *
+     * @param[out] aCidr        The `Ip4::Cidr` Where the configured CIDR will be placed.
+     *
+     * @retval kErrorNone       @p aCidr is set to the configured CIDR.
+     * @retval kErrorNotFound   The translator is not configured with an IPv4 CIDR.
+     *
+     */
+    Error GetIp4Cidr(Ip4::Cidr &aCidr);
+
+    /**
+     * Gets the configured IPv6 prefix in the NAT64 translator.
+     *
+     * @param[out] aPrefix      The `Ip6::Prefix` where the configured NAT64 prefix will be placed.
+     *
+     * @retval kErrorNone       @p aPrefix is set to the configured prefix.
+     * @retval kErrorNotFound   The translator is not configured with an IPv6 prefix.
+     *
+     */
+    Error GetIp6Prefix(Ip6::Prefix &aPrefix);
+
 private:
     class AddressMapping : public LinkedListEntry<AddressMapping>
     {
@@ -174,11 +304,16 @@ class Translator : public InstanceLocator, private NonCopyable
 
         void       Touch(TimeMilli aNow) { mExpiry = aNow + kAddressMappingIdleTimeoutMsec; }
         InfoString ToString(void);
+        void       CopyTo(otNat64AddressMapping &aMapping, TimeMilli aNow) const;
+
+        uint64_t mId; // The unique id for a mapping session.
 
         Ip4::Address mIp4;
         Ip6::Address mIp6;
         TimeMilli    mExpiry; // The timestamp when this mapping expires, in milliseconds.
 
+        ProtocolCounters mCounters;
+
     private:
         bool Matches(const Ip4::Address &aIp4) const { return mIp4 == aIp4; }
         bool Matches(const Ip6::Address &aIp6) const { return mIp6 == aIp6; }
@@ -198,6 +333,8 @@ class Translator : public InstanceLocator, private NonCopyable
 
     static void MappingExpirerHandler(Timer &aTimer);
 
+    uint64_t mNextMappingId;
+
     Array<Ip4::Address, kAddressMappingPoolSize>  mIp4AddressPool;
     Pool<AddressMapping, kAddressMappingPoolSize> mAddressMappingPool;
     LinkedList<AddressMapping>                    mActiveAddressMappings;
@@ -206,9 +343,16 @@ class Translator : public InstanceLocator, private NonCopyable
     Ip4::Cidr   mIp4Cidr;
 
     TimerMilli mMappingExpirer;
+
+    ProtocolCounters mCounters;
+    ErrorCounters    mErrorCounters;
 };
 
 } // namespace Nat64
+
+DefineCoreType(otNat64ProtocolCounters, Nat64::Translator::ProtocolCounters);
+DefineCoreType(otNat64ErrorCounters, Nat64::Translator::ErrorCounters);
+
 } // namespace ot
 
 #endif // OPENTHREAD_CONFIG_NAT64_TRANSLATOR_ENABLE
diff --git a/src/core/net/srp_server.cpp b/src/core/net/srp_server.cpp
index a065880cea0..d04d1f7d0b8 100644
--- a/src/core/net/srp_server.cpp
+++ b/src/core/net/srp_server.cpp
@@ -96,6 +96,9 @@ Server::Server(Instance &aInstance)
     , mAddressMode(kDefaultAddressMode)
     , mAnycastSequenceNumber(0)
     , mHasRegisteredAnyService(false)
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+    , mAutoEnable(false)
+#endif
 {
     IgnoreError(SetDomain(kDefaultDomain));
 }
@@ -134,41 +137,71 @@ Error Server::SetAnycastModeSequenceNumber(uint8_t aSequenceNumber)
 
 void Server::SetEnabled(bool aEnabled)
 {
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+    mAutoEnable = false;
+#endif
+
     if (aEnabled)
     {
-        VerifyOrExit(mState == kStateDisabled);
-        mState = kStateStopped;
+        Enable();
+    }
+    else
+    {
+        Disable();
+    }
+}
 
-        // Request publishing of "DNS/SRP Address Service" entry in the
-        // Thread Network Data based of `mAddressMode`. Then wait for
-        // callback `HandleNetDataPublisherEntryChange()` from the
-        // `Publisher` to start the SRP server.
+void Server::Enable(void)
+{
+    VerifyOrExit(mState == kStateDisabled);
+    mState = kStateStopped;
 
-        switch (mAddressMode)
-        {
-        case kAddressModeUnicast:
-            SelectPort();
-            Get<NetworkData::Publisher>().PublishDnsSrpServiceUnicast(mPort);
-            break;
+    // Request publishing of "DNS/SRP Address Service" entry in the
+    // Thread Network Data based of `mAddressMode`. Then wait for
+    // callback `HandleNetDataPublisherEntryChange()` from the
+    // `Publisher` to start the SRP server.
 
-        case kAddressModeAnycast:
-            mPort = kAnycastAddressModePort;
-            Get<NetworkData::Publisher>().PublishDnsSrpServiceAnycast(mAnycastSequenceNumber);
-            break;
-        }
-    }
-    else
+    switch (mAddressMode)
     {
-        VerifyOrExit(mState != kStateDisabled);
-        Get<NetworkData::Publisher>().UnpublishDnsSrpService();
-        Stop();
-        mState = kStateDisabled;
+    case kAddressModeUnicast:
+        SelectPort();
+        Get<NetworkData::Publisher>().PublishDnsSrpServiceUnicast(mPort);
+        break;
+
+    case kAddressModeAnycast:
+        mPort = kAnycastAddressModePort;
+        Get<NetworkData::Publisher>().PublishDnsSrpServiceAnycast(mAnycastSequenceNumber);
+        break;
     }
 
 exit:
     return;
 }
 
+void Server::Disable(void)
+{
+    VerifyOrExit(mState != kStateDisabled);
+    Get<NetworkData::Publisher>().UnpublishDnsSrpService();
+    Stop();
+    mState = kStateDisabled;
+
+exit:
+    return;
+}
+
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+void Server::SetAutoEnableMode(bool aEnabled)
+{
+    VerifyOrExit(mAutoEnable != aEnabled);
+    mAutoEnable = aEnabled;
+
+    Get<BorderRouter::RoutingManager>().HandleSrpServerAutoEnableMode();
+
+exit:
+    return;
+}
+#endif
+
 Server::TtlConfig::TtlConfig(void)
 {
     mMinTtl = kDefaultMinTtl;
@@ -1296,6 +1329,48 @@ void Server::HandleUpdate(Host &aHost, const MessageMetadata &aMetadata)
 
 void Server::InformUpdateHandlerOrCommit(Error aError, Host &aHost, const MessageMetadata &aMetadata)
 {
+#if OT_SHOULD_LOG_AT(OT_LOG_LEVEL_INFO)
+    if (aError == kErrorNone)
+    {
+        uint8_t             numAddrs;
+        const Ip6::Address *addrs;
+
+        LogInfo("Processed DNS update info");
+        LogInfo("    Host:%s", aHost.GetFullName());
+        LogInfo("    Lease:%u, key-lease:%u, ttl:%u", aHost.GetLease(), aHost.GetKeyLease(), aHost.GetTtl());
+
+        addrs = aHost.GetAddresses(numAddrs);
+
+        if (numAddrs == 0)
+        {
+            LogInfo("    No host address");
+        }
+        else
+        {
+            LogInfo("    %d host address(es):", numAddrs);
+
+            for (; numAddrs > 0; addrs++, numAddrs--)
+            {
+                LogInfo("      %s", addrs->ToString().AsCString());
+            }
+        }
+
+        for (const Service &service : aHost.GetServices())
+        {
+            char subLabel[Dns::Name::kMaxLabelSize];
+
+            IgnoreError(service.GetServiceSubTypeLabel(subLabel, sizeof(subLabel)));
+
+            LogInfo("    %s service '%s'%s%s", service.IsDeleted() ? "Deleting" : "Adding", service.GetInstanceName(),
+                    service.IsSubType() ? " subtype:" : "", subLabel);
+        }
+    }
+    else
+    {
+        LogInfo("Error %s processing received DNS update", ErrorToString(aError));
+    }
+#endif // OT_SHOULD_LOG_AT(OT_LOG_LEVEL_INFO)
+
     if ((aError == kErrorNone) && (mServiceUpdateHandler != nullptr))
     {
         UpdateMetadata *update = UpdateMetadata::Allocate(GetInstance(), aHost, aMetadata);
@@ -1740,7 +1815,7 @@ void Server::Service::Log(Action aAction) const
         "Update existing",           // (1) kUpdateExisting
         "Remove but retain name of", // (2) kRemoveButRetainName
         "Fully remove",              // (3) kFullyRemove
-        "LEASE expired for ",        // (4) kLeaseExpired
+        "LEASE expired for",         // (4) kLeaseExpired
         "KEY LEASE expired for",     // (5) kKeyLeaseExpired
     };
 
diff --git a/src/core/net/srp_server.hpp b/src/core/net/srp_server.hpp
index 302ccc6cb96..dbf6090763a 100644
--- a/src/core/net/srp_server.hpp
+++ b/src/core/net/srp_server.hpp
@@ -92,6 +92,12 @@ class Server;
 }
 } // namespace Dns
 
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+namespace BorderRouter {
+class RoutingManager;
+}
+#endif
+
 namespace Srp {
 
 /**
@@ -105,6 +111,9 @@ class Server : public InstanceLocator, private NonCopyable
     friend class Service;
     friend class Host;
     friend class Dns::ServiceDiscovery::Server;
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+    friend class BorderRouter::RoutingManager;
+#endif
 
     enum RetainName : bool
     {
@@ -151,11 +160,15 @@ class Server : public InstanceLocator, private NonCopyable
 
     class Host;
 
+    /**
+     * This enumeration represents the state of SRP server.
+     *
+     */
     enum State : uint8_t
     {
-        kStateDisabled = OT_SRP_SERVER_STATE_DISABLED,
-        kStateRunning  = OT_SRP_SERVER_STATE_RUNNING,
-        kStateStopped  = OT_SRP_SERVER_STATE_STOPPED,
+        kStateDisabled = OT_SRP_SERVER_STATE_DISABLED, ///< Server is disabled.
+        kStateRunning  = OT_SRP_SERVER_STATE_RUNNING,  ///< Server is enabled and running.
+        kStateStopped  = OT_SRP_SERVER_STATE_STOPPED,  ///< Server is enabled but stopped.
     };
 
     /**
@@ -775,17 +788,9 @@ class Server : public InstanceLocator, private NonCopyable
     Error SetAnycastModeSequenceNumber(uint8_t aSequenceNumber);
 
     /**
-     * This method tells whether the SRP server is currently running.
+     * This method returns the state of the SRP server.
      *
-     * @returns  A boolean that indicates whether the server is running.
-     *
-     */
-    bool IsRunning(void) const { return (mState == kStateRunning); }
-
-    /**
-     * This method tells the state of the SRP server.
-     *
-     * @returns  An enum that represents the state of the server.
+     * @returns  The state of the server.
      *
      */
     State GetState(void) const { return mState; }
@@ -793,10 +798,10 @@ class Server : public InstanceLocator, private NonCopyable
     /**
      * This method tells the port the SRP server is listening to.
      *
-     * @returns  An integer that represents the port of the server. It returns 0 if the SRP server is not running.
+     * @returns  The port of the server or 0 if the SRP server is not running.
      *
      */
-    uint16_t GetPort(void) const { return IsRunning() ? mPort : 0; }
+    uint16_t GetPort(void) const { return (mState == kStateRunning) ? mPort : 0; }
 
     /**
      * This method enables/disables the SRP server.
@@ -806,6 +811,35 @@ class Server : public InstanceLocator, private NonCopyable
      */
     void SetEnabled(bool aEnabled);
 
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+    /**
+     * This method enables/disables the auto-enable mode on SRP server.
+     *
+     * When this mode is enabled, the Border Routing Manager controls if/when to enable or disable the SRP server.
+     * SRP sever is auto-enabled if/when Border Routing is started it is done with the initial prefix and route
+     * configurations (when the OMR and on-link prefixes are determined, advertised in emitted Router Advert message on
+     * infrastructure side and published in the Thread Network Data). The SRP server is auto-disabled when BR is
+     * stopped (e.g., if the infrastructure network interface is brought down or if BR gets detached).
+     *
+     * This mode can be disabled by a `SetAutoEnableMode(false)` call or if the SRP server is explicitly enabled or
+     * disabled by a call to `SetEnabled()` method. Disabling auto-enable mode using `SetAutoEnableMode(false` call
+     * will not change the current state of SRP sever (e.g., if it is enabled it stays enabled).
+     *
+     * @param[in] aEnbaled    A boolean to enable/disable the auto-enable mode.
+     *
+     */
+    void SetAutoEnableMode(bool aEnabled);
+
+    /**
+     * This method indicates whether the auto-enable mode is enabled or disabled.
+     *
+     * @retval TRUE   The auto-enable mode is enabled.
+     * @retval FALSE  The auto-enable mode is disabled.
+     *
+     */
+    bool IsAutoEnableMode(void) const { return mAutoEnable; }
+#endif
+
     /**
      * This method returns the TTL configuration.
      *
@@ -942,6 +976,8 @@ class Server : public InstanceLocator, private NonCopyable
         bool              mIsDirectRxFromClient;
     };
 
+    void              Enable(void);
+    void              Disable(void);
     void              Start(void);
     void              Stop(void);
     void              SelectPort(void);
@@ -1039,6 +1075,9 @@ class Server : public InstanceLocator, private NonCopyable
     AddressMode     mAddressMode;
     uint8_t         mAnycastSequenceNumber;
     bool            mHasRegisteredAnyService : 1;
+#if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
+    bool mAutoEnable : 1;
+#endif
 
     otSrpServerResponseCounters mResponseCounters;
 };
diff --git a/src/core/net/tcp6.hpp b/src/core/net/tcp6.hpp
index 3eb6d134f37..febefe9c113 100644
--- a/src/core/net/tcp6.hpp
+++ b/src/core/net/tcp6.hpp
@@ -55,7 +55,16 @@ extern "C" {
 struct tcpcb;
 struct tcpcb_listen;
 struct tcplp_signals;
+
+/*
+ * The next two declarations intentionally change argument names from the
+ * original declarations in TCPlp, in order to comply with OpenThread's format.
+ */
+
+// NOLINTNEXTLINE(readability-inconsistent-declaration-parameter-name)
 void tcplp_sys_set_timer(struct tcpcb *aTcb, uint8_t aTimerFlag, uint32_t aDelay);
+
+// NOLINTNEXTLINE(readability-inconsistent-declaration-parameter-name)
 void tcplp_sys_stop_timer(struct tcpcb *aTcb, uint8_t aTimerFlag);
 }
 
diff --git a/src/core/net/tcp6_ext.cpp b/src/core/net/tcp6_ext.cpp
new file mode 100644
index 00000000000..c789d45b474
--- /dev/null
+++ b/src/core/net/tcp6_ext.cpp
@@ -0,0 +1,231 @@
+/*
+ *  Copyright (c) 2022, The OpenThread Authors.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *  1. Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *  2. Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *  3. Neither the name of the copyright holder nor the
+ *     names of its contributors may be used to endorse or promote products
+ *     derived from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * @file
+ *   This file implements TCP/IPv6 socket extensions.
+ */
+
+#include "openthread-core-config.h"
+
+#if OPENTHREAD_CONFIG_TCP_ENABLE
+
+#include "tcp6_ext.hpp"
+
+#include "common/code_utils.hpp"
+#include "common/error.hpp"
+#include "common/locator_getters.hpp"
+#include "common/log.hpp"
+
+namespace ot {
+namespace Ip6 {
+
+RegisterLogModule("TcpExt");
+
+void TcpCircularSendBuffer::Initialize(void *aDataBuffer, size_t aCapacity)
+{
+    mDataBuffer = static_cast<uint8_t *>(aDataBuffer);
+    mCapacity   = aCapacity;
+    ForceDiscardAll();
+}
+
+Error TcpCircularSendBuffer::Write(Tcp::Endpoint &aEndpoint,
+                                   const void *   aData,
+                                   size_t         aLength,
+                                   size_t &       aWritten,
+                                   uint32_t       aFlags)
+{
+    Error    error     = kErrorNone;
+    size_t   bytesFree = GetFreeSpace();
+    size_t   writeIndex;
+    uint32_t flags = 0;
+    size_t   bytesUntilWrap;
+
+    /*
+     * Handle the case where we don't have enough space to accommodate all of the
+     * provided data.
+     */
+    aLength = Min(aLength, bytesFree);
+    VerifyOrExit(aLength != 0);
+
+    /*
+     * This is a "simplifying" if statement the removes an edge case from the logic
+     * below. It guarantees that a write to an empty buffer will never wrap.
+     */
+    if (mCapacityUsed == 0)
+    {
+        mStartIndex = 0;
+    }
+
+    writeIndex = GetIndex(mStartIndex, mCapacityUsed);
+
+    if ((aFlags & OT_TCP_CIRCULAR_SEND_BUFFER_WRITE_MORE_TO_COME) != 0 && aLength < bytesFree)
+    {
+        flags |= OT_TCP_SEND_MORE_TO_COME;
+    }
+
+    bytesUntilWrap = mCapacity - writeIndex;
+    if (aLength <= bytesUntilWrap)
+    {
+        memcpy(&mDataBuffer[writeIndex], aData, aLength);
+        if (writeIndex == 0)
+        {
+            /*
+             * mCapacityUsed == 0 corresponds to the case where we're writing
+             * to an empty buffer. mCapacityUsed != 0 && writeIndex == 0
+             * corresponds to the case where the buffer is not empty and this is
+             * writing the first bytes that wrap.
+             */
+            uint8_t linkIndex;
+            if (mCapacityUsed == 0)
+            {
+                linkIndex = mFirstSendLinkIndex;
+            }
+            else
+            {
+                linkIndex = 1 - mFirstSendLinkIndex;
+            }
+            {
+                otLinkedBuffer &dataSendLink = mSendLinks[linkIndex];
+
+                dataSendLink.mNext   = nullptr;
+                dataSendLink.mData   = &mDataBuffer[writeIndex];
+                dataSendLink.mLength = aLength;
+
+                LogDebg("Appending link %u (points to index %u, length %u)", static_cast<unsigned>(linkIndex),
+                        static_cast<unsigned>(writeIndex), static_cast<unsigned>(aLength));
+                error = aEndpoint.SendByReference(dataSendLink, flags);
+            }
+        }
+        else
+        {
+            LogDebg("Extending tail link by length %u", static_cast<unsigned>(aLength));
+            error = aEndpoint.SendByExtension(aLength, flags);
+        }
+        VerifyOrExit(error == kErrorNone, aLength = 0);
+    }
+    else
+    {
+        const uint8_t *dataIndexable = static_cast<const uint8_t *>(aData);
+        size_t         bytesWrapped  = aLength - bytesUntilWrap;
+
+        memcpy(&mDataBuffer[writeIndex], &dataIndexable[0], bytesUntilWrap);
+        memcpy(&mDataBuffer[0], &dataIndexable[bytesUntilWrap], bytesWrapped);
+
+        /*
+         * Because of the "simplifying" if statement at the top, we don't
+         * have to worry about starting from an empty buffer in this case.
+         */
+        LogDebg("Extending tail link by length %u (wrapping)", static_cast<unsigned>(bytesUntilWrap));
+        error = aEndpoint.SendByExtension(bytesUntilWrap, flags | OT_TCP_SEND_MORE_TO_COME);
+        VerifyOrExit(error == kErrorNone, aLength = 0);
+
+        {
+            otLinkedBuffer &wrappedDataSendLink = mSendLinks[1 - mFirstSendLinkIndex];
+
+            wrappedDataSendLink.mNext   = nullptr;
+            wrappedDataSendLink.mData   = &mDataBuffer[0];
+            wrappedDataSendLink.mLength = bytesWrapped;
+
+            LogDebg("Appending link %u (wrapping)", static_cast<unsigned>(1 - mFirstSendLinkIndex));
+            error = aEndpoint.SendByReference(wrappedDataSendLink, flags);
+            VerifyOrExit(error == kErrorNone, aLength = bytesUntilWrap);
+        }
+    }
+
+exit:
+    mCapacityUsed += aLength;
+    aWritten = aLength;
+    return error;
+}
+
+void TcpCircularSendBuffer::HandleForwardProgress(size_t aInSendBuffer)
+{
+    size_t bytesRemoved;
+    size_t bytesUntilWrap;
+
+    OT_ASSERT(aInSendBuffer <= mCapacityUsed);
+    LogDebg("Forward progress: %u bytes in send buffer\n", aInSendBuffer);
+    bytesRemoved   = mCapacityUsed - aInSendBuffer;
+    bytesUntilWrap = mCapacity - mStartIndex;
+
+    if (bytesRemoved < bytesUntilWrap)
+    {
+        mStartIndex += bytesRemoved;
+    }
+    else
+    {
+        mStartIndex = bytesRemoved - bytesUntilWrap;
+        /* The otLinkedBuffer for the pre-wrap data is now empty. */
+        LogDebg("Pre-wrap linked buffer now empty: switching first link index from %u to %u\n",
+                static_cast<unsigned>(mFirstSendLinkIndex), static_cast<unsigned>(1 - mFirstSendLinkIndex));
+        mFirstSendLinkIndex = 1 - mFirstSendLinkIndex;
+    }
+    mCapacityUsed = aInSendBuffer;
+}
+
+size_t TcpCircularSendBuffer::GetFreeSpace(void) const
+{
+    return mCapacity - mCapacityUsed;
+}
+
+void TcpCircularSendBuffer::ForceDiscardAll(void)
+{
+    mStartIndex         = 0;
+    mCapacityUsed       = 0;
+    mFirstSendLinkIndex = 0;
+}
+
+Error TcpCircularSendBuffer::Deinitialize(void)
+{
+    return (mCapacityUsed != 0) ? kErrorBusy : kErrorNone;
+}
+
+size_t TcpCircularSendBuffer::GetIndex(size_t aStart, size_t aOffsetFromStart) const
+{
+    size_t bytesUntilWrap;
+    size_t index;
+
+    OT_ASSERT(aStart < mCapacity);
+    bytesUntilWrap = mCapacity - aStart;
+    if (aOffsetFromStart < bytesUntilWrap)
+    {
+        index = aStart + aOffsetFromStart;
+    }
+    else
+    {
+        index = aOffsetFromStart - bytesUntilWrap;
+    }
+
+    return index;
+}
+
+} // namespace Ip6
+} // namespace ot
+
+#endif // OPENTHREAD_CONFIG_TCP_ENABLE
diff --git a/src/core/net/tcp6_ext.hpp b/src/core/net/tcp6_ext.hpp
new file mode 100644
index 00000000000..b40663aedb2
--- /dev/null
+++ b/src/core/net/tcp6_ext.hpp
@@ -0,0 +1,136 @@
+/*
+ *  Copyright (c) 2022, The OpenThread Authors.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *  1. Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *  2. Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *  3. Neither the name of the copyright holder nor the
+ *     names of its contributors may be used to endorse or promote products
+ *     derived from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ * @file
+ *   This file includes definitions for TCP/IPv6 socket extensions.
+ */
+
+#ifndef TCP6_EXT_HPP_
+#define TCP6_EXT_HPP_
+
+#include "openthread-core-config.h"
+
+#include <openthread/tcp_ext.h>
+
+#include "net/tcp6.hpp"
+
+namespace ot {
+namespace Ip6 {
+
+/**
+ * @addtogroup core-tcp-ext
+ *
+ * @brief
+ *   This module includes definitions for TCP/IPv6 socket extensions.
+ *
+ * @{
+ *
+ */
+
+/**
+ * This class represents a TCP circular send buffer.
+ *
+ */
+class TcpCircularSendBuffer : public otTcpCircularSendBuffer
+{
+public:
+    /**
+     * Initializes a TCP circular send buffer.
+     *
+     * @sa otTcpCircularSendBufferInitialize
+     *
+     * @param[in]  aDataBuffer      A pointer to memory to use to store data in the TCP circular send buffer.
+     * @param[in]  aCapacity        The capacity, in bytes, of the TCP circular send buffer, which must equal the size
+     *                              of the memory pointed to by @p aDataBuffer .
+     */
+    void Initialize(void *aDataBuffer, size_t aCapacity);
+
+    /**
+     * Sends out data on a TCP endpoint, using this TCP circular send buffer to manage buffering.
+     *
+     * @sa otTcpCircularSendBufferWrite, particularly for guidance on how @p aEndpoint must be chosen.
+     *
+     * @param[in]   aEndpoint The TCP endpoint on which to send out data.
+     * @param[in]   aData     A pointer to data to copy into the TCP circular send buffer.
+     * @param[in]   aLength   The length of the data pointed to by @p aData to copy into the TCP circular send buffer.
+     * @param[out]  aWritten  Populated with the amount of data copied into the send buffer, which might be less than
+     *                        @p aLength if the send buffer reaches capacity.
+     * @param[in]   aFlags    Flags specifying options for this operation.
+     *
+     * @retval kErrorNone on success, or the error returned by the TCP endpoint on failure.
+     */
+    Error Write(Tcp::Endpoint &aEndpoint, const void *aData, size_t aLength, size_t &aWritten, uint32_t aFlags);
+
+    /**
+     * Performs circular-send-buffer-specific handling in the otTcpForwardProgress callback.
+     *
+     * @sa otTcpCircularSendBufferHandleForwardProgress
+     *
+     * @param[in]  aInSendBuffer  Value of @p aInSendBuffer passed to the otTcpForwardProgress() callback.
+     */
+    void HandleForwardProgress(size_t aInSendBuffer);
+
+    /**
+     * Returns the amount of free space in this TCP circular send buffer.
+     *
+     * @sa otTcpCircularSendBufferFreeSpace
+     *
+     * @return The amount of free space in the send buffer.
+     */
+    size_t GetFreeSpace(void) const;
+
+    /**
+     * Forcibly discards all data in this TCP circular send buffer.
+     *
+     * @sa otTcpCircularSendBufferForceDiscardAll
+     *
+     */
+    void ForceDiscardAll(void);
+
+    /**
+     * Deinitializes this TCP circular send buffer.
+     *
+     * @sa otTcpCircularSendBufferDeinitialize
+     *
+     * @retval kErrorNone    Successfully deinitialized this TCP circular send buffer.
+     * @retval kErrorFailed  Failed to deinitialize the TCP circular send buffer.
+     */
+    Error Deinitialize(void);
+
+private:
+    size_t GetIndex(size_t aStart, size_t aOffsetFromStart) const;
+};
+
+} // namespace Ip6
+
+DefineCoreType(otTcpCircularSendBuffer, Ip6::TcpCircularSendBuffer);
+
+} // namespace ot
+
+#endif // TCP6_HPP_
diff --git a/src/core/thread/link_metrics.cpp b/src/core/thread/link_metrics.cpp
index 024bbab5331..6ecf26d1e45 100644
--- a/src/core/thread/link_metrics.cpp
+++ b/src/core/thread/link_metrics.cpp
@@ -64,25 +64,29 @@ LinkMetrics::LinkMetrics(Instance &aInstance)
 
 Error LinkMetrics::Query(const Ip6::Address &aDestination, uint8_t aSeriesId, const Metrics *aMetrics)
 {
-    Error       error;
-    TypeIdFlags typeIdFlags[kMaxTypeIdFlags];
-    uint8_t     typeIdFlagsCount = 0;
-    Neighbor *  neighbor         = GetNeighborFromLinkLocalAddr(aDestination);
+    static const uint8_t kTlvs[] = {Mle::Tlv::kLinkMetricsReport};
+
+    Error     error;
+    Neighbor *neighbor = GetNeighborFromLinkLocalAddr(aDestination);
+    QueryInfo info;
 
     VerifyOrExit(neighbor != nullptr, error = kErrorUnknownNeighbor);
     VerifyOrExit(neighbor->IsThreadVersion1p2OrHigher(), error = kErrorNotCapable);
 
+    info.Clear();
+    info.mSeriesId = aSeriesId;
+
     if (aMetrics != nullptr)
     {
-        typeIdFlagsCount = TypeIdFlagsFromMetrics(typeIdFlags, *aMetrics);
+        info.mTypeIdCount = TypeIdFlagsFromMetrics(info.mTypeIds, *aMetrics);
     }
 
     if (aSeriesId != 0)
     {
-        VerifyOrExit(typeIdFlagsCount == 0, error = kErrorInvalidArgs);
+        VerifyOrExit(info.mTypeIdCount == 0, error = kErrorInvalidArgs);
     }
 
-    error = SendLinkMetricsQuery(aDestination, aSeriesId, typeIdFlags, typeIdFlagsCount);
+    error = Get<Mle::MleRouter>().SendDataRequest(aDestination, kTlvs, sizeof(kTlvs), /* aDelay */ 0, info);
 
 exit:
     return error;
@@ -560,51 +564,31 @@ void LinkMetrics::ProcessEnhAckIeData(const uint8_t *aData, uint8_t aLength, con
     return;
 }
 
-Error LinkMetrics::SendLinkMetricsQuery(const Ip6::Address &aDestination,
-                                        uint8_t             aSeriesId,
-                                        const TypeIdFlags * aTypeIdFlags,
-                                        uint8_t             aTypeIdFlagsCount)
+Error LinkMetrics::AppendLinkMetricsQueryTlv(Message &aMessage, const QueryInfo &aInfo)
 {
-    // LinkMetricsQuery Tlv + LinkMetricsQueryId sub-TLV (value-length: 1 byte) +
-    // LinkMetricsQueryOptions sub-TLV (value-length: `kMaxTypeIdFlags` bytes)
-    constexpr uint16_t kBufferSize = sizeof(Tlv) * 3 + sizeof(uint8_t) + sizeof(TypeIdFlags) * kMaxTypeIdFlags;
-
-    Error                error = kErrorNone;
-    QueryOptionsSubTlv   queryOptionsTlv;
-    uint8_t              length = 0;
-    static const uint8_t tlvs[] = {Mle::Tlv::kLinkMetricsReport};
-    uint8_t              buf[kBufferSize];
-    Tlv *                tlv = reinterpret_cast<Tlv *>(buf);
-    Tlv                  subTlv;
-
-    // Link Metrics Query TLV
-    tlv->SetType(Mle::Tlv::kLinkMetricsQuery);
-    length += sizeof(Tlv);
-
-    // Link Metrics Query ID sub-TLV
-    subTlv.SetType(SubTlv::kQueryId);
-    subTlv.SetLength(sizeof(uint8_t));
-    memcpy(buf + length, &subTlv, sizeof(subTlv));
-    length += sizeof(subTlv);
-    memcpy(buf + length, &aSeriesId, sizeof(aSeriesId));
-    length += sizeof(aSeriesId);
-
-    // Link Metrics Query Options sub-TLV
-    if (aTypeIdFlagsCount > 0)
-    {
-        queryOptionsTlv.Init();
-        queryOptionsTlv.SetLength(aTypeIdFlagsCount * sizeof(TypeIdFlags));
+    Error error = kErrorNone;
+    Tlv   tlv;
 
-        memcpy(buf + length, &queryOptionsTlv, sizeof(queryOptionsTlv));
-        length += sizeof(queryOptionsTlv);
-        memcpy(buf + length, aTypeIdFlags, queryOptionsTlv.GetLength());
-        length += queryOptionsTlv.GetLength();
-    }
+    // The MLE Link Metrics Query TLV has two sub-TLVs:
+    // - Query ID sub-TLV with series ID as value.
+    // - Query Options sub-TLV with Type IDs as value.
 
-    // Set Length for Link Metrics Report TLV
-    tlv->SetLength(length - sizeof(Tlv));
+    tlv.SetType(Mle::Tlv::kLinkMetricsQuery);
+    tlv.SetLength(sizeof(Tlv) + sizeof(uint8_t) + ((aInfo.mTypeIdCount == 0) ? 0 : (sizeof(Tlv) + aInfo.mTypeIdCount)));
 
-    SuccessOrExit(error = Get<Mle::MleRouter>().SendDataRequest(aDestination, tlvs, sizeof(tlvs), 0, buf, length));
+    SuccessOrExit(error = aMessage.Append(tlv));
+
+    SuccessOrExit(error = Tlv::Append<QueryIdSubTlv>(aMessage, aInfo.mSeriesId));
+
+    if (aInfo.mTypeIdCount != 0)
+    {
+        QueryOptionsSubTlv queryOptionsTlv;
+
+        queryOptionsTlv.Init();
+        queryOptionsTlv.SetLength(aInfo.mTypeIdCount);
+        SuccessOrExit(error = aMessage.Append(queryOptionsTlv));
+        SuccessOrExit(error = aMessage.AppendBytes(aInfo.mTypeIds, aInfo.mTypeIdCount));
+    }
 
 exit:
     return error;
diff --git a/src/core/thread/link_metrics.hpp b/src/core/thread/link_metrics.hpp
index 742223853fb..702e7982ab5 100644
--- a/src/core/thread/link_metrics.hpp
+++ b/src/core/thread/link_metrics.hpp
@@ -84,6 +84,17 @@ class LinkMetrics : public InstanceLocator, private NonCopyable
     typedef otLinkMetricsMgmtResponseCallback          MgmtResponseCallback;
     typedef otLinkMetricsEnhAckProbingIeReportCallback EnhAckProbingIeReportCallback;
 
+    /**
+     * This structure provides the info used for appending MLE Link Metric Query TLV.
+     *
+     */
+    struct QueryInfo : public Clearable<QueryInfo>
+    {
+        uint8_t     mSeriesId;                 ///< Series ID.
+        TypeIdFlags mTypeIds[kMaxTypeIdFlags]; ///< Type ID flags.
+        uint8_t     mTypeIdCount;              ///< Number of entries in `mTypeIds[]`.
+    };
+
     /**
      * This constructor initializes an instance of the LinkMetrics class.
      *
@@ -264,6 +275,18 @@ class LinkMetrics : public InstanceLocator, private NonCopyable
      */
     void ProcessEnhAckIeData(const uint8_t *aData, uint8_t aLength, const Neighbor &aNeighbor);
 
+    /**
+     * This method appends MLE Link Metrics Query TLV to a given message.
+     *
+     * @param[in] aMessage     The message to append to.
+     * @param[in] aInfo        The link metrics query info to use to prepare the message.
+     *
+     * @retval kErrorNone     Successfully appended the TLV to the message.
+     * @retval kErrorNoBufs   Insufficient buffers available to append the TLV.
+     *
+     */
+    Error AppendLinkMetricsQueryTlv(Message &aMessage, const QueryInfo &aInfo);
+
 private:
     // Max number of SeriesInfo that could be allocated by the pool.
     static constexpr uint16_t kMaxSeriesSupported = OPENTHREAD_CONFIG_MLE_LINK_METRICS_MAX_SERIES_SUPPORTED;
@@ -277,11 +300,6 @@ class LinkMetrics : public InstanceLocator, private NonCopyable
     static constexpr int32_t kMinRssi       = -130;
     static constexpr int32_t kMaxRssi       = 0;
 
-    Error SendLinkMetricsQuery(const Ip6::Address &aDestination,
-                               uint8_t             aSeriesId,
-                               const TypeIdFlags * aTypeIdFlags,
-                               uint8_t             aTypeIdFlagsCount);
-
     Status ConfigureForwardTrackingSeries(uint8_t        aSeriesId,
                                           uint8_t        aSeriesFlags,
                                           const Metrics &aMetrics,
diff --git a/src/core/thread/mle.cpp b/src/core/thread/mle.cpp
index b277dfd10ae..286d97abc9c 100644
--- a/src/core/thread/mle.cpp
+++ b/src/core/thread/mle.cpp
@@ -1797,12 +1797,15 @@ Error Mle::SendChildIdRequest(void)
     return error;
 }
 
-Error Mle::SendDataRequest(const Ip6::Address &aDestination,
-                           const uint8_t *     aTlvs,
-                           uint8_t             aTlvsLength,
-                           uint16_t            aDelay,
-                           const uint8_t *     aExtraTlvs,
-                           uint8_t             aExtraTlvsLength)
+#if OPENTHREAD_CONFIG_MLE_LINK_METRICS_INITIATOR_ENABLE || OPENTHREAD_CONFIG_MLE_LINK_METRICS_SUBJECT_ENABLE
+Error Mle::SendDataRequest(const Ip6::Address &                       aDestination,
+                           const uint8_t *                            aTlvs,
+                           uint8_t                                    aTlvsLength,
+                           uint16_t                                   aDelay,
+                           const LinkMetrics::LinkMetrics::QueryInfo *aQueryInfo)
+#else
+Error Mle::SendDataRequest(const Ip6::Address &aDestination, const uint8_t *aTlvs, uint8_t aTlvsLength, uint16_t aDelay)
+#endif
 {
     Error      error = kErrorNone;
     TxMessage *message;
@@ -1812,10 +1815,12 @@ Error Mle::SendDataRequest(const Ip6::Address &aDestination,
     VerifyOrExit((message = NewMleMessage(kCommandDataRequest)) != nullptr, error = kErrorNoBufs);
     SuccessOrExit(error = message->AppendTlvRequestTlv(aTlvs, aTlvsLength));
 
-    if (aExtraTlvs != nullptr && aExtraTlvsLength > 0)
+#if OPENTHREAD_CONFIG_MLE_LINK_METRICS_INITIATOR_ENABLE || OPENTHREAD_CONFIG_MLE_LINK_METRICS_SUBJECT_ENABLE
+    if (aQueryInfo != nullptr)
     {
-        SuccessOrExit(error = message->AppendBytes(aExtraTlvs, aExtraTlvsLength));
+        SuccessOrExit(error = Get<LinkMetrics::LinkMetrics>().AppendLinkMetricsQueryTlv(*message, *aQueryInfo));
     }
+#endif
 
     if (aDelay)
     {
diff --git a/src/core/thread/mle.hpp b/src/core/thread/mle.hpp
index 961065026b7..ec4abe749a7 100644
--- a/src/core/thread/mle.hpp
+++ b/src/core/thread/mle.hpp
@@ -1447,26 +1447,29 @@ class Mle : public InstanceLocator, private NonCopyable
      */
     Mac::ShortAddress GetNextHop(uint16_t aDestination) const;
 
+#if OPENTHREAD_CONFIG_MLE_LINK_METRICS_INITIATOR_ENABLE || OPENTHREAD_CONFIG_MLE_LINK_METRICS_SUBJECT_ENABLE
     /**
-     * This method generates an MLE Data Request message.
+     * This method generates an MLE Data Request message which includes a Link Metrics Query TLV.
      *
      * @param[in]  aDestination      A reference to the IPv6 address of the destination.
      * @param[in]  aTlvs             A pointer to requested TLV types.
      * @param[in]  aTlvsLength       The number of TLV types in @p aTlvs.
      * @param[in]  aDelay            Delay in milliseconds before the Data Request message is sent.
-     * @param[in]  aExtraTlvs        A pointer to extra TLVs.
-     * @param[in]  aExtraTlvsLength  Length of extra TLVs.
+     * @param[in]  aQueryInfo        A Link Metrics query info.
      *
      * @retval kErrorNone     Successfully generated an MLE Data Request message.
      * @retval kErrorNoBufs   Insufficient buffers to generate the MLE Data Request message.
      *
      */
-    Error SendDataRequest(const Ip6::Address &aDestination,
-                          const uint8_t *     aTlvs,
-                          uint8_t             aTlvsLength,
-                          uint16_t            aDelay,
-                          const uint8_t *     aExtraTlvs,
-                          uint8_t             aExtraTlvsLength);
+    Error SendDataRequest(const Ip6::Address &                       aDestination,
+                          const uint8_t *                            aTlvs,
+                          uint8_t                                    aTlvsLength,
+                          uint16_t                                   aDelay,
+                          const LinkMetrics::LinkMetrics::QueryInfo &aQueryInfo)
+    {
+        return SendDataRequest(aDestination, aTlvs, aTlvsLength, aDelay, &aQueryInfo);
+    }
+#endif
 
     /**
      * This method generates an MLE Data Request message.
@@ -1484,7 +1487,7 @@ class Mle : public InstanceLocator, private NonCopyable
     template <uint8_t kArrayLength>
     Error SendDataRequest(const Ip6::Address &aDestination, const uint8_t (&aTlvs)[kArrayLength], uint16_t aDelay = 0)
     {
-        return SendDataRequest(aDestination, aTlvs, kArrayLength, aDelay, nullptr, 0);
+        return SendDataRequest(aDestination, aTlvs, kArrayLength, aDelay);
     }
 
     /**
@@ -1888,6 +1891,16 @@ class Mle : public InstanceLocator, private NonCopyable
     bool        IsDetachingGracefully(void) { return mDetachGracefullyTimer.IsRunning(); }
     Error       SendChildUpdateRequest(bool aAppendChallenge, uint32_t aTimeout);
 
+#if OPENTHREAD_CONFIG_MLE_LINK_METRICS_INITIATOR_ENABLE || OPENTHREAD_CONFIG_MLE_LINK_METRICS_SUBJECT_ENABLE
+    Error SendDataRequest(const Ip6::Address &                       aDestination,
+                          const uint8_t *                            aTlvs,
+                          uint8_t                                    aTlvsLength,
+                          uint16_t                                   aDelay,
+                          const LinkMetrics::LinkMetrics::QueryInfo *aQueryInfo = nullptr);
+#else
+    Error SendDataRequest(const Ip6::Address &aDestination, const uint8_t *aTlvs, uint8_t aTlvsLength, uint16_t aDelay);
+#endif
+
 #if OPENTHREAD_FTD
     static void HandleDetachGracefullyAddressReleaseResponse(void *               aContext,
                                                              otMessage *          aMessage,
diff --git a/src/core/utils/parse_cmdline.cpp b/src/core/utils/parse_cmdline.cpp
index 52f77ddedd2..2829e6d014c 100644
--- a/src/core/utils/parse_cmdline.cpp
+++ b/src/core/utils/parse_cmdline.cpp
@@ -264,6 +264,11 @@ Error ParseAsIp6Address(const char *aString, otIp6Address &aAddress)
     return (aString != nullptr) ? otIp6AddressFromString(aString, &aAddress) : kErrorInvalidArgs;
 }
 
+Error ParseAsIp4Address(const char *aString, otIp4Address &aAddress)
+{
+    return (aString != nullptr) ? otIp4AddressFromString(aString, &aAddress) : kErrorInvalidArgs;
+}
+
 Error ParseAsIp6Prefix(const char *aString, otIp6Prefix &aPrefix)
 {
     enum : uint8_t
diff --git a/src/core/utils/parse_cmdline.hpp b/src/core/utils/parse_cmdline.hpp
index 6b9025f6f7c..7703ac21441 100644
--- a/src/core/utils/parse_cmdline.hpp
+++ b/src/core/utils/parse_cmdline.hpp
@@ -38,7 +38,9 @@
 #include <string.h>
 
 #include <openthread/error.h>
+#include <openthread/instance.h>
 #include <openthread/ip6.h>
+#include <openthread/nat64.h>
 
 namespace ot {
 namespace Utils {
@@ -182,6 +184,18 @@ otError ParseAsBool(const char *aString, bool &aBool);
  */
 otError ParseAsIp6Address(const char *aString, otIp6Address &aAddress);
 
+/**
+ * This function parses a string as an IPv4 address.
+ *
+ * @param[in]  aString   The string to parse.
+ * @param[out] aAddress  A reference to an `otIp6Address` to output the parsed IPv6 address.
+ *
+ * @retval kErrorNone         The string was parsed successfully.
+ * @retval kErrorInvalidArgs  The string does not contain valid IPv4 address.
+ *
+ */
+otError ParseAsIp4Address(const char *aString, otIp4Address &aAddress);
+
 /**
  * This function parses a string as an IPv6 prefix.
  *
@@ -485,6 +499,20 @@ class Arg
         return CmdLineParser::ParseAsIp6Address(mString, aAddress);
     }
 
+    /**
+     * This method parses the argument as an IPv4 address.
+     *
+     * @param[out] aAddress  A reference to an `otIp4Address` to output the parsed IPv4 address.
+     *
+     * @retval kErrorNone         The argument was parsed successfully.
+     * @retval kErrorInvalidArgs  The argument is empty or does not contain valid IPv4 address.
+     *
+     */
+    otError ParseAsIp4Address(otIp4Address &aAddress) const
+    {
+        return CmdLineParser::ParseAsIp4Address(mString, aAddress);
+    }
+
     /**
      * This method parses the argument as an IPv6 prefix.
      *
diff --git a/src/posix/README.md b/src/posix/README.md
index 9d3ff629378..d45a4a388e4 100644
--- a/src/posix/README.md
+++ b/src/posix/README.md
@@ -139,28 +139,6 @@ To build and program the device with RCP application, complete the following ste
 ./build/posix/src/posix/ot-cli 'spinel+hdlc+uart:///dev/ttyACM0?uart-baudrate=115200'
 ```
 
-### CC2538
-
-#### Build
-
-```
-./script/cmake-build cc2538 -DOT_APP_CLI=OFF -DOT_APP_NCP=OFF -DOT_FTD=OFF -DOT_MTD=OFF
-```
-
-#### Flash
-
-```sh
-arm-none-eabi-objcopy -O ihex build/cc2538/examples/apps/ncp/ot-rcp ot-rcp.bin
-# see https://github.com/JelmerT/cc2538-bsl
-python cc2538-bsl/cc2538-bsl.py -b 460800 -e -w -v -p /dev/ttyUSB0 ot-rcp.bin
-```
-
-#### Run
-
-```sh
-./build/posix/src/posix/ot-cli 'spinel+hdlc+uart:///dev/ttyUSB0?uart-baudrate=115200'
-```
-
 ## Daemon Mode
 
 OpenThread Posix Daemon mode uses a unix socket as input and output, so that OpenThread core can run as a service. And a client can communicate with it by connecting to the socket. The protocol is OpenThread CLI.
diff --git a/src/posix/main.c b/src/posix/main.c
index df014ea5fd0..d6de188a4cd 100644
--- a/src/posix/main.c
+++ b/src/posix/main.c
@@ -325,17 +325,19 @@ void otPlatReset(otInstance *aInstance)
     assert(false);
 }
 
-static void ProcessNetif(void *aContext, uint8_t aArgsLength, char *aArgs[])
+static otError ProcessNetif(void *aContext, uint8_t aArgsLength, char *aArgs[])
 {
     OT_UNUSED_VARIABLE(aContext);
     OT_UNUSED_VARIABLE(aArgsLength);
     OT_UNUSED_VARIABLE(aArgs);
 
     otCliOutputFormat("%s:%u\r\n", otSysGetThreadNetifName(), otSysGetThreadNetifIndex());
+
+    return OT_ERROR_NONE;
 }
 
 #if !OPENTHREAD_POSIX_CONFIG_DAEMON_ENABLE
-static void ProcessExit(void *aContext, uint8_t aArgsLength, char *aArgs[])
+static otError ProcessExit(void *aContext, uint8_t aArgsLength, char *aArgs[])
 {
     OT_UNUSED_VARIABLE(aContext);
     OT_UNUSED_VARIABLE(aArgsLength);
diff --git a/tests/fuzz/ip6_send.cpp b/tests/fuzz/ip6_send.cpp
index da2cfb38cec..df267fa227d 100644
--- a/tests/fuzz/ip6_send.cpp
+++ b/tests/fuzz/ip6_send.cpp
@@ -34,6 +34,7 @@
 #include <openthread/ip6.h>
 #include <openthread/link.h>
 #include <openthread/message.h>
+#include <openthread/srp_server.h>
 #include <openthread/tasklet.h>
 #include <openthread/thread.h>
 #include <openthread/thread_ftd.h>
@@ -58,6 +59,7 @@ extern "C" int LLVMFuzzerTestOneInput(const uint8_t *data, size_t size)
     IgnoreError(otLinkSetPanId(instance, panId));
     IgnoreError(otIp6SetEnabled(instance, true));
     IgnoreError(otThreadSetEnabled(instance, true));
+    otSrpServerSetEnabled(instance, true);
     IgnoreError(otThreadBecomeLeader(instance));
 
     settings.mLinkSecurityEnabled = (data[0] & 0x1) != 0;
diff --git a/tests/fuzz/ncp_hdlc_received.cpp b/tests/fuzz/ncp_hdlc_received.cpp
index a61b0faa06b..d60155e4b7e 100644
--- a/tests/fuzz/ncp_hdlc_received.cpp
+++ b/tests/fuzz/ncp_hdlc_received.cpp
@@ -35,6 +35,7 @@
 #include <openthread/ip6.h>
 #include <openthread/link.h>
 #include <openthread/ncp.h>
+#include <openthread/srp_server.h>
 #include <openthread/tasklet.h>
 #include <openthread/thread.h>
 #include <openthread/thread_ftd.h>
@@ -66,6 +67,7 @@ extern "C" int LLVMFuzzerTestOneInput(const uint8_t *data, size_t size)
     IgnoreError(otLinkSetPanId(instance, panId));
     IgnoreError(otIp6SetEnabled(instance, true));
     IgnoreError(otThreadSetEnabled(instance, true));
+    otSrpServerSetEnabled(instance, true);
     IgnoreError(otThreadBecomeLeader(instance));
 
     buf = static_cast<uint8_t *>(malloc(size));
diff --git a/tests/fuzz/oss-fuzz-build b/tests/fuzz/oss-fuzz-build
index 31373c4155a..53e092ca92a 100755
--- a/tests/fuzz/oss-fuzz-build
+++ b/tests/fuzz/oss-fuzz-build
@@ -69,7 +69,7 @@
         -DOT_SNTP_CLIENT=ON \
         -DOT_SRP_CLIENT=ON \
         -DOT_SRP_SERVER=ON \
-        -DOT_THREAD_VERSION=1.2 \
+        -DOT_THREAD_VERSION=1.3 \
         -DOT_UPTIME=ON \
         ..
     ninja
diff --git a/tests/scripts/expect/cli-tcp.exp b/tests/scripts/expect/cli-tcp.exp
index 838730d1623..46fa325c113 100755
--- a/tests/scripts/expect/cli-tcp.exp
+++ b/tests/scripts/expect/cli-tcp.exp
@@ -33,15 +33,26 @@ source "tests/scripts/expect/_multinode.exp"
 setup_two_nodes
 
 switch_node 1
-send "tcp init\n"
+send "tcp init circular\n"
 expect_line "Done"
 
 switch_node 2
-send "tcp init\n"
+send "tcp init linked\n"
 expect_line "Done"
 set addr_2 [get_ipaddr mleid]
 send "tcp listen :: 30000\n"
 expect_line "Done"
+send "tcp stoplistening\n"
+expect_line "Done"
+
+switch_node 1
+send "tcp connect $addr_2 30000\n"
+expect_line "Done"
+expect "TCP: Connection refused"
+
+switch_node 2
+send "tcp listen :: 30000\n"
+expect_line "Done"
 
 switch_node 1
 set addr_1 [get_ipaddr mleid]
diff --git a/tests/toranj/openthread-core-toranj-config-simulation.h b/tests/toranj/openthread-core-toranj-config-simulation.h
index 09d925d08b3..d0694e7da68 100644
--- a/tests/toranj/openthread-core-toranj-config-simulation.h
+++ b/tests/toranj/openthread-core-toranj-config-simulation.h
@@ -75,4 +75,12 @@
  */
 #define OPENTHREAD_CONFIG_DNS_DSO_ENABLE 1
 
+/**
+ * @def OPENTHREAD_CONFIG_HEAP_EXTERNAL_ENABLE
+ *
+ * Enable the external heap.
+ *
+ */
+#define OPENTHREAD_CONFIG_HEAP_EXTERNAL_ENABLE 1
+
 #endif /* OPENTHREAD_CORE_TORANJ_CONFIG_SIMULATION_H_ */
diff --git a/tests/unit/CMakeLists.txt b/tests/unit/CMakeLists.txt
index 6d606ec8a30..2176d4df960 100644
--- a/tests/unit/CMakeLists.txt
+++ b/tests/unit/CMakeLists.txt
@@ -65,6 +65,7 @@ set(COMMON_LIBS
     ot-test-platform
     ${OT_MBEDTLS}
     ot-config
+    openthread-ftd
 )
 
 add_executable(ot-test-aes
@@ -937,6 +938,28 @@ target_link_libraries(ot-test-serial-number
 
 add_test(NAME ot-test-serial-number COMMAND ot-test-serial-number)
 
+add_executable(ot-test-srp-server
+    test_srp_server.cpp
+)
+
+target_include_directories(ot-test-srp-server
+    PRIVATE
+        ${COMMON_INCLUDES}
+)
+
+target_compile_options(ot-test-srp-server
+    PRIVATE
+        ${COMMON_COMPILE_OPTIONS}
+)
+
+target_link_libraries(ot-test-srp-server
+    PRIVATE
+        ${COMMON_LIBS}
+)
+
+add_test(NAME ot-test-srp-server COMMAND ot-test-srp-server)
+
+
 add_executable(ot-test-string
     test_string.cpp
 )
diff --git a/tests/unit/Makefile.am b/tests/unit/Makefile.am
index 3bd12609a9f..46e7b5622b0 100644
--- a/tests/unit/Makefile.am
+++ b/tests/unit/Makefile.am
@@ -152,6 +152,7 @@ check_PROGRAMS                                                     += \
     ot-test-serial-number                                             \
     ot-test-routing-manager                                           \
     ot-test-smart-ptrs                                                \
+    ot-test-srp-server                                                \
     ot-test-string                                                    \
     ot-test-timer                                                     \
     $(NULL)
@@ -366,6 +367,10 @@ ot_test_serial_number_LDADD         = $(COMMON_LDADD)
 ot_test_serial_number_LIBTOOLFLAGS  = $(COMMON_LIBTOOLFLAGS)
 ot_test_serial_number_SOURCES       = $(COMMON_SOURCES) test_serial_number.cpp
 
+ot_test_srp_server_LDADD            = $(COMMON_LDADD)
+ot_test_srp_server_LIBTOOLFLAGS     = $(COMMON_LIBTOOLFLAGS)
+ot_test_srp_server_SOURCES          = $(COMMON_SOURCES) test_srp_server.cpp
+
 ot_test_string_LDADD                = $(COMMON_LDADD)
 ot_test_string_LIBTOOLFLAGS         = $(COMMON_LIBTOOLFLAGS)
 ot_test_string_SOURCES              = $(COMMON_SOURCES) test_string.cpp
diff --git a/tests/unit/test_routing_manager.cpp b/tests/unit/test_routing_manager.cpp
index 6de01a1bfbe..36da3aff59b 100644
--- a/tests/unit/test_routing_manager.cpp
+++ b/tests/unit/test_routing_manager.cpp
@@ -78,10 +78,13 @@ enum ExpectedPio
 
 static Ip6::Address sInfraIfAddress;
 
-bool        sRsEmitted;      // Indicates if an RS message was emitted by BR.
-bool        sRaValidated;    // Indicates if an RA was emitted by BR and successfully validated.
-ExpectedPio sExpectedPio;    // Expected PIO in the emitted RA by BR (MUST be seen in RA to set `sRaValidated`).
-uint32_t    sOnLinkLifetime; // Valid lifetime for local on-link prefix from the last processed RA.
+bool        sRsEmitted;          // Indicates if an RS message was emitted by BR.
+bool        sRaValidated;        // Indicates if an RA was emitted by BR and successfully validated.
+ExpectedPio sExpectedPio;        // Expected PIO in the emitted RA by BR (MUST be seen in RA to set `sRaValidated`).
+bool        sExpectOldOnLinkPio; // Expect to see old local prefix PIO
+uint32_t    sOnLinkLifetime;     // Valid lifetime for local on-link prefix from the last processed RA.
+uint32_t    sOldOnLinkLifetime;  // Valid lifetime of the old local prefix PIO (when `sExpectOldOnLinkPio`).
+Ip6::Prefix sOldOnLinkPrefix;    // The old on-link PIO prefix in last processed RA (when `sExpectOldOnLinkPio`)
 
 static constexpr uint16_t kMaxRioPrefixes = 10;
 
@@ -208,7 +211,6 @@ otError otPlatInfraIfSendIcmp6Nd(uint32_t            aInfraIfIndex,
         Log("  Router Advertisement message");
         LogRouterAdvert(packet);
         ValidateRouterAdvert(packet);
-        sRaValidated = true;
         break;
 
     default:
@@ -257,6 +259,8 @@ void AdvanceTime(uint32_t aDuration)
 void ValidateRouterAdvert(const Icmp6Packet &aPacket)
 {
     Ip6::Nd::RouterAdvertMessage raMsg(aPacket);
+    bool                         sawExpectedPio   = false;
+    bool                         sawExpecteOldPio = false;
 
     VerifyOrQuit(raMsg.IsValid());
 
@@ -273,22 +277,39 @@ void ValidateRouterAdvert(const Icmp6Packet &aPacket)
             VerifyOrQuit(pio.IsValid());
             pio.GetPrefix(prefix);
 
-            VerifyOrQuit(sExpectedPio != kNoPio, "Received RA contain an unexpected PIO");
-
             SuccessOrQuit(otBorderRoutingGetOnLinkPrefix(sInstance, &localOnLink));
-            VerifyOrQuit(prefix == localOnLink);
 
-            if (sExpectedPio == kPioAdvertisingLocalOnLink)
+            if (prefix == localOnLink)
             {
-                VerifyOrQuit(pio.GetPreferredLifetime() > 0, "On link prefix is deprecated unexpectedly");
+                switch (sExpectedPio)
+                {
+                case kNoPio:
+                    break;
+
+                case kPioAdvertisingLocalOnLink:
+                    VerifyOrQuit(pio.GetPreferredLifetime() > 0, "On link prefix is deprecated unexpectedly");
+                    sOnLinkLifetime = pio.GetValidLifetime();
+                    sawExpectedPio  = true;
+                    break;
+
+                case kPioDeprecatingLocalOnLink:
+                    VerifyOrQuit(pio.GetPreferredLifetime() == 0, "On link prefix is not deprecated");
+                    sOnLinkLifetime = pio.GetValidLifetime();
+                    sawExpectedPio  = true;
+                    break;
+                }
             }
             else
             {
-                VerifyOrQuit(pio.GetPreferredLifetime() == 0, "On link prefix is not deprecated");
-            }
-
-            sOnLinkLifetime = pio.GetValidLifetime();
+                VerifyOrQuit(pio.GetPreferredLifetime() == 0, "Old on link prefix is not deprecated");
+                sOldOnLinkPrefix   = prefix;
+                sOldOnLinkLifetime = pio.GetValidLifetime();
 
+                if (sExpectOldOnLinkPio)
+                {
+                    sawExpecteOldPio = true;
+                }
+            }
             break;
         }
 
@@ -316,6 +337,25 @@ void ValidateRouterAdvert(const Icmp6Packet &aPacket)
             VerifyOrQuit(false, "Unexpected option type in RA msg");
         }
     }
+
+    if (!sRaValidated)
+    {
+        switch (sExpectedPio)
+        {
+        case kNoPio:
+            break;
+        case kPioAdvertisingLocalOnLink:
+        case kPioDeprecatingLocalOnLink:
+            VerifyOrQuit(sawExpectedPio, "Did not see on-link prefix PIO in the RA");
+        }
+
+        if (sExpectOldOnLinkPio)
+        {
+            VerifyOrQuit(sawExpecteOldPio, "Did not see old on-link prefix PIO in the RA");
+        }
+
+        sRaValidated = true;
+    }
 }
 
 void LogRouterAdvert(const Icmp6Packet &aPacket)
@@ -702,6 +742,12 @@ void InitTest(void)
     AdvanceTime(10000);
 
     VerifyOrQuit(otThreadGetDeviceRole(sInstance) == OT_DEVICE_ROLE_LEADER);
+
+    // Reset all test flags
+    sRsEmitted   = false;
+    sRaValidated = false;
+    sExpectedPio = kNoPio;
+    sExpectedRios.Clear();
 }
 
 //---------------------------------------------------------------------------------------------------------------------
@@ -1435,6 +1481,453 @@ void TestDomainPrefixAsOmr(void)
 }
 #endif // OPENTHREAD_CONFIG_BACKBONE_ROUTER_ENABLE
 
+void TestExtPanIdChange(void)
+{
+    static constexpr uint32_t kMaxRaTxInterval = 601; // In seconds
+
+    static const otExtendedPanId kExtPanId1 = {{0x01, 0x02, 0x03, 0x04, 0x05, 0x6, 0x7, 0x08}};
+    static const otExtendedPanId kExtPanId2 = {{0xaa, 0xbb, 0xcc, 0xdd, 0xee, 0xff, 0x99, 0x88}};
+
+    Ip6::Prefix          localOnLink;
+    Ip6::Prefix          oldLocalOnLink;
+    Ip6::Prefix          localOmr;
+    Ip6::Prefix          onLinkPrefix   = PrefixFromString("2000:abba:baba::", 64);
+    Ip6::Address         routerAddressA = AddressFromString("fd00::aaaa");
+    uint32_t             oldPrefixLifetime;
+    otOperationalDataset dataset;
+
+    Log("--------------------------------------------------------------------------------------------");
+    Log("TestExtPanIdChange");
+
+    InitTest();
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Start Routing Manager. Check emitted RS and RA messages.
+
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().SetEnabled(true));
+
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().GetOnLinkPrefix(localOnLink));
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().GetOmrPrefix(localOmr));
+
+    Log("Local on-link prefix is %s", localOnLink.ToString().AsCString());
+    Log("Local OMR prefix is %s", localOmr.ToString().AsCString());
+
+    sRsEmitted   = false;
+    sRaValidated = false;
+    sExpectedPio = kPioAdvertisingLocalOnLink;
+    sExpectedRios.Clear();
+    sExpectedRios.Add(localOmr);
+
+    AdvanceTime(30000);
+
+    VerifyOrQuit(sRsEmitted);
+    VerifyOrQuit(sRaValidated);
+    VerifyOrQuit(sExpectedRios.SawAll());
+    Log("Local on-link prefix is being advertised, lifetime: %d", sOnLinkLifetime);
+
+    //= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
+    // Check behavior when ext PAN ID changes while the local on-link is
+    // being advertised.
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Change the extended PAN ID.
+
+    Log("Changing ext PAN ID");
+
+    oldLocalOnLink    = localOnLink;
+    oldPrefixLifetime = sOnLinkLifetime;
+
+    sRaValidated        = false;
+    sExpectOldOnLinkPio = true;
+    sExpectedPio        = kPioAdvertisingLocalOnLink;
+
+    SuccessOrQuit(otDatasetGetActive(sInstance, &dataset));
+
+    VerifyOrQuit(dataset.mComponents.mIsExtendedPanIdPresent);
+
+    dataset.mExtendedPanId = kExtPanId1;
+    SuccessOrQuit(otDatasetSetActive(sInstance, &dataset));
+
+    AdvanceTime(500);
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().GetOnLinkPrefix(localOnLink));
+    Log("Local on-link prefix changed to %s from %s", localOnLink.ToString().AsCString(),
+        oldLocalOnLink.ToString().AsCString());
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Validate the received RA message and that it contains the
+    // old on-link prefix being deprecated.
+
+    AdvanceTime(30000);
+
+    VerifyOrQuit(sRaValidated);
+    VerifyOrQuit(sOldOnLinkPrefix == oldLocalOnLink);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Validate the Network Data to contain both the current and old
+    // local on-link prefixes.
+
+    VerifyOmrPrefixInNetData(localOmr);
+    VerifyExternalRoutesInNetData({ExternalRoute(localOnLink, NetworkData::kRoutePreferenceMedium),
+                                   ExternalRoute(oldLocalOnLink, NetworkData::kRoutePreferenceMedium)});
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Wait for old local on-link prefix to expire.
+
+    while (oldPrefixLifetime > kMaxRaTxInterval)
+    {
+        // Ensure Network Data entries remain as before. Mainly we still
+        // see the deprecating local on-link prefix.
+
+        VerifyExternalRoutesInNetData({ExternalRoute(localOnLink, NetworkData::kRoutePreferenceMedium),
+                                       ExternalRoute(oldLocalOnLink, NetworkData::kRoutePreferenceMedium)});
+
+        // Keep checking the emitted RAs and make sure the prefix
+        // is included with smaller lifetime every time.
+
+        sRaValidated = false;
+
+        AdvanceTime(kMaxRaTxInterval * 1000);
+
+        VerifyOrQuit(sRaValidated);
+        Log("Old on-link prefix is deprecating, remaining lifetime:%d", sOldOnLinkLifetime);
+        VerifyOrQuit(sOldOnLinkLifetime < oldPrefixLifetime);
+        oldPrefixLifetime = sOldOnLinkLifetime;
+    }
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // The local on-link prefix must be expired now and should no
+    // longer be seen in the emitted RA message.
+
+    sRaValidated        = false;
+    sExpectOldOnLinkPio = false;
+
+    AdvanceTime(kMaxRaTxInterval * 1000);
+
+    VerifyOrQuit(sRaValidated);
+    Log("Old on-link prefix is now expired");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Validate the Network Data now only contains the current local
+    // on-link prefix.
+
+    VerifyOmrPrefixInNetData(localOmr);
+    VerifyExternalRoutesInNetData({ExternalRoute(localOnLink, NetworkData::kRoutePreferenceMedium)});
+
+    //= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
+    // Check behavior when ext PAN ID changes while the local on-link is being
+    // deprecated.
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Send an RA from router A with a new on-link (PIO) which is preferred over
+    // the local on-link prefix.
+
+    SendRouterAdvert(routerAddressA, {Pio(onLinkPrefix, kValidLitime, kPreferredLifetime)});
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Validate that the local on-link prefix is deprecated.
+
+    sRaValidated        = false;
+    sExpectOldOnLinkPio = false;
+    sExpectedPio        = kPioDeprecatingLocalOnLink;
+
+    AdvanceTime(30000);
+
+    VerifyOrQuit(sRaValidated);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Change the extended PAN ID.
+
+    oldLocalOnLink    = localOnLink;
+    oldPrefixLifetime = sOnLinkLifetime;
+
+    dataset.mExtendedPanId = kExtPanId2;
+    SuccessOrQuit(otDatasetSetActive(sInstance, &dataset));
+
+    AdvanceTime(500);
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().GetOnLinkPrefix(localOnLink));
+    Log("Local on-link prefix changed to %s from %s", localOnLink.ToString().AsCString(),
+        oldLocalOnLink.ToString().AsCString());
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Validate that the old local on-link prefix is still being included
+    // as PIO in the emitted RA.
+
+    sRaValidated        = false;
+    sExpectOldOnLinkPio = true;
+    sExpectedPio        = kNoPio;
+
+    AdvanceTime(30000);
+
+    VerifyOrQuit(sRaValidated);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Validate that Network Data contains the old local on-link
+    // prefix along with entry from router A.
+
+    VerifyOmrPrefixInNetData(localOmr);
+    VerifyExternalRoutesInNetData({ExternalRoute(oldLocalOnLink, NetworkData::kRoutePreferenceMedium),
+                                   ExternalRoute(onLinkPrefix, NetworkData::kRoutePreferenceMedium)});
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Wait for old local on-link prefix to expire.
+
+    while (oldPrefixLifetime > kMaxRaTxInterval)
+    {
+        // Send same RA from router A to keep its on-link prefix alive.
+
+        SendRouterAdvert(routerAddressA, {Pio(onLinkPrefix, kValidLitime, kPreferredLifetime)});
+
+        // Ensure Network Data entries remain as before. Mainly we still
+        // see the deprecating old local on-link prefix.
+
+        VerifyExternalRoutesInNetData({ExternalRoute(oldLocalOnLink, NetworkData::kRoutePreferenceMedium),
+                                       ExternalRoute(onLinkPrefix, NetworkData::kRoutePreferenceMedium)});
+
+        // Keep checking the emitted RAs and make sure the prefix
+        // is included with smaller lifetime every time.
+
+        sRaValidated = false;
+
+        AdvanceTime(kMaxRaTxInterval * 1000);
+
+        VerifyOrQuit(sRaValidated);
+        Log("Old on-link prefix is deprecating, remaining lifetime:%d", sOldOnLinkLifetime);
+        VerifyOrQuit(sOldOnLinkLifetime < oldPrefixLifetime);
+        oldPrefixLifetime = sOldOnLinkLifetime;
+    }
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // The old on-link prefix must be expired now and should no
+    // longer be seen in the emitted RA message.
+
+    sRaValidated        = false;
+    sExpectOldOnLinkPio = false;
+
+    AdvanceTime(kMaxRaTxInterval * 1000);
+
+    VerifyOrQuit(sRaValidated);
+    Log("Old on-link prefix is now expired");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Validate the Network Data to now only contains entry from router A
+
+    VerifyOmrPrefixInNetData(localOmr);
+    VerifyExternalRoutesInNetData({ExternalRoute(onLinkPrefix, NetworkData::kRoutePreferenceMedium)});
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+
+    Log("End of TestExtPanIdChange");
+
+    testFreeInstance(sInstance);
+}
+
+#if OPENTHREAD_CONFIG_SRP_SERVER_ENABLE
+void TestAutoEnableOfSrpServer(void)
+{
+    Ip6::Prefix  localOnLink;
+    Ip6::Prefix  localOmr;
+    Ip6::Address routerAddressA = AddressFromString("fd00::aaaa");
+    Ip6::Prefix  onLinkPrefix   = PrefixFromString("2000:abba:baba::", 64);
+
+    Log("--------------------------------------------------------------------------------------------");
+    Log("TestAutoEnableOfSrpServer");
+
+    InitTest();
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Check SRP Server state and enable auto-enable mode
+
+    otSrpServerSetAutoEnableMode(sInstance, true);
+    VerifyOrQuit(otSrpServerIsAutoEnableMode(sInstance));
+    VerifyOrQuit(otSrpServerGetState(sInstance) == OT_SRP_SERVER_STATE_DISABLED);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Start Routing Manager. Check emitted RS and RA messages.
+
+    sRsEmitted   = false;
+    sRaValidated = false;
+    sExpectedPio = kPioAdvertisingLocalOnLink;
+    sExpectedRios.Clear();
+
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().SetEnabled(true));
+
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().GetOnLinkPrefix(localOnLink));
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().GetOmrPrefix(localOmr));
+
+    Log("Local on-link prefix is %s", localOnLink.ToString().AsCString());
+    Log("Local OMR prefix is %s", localOmr.ToString().AsCString());
+
+    sExpectedRios.Add(localOmr);
+
+    AdvanceTime(30000);
+
+    VerifyOrQuit(sRsEmitted);
+    VerifyOrQuit(sRaValidated);
+    VerifyOrQuit(sExpectedRios.SawAll());
+    Log("Received RA was validated");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Validate that SRP server was auto-enabled
+
+    VerifyOrQuit(otSrpServerGetState(sInstance) != OT_SRP_SERVER_STATE_DISABLED);
+    Log("Srp::Server is enabled");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Signal that infra if state changed and is no longer running.
+    // This should stop Routing Manager and in turn the SRP server.
+
+    sRaValidated = false;
+    sExpectedPio = kPioDeprecatingLocalOnLink;
+
+    Log("Signal infra if is not running");
+    SuccessOrQuit(otPlatInfraIfStateChanged(sInstance, kInfraIfIndex, false));
+    AdvanceTime(1);
+
+    VerifyOrQuit(sRaValidated);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Check that SRP server is disabled.
+
+    VerifyOrQuit(otSrpServerGetState(sInstance) == OT_SRP_SERVER_STATE_DISABLED);
+    Log("Srp::Server is disabled");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Signal that infra if state changed and is running again.
+
+    sRsEmitted   = false;
+    sRaValidated = false;
+    sExpectedPio = kPioAdvertisingLocalOnLink;
+    sExpectedRios.Add(localOmr);
+
+    Log("Signal infra if is running");
+    SuccessOrQuit(otPlatInfraIfStateChanged(sInstance, kInfraIfIndex, true));
+
+    AdvanceTime(30000);
+
+    VerifyOrQuit(sRsEmitted);
+    VerifyOrQuit(sRaValidated);
+    VerifyOrQuit(sExpectedRios.SawAll());
+    Log("Received RA was validated");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Check that SRP server is enabled again.
+
+    VerifyOrQuit(otSrpServerGetState(sInstance) != OT_SRP_SERVER_STATE_DISABLED);
+    Log("Srp::Server is enabled");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Disable `RoutingManager` explicitly.
+
+    sRaValidated = false;
+    sExpectedPio = kPioDeprecatingLocalOnLink;
+
+    Log("Disabling RoutingManager");
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().SetEnabled(false));
+    AdvanceTime(1);
+
+    VerifyOrQuit(sRaValidated);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Check that SRP server is also disabled.
+
+    VerifyOrQuit(otSrpServerGetState(sInstance) == OT_SRP_SERVER_STATE_DISABLED);
+    Log("Srp::Server is disabled");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Disable auto-enable mode on SRP server.
+
+    otSrpServerSetAutoEnableMode(sInstance, false);
+    VerifyOrQuit(!otSrpServerIsAutoEnableMode(sInstance));
+    VerifyOrQuit(otSrpServerGetState(sInstance) == OT_SRP_SERVER_STATE_DISABLED);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Re-start Routing Manager. Check emitted RS and RA messages.
+    // This cycle, router A will send a RA including a PIO.
+
+    sRsEmitted   = false;
+    sRaValidated = false;
+    sExpectedPio = kNoPio;
+    sExpectedRios.Clear();
+
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().SetEnabled(true));
+
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().GetOnLinkPrefix(localOnLink));
+    SuccessOrQuit(sInstance->Get<BorderRouter::RoutingManager>().GetOmrPrefix(localOmr));
+
+    Log("Local on-link prefix is %s", localOnLink.ToString().AsCString());
+    Log("Local OMR prefix is %s", localOmr.ToString().AsCString());
+
+    sExpectedRios.Add(localOmr);
+
+    AdvanceTime(2000);
+
+    SendRouterAdvert(routerAddressA, {Pio(onLinkPrefix, kValidLitime, kPreferredLifetime)});
+
+    AdvanceTime(30000);
+
+    VerifyOrQuit(sRsEmitted);
+    VerifyOrQuit(sRaValidated);
+    VerifyOrQuit(sExpectedRios.SawAll());
+    Log("Received RA was validated");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Check that SRP server is still disabled.
+
+    VerifyOrQuit(otSrpServerGetState(sInstance) == OT_SRP_SERVER_STATE_DISABLED);
+    Log("Srp::Server is disabled");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Enable auto-enable mode on SRP server. Since `RoutingManager`
+    // is already done with initial policy evaluation, the SRP server
+    // must be started immediately.
+
+    otSrpServerSetAutoEnableMode(sInstance, true);
+    VerifyOrQuit(otSrpServerIsAutoEnableMode(sInstance));
+
+    VerifyOrQuit(otSrpServerGetState(sInstance) != OT_SRP_SERVER_STATE_DISABLED);
+    Log("Srp::Server is enabled");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Disable auto-enable mode on SRP server. It must not impact
+    // its current state and it should remain enabled.
+
+    otSrpServerSetAutoEnableMode(sInstance, false);
+    VerifyOrQuit(!otSrpServerIsAutoEnableMode(sInstance));
+
+    AdvanceTime(2000);
+    VerifyOrQuit(otSrpServerGetState(sInstance) != OT_SRP_SERVER_STATE_DISABLED);
+    Log("Srp::Server is enabled");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Signal that infra if state changed and is no longer running.
+    // This should stop Routing Manager.
+
+    sRaValidated = false;
+
+    Log("Signal infra if is not running");
+    SuccessOrQuit(otPlatInfraIfStateChanged(sInstance, kInfraIfIndex, false));
+    AdvanceTime(1);
+
+    VerifyOrQuit(sRaValidated);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Re-enable auto-enable mode on SRP server. Since `RoutingManager`
+    // is stopped (infra if is down), the SRP serer must be stopped
+    // immediately.
+
+    otSrpServerSetAutoEnableMode(sInstance, true);
+    VerifyOrQuit(otSrpServerIsAutoEnableMode(sInstance));
+
+    VerifyOrQuit(otSrpServerGetState(sInstance) == OT_SRP_SERVER_STATE_DISABLED);
+    Log("Srp::Server is disabled");
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+
+    Log("End of TestAutoEnableOfSrpServer");
+    testFreeInstance(sInstance);
+}
+#endif // OPENTHREAD_CONFIG_SRP_SERVER_ENABLE
+
 #endif // OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
 
 int main(void)
@@ -1446,6 +1939,10 @@ int main(void)
     TestLocalOnLinkPrefixDeprecation();
 #if OPENTHREAD_CONFIG_BACKBONE_ROUTER_ENABLE
     TestDomainPrefixAsOmr();
+#endif
+    TestExtPanIdChange();
+#if OPENTHREAD_CONFIG_SRP_SERVER_ENABLE
+    TestAutoEnableOfSrpServer();
 #endif
     printf("All tests passed\n");
 #else
diff --git a/tests/unit/test_srp_server.cpp b/tests/unit/test_srp_server.cpp
new file mode 100644
index 00000000000..47974c7bc64
--- /dev/null
+++ b/tests/unit/test_srp_server.cpp
@@ -0,0 +1,712 @@
+/*
+ *  Copyright (c) 2022, The OpenThread Authors.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions are met:
+ *  1. Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *  2. Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *  3. Neither the name of the copyright holder nor the
+ *     names of its contributors may be used to endorse or promote products
+ *     derived from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <openthread/config.h>
+
+#include "test_platform.h"
+#include "test_util.hpp"
+
+#include <openthread/srp_client.h>
+#include <openthread/srp_server.h>
+#include <openthread/thread.h>
+
+#include "common/arg_macros.hpp"
+#include "common/array.hpp"
+#include "common/instance.hpp"
+#include "common/string.hpp"
+
+#if OPENTHREAD_CONFIG_SRP_SERVER_ENABLE && OPENTHREAD_CONFIG_SRP_CLIENT_ENABLE && \
+    !OPENTHREAD_CONFIG_TIME_SYNC_ENABLE && !OPENTHREAD_PLATFORM_POSIX
+#define ENABLE_SRP_TEST 1
+#else
+#define ENABLE_SRP_TEST 0
+#endif
+
+#if ENABLE_SRP_TEST
+
+using namespace ot;
+
+// Logs a message and adds current time (sNow) as "<hours>:<min>:<secs>.<msec>"
+#define Log(...)                                                                                          \
+    printf("%02u:%02u:%02u.%03u " OT_FIRST_ARG(__VA_ARGS__) "\n", (sNow / 36000000), (sNow / 60000) % 60, \
+           (sNow / 1000) % 60, sNow % 1000 OT_REST_ARGS(__VA_ARGS__))
+
+static constexpr uint16_t kMaxRaSize = 800;
+
+static ot::Instance *sInstance;
+
+static uint32_t sNow = 0;
+static uint32_t sAlarmTime;
+static bool     sAlarmOn = false;
+
+static otRadioFrame sRadioTxFrame;
+static uint8_t      sRadioTxFramePsdu[OT_RADIO_FRAME_MAX_SIZE];
+static bool         sRadioTxOngoing = false;
+
+//----------------------------------------------------------------------------------------------------------------------
+// Function prototypes
+
+void ProcessRadioTxAndTasklets(void);
+void AdvanceTime(uint32_t aDuration);
+
+//----------------------------------------------------------------------------------------------------------------------
+// `otPlatRadio`
+
+extern "C" {
+
+otError otPlatRadioTransmit(otInstance *, otRadioFrame *)
+{
+    sRadioTxOngoing = true;
+
+    return OT_ERROR_NONE;
+}
+
+otRadioFrame *otPlatRadioGetTransmitBuffer(otInstance *)
+{
+    return &sRadioTxFrame;
+}
+
+//----------------------------------------------------------------------------------------------------------------------
+// `otPlatAlaram`
+
+void otPlatAlarmMilliStop(otInstance *)
+{
+    sAlarmOn = false;
+}
+
+void otPlatAlarmMilliStartAt(otInstance *, uint32_t aT0, uint32_t aDt)
+{
+    sAlarmOn   = true;
+    sAlarmTime = aT0 + aDt;
+}
+
+uint32_t otPlatAlarmMilliGetNow(void)
+{
+    return sNow;
+}
+
+//----------------------------------------------------------------------------------------------------------------------
+
+Array<void *, 500> sHeapAllocatedPtrs;
+
+#if OPENTHREAD_CONFIG_HEAP_EXTERNAL_ENABLE
+void *otPlatCAlloc(size_t aNum, size_t aSize)
+{
+    void *ptr = calloc(aNum, aSize);
+
+    SuccessOrQuit(sHeapAllocatedPtrs.PushBack(ptr));
+
+    return ptr;
+}
+
+void otPlatFree(void *aPtr)
+{
+    if (aPtr != nullptr)
+    {
+        void **entry = sHeapAllocatedPtrs.Find(aPtr);
+
+        VerifyOrQuit(entry != nullptr, "A heap allocated item is freed twice");
+        sHeapAllocatedPtrs.Remove(*entry);
+    }
+
+    free(aPtr);
+}
+#endif
+
+#if OPENTHREAD_CONFIG_LOG_OUTPUT == OPENTHREAD_CONFIG_LOG_OUTPUT_PLATFORM_DEFINED
+void otPlatLog(otLogLevel aLogLevel, otLogRegion aLogRegion, const char *aFormat, ...)
+{
+    OT_UNUSED_VARIABLE(aLogLevel);
+    OT_UNUSED_VARIABLE(aLogRegion);
+
+    va_list args;
+
+    printf("   ");
+    va_start(args, aFormat);
+    vprintf(aFormat, args);
+    va_end(args);
+    printf("\n");
+}
+#endif
+
+} // extern "C"
+
+//---------------------------------------------------------------------------------------------------------------------
+
+void ProcessRadioTxAndTasklets(void)
+{
+    do
+    {
+        if (sRadioTxOngoing)
+        {
+            sRadioTxOngoing = false;
+            otPlatRadioTxStarted(sInstance, &sRadioTxFrame);
+            otPlatRadioTxDone(sInstance, &sRadioTxFrame, nullptr, OT_ERROR_NONE);
+        }
+
+        otTaskletsProcess(sInstance);
+    } while (otTaskletsArePending(sInstance));
+}
+
+void AdvanceTime(uint32_t aDuration)
+{
+    uint32_t time = sNow + aDuration;
+
+    Log("AdvanceTime for %u.%03u", aDuration / 1000, aDuration % 1000);
+
+    while (sAlarmTime <= time)
+    {
+        ProcessRadioTxAndTasklets();
+        sNow = sAlarmTime;
+        otPlatAlarmMilliFired(sInstance);
+    }
+
+    ProcessRadioTxAndTasklets();
+    sNow = time;
+}
+
+void InitTest(void)
+{
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Initialize OT instance.
+
+    sNow      = 0;
+    sInstance = static_cast<Instance *>(testInitInstance());
+
+    memset(&sRadioTxFrame, 0, sizeof(sRadioTxFrame));
+    sRadioTxFrame.mPsdu = sRadioTxFramePsdu;
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Initialize Border Router and start Thread operation.
+
+    SuccessOrQuit(otLinkSetPanId(sInstance, 0x1234));
+    SuccessOrQuit(otIp6SetEnabled(sInstance, true));
+    SuccessOrQuit(otThreadSetEnabled(sInstance, true));
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Ensure device starts as leader.
+
+    AdvanceTime(10000);
+
+    VerifyOrQuit(otThreadGetDeviceRole(sInstance) == OT_DEVICE_ROLE_LEADER);
+}
+
+//---------------------------------------------------------------------------------------------------------------------
+
+enum UpdateHandlerMode
+{
+    kAccept, // Accept all updates.
+    kReject, // Reject all updates.
+    kIgnore  // Ignore all updates (do not call `otSrpServerHandleServiceUpdateResult()`).
+};
+
+static UpdateHandlerMode sUpdateHandlerMode       = kAccept;
+static bool              sProcessedUpdateCallback = false;
+
+void HandleSrpServerUpdate(otSrpServerServiceUpdateId aId,
+                           const otSrpServerHost *    aHost,
+                           uint32_t                   aTimeout,
+                           void *                     aContext)
+{
+    Log("HandleSrpServerUpdate() called with %u, timeout:%u", aId, aTimeout);
+
+    VerifyOrQuit(aHost != nullptr);
+    VerifyOrQuit(aContext == sInstance);
+
+    sProcessedUpdateCallback = true;
+
+    switch (sUpdateHandlerMode)
+    {
+    case kAccept:
+        otSrpServerHandleServiceUpdateResult(sInstance, aId, kErrorNone);
+        break;
+    case kReject:
+        otSrpServerHandleServiceUpdateResult(sInstance, aId, kErrorFailed);
+        break;
+    case kIgnore:
+        break;
+    }
+}
+
+static bool  sProcessedClientCallback = false;
+static Error sLastClientCallbackError = kErrorNone;
+
+void HandleSrpClientCallback(otError                    aError,
+                             const otSrpClientHostInfo *aHostInfo,
+                             const otSrpClientService * aServices,
+                             const otSrpClientService * aRemovedServices,
+                             void *                     aContext)
+{
+    Log("HandleSrpClientCallback() called with error %s", ErrorToString(aError));
+
+    VerifyOrQuit(aContext == sInstance);
+
+    sProcessedClientCallback = true;
+    sLastClientCallbackError = aError;
+
+    OT_UNUSED_VARIABLE(aHostInfo);
+    OT_UNUSED_VARIABLE(aServices);
+    OT_UNUSED_VARIABLE(aRemovedServices);
+}
+
+static const char kHostName[] = "myhost";
+
+void PrepareService1(Srp::Client::Service &aService)
+{
+    static const char          kServiceName[]   = "_srv._udp";
+    static const char          kInstanceLabel[] = "srv-instance";
+    static const char          kSub1[]          = "_sub1";
+    static const char          kSub2[]          = "_V1234567";
+    static const char          kSub3[]          = "_XYZWS";
+    static const char *        kSubLabels[]     = {kSub1, kSub2, kSub3, nullptr};
+    static const char          kTxtKey1[]       = "ABCD";
+    static const uint8_t       kTxtValue1[]     = {'a', '0'};
+    static const char          kTxtKey2[]       = "Z0";
+    static const uint8_t       kTxtValue2[]     = {'1', '2', '3'};
+    static const char          kTxtKey3[]       = "D";
+    static const uint8_t       kTxtValue3[]     = {0};
+    static const otDnsTxtEntry kTxtEntries[]    = {
+        {kTxtKey1, kTxtValue1, sizeof(kTxtValue1)},
+        {kTxtKey2, kTxtValue2, sizeof(kTxtValue2)},
+        {kTxtKey3, kTxtValue3, sizeof(kTxtValue3)},
+    };
+
+    aService.mName          = kServiceName;
+    aService.mInstanceName  = kInstanceLabel;
+    aService.mSubTypeLabels = kSubLabels;
+    aService.mTxtEntries    = kTxtEntries;
+    aService.mNumTxtEntries = 3;
+    aService.mPort          = 777;
+    aService.mWeight        = 1;
+    aService.mPriority      = 2;
+}
+
+void PrepareService2(Srp::Client::Service &aService)
+{
+    static const char  kService2Name[]   = "_00112233667882554._matter._udp";
+    static const char  kInstance2Label[] = "ABCDEFGHI";
+    static const char  kSub4[]           = "_44444444";
+    static const char *kSubLabels2[]     = {kSub4, nullptr};
+
+    aService.mName          = kService2Name;
+    aService.mInstanceName  = kInstance2Label;
+    aService.mSubTypeLabels = kSubLabels2;
+    aService.mTxtEntries    = nullptr;
+    aService.mNumTxtEntries = 0;
+    aService.mPort          = 555;
+    aService.mWeight        = 0;
+    aService.mPriority      = 3;
+}
+
+void ValidateHost(Srp::Server &aServer, const char *aHostName)
+{
+    // Validate that only a host with `aHostName` is
+    // registered on SRP server.
+
+    const Srp::Server::Host *host;
+    const char *             name;
+
+    Log("ValidateHost()");
+
+    host = aServer.GetNextHost(nullptr);
+    VerifyOrQuit(host != nullptr);
+
+    name = host->GetFullName();
+    Log("Hostname: %s", name);
+
+    VerifyOrQuit(StringStartsWith(name, aHostName, kStringCaseInsensitiveMatch));
+    VerifyOrQuit(name[strlen(aHostName)] == '.');
+
+    // Only one host on server
+    VerifyOrQuit(aServer.GetNextHost(host) == nullptr);
+}
+
+//----------------------------------------------------------------------------------------------------------------------
+
+void TestSrpServerBase(void)
+{
+    Srp::Server *        srpServer;
+    Srp::Client *        srpClient;
+    Srp::Client::Service service1;
+    Srp::Client::Service service2;
+    uint16_t             heapAllocations;
+
+    Log("--------------------------------------------------------------------------------------------");
+    Log("TestSrpServerBase");
+
+    InitTest();
+
+    srpServer = &sInstance->Get<Srp::Server>();
+    srpClient = &sInstance->Get<Srp::Client>();
+
+    heapAllocations = sHeapAllocatedPtrs.GetLength();
+
+    PrepareService1(service1);
+    PrepareService2(service2);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Start SRP server.
+
+    SuccessOrQuit(srpServer->SetAddressMode(Srp::Server::kAddressModeUnicast));
+    VerifyOrQuit(srpServer->GetAddressMode() == Srp::Server::kAddressModeUnicast);
+
+    VerifyOrQuit(srpServer->GetState() == Srp::Server::kStateDisabled);
+
+    srpServer->SetServiceHandler(HandleSrpServerUpdate, sInstance);
+
+    srpServer->SetEnabled(true);
+    VerifyOrQuit(srpServer->GetState() != Srp::Server::kStateDisabled);
+
+    AdvanceTime(10000);
+    VerifyOrQuit(srpServer->GetState() == Srp::Server::kStateRunning);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Start SRP client.
+
+    srpClient->SetCallback(HandleSrpClientCallback, sInstance);
+
+    srpClient->EnableAutoStartMode(nullptr, nullptr);
+    VerifyOrQuit(srpClient->IsAutoStartModeEnabled());
+
+    AdvanceTime(2000);
+    VerifyOrQuit(srpClient->IsRunning());
+
+    SuccessOrQuit(srpClient->SetHostName(kHostName));
+    SuccessOrQuit(srpClient->EnableAutoHostAddress());
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Register a service, validate that update handler is called.
+
+    SuccessOrQuit(srpClient->AddService(service1));
+
+    sUpdateHandlerMode       = kAccept;
+    sProcessedUpdateCallback = false;
+    sProcessedClientCallback = false;
+
+    AdvanceTime(2 * 1000);
+
+    VerifyOrQuit(sProcessedUpdateCallback);
+    VerifyOrQuit(sProcessedClientCallback);
+    VerifyOrQuit(sLastClientCallbackError == kErrorNone);
+
+    VerifyOrQuit(service1.GetState() == Srp::Client::kRegistered);
+    ValidateHost(*srpServer, kHostName);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Register a second service, validate that update handler is called.
+
+    SuccessOrQuit(srpClient->AddService(service2));
+
+    sProcessedUpdateCallback = false;
+    sProcessedClientCallback = false;
+
+    AdvanceTime(2 * 1000);
+
+    VerifyOrQuit(sProcessedUpdateCallback);
+    VerifyOrQuit(sProcessedClientCallback);
+    VerifyOrQuit(sLastClientCallbackError == kErrorNone);
+
+    VerifyOrQuit(service1.GetState() == Srp::Client::kRegistered);
+    VerifyOrQuit(service2.GetState() == Srp::Client::kRegistered);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Unregister first service, validate that update handler is called.
+
+    SuccessOrQuit(srpClient->RemoveService(service1));
+
+    sProcessedUpdateCallback = false;
+    sProcessedClientCallback = false;
+
+    AdvanceTime(2 * 1000);
+
+    VerifyOrQuit(sProcessedUpdateCallback);
+    VerifyOrQuit(sProcessedClientCallback);
+    VerifyOrQuit(sLastClientCallbackError == kErrorNone);
+
+    VerifyOrQuit(service1.GetState() == Srp::Client::kRemoved);
+    VerifyOrQuit(service2.GetState() == Srp::Client::kRegistered);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Disable SRP server, verify that all heap allocations by SRP server
+    // are freed.
+
+    Log("Disabling SRP server");
+
+    srpServer->SetEnabled(false);
+    AdvanceTime(100);
+
+    VerifyOrQuit(heapAllocations == sHeapAllocatedPtrs.GetLength());
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Finalize OT instance and validate all heap allocations are freed.
+
+    Log("Finalizing OT instance");
+    testFreeInstance(sInstance);
+
+    VerifyOrQuit(sHeapAllocatedPtrs.IsEmpty());
+
+    Log("End of TestSrpServerBase");
+}
+
+void TestSrpServerReject(void)
+{
+    Srp::Server *        srpServer;
+    Srp::Client *        srpClient;
+    Srp::Client::Service service1;
+    Srp::Client::Service service2;
+    uint16_t             heapAllocations;
+
+    Log("--------------------------------------------------------------------------------------------");
+    Log("TestSrpServerReject");
+
+    InitTest();
+
+    srpServer = &sInstance->Get<Srp::Server>();
+    srpClient = &sInstance->Get<Srp::Client>();
+
+    heapAllocations = sHeapAllocatedPtrs.GetLength();
+
+    PrepareService1(service1);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Start SRP server.
+
+    SuccessOrQuit(srpServer->SetAddressMode(Srp::Server::kAddressModeUnicast));
+    VerifyOrQuit(srpServer->GetState() == Srp::Server::kStateDisabled);
+
+    srpServer->SetServiceHandler(HandleSrpServerUpdate, sInstance);
+
+    srpServer->SetEnabled(true);
+    VerifyOrQuit(srpServer->GetState() != Srp::Server::kStateDisabled);
+
+    AdvanceTime(10000);
+    VerifyOrQuit(srpServer->GetState() == Srp::Server::kStateRunning);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Start SRP client.
+
+    srpClient->SetCallback(HandleSrpClientCallback, sInstance);
+
+    srpClient->EnableAutoStartMode(nullptr, nullptr);
+    VerifyOrQuit(srpClient->IsAutoStartModeEnabled());
+
+    AdvanceTime(2000);
+    VerifyOrQuit(srpClient->IsRunning());
+
+    SuccessOrQuit(srpClient->SetHostName(kHostName));
+    SuccessOrQuit(srpClient->EnableAutoHostAddress());
+
+    sUpdateHandlerMode = kReject;
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Register a service, validate that update handler is called
+    // and rejected and no service is registered.
+
+    SuccessOrQuit(srpClient->AddService(service1));
+
+    sProcessedUpdateCallback = false;
+    sProcessedClientCallback = false;
+
+    AdvanceTime(2 * 1000);
+
+    VerifyOrQuit(sProcessedUpdateCallback);
+    VerifyOrQuit(sProcessedClientCallback);
+    VerifyOrQuit(sLastClientCallbackError != kErrorNone);
+
+    VerifyOrQuit(service1.GetState() != Srp::Client::kRegistered);
+
+    VerifyOrQuit(srpServer->GetNextHost(nullptr) == nullptr);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Register a second service, validate that update handler is
+    // again called and update is rejected.
+
+    SuccessOrQuit(srpClient->AddService(service2));
+
+    sProcessedUpdateCallback = false;
+    sProcessedClientCallback = false;
+
+    AdvanceTime(2 * 1000);
+
+    VerifyOrQuit(sProcessedUpdateCallback);
+    VerifyOrQuit(sProcessedClientCallback);
+    VerifyOrQuit(sLastClientCallbackError != kErrorNone);
+
+    VerifyOrQuit(service1.GetState() != Srp::Client::kRegistered);
+    VerifyOrQuit(service2.GetState() != Srp::Client::kRegistered);
+
+    VerifyOrQuit(srpServer->GetNextHost(nullptr) == nullptr);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Disable SRP server, verify that all heap allocations by SRP server
+    // are freed.
+
+    Log("Disabling SRP server");
+
+    srpServer->SetEnabled(false);
+    AdvanceTime(100);
+
+    VerifyOrQuit(heapAllocations == sHeapAllocatedPtrs.GetLength());
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Finalize OT instance and validate all heap allocations are freed.
+
+    Log("Finalizing OT instance");
+    testFreeInstance(sInstance);
+
+    VerifyOrQuit(sHeapAllocatedPtrs.IsEmpty());
+
+    Log("End of TestSrpServerReject");
+}
+
+void TestSrpServerIgnore(void)
+{
+    Srp::Server *        srpServer;
+    Srp::Client *        srpClient;
+    Srp::Client::Service service1;
+    Srp::Client::Service service2;
+    uint16_t             heapAllocations;
+
+    Log("--------------------------------------------------------------------------------------------");
+    Log("TestSrpServerIgnore");
+
+    InitTest();
+
+    srpServer = &sInstance->Get<Srp::Server>();
+    srpClient = &sInstance->Get<Srp::Client>();
+
+    heapAllocations = sHeapAllocatedPtrs.GetLength();
+
+    PrepareService1(service1);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Start SRP server.
+
+    SuccessOrQuit(srpServer->SetAddressMode(Srp::Server::kAddressModeUnicast));
+    VerifyOrQuit(srpServer->GetState() == Srp::Server::kStateDisabled);
+
+    srpServer->SetServiceHandler(HandleSrpServerUpdate, sInstance);
+
+    srpServer->SetEnabled(true);
+    VerifyOrQuit(srpServer->GetState() != Srp::Server::kStateDisabled);
+
+    AdvanceTime(10000);
+    VerifyOrQuit(srpServer->GetState() == Srp::Server::kStateRunning);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Start SRP client.
+
+    srpClient->SetCallback(HandleSrpClientCallback, sInstance);
+
+    srpClient->EnableAutoStartMode(nullptr, nullptr);
+    VerifyOrQuit(srpClient->IsAutoStartModeEnabled());
+
+    AdvanceTime(2000);
+    VerifyOrQuit(srpClient->IsRunning());
+
+    SuccessOrQuit(srpClient->SetHostName(kHostName));
+    SuccessOrQuit(srpClient->EnableAutoHostAddress());
+
+    sUpdateHandlerMode = kIgnore;
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Register a service, validate that update handler is called
+    // and ignored the update and no service is registered.
+
+    SuccessOrQuit(srpClient->AddService(service1));
+
+    sProcessedUpdateCallback = false;
+    sProcessedClientCallback = false;
+
+    AdvanceTime(2 * 1000);
+
+    VerifyOrQuit(sProcessedUpdateCallback);
+    VerifyOrQuit(sProcessedClientCallback);
+    VerifyOrQuit(sLastClientCallbackError != kErrorNone);
+
+    VerifyOrQuit(service1.GetState() != Srp::Client::kRegistered);
+
+    VerifyOrQuit(srpServer->GetNextHost(nullptr) == nullptr);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Register a second service, validate that update handler is
+    // again called and update is still ignored.
+
+    SuccessOrQuit(srpClient->AddService(service2));
+
+    sProcessedUpdateCallback = false;
+    sProcessedClientCallback = false;
+
+    AdvanceTime(2 * 1000);
+
+    VerifyOrQuit(sProcessedUpdateCallback);
+    VerifyOrQuit(sProcessedClientCallback);
+    VerifyOrQuit(sLastClientCallbackError != kErrorNone);
+
+    VerifyOrQuit(service1.GetState() != Srp::Client::kRegistered);
+    VerifyOrQuit(service2.GetState() != Srp::Client::kRegistered);
+
+    VerifyOrQuit(srpServer->GetNextHost(nullptr) == nullptr);
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Disable SRP server, verify that all heap allocations by SRP server
+    // are freed.
+
+    Log("Disabling SRP server");
+
+    srpServer->SetEnabled(false);
+    AdvanceTime(100);
+
+    VerifyOrQuit(heapAllocations == sHeapAllocatedPtrs.GetLength());
+
+    //- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+    // Finalize OT instance and validate all heap allocations are freed.
+
+    Log("Finalizing OT instance");
+    testFreeInstance(sInstance);
+
+    VerifyOrQuit(sHeapAllocatedPtrs.IsEmpty());
+
+    Log("End of TestSrpServerIgnore");
+}
+
+#endif // ENABLE_SRP_TEST
+
+int main(void)
+{
+#if ENABLE_SRP_TEST
+    TestSrpServerBase();
+    TestSrpServerReject();
+    TestSrpServerIgnore();
+    printf("All tests passed\n");
+#else
+    printf("SRP_SERVER or SRP_CLIENT feature is not enabled\n");
+#endif
+
+    return 0;
+}
diff --git a/third_party/tcplp/CMakeLists.txt b/third_party/tcplp/CMakeLists.txt
index 3ea41b6ca52..9ec23b8d78b 100644
--- a/third_party/tcplp/CMakeLists.txt
+++ b/third_party/tcplp/CMakeLists.txt
@@ -43,7 +43,6 @@ set(src_tcplp
     lib/lbuf.c
 )
 
-set(tcplp_static_target "tcplp")
 
 string(REPLACE "-Wsign-compare" "" CMAKE_C_FLAGS "${CMAKE_C_FLAGS}")
 
@@ -51,40 +50,58 @@ string(REPLACE "-Wconversion" "" CMAKE_C_FLAGS "${CMAKE_C_FLAGS}")
 
 string(REPLACE "-Wunused-parameter" "" CMAKE_C_FLAGS "${CMAKE_C_FLAGS}")
 
-add_library(${tcplp_static_target} STATIC ${src_tcplp})
-target_compile_options(${tcplp_static_target}
-    PRIVATE
-        "-Wno-sign-compare"
-        "-Wno-unused-parameter"
-)
-set_target_properties(${tcplp_static_target} PROPERTIES OUTPUT_NAME tcplp)
-target_include_directories(${tcplp_static_target}
-    PUBLIC
-        ${CMAKE_CURRENT_SOURCE_DIR}/bsdtcp
-        ${CMAKE_CURRENT_SOURCE_DIR}/lib
-    PRIVATE
-        ${OT_PUBLIC_INCLUDES}
-)
-
-target_link_libraries(${tcplp_static_target}
-    PRIVATE
-        ot-config
-)
+if(OT_FTD)
+    add_library(tcplp-ftd STATIC ${src_tcplp})
+    target_compile_options(tcplp-ftd
+        PRIVATE
+            "-Wno-sign-compare"
+            "-Wno-unused-parameter"
+    )
+    set_target_properties(tcplp-ftd PROPERTIES OUTPUT_NAME tcplp-ftd)
+    target_include_directories(tcplp-ftd
+        PUBLIC
+            ${CMAKE_CURRENT_SOURCE_DIR}/bsdtcp
+            ${CMAKE_CURRENT_SOURCE_DIR}/lib
+        PRIVATE
+            ${OT_PUBLIC_INCLUDES}
+    )
 
-# TCPlp calls functions that are defined by the core OpenThread (like
-# "otMessageWrite()"), so we need to add the core library (FTD or MTD, as
-# appropriate) as a link dependency.
+    target_link_libraries(tcplp-ftd
+        PRIVATE
+            ot-config
+    )
 
-if(OT_FTD)
-    target_link_libraries(${tcplp_static_target}
+    target_link_libraries(tcplp-ftd
         PRIVATE
             openthread-ftd
     )
+
 endif()
 
 if(OT_MTD)
-    target_link_libraries(${tcplp_static_target}
+    add_library(tcplp-mtd STATIC ${src_tcplp})
+    target_compile_options(tcplp-mtd
+        PRIVATE
+            "-Wno-sign-compare"
+            "-Wno-unused-parameter"
+    )
+    set_target_properties(tcplp-mtd PROPERTIES OUTPUT_NAME tcplp-mtd)
+    target_include_directories(tcplp-mtd
+        PUBLIC
+            ${CMAKE_CURRENT_SOURCE_DIR}/bsdtcp
+            ${CMAKE_CURRENT_SOURCE_DIR}/lib
+        PRIVATE
+            ${OT_PUBLIC_INCLUDES}
+    )
+
+    target_link_libraries(tcplp-mtd
+        PRIVATE
+            ot-config
+    )
+
+    target_link_libraries(tcplp-mtd
         PRIVATE
             openthread-mtd
     )
+
 endif()
diff --git a/third_party/tcplp/lib/lbuf.c b/third_party/tcplp/lib/lbuf.c
index 91dd4561bbe..ba39c5d1c7e 100644
--- a/third_party/tcplp/lib/lbuf.c
+++ b/third_party/tcplp/lib/lbuf.c
@@ -55,6 +55,7 @@ void lbuf_append(struct lbufhead* buffer, otLinkedBuffer* newentry) {
 
 void lbuf_extend(struct lbufhead* buffer, size_t numbytes) {
     buffer->tail->mLength += numbytes;
+    buffer->length += numbytes;
 }
 
 size_t lbuf_pop(struct lbufhead* buffer, size_t numbytes, uint32_t* ntraversed) {
diff --git a/third_party/tcplp/lib/test/Makefile b/third_party/tcplp/lib/test/Makefile
new file mode 100644
index 00000000000..5613cbd18d4
--- /dev/null
+++ b/third_party/tcplp/lib/test/Makefile
@@ -0,0 +1,16 @@
+CC=clang
+CFLAGS=-I ../../../../include -O2 -Wall
+
+all: test_all
+
+%.o: ../%.c
+	clang -c $(CFLAGS) $< -o $@
+
+test_all.o: test_all.c
+	clang -c $(CFLAGS) test_all.c -o $@
+
+test_all: test_all.o cbuf.o lbuf.o bitmap.o
+	clang test_all.o cbuf.o lbuf.o bitmap.o -o test_all
+
+clean:
+	rm -f *.o test_all
diff --git a/third_party/tcplp/lib/test/test_all.c b/third_party/tcplp/lib/test/test_all.c
new file mode 100644
index 00000000000..9884259f40d
--- /dev/null
+++ b/third_party/tcplp/lib/test/test_all.c
@@ -0,0 +1,219 @@
+#include <assert.h>
+#include <inttypes.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <openthread/message.h>
+#include <openthread/tcp.h>
+
+#include "../bitmap.h"
+#include "../cbuf.h"
+
+uint32_t num_tests_passed = 0;
+uint32_t num_tests_failed = 0;
+
+uint16_t otMessageRead(const otMessage *aMessage, uint16_t aOffset, void *aBuf, uint16_t aLength) {
+    return aLength;
+}
+
+int otMessageWrite(otMessage *aMessage, uint16_t aOffset, const void *aBuf, uint16_t aLength) {
+    return aLength;
+}
+
+void bmp_print(uint8_t* buf, size_t buflen) {
+    size_t i;
+    for (i = 0; i < buflen; i++) {
+        printf("%02X", buf[i]);
+    }
+    printf("\n");
+}
+
+void bmp_test(const char* test_name, uint8_t* buf, size_t buflen, const char* contents) {
+    char buf_string[(buflen << 1) + 1];
+    buf_string[0] = '\0';
+    for (size_t i = 0; i < buflen; i++) {
+        snprintf(&buf_string[i << 1], 3, "%02X", buf[i]);
+    }
+    if (strcmp(contents, buf_string) == 0) {
+        printf("%s: PASS\n", test_name);
+        num_tests_passed++;
+    } else {
+        printf("%s: FAIL: %s vs. %s\n", test_name, contents, buf_string);
+        num_tests_failed++;
+    }
+}
+
+void test_bmp() {
+    size_t test_bmp_size = 8;
+    uint8_t buffer[test_bmp_size];
+
+    bmp_init(buffer, test_bmp_size);
+    bmp_test("bmp_init", buffer, test_bmp_size, "0000000000000000");
+
+    bmp_setrange(buffer, 11, 7);
+    bmp_test("bmp_setrange 1", buffer, test_bmp_size, "001FC00000000000");
+
+    bmp_setrange(buffer, 35, 3);
+    bmp_test("bmp_setrange 2", buffer, test_bmp_size, "001FC0001C000000");
+
+    bmp_setrange(buffer, 47, 4);
+    bmp_test("bmp_setrange 3", buffer, test_bmp_size, "001FC0001C01E000");
+
+    bmp_swap(buffer, 3, 36, 1);
+    bmp_test("bmp_swap 1", buffer, test_bmp_size, "101FC0001401E000");
+
+    bmp_swap(buffer, 0, 40, 24);
+    bmp_test("bmp_swap 2", buffer, test_bmp_size, "01E0000014101FC0");
+
+    bmp_swap(buffer, 2, 42, 15);
+    bmp_test("bmp_swap 3", buffer, test_bmp_size, "101F80001401E040");
+
+    bmp_swap(buffer, 13, 23, 2);
+    bmp_test("bmp_swap 4", buffer, test_bmp_size, "101981801401E040");
+
+    bmp_swap(buffer, 0, 35, 24);
+    bmp_test("bmp_swap 5", buffer, test_bmp_size, "A00F028002033020");
+}
+
+void cbuf_test(const char* test_name, struct cbufhead* chdr, const char* contents) {
+    char buf_string[chdr->size + 1];
+    struct otLinkedBuffer first;
+    struct otLinkedBuffer second;
+    cbuf_reference(chdr, &first, &second);
+
+
+    memcpy(&buf_string[0], &first.mData[0], first.mLength);
+    if (first.mNext != NULL) {
+        assert(first.mNext == &second);
+        memcpy(&buf_string[first.mLength], &second.mData[0], second.mLength);
+        assert(second.mNext == NULL);
+        buf_string[first.mLength + second.mLength] = '\0';
+    } else {
+        buf_string[first.mLength] = '\0';
+    }
+
+    if (strcmp(contents, buf_string) == 0) {
+        printf("%s: PASS\n", test_name);
+        num_tests_passed++;
+    } else {
+        printf("%s: FAIL: %s (%zu) vs. %s (%zu)\n", test_name, contents, strlen(contents), buf_string, strlen(buf_string));
+        num_tests_failed++;
+    }
+}
+
+void cbuf_write_string(struct cbufhead* chdr, const char* string) {
+    cbuf_write(chdr, string, 0, strlen(string), cbuf_copy_into_buffer);
+}
+
+void test_cbuf() {
+    uint8_t buffer[65];
+    uint8_t bitmap[8];
+    struct cbufhead chdr;
+
+    cbuf_init(&chdr, buffer, 64); // capacity is actually 64
+    cbuf_test("cbuf_init", &chdr, "");
+
+    cbuf_write_string(&chdr, "abcdefghijklmnopqrstuvwxyz0123456789");
+    cbuf_test("cbuf_write", &chdr, "abcdefghijklmnopqrstuvwxyz0123456789");
+
+    cbuf_pop(&chdr, 1);
+    cbuf_test("cbuf_pop", &chdr, "bcdefghijklmnopqrstuvwxyz0123456789");
+
+    cbuf_pop(&chdr, 5);
+    cbuf_test("cbuf_pop", &chdr, "ghijklmnopqrstuvwxyz0123456789");
+
+    cbuf_write_string(&chdr, "abcdefghijklmnopqrstuvwxyz01234567");
+    cbuf_test("cbuf_write", &chdr, "ghijklmnopqrstuvwxyz0123456789abcdefghijklmnopqrstuvwxyz01234567");
+
+    cbuf_contiguify(&chdr, NULL);
+    cbuf_test("cbuf_contiguify", &chdr, "ghijklmnopqrstuvwxyz0123456789abcdefghijklmnopqrstuvwxyz01234567");
+
+    cbuf_pop(&chdr, 50);
+    cbuf_test("cbuf_pop", &chdr, "uvwxyz01234567");
+
+    cbuf_write_string(&chdr, "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz"); // yz overflows and isn't written
+    cbuf_test("cbuf_write", &chdr, "uvwxyz01234567ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwx");
+
+    cbuf_contiguify(&chdr, NULL);
+    cbuf_test("cbuf_contiguify", &chdr, "uvwxyz01234567ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwx");
+
+    cbuf_contiguify(&chdr, NULL); // check that a second "contiguify" operation doesn't mess things up
+    cbuf_test("cbuf_contiguify", &chdr, "uvwxyz01234567ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwx");
+
+    cbuf_pop(&chdr, 20);
+    cbuf_test("cbuf_pop", &chdr, "GHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwx");
+
+    cbuf_write_string(&chdr, "yz");
+    cbuf_test("cbuf_write", &chdr, "GHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz");
+
+    bmp_init(bitmap, 8);
+    bmp_test("bmp_init", bitmap, 8, "0000000000000000");
+
+    cbuf_reass_write(&chdr, 4, "@@@@@@@@@@@", 0, 11, bitmap, NULL, cbuf_copy_from_buffer);
+    cbuf_test("cbuf_reass_write (cbuf)", &chdr, "GHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz");
+    bmp_test("cbuf_reass_write (bitmap)", bitmap, 8, "03FF800000000000");
+
+    cbuf_contiguify(&chdr, bitmap);
+    cbuf_test("cbuf_contiguify (cbuf)", &chdr, "GHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz");
+    bmp_test("cbuf_reass_write (bitmap)", bitmap, 8, "0000000000003FF8");
+
+    cbuf_write_string(&chdr, "1234");
+    cbuf_test("cbuf_write", &chdr, "GHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz1234");
+
+    cbuf_reass_merge(&chdr, 9, bitmap);
+    cbuf_test("cbuf_reass_merge (cbuf)", &chdr, "GHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz1234@@@@@@@@@");
+    bmp_test("cbuf_reass_merge (bitmap)", bitmap, 8, "0000000000000018");
+
+    cbuf_reass_merge(&chdr, 2, bitmap);
+    cbuf_test("cbuf_reass_merge (cbuf)", &chdr, "GHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz1234@@@@@@@@@@@");
+    bmp_test("cbuf_reass_merge (bitmap)", bitmap, 8, "0000000000000000");
+
+    cbuf_pop(&chdr, 61);
+    cbuf_test("cbuf_pop", &chdr, "");
+}
+
+void test_cbuf_2() {
+    uint8_t buffer[32];
+    uint8_t bitmap[4];
+    struct cbufhead chdr;
+
+    cbuf_init(&chdr, buffer, 32);
+    cbuf_test("cbuf_init", &chdr, "");
+
+    bmp_init(bitmap, 4);
+    bmp_test("bmp_init", bitmap, 4, "00000000");
+
+    cbuf_reass_write(&chdr, 6, "abcdefghijklmnopqrstuvwxyz", 0, 26, bitmap, NULL, cbuf_copy_from_buffer);
+    cbuf_test("cbuf_reass_write (cbuf)", &chdr, "");
+    bmp_test("cbuf_reass_write (bitmap)", bitmap, 4, "03FFFFFF");
+
+    cbuf_write_string(&chdr, "ASDFGH");
+    cbuf_test("cbuf_write (cbuf)", &chdr, "ASDFGH");
+    bmp_test("cbuf_write (bitmap)", bitmap, 4, "03FFFFFF");
+
+    cbuf_pop(&chdr, 6);
+    cbuf_test("cbuf_pop (cbuf)", &chdr, "");
+    bmp_test("cbuf_pop (bitmap)", bitmap, 4, "03FFFFFF");
+
+    cbuf_reass_write(&chdr, 26, "!@#$^&", 0, 6, bitmap, NULL, cbuf_copy_from_buffer);
+    cbuf_test("cbuf_reass_write (cbuf)", &chdr, "");
+    bmp_test("cbuf_reass_write (bitmap)", bitmap, 4, "FFFFFFFF");
+
+    printf("Count Set: %d (should be at least 32)\n", (int) cbuf_reass_count_set(&chdr, 0, bitmap, 32));
+
+    cbuf_reass_merge(&chdr, 32, bitmap);
+    cbuf_test("cbuf_reass_merge (cbuf)", &chdr, "abcdefghijklmnopqrstuvwxyz!@#$^&");
+    bmp_test("cbuf_reass_merge (bitmap)", bitmap, 4, "00000000");
+}
+
+int main(int argc, char** argv) {
+    test_bmp();
+    test_cbuf();
+    test_cbuf_2();
+
+    printf("%" PRIu32 " tests passed (out of %" PRIu32 ")\n", num_tests_passed, num_tests_passed + num_tests_failed);
+    if (num_tests_failed != 0) {
+        return EXIT_FAILURE;
+    }
+    return EXIT_SUCCESS;
+}
diff --git a/tools/harness-simulation/README.md b/tools/harness-simulation/README.md
index 61e1a95c3c1..602fca53e60 100644
--- a/tools/harness-simulation/README.md
+++ b/tools/harness-simulation/README.md
@@ -10,33 +10,19 @@ Platform developers should modify the THCI implementation and/or the SI implemen
 
 ## POSIX Environment Setup
 
-1. Build OpenThread to generate standalone OpenThread simulation `ot-cli-ftd`. For example, to run OpenThread 1.2 test cases, run the following command in the top directory of OpenThread:
+1. Open the JSON format configuration file `tools/harness-simulation/posix/config.yml`:
 
-   ```bash
-   $ CFLAGS='-DOPENTHREAD_CONFIG_IP6_MAX_EXT_MCAST_ADDRS=8' \
-     CXXFLAGS='-DOPENTHREAD_CONFIG_IP6_MAX_EXT_MCAST_ADDRS=8' \
-     script/cmake-build simulation \
-         -DOT_THREAD_VERSION=1.2 \
-         -DOT_DUA=ON \
-         -DOT_MLR=ON \
-         -DOT_COMMISSIONER=ON \
-         -DOT_CSL_RECEIVER=ON \
-         -DOT_SIMULATION_MAX_NETWORK_SIZE=64
-   ```
-
-   Then `ot-cli-ftd` is built in the directory `build/simulation/examples/apps/cli/`.
+   - Edit the value of `ot_path` to the absolute path where the top directory of the OpenThread repository is located. For example, change the value of `ot_path` to `/home/<username>/repo/openthread`.
+   - For each entry in `ot_build.ot`, update the value of `number` to be the number of OT FTD simulations needed with the corresponding version.
+   - For each entry in `ot_build.otbr`, update the value of `number` to be the number of OTBR simulations needed with the corresponding version.
+   - The numbers above can be adjusted according to the requirement of test cases.
+   - Edit the value of `ssh.username` to the username to be used for connecting to the remote POSIX environment.
+   - Edit the value of `ssh.password` to the password corresponding to the username above.
+   - Edit the value of `discovery_ifname` to the network interface that the Harness will connect to.
 
-2. Open the configuration file `config.py`:
+   Note that it may be time-consuming to build all versions of `ot-cli-ftd`s and OTBR Docker images especially on devices such as Raspberry Pis.
 
-   - Edit the value of `OT_PATH` to the absolute path where the top directory of the OpenThread repository is located. For example, change the value of `OT_PATH` to `/home/<username>/repo/openthread`.
-
-3. Run the `build_docker_image.sh` with the environment variable `OT_PATH` set properly. `OT_PATH` should be the same as that in the previous step. For example run the following command:
-
-   ```bash
-   $ OT_PATH=~/repo/openthread ./build_docker_image.sh
-   ```
-
-4. Run the installation script.
+2. Run the installation script.
 
    ```bash
    $ tools/harness-simulation/posix/install.sh
@@ -44,33 +30,21 @@ Platform developers should modify the THCI implementation and/or the SI implemen
 
 ## Test Harness Environment Setup
 
-1. Double click the file `harness\install.bat` on the machine which installed Harness.
-
-2. Check the configuration file `C:\GRL\Thread1.2\Thread_Harness\simulation\config.py`
+1. Copy the directory `tools/harness-simulation` from the POSIX machine to the Windows machine, and then switch to that directory.
 
-   - Edit the value of `REMOTE_USERNAME` to the username expected to connect to on the remote POSIX environment.
-   - Edit the value of `REMOTE_PASSWORD` to the password corresponding to the username above.
-   - Edit the value of `REMOTE_OT_PATH` to the absolute path where the top directory of the OpenThread repository is located.
-
-3. Add the additional simulation device information in `harness\Web\data\deviceInputFields.xml` to `C:\GRL\Thread1.2\Web\data\deviceInputFields.xml`.
+2. Double click the file `harness\install.bat` on Windows.
 
 ## Run Test Harness on Simulation
 
-1. On POSIX machine, change directory to the top of OpenThread repository, and run the following commands.
+1. On the POSIX machine, change directory to the top of the OpenThread repository, and run the following commands.
 
    ```bash
    $ cd tools/harness-simulation/posix
-   $ python3 launch_testbed.py \
-         --interface=eth0      \
-         --ot=6                \
-         --otbr=4              \
-         --sniffer=2
+   $ ./launch_testbed.py -c config.yml
    ```
 
-   This example starts 6 OT FTD simulations, 4 OTBR simulations, and 2 sniffer simulations and can be discovered on `eth0`.
-
-   The arguments can be adjusted according to the requirement of test cases.
+   This example starts several OT FTD simulations, OTBR simulations, and sniffer simulations and can be discovered on `eth0`. The number of each type of simulation is specified in the configuration file `config.yml`.
 
-2. Run Test Harness. The information field of the device is encoded as `<node_id>@<ip_addr>` for FTDs and `otbr_<node_id>@<ip_addr>` for BRs. Choose the proper device as the DUT accordingly.
+2. Run the Test Harness. The information field of the device is encoded as `<tag>_<node_id>@<ip_addr>`. Choose the desired device as the DUT.
 
 3. Select one or more test cases to start the test.
diff --git a/tools/harness-simulation/harness/Thread_Harness/Sniffer/SimSniffer.py b/tools/harness-simulation/harness/Thread_Harness/Sniffer/SimSniffer.py
index 194b6ad0313..90bc43f3daf 100644
--- a/tools/harness-simulation/harness/Thread_Harness/Sniffer/SimSniffer.py
+++ b/tools/harness-simulation/harness/Thread_Harness/Sniffer/SimSniffer.py
@@ -29,6 +29,7 @@
 
 import grpc
 import ipaddress
+import itertools
 import json
 import netifaces
 import select
@@ -38,6 +39,9 @@
 import win32api
 import winreg as wr
 
+from GRLLibs.UtilityModules.ModuleHelper import ModuleHelper
+from GRLLibs.UtilityModules.SnifferManager import SnifferManager
+from GRLLibs.UtilityModules.TopologyManager import TopologyManager
 from Sniffer.ISniffer import ISniffer
 from THCI.OpenThread import watched
 from simulation.Sniffer.proto import sniffer_pb2
@@ -56,7 +60,79 @@
 WINREG_KEY = r'SYSTEM\CurrentControlSet\Control\Network\{4d36e972-e325-11ce-bfc1-08002be10318}'
 
 
+# When Harness requires an RF shield box, it will pop up a message box via `ModuleHelper.UIMsgBox`
+# Replace the function to add and remove an RF enclosure simulation automatically without popping up a window
+def UIMsgBoxDecorator(UIMsgBox, replaceFuncs):
+
+    @staticmethod
+    def UIMsgBoxWrapper(msg='Confirm ??',
+                        title='User Input Required',
+                        inputRequired=False,
+                        default='',
+                        choices=None,
+                        timeout=None,
+                        isPrompt=False):
+        func = replaceFuncs.get((msg, title))
+        if func is None:
+            return UIMsgBox(msg, title, inputRequired, default, choices, timeout, isPrompt)
+        else:
+            return func()
+
+    return UIMsgBoxWrapper
+
+
+class DeviceManager:
+
+    def __init__(self):
+        deviceManager = TopologyManager.m_DeviceManager
+        self._devices = {'DUT': deviceManager.AutoDUTDeviceObject.THCI_Object}
+        for device_obj in deviceManager.DeviceList.values():
+            if device_obj.IsDeviceUsed:
+                self._devices[device_obj.DeviceTopologyInfo] = device_obj.THCI_Object
+
+    def __getitem__(self, deviceName):
+        device = self._devices.get(deviceName)
+        if device is None:
+            raise KeyError('Device Name "%s" not found' % deviceName)
+        return device
+
+
+class RFEnclosureManager:
+
+    def __init__(self, deviceNames1, deviceNames2, snifferPartitionId):
+        self.deviceNames1 = deviceNames1
+        self.deviceNames2 = deviceNames2
+        self.snifferPartitionId = snifferPartitionId
+
+    def placeRFEnclosure(self):
+        devices = DeviceManager()
+        self._partition1 = [devices[role] for role in self.deviceNames1]
+        self._partition2 = [devices[role] for role in self.deviceNames2]
+        sniffer_denied_partition = self._partition1 if self.snifferPartitionId == 2 else self._partition2
+
+        for device1 in self._partition1:
+            for device2 in self._partition2:
+                device1.addBlockedNodeId(device2.node_id)
+                device2.addBlockedNodeId(device1.node_id)
+
+        for sniffer in SnifferManager.SnifferObjects.values():
+            if sniffer.isSnifferCapturing():
+                sniffer.filterNodes(device.node_id for device in sniffer_denied_partition)
+
+    def removeRFEnclosure(self):
+        for device in itertools.chain(self._partition1, self._partition2):
+            device.clearBlockedNodeIds()
+
+        for sniffer in SnifferManager.SnifferObjects.values():
+            if sniffer.isSnifferCapturing():
+                sniffer.filterNodes(())
+
+        self._partition1 = None
+        self._partition2 = None
+
+
 class SimSniffer(ISniffer):
+    replaced_msgbox = False
 
     @watched
     def __init__(self, **kwargs):
@@ -66,12 +142,47 @@ def __init__(self, **kwargs):
         self._local_pcapng_location = None
 
         if self.addr_port is not None:
+            # Replace `ModuleHelper.UIMsgBox` only when simulation devices exist
+            self._replaceMsgBox()
+
             self._sniffer = grpc.insecure_channel(self.addr_port)
             self._stub = sniffer_pb2_grpc.SnifferStub(self._sniffer)
 
             # Close the sniffer only when Harness exits
             win32api.SetConsoleCtrlHandler(self.__disconnect, True)
 
+    @watched
+    def _replaceMsgBox(self):
+        # Replace the function only once
+        if SimSniffer.replaced_msgbox:
+            return
+        SimSniffer.replaced_msgbox = True
+
+        test_9_2_9_leader = RFEnclosureManager(['Router_1', 'Router_2'], ['DUT', 'Commissioner'], 1)
+        test_9_2_9_router = RFEnclosureManager(['DUT', 'Router_2'], ['Leader', 'Commissioner'], 1)
+        test_9_2_10_router = RFEnclosureManager(['Leader', 'Commissioner'], ['DUT', 'MED_1', 'SED_1'], 2)
+
+        # Alter the behavior of `ModuleHelper.UIMsgBox` only when it comes to the following test cases:
+        #   - Leader 9.2.9
+        #   - Router 9.2.9
+        #   - Router 9.2.10
+        ModuleHelper.UIMsgBox = UIMsgBoxDecorator(
+            ModuleHelper.UIMsgBox,
+            replaceFuncs={
+                ("Place [Router1, Router2 and Sniffer] <br/> or <br/>[DUT and Commissioner] <br/>in an RF enclosure ", "Shield Devices"):
+                    test_9_2_9_leader.placeRFEnclosure,
+                ("Remove [Router1, Router2 and Sniffer] <br/> or <br/>[DUT and Commissioner] <br/>from RF enclosure ", "Unshield Devices"):
+                    test_9_2_9_leader.removeRFEnclosure,
+                ("Place [DUT,Router2 and sniffer] <br/> or <br/>[Leader and Commissioner] <br/>in an RF enclosure ", "Shield Devices"):
+                    test_9_2_9_router.placeRFEnclosure,
+                ("Remove [DUT, Router2 and sniffer] <br/> or <br/>[Leader and Commissioner] <br/>from RF enclosure ", "Unshield Devices"):
+                    test_9_2_9_router.removeRFEnclosure,
+                ("Place the <br/> [Leader and Commissioner] devices <br/> in an RF enclosure ", "Shield Devices"):
+                    test_9_2_10_router.placeRFEnclosure,
+                ("Remove <br/>[Leader and Commissioner] <br/>from RF enclosure ", "Unshield Devices"):
+                    test_9_2_10_router.removeRFEnclosure,
+            })
+
     def __repr__(self):
         return '%r' % self.__dict__
 
@@ -164,6 +275,18 @@ def stopSniffer(self):
 
         self.is_active = False
 
+    @watched
+    def filterNodes(self, nodeids):
+        if not self.is_active:
+            return
+
+        request = sniffer_pb2.FilterNodesRequest()
+        request.nodeids.extend(nodeids)
+
+        response = self._stub.FilterNodes(request)
+        if response.status != sniffer_pb2.OK:
+            raise RuntimeError('filterNodes error: %s' % sniffer_pb2.Status.Name(response.status))
+
     def __disconnect(self, dwCtrlType):
         if self._sniffer is not None:
             self._sniffer.close()
diff --git a/tools/harness-simulation/harness/Thread_Harness/THCI/OpenThread_BR_Sim.py b/tools/harness-simulation/harness/Thread_Harness/THCI/OpenThread_BR_Sim.py
index e2b04565e02..17c8698b7a3 100644
--- a/tools/harness-simulation/harness/Thread_Harness/THCI/OpenThread_BR_Sim.py
+++ b/tools/harness-simulation/harness/Thread_Harness/THCI/OpenThread_BR_Sim.py
@@ -39,12 +39,15 @@
 import sys
 import time
 
+from THCI.IThci import IThci
 from THCI.OpenThread import watched
 from THCI.OpenThread_BR import OpenThread_BR
-from simulation.config import (REMOTE_USERNAME, REMOTE_PASSWORD, REMOTE_PORT)
+from simulation.config import load_config
 
 logging.getLogger('paramiko').setLevel(logging.WARNING)
 
+config = load_config()
+
 
 class SSHHandle(object):
     # Unit: second
@@ -109,11 +112,8 @@ def bash(self, cmd, timeout):
 class OpenThread_BR_Sim(OpenThread_BR):
 
     def _getHandle(self):
-        assert self.connectType == 'ip'
-        assert '@' in self.telnetIp
         self.log('SSH connecting ...')
-        docker_name, ssh_ip = self.telnetIp.split('@')
-        return SSHHandle(ssh_ip, self.telnetPort, self.telnetUsername, self.telnetPassword, docker_name)
+        return SSHHandle(self.ssh_ip, self.telnetPort, self.telnetUsername, self.telnetPassword, self.docker_name)
 
     @watched
     def _parseConnectionParams(self, params):
@@ -121,15 +121,20 @@ def _parseConnectionParams(self, params):
         if '@' not in discovery_add:
             raise ValueError('%r in the field `add` is invalid' % discovery_add)
 
-        docker_name, ssh_ip = discovery_add.split('@')
+        self.docker_name, self.ssh_ip = discovery_add.split('@')
+        self.tag, self.node_id = self.docker_name.split('_')
+        self.node_id = int(self.node_id)
         # Let it crash if it is an invalid IP address
-        ipaddress.ip_address(ssh_ip)
+        ipaddress.ip_address(self.ssh_ip)
 
         self.connectType = 'ip'
         self.telnetIp = self.port = discovery_add
-        self.telnetPort = REMOTE_PORT
-        self.telnetUsername = REMOTE_USERNAME
-        self.telnetPassword = REMOTE_PASSWORD
+
+        global config
+        ssh = config['ssh']
+        self.telnetPort = ssh['port']
+        self.telnetUsername = ssh['username']
+        self.telnetPassword = ssh['password']
 
         self.extraParams = {
             'cmd-start-otbr-agent': 'service otbr-agent start',
@@ -137,3 +142,6 @@ def _parseConnectionParams(self, params):
             'cmd-restart-otbr-agent': 'service otbr-agent restart',
             'cmd-restart-radvd': 'service radvd stop; service radvd start',
         }
+
+
+assert issubclass(OpenThread_BR_Sim, IThci)
diff --git a/tools/harness-simulation/harness/Thread_Harness/THCI/OpenThread_Sim.py b/tools/harness-simulation/harness/Thread_Harness/THCI/OpenThread_Sim.py
index 00f876487ba..18c622ec067 100644
--- a/tools/harness-simulation/harness/Thread_Harness/THCI/OpenThread_Sim.py
+++ b/tools/harness-simulation/harness/Thread_Harness/THCI/OpenThread_Sim.py
@@ -38,14 +38,12 @@
 import time
 import win32api
 
+from simulation.config import load_config
 from THCI.IThci import IThci
 from THCI.OpenThread import OpenThreadTHCI, watched
-from simulation.config import (
-    REMOTE_USERNAME,
-    REMOTE_PASSWORD,
-    REMOTE_PORT,
-    REMOTE_OT_PATH,
-)
+
+config = load_config()
+ot_subpath = {item['tag']: item['subpath'] for item in config['ot_build']['ot']}
 
 
 class SSHHandle(object):
@@ -133,21 +131,15 @@ def log(self, fmt, *args):
 class OpenThread_Sim(OpenThreadTHCI, IThci):
     __handle = None
 
-    # Do not use `os.path.join` as it uses backslash as the separator on Windows
-    device = REMOTE_OT_PATH + '/build/simulation/examples/apps/cli/ot-cli-ftd'
-
     @watched
     def _connect(self):
         self.__lines = []
 
         # Only actually connect once.
         if self.__handle is None:
-            assert self.connectType == 'ip'
-            assert '@' in self.telnetIp
             self.log('SSH connecting ...')
-            node_id, ssh_ip = self.telnetIp.split('@')
-            self.__handle = SSHHandle(ssh_ip, self.telnetPort, self.telnetUsername, self.telnetPassword, self.device,
-                                      node_id)
+            self.__handle = SSHHandle(self.ssh_ip, self.telnetPort, self.telnetUsername, self.telnetPassword,
+                                      self.device, self.node_id)
 
         self.log('connected to %s successfully', self.telnetIp)
 
@@ -161,15 +153,23 @@ def _parseConnectionParams(self, params):
         if '@' not in discovery_add:
             raise ValueError('%r in the field `add` is invalid' % discovery_add)
 
-        node_id, ssh_ip = discovery_add.split('@')
+        prefix, self.ssh_ip = discovery_add.split('@')
+        self.tag, self.node_id = prefix.split('_')
+        self.node_id = int(self.node_id)
         # Let it crash if it is an invalid IP address
-        ipaddress.ip_address(ssh_ip)
+        ipaddress.ip_address(self.ssh_ip)
+
+        # Do not use `os.path.join` as it uses backslash as the separator on Windows
+        global config
+        self.device = '/'.join([config['ot_path'], ot_subpath[self.tag], 'examples/apps/cli/ot-cli-ftd'])
 
         self.connectType = 'ip'
         self.telnetIp = self.port = discovery_add
-        self.telnetPort = REMOTE_PORT
-        self.telnetUsername = REMOTE_USERNAME
-        self.telnetPassword = REMOTE_PASSWORD
+
+        ssh = config['ssh']
+        self.telnetPort = ssh['port']
+        self.telnetUsername = ssh['username']
+        self.telnetPassword = ssh['password']
 
     def _cliReadLine(self):
         if len(self.__lines) > 1:
diff --git a/tools/harness-simulation/harness/Thread_Harness/simulation/config.py b/tools/harness-simulation/harness/Thread_Harness/simulation/config.py
index de24adacc07..61bc379c7eb 100644
--- a/tools/harness-simulation/harness/Thread_Harness/simulation/config.py
+++ b/tools/harness-simulation/harness/Thread_Harness/simulation/config.py
@@ -27,8 +27,13 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 
-REMOTE_USERNAME = 'pi'
-REMOTE_PASSWORD = 'raspberry'
-REMOTE_PORT = 22
+import os
+import yaml
 
-REMOTE_OT_PATH = '/home/pi/repo/openthread'
+CONFIG_PATH = r'%s\GRL\Thread1.2\Thread_Harness\simulation\config.yml' % os.environ['systemdrive']
+
+
+def load_config():
+    with open(CONFIG_PATH, 'rt') as f:
+        config = yaml.safe_load(f)
+    return config
diff --git a/tools/harness-simulation/posix/build_docker_image.sh b/tools/harness-simulation/harness/Web/data/updateDeviceFields.py
old mode 100755
new mode 100644
similarity index 52%
rename from tools/harness-simulation/posix/build_docker_image.sh
rename to tools/harness-simulation/harness/Web/data/updateDeviceFields.py
index 634b04f1513..a6830022dad
--- a/tools/harness-simulation/posix/build_docker_image.sh
+++ b/tools/harness-simulation/harness/Web/data/updateDeviceFields.py
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env python
 #
 # Copyright (c) 2022, The OpenThread Authors.
 # All rights reserved.
@@ -27,48 +27,32 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 
-# NOTE: This script has not been fully tested up to now
+# This script merges the device fields in the argument file to `deviceInputFields.xml` in Harness
+# If a device field appears in both files, it will only keep that in the argument file
 
-set -euxo pipefail
+import os
+import sys
+import xml.etree.ElementTree as ET
 
-OT_PATH=${OT_PATH:-"/home/pi/repo/openthread"}
-OTBR_DOCKER_IMAGE=${OTBR_DOCKER_IMAGE:-"otbr-reference-device-1.2"}
+HARNESS_XML_PATH = r'%s\GRL\Thread1.2\Web\data\deviceInputFields.xml' % os.environ['systemdrive']
 
-DOCKER_BUILD_OTBR_OPTIONS=(
-    "-DOTBR_DUA_ROUTING=ON"
-    "-DOT_DUA=ON"
-    "-DOT_MLR=ON"
-    "-DOT_THREAD_VERSION=1.2"
-    "-DOT_SIMULATION_MAX_NETWORK_SIZE=64"
-)
 
-git clone https://github.com/openthread/ot-br-posix.git --recurse-submodules --shallow-submodules --depth=1
-ETC_PATH="${OT_PATH}/tools/harness-simulation/posix/etc"
+def main():
+    tree = ET.parse(HARNESS_XML_PATH)
+    root = tree.getroot()
+    added = ET.parse(sys.argv[1]).getroot()
 
-(
-    cd ot-br-posix
-    # Use system V `service` command instead
-    mkdir -p root/etc/init.d
-    cp "${ETC_PATH}/commissionerd" root/etc/init.d/commissionerd
-    sudo chown root:root root/etc/init.d/commissionerd
-    sudo chmod +x root/etc/init.d/commissionerd
+    added_names = set(device.attrib['name'] for device in added.iter('DEVICE'))
+    # If some devices already exist, remove them first, and then add them back in case of update
+    removed_devices = filter(lambda x: x.attrib['name'] in added_names, root.iter('DEVICE'))
 
-    cp "${ETC_PATH}/server.patch" script/server.patch
-    patch script/server script/server.patch
-    mkdir -p root/tmp
-    cp "${ETC_PATH}/requirements.txt" root/tmp/requirements.txt
+    for device in removed_devices:
+        root.remove(device)
+    for device in added.iter('DEVICE'):
+        root.append(device)
 
-    docker build . \
-        -t "${OTBR_DOCKER_IMAGE}" \
-        -f "${ETC_PATH}/Dockerfile" \
-        --build-arg REFERENCE_DEVICE=1 \
-        --build-arg BORDER_ROUTING=0 \
-        --build-arg BACKBONE_ROUTER=1 \
-        --build-arg NAT64=0 \
-        --build-arg WEB_GUI=0 \
-        --build-arg REST_API=0 \
-        --build-arg EXTERNAL_COMMISSIONER=1 \
-        --build-arg OTBR_OPTIONS="${DOCKER_BUILD_OTBR_OPTIONS[*]}"
-)
+    tree.write(HARNESS_XML_PATH)
 
-rm -rf ot-br-posix
+
+if __name__ == '__main__':
+    main()
diff --git a/tools/harness-simulation/harness/install.bat b/tools/harness-simulation/harness/install.bat
index bcf81e5089e..99be41c388c 100644
--- a/tools/harness-simulation/harness/install.bat
+++ b/tools/harness-simulation/harness/install.bat
@@ -25,18 +25,21 @@
 :: POSSIBILITY OF SUCH DAMAGE.
 ::
 
-xcopy /E /Y Thread_Harness %systemdrive%\GRL\Thread1.2\Thread_Harness
-copy /Y ..\..\harness-thci\OpenThread.py %systemdrive%\GRL\Thread1.2\Thread_Harness\THCI
-copy /Y ..\..\harness-thci\OpenThread_BR.py %systemdrive%\GRL\Thread1.2\Thread_Harness\THCI
-copy /Y ..\..\harness-thci\OpenThread.png %systemdrive%\GRL\Thread1.2\Web\images
-copy /Y ..\..\harness-thci\OpenThread_BR.png %systemdrive%\GRL\Thread1.2\Web\images
-xcopy /E /Y ..\posix\sniffer_sim\proto %systemdrive%\GRL\Thread1.2\Thread_Harness\simulation\Sniffer\proto
+set THREADDIR=%systemdrive%\GRL\Thread1.2
+xcopy /E /Y Thread_Harness %THREADDIR%\Thread_Harness
+copy /Y ..\..\harness-thci\OpenThread.py %THREADDIR%\Thread_Harness\THCI
+copy /Y ..\..\harness-thci\OpenThread_BR.py %THREADDIR%\Thread_Harness\THCI
+copy /Y ..\..\harness-thci\OpenThread.png %THREADDIR%\Web\images
+copy /Y ..\..\harness-thci\OpenThread_BR.png %THREADDIR%\Web\images
+copy /Y ..\posix\config.yml %THREADDIR%\Thread_Harness\simulation
+xcopy /E /Y ..\posix\sniffer_sim\proto %THREADDIR%\Thread_Harness\simulation\Sniffer\proto
 
-%systemdrive%\GRL\Thread1.2\Python27\python.exe -m pip install --upgrade pip
-%systemdrive%\GRL\Thread1.2\Python27\python.exe -m pip install -r requirements.txt
+%THREADDIR%\Python27\python.exe -m pip install --upgrade pip
+%THREADDIR%\Python27\python.exe -m pip install -r requirements.txt
 
-set BASEDIR=%systemdrive%\GRL\Thread1.2\Thread_Harness
+%THREADDIR%\Python27\python.exe Web\data\updateDeviceFields.py Web\data\deviceInputFields.xml
 
+set BASEDIR=%THREADDIR%\Thread_Harness
 %systemdrive%\GRL\Thread1.2\Python27\python.exe -m grpc_tools.protoc -I%BASEDIR% --python_out=%BASEDIR% --grpc_python_out=%BASEDIR% simulation/Sniffer/proto/sniffer.proto
 
 pause
diff --git a/tools/harness-simulation/harness/requirements.txt b/tools/harness-simulation/harness/requirements.txt
index 0d1d827d987..179c044ca44 100644
--- a/tools/harness-simulation/harness/requirements.txt
+++ b/tools/harness-simulation/harness/requirements.txt
@@ -1,2 +1,3 @@
 grpcio==1.20.1
 grpcio-tools==1.20.1
+PyYAML==5.4.1
diff --git a/tools/harness-simulation/posix/config.yml b/tools/harness-simulation/posix/config.yml
new file mode 100644
index 00000000000..11b29bca545
--- /dev/null
+++ b/tools/harness-simulation/posix/config.yml
@@ -0,0 +1,91 @@
+ot_path: "/home/pi/repo/openthread"
+ot_build:
+  max_number: 64
+  ot:
+  - tag: OT11
+    version: '1.1'
+    number: 33
+    subpath: build/ot11/simulation
+    cflags:
+    - "-DOPENTHREAD_CONFIG_IP6_MAX_EXT_MCAST_ADDRS=8"
+    options:
+    - "-DOT_REFERENCE_DEVICE=ON"
+    - "-DOT_COMMISSIONER=ON"
+    - "-DOT_JOINER=ON"
+  - tag: OT12
+    version: '1.2'
+    number: 10
+    subpath: build/ot12/simulation
+    cflags:
+    - "-DOPENTHREAD_CONFIG_IP6_MAX_EXT_MCAST_ADDRS=8"
+    options:
+    - "-DOT_REFERENCE_DEVICE=ON"
+    - "-DOT_DUA=ON"
+    - "-DOT_MLR=ON"
+    - "-DOT_COMMISSIONER=ON"
+    - "-DOT_JOINER=ON"
+    - "-DOT_CSL_RECEIVER=ON"
+    - "-DOT_LINK_METRICS_SUBJECT=ON"
+    - "-DOT_LINK_METRICS_INITIATOR=ON"
+  - tag: OT13
+    version: '1.3'
+    number: 10
+    subpath: build/ot13/simulation
+    cflags:
+    - "-DOPENTHREAD_CONFIG_IP6_MAX_EXT_MCAST_ADDRS=8"
+    options:
+    - "-DOT_REFERENCE_DEVICE=ON"
+    - "-DOT_DUA=ON"
+    - "-DOT_MLR=ON"
+    - "-DOT_COMMISSIONER=ON"
+    - "-DOT_JOINER=ON"
+    - "-DOT_CSL_RECEIVER=ON"
+    - "-DOT_LINK_METRICS_SUBJECT=ON"
+    - "-DOT_LINK_METRICS_INITIATOR=ON"
+  otbr:
+  - tag: OTBR12
+    version: '1.2'
+    number: 4
+    docker_image: otbr-reference-device-1.2
+    build_args:
+    - REFERENCE_DEVICE=1
+    - BORDER_ROUTING=0
+    - BACKBONE_ROUTER=1
+    - NAT64=0
+    - WEB_GUI=0
+    - REST_API=0
+    - OT_COMMISSIONER=1
+    options:
+    - "-DOTBR_DUA_ROUTING=ON"
+    - "-DOT_DUA=ON"
+    - "-DOT_MLR=ON"
+    rcp_subpath: build/ot12/simulation
+    rcp_options:
+    - "-DOT_LINK_METRICS_SUBJECT=ON"
+  - tag: OTBR13
+    version: '1.3'
+    number: 4
+    docker_image: otbr-reference-device-1.3
+    build_args:
+    - REFERENCE_DEVICE=1
+    - BORDER_ROUTING=1
+    - BACKBONE_ROUTER=1
+    - NAT64=0
+    - WEB_GUI=0
+    - REST_API=0
+    - EXTERNAL_COMMISSIONER=1
+    options:
+    - "-DOTBR_DUA_ROUTING=ON"
+    - "-DOT_DUA=ON"
+    - "-DOT_MLR=ON"
+    rcp_subpath: build/ot13/simulation
+    rcp_options:
+    - "-DOT_LINK_METRICS_SUBJECT=ON"
+ssh:
+  username: pi
+  password: raspberry
+  port: 22
+sniffer:
+  number: 2
+  server_port_base: 50051
+discovery_ifname: eth0
diff --git a/tools/harness-simulation/posix/install.sh b/tools/harness-simulation/posix/install.sh
index f82fbbd8bf0..aedba39166d 100755
--- a/tools/harness-simulation/posix/install.sh
+++ b/tools/harness-simulation/posix/install.sh
@@ -29,9 +29,121 @@
 
 set -euxo pipefail
 
-BASE_DIR=$(dirname "$0")
-SNIFFER_DIR="${BASE_DIR}/sniffer_sim"
+POSIX_DIR="$(cd "$(dirname "$0")" && pwd)"
+OT_DIR="${POSIX_DIR}/../../.."
+ETC_DIR="${POSIX_DIR}/etc"
+SNIFFER_DIR="${POSIX_DIR}/sniffer_sim"
 
-pip3 install -r "${BASE_DIR}/requirements.txt"
+PACKAGES=(
+    "docker.io"
+    "git"
+    "jq"
+    "socat"
+    "tshark"
+)
 
+sudo apt install -y "${PACKAGES[@]}"
+
+pip3 install -r "${POSIX_DIR}/requirements.txt"
 python3 -m grpc_tools.protoc -I"${SNIFFER_DIR}" --python_out="${SNIFFER_DIR}" --grpc_python_out="${SNIFFER_DIR}" proto/sniffer.proto
+
+CONFIG_NAME=${1:-"${POSIX_DIR}/config.yml"}
+# convert YAML to JSON
+CONFIG=$(python3 -c 'import json, sys, yaml; print(json.dumps(yaml.safe_load(open(sys.argv[1]))))' "$CONFIG_NAME")
+
+MAX_NETWORK_SIZE=$(jq -r '.ot_build.max_number' <<<"$CONFIG")
+
+build_ot()
+{
+    # SC2155: Declare and assign separately to avoid masking return values
+    local target build_dir cflags version options
+    target="ot-cli-ftd"
+    build_dir=$(jq -r '.subpath' <<<"$1")
+    cflags=$(jq -r '.cflags | join(" ")' <<<"$1")
+    version=$(jq -r '.version' <<<"$1")
+    options=$(jq -r '.options | join(" ")' <<<"$1")
+    # Intended splitting of options
+    read -ra options <<<"$options"
+
+    (
+        cd "$OT_DIR"
+
+        OT_CMAKE_NINJA_TARGET="$target" \
+            OT_CMAKE_BUILD_DIR="$build_dir" \
+            CFLAGS="$cflags" \
+            CXXFLAGS="$cflags" \
+            script/cmake-build \
+            simulation \
+            "${options[@]}" \
+            -DOT_THREAD_VERSION="$version" \
+            -DOT_SIMULATION_MAX_NETWORK_SIZE="$MAX_NETWORK_SIZE"
+    )
+}
+
+build_otbr()
+{
+    # SC2155: Declare and assign separately to avoid masking return values
+    local target build_dir version rcp_options
+    target="ot-rcp"
+    build_dir=$(jq -r '.rcp_subpath' <<<"$1")
+    version=$(jq -r '.version' <<<"$1")
+    rcp_options=$(jq -r '.rcp_options | join(" ")' <<<"$1")
+    # Intended splitting of rcp_options
+    read -ra rcp_options <<<"$rcp_options"
+
+    (
+        cd "$OT_DIR"
+
+        OT_CMAKE_NINJA_TARGET="$target" \
+            OT_CMAKE_BUILD_DIR="$build_dir" \
+            script/cmake-build \
+            simulation \
+            "${rcp_options[@]}" \
+            -DOT_THREAD_VERSION="$version" \
+            -DOT_SIMULATION_MAX_NETWORK_SIZE="$MAX_NETWORK_SIZE"
+    )
+
+    # SC2155: Declare and assign separately to avoid masking return values
+    local otbr_docker_image build_args options
+    otbr_docker_image=$(jq -r '.docker_image' <<<"$1")
+    build_args=$(jq -r '.build_args | map("--build-arg " + .) | join(" ")' <<<"$1")
+    # Intended splitting of build_args
+    read -ra build_args <<<"$build_args"
+    options=$(jq -r '.options | join(" ")' <<<"$1")
+
+    local otbr_options=(
+        "$options"
+        "-DOT_THREAD_VERSION=$version"
+        "-DOT_SIMULATION_MAX_NETWORK_SIZE=$MAX_NETWORK_SIZE"
+    )
+
+    docker build . \
+        -t "${otbr_docker_image}" \
+        -f "${ETC_DIR}/Dockerfile" \
+        "${build_args[@]}" \
+        --build-arg OTBR_OPTIONS="${otbr_options[*]}"
+}
+
+for item in $(jq -c '.ot_build.ot | .[]' <<<"$CONFIG"); do
+    build_ot "$item"
+done
+
+git clone https://github.com/openthread/ot-br-posix.git --recurse-submodules --shallow-submodules --depth=1
+(
+    cd ot-br-posix
+    # Use system V `service` command instead
+    mkdir -p root/etc/init.d
+    cp "${ETC_DIR}/commissionerd" root/etc/init.d/commissionerd
+    sudo chown root:root root/etc/init.d/commissionerd
+    sudo chmod +x root/etc/init.d/commissionerd
+
+    cp "${ETC_DIR}/server.patch" script/server.patch
+    patch script/server script/server.patch
+    mkdir -p root/tmp
+    cp "${ETC_DIR}/requirements.txt" root/tmp/requirements.txt
+
+    for item in $(jq -c '.ot_build.otbr | .[]' <<<"$CONFIG"); do
+        build_otbr "$item"
+    done
+)
+rm -rf ot-br-posix
diff --git a/tools/harness-simulation/posix/launch_testbed.py b/tools/harness-simulation/posix/launch_testbed.py
old mode 100644
new mode 100755
index 0038135d395..5ca2537eaf5
--- a/tools/harness-simulation/posix/launch_testbed.py
+++ b/tools/harness-simulation/posix/launch_testbed.py
@@ -40,13 +40,8 @@
 import subprocess
 import sys
 from typing import Iterable
+import yaml
 
-from config import (
-    MAX_NODES_NUM,
-    MAX_SNIFFER_NUM,
-    SNIFFER_SERVER_PORT_BASE,
-    OTBR_DOCKER_NAME_PREFIX,
-)
 from otbr_sim import otbr_docker
 
 GROUP = 'ff02::114'
@@ -94,34 +89,41 @@ def _advertise(s: socket.socket, dst, info):
     s.sendto(json.dumps(info).encode('utf-8'), dst)
 
 
-def advertise_devices(s: socket.socket, dst, ven: str, add: str, nodeids: Iterable[int], prefix: str = ''):
+def advertise_devices(s: socket.socket, dst, ven: str, add: str, nodeids: Iterable[int], tag: str):
     for nodeid in nodeids:
         info = {
             'ven': ven,
             'mod': 'OpenThread',
             'ver': '4',
-            'add': f'{prefix}{nodeid}@{add}',
+            'add': f'{tag}_{nodeid}@{add}',
             'por': 22,
         }
         _advertise(s, dst, info)
 
 
-def advertise_sniffers(s: socket.socket, dst, add: str, number: int):
-    for i in range(number):
+def advertise_sniffers(s: socket.socket, dst, add: str, ports: Iterable[int]):
+    for port in ports:
         info = {
             'add': add,
-            'por': i + SNIFFER_SERVER_PORT_BASE,
+            'por': port,
         }
         _advertise(s, dst, info)
 
 
-def start_sniffer(addr: str, port: int) -> subprocess.Popen:
+def start_sniffer(addr: str, port: int, ot_path: str, max_nodes_num: int) -> subprocess.Popen:
     if isinstance(ipaddress.ip_address(addr), ipaddress.IPv6Address):
         server = f'[{addr}]:{port}'
     else:
         server = f'{addr}:{port}'
 
-    cmd = ['python3', 'sniffer_sim/sniffer.py', '--grpc-server', server]
+    cmd = [
+        'python3',
+        os.path.join(ot_path, 'tools/harness-simulation/posix/sniffer_sim/sniffer.py'),
+        '--grpc-server',
+        server,
+        '--max-nodes-num',
+        str(max_nodes_num),
+    ]
     logging.info('Executing command:  %s', ' '.join(cmd))
     return subprocess.Popen(cmd)
 
@@ -131,79 +133,74 @@ def main():
 
     # Parse arguments
     parser = argparse.ArgumentParser()
-
-    # Determine the interface
-    parser.add_argument('-i',
-                        '--interface',
-                        dest='ifname',
+    parser.add_argument('-c',
+                        '--config',
+                        dest='config',
                         type=str,
                         required=True,
-                        help='the interface used for discovery')
-
-    # Determine the number of OpenThread FTD simulations to be "detected" and then started
-    parser.add_argument('--ot',
-                        dest='ot_num',
-                        type=int,
-                        required=False,
-                        default=0,
-                        help=f'the number of OpenThread FTD simulations')
-
-    # Determine the number of OpenThread BR simulations to be initiated and then detected
-    parser.add_argument('--otbr',
-                        dest='otbr_num',
-                        type=int,
-                        required=False,
-                        default=0,
-                        help=f'the number of OpenThread BR simulations')
-
-    # Determine the number of sniffer simulations to be started and then detected
-    parser.add_argument('--sniffer',
-                        dest='sniffer_num',
-                        type=int,
-                        required=False,
-                        default=0,
-                        help=f'the number of sniffer simulations, no more than {MAX_SNIFFER_NUM}')
-
+                        help='the path of the configuration JSON file')
     args = parser.parse_args()
+    with open(args.config, 'rt') as f:
+        config = yaml.safe_load(f)
 
-    # Check validation of arguments
-    if args.ot_num < 0:
-        raise ValueError(f'The number of FTDs should be non-negative')
+    ot_path = config['ot_path']
+    ot_build = config['ot_build']
+    max_nodes_num = ot_build['max_number']
+    # No test case requires more than 2 sniffers
+    MAX_SNIFFER_NUM = 2
 
-    if args.otbr_num < 0:
-        raise ValueError(f'The number of OTBRs should be non-negative')
+    ot_devices = [(item['tag'], item['number']) for item in ot_build['ot']]
+    otbr_devices = [(item['tag'], item['number']) for item in ot_build['otbr']]
+    ot_nodes_num = sum(x[1] for x in ot_devices)
+    otbr_nodes_num = sum(x[1] for x in otbr_devices)
+    nodes_num = ot_nodes_num + otbr_nodes_num
+    sniffer_num = config['sniffer']['number']
 
-    if not 0 <= args.sniffer_num <= MAX_SNIFFER_NUM:
-        raise ValueError(f'The number of sniffers should be between 0 and {MAX_SNIFFER_NUM}')
+    # Check validation of numbers
+    if not all(0 <= x[1] <= max_nodes_num for x in ot_devices):
+        raise ValueError(f'The number of devices of each OT version should be between 0 and {max_nodes_num}')
 
-    if args.ot_num == args.otbr_num == 0:
-        raise ValueError('At least one device is required')
+    if not all(0 <= x[1] <= max_nodes_num for x in otbr_devices):
+        raise ValueError(f'The number of devices of each OTBR version should be between 0 and {max_nodes_num}')
 
-    if args.sniffer_num == 0:
-        raise ValueError('At least one sniffer is required')
+    if not 1 <= nodes_num <= max_nodes_num:
+        raise ValueError(f'The number of devices should be between 1 and {max_nodes_num}')
 
-    if args.ot_num + args.otbr_num > MAX_NODES_NUM:
-        raise ValueError(f'The number of all devices should be no more than {MAX_NODES_NUM}')
+    if not 1 <= sniffer_num <= MAX_SNIFFER_NUM:
+        raise ValueError(f'The number of sniffers should be between 1 and {MAX_SNIFFER_NUM}')
 
     # Get the local IP address on the specified interface
-    addr = get_ipaddr(args.ifname)
+    ifname = config['discovery_ifname']
+    addr = get_ipaddr(ifname)
 
     # Start the sniffer
+    sniffer_server_port_base = config['sniffer']['server_port_base']
     sniffer_procs = []
-    for i in range(args.sniffer_num):
-        sniffer_procs.append(start_sniffer(addr, i + SNIFFER_SERVER_PORT_BASE))
+    for i in range(sniffer_num):
+        sniffer_procs.append(start_sniffer(addr, i + sniffer_server_port_base, ot_path, max_nodes_num))
 
     # OTBR firewall scripts create rules inside the Docker container
     # Run modprobe to load the kernel modules for iptables
     subprocess.run(['sudo', 'modprobe', 'ip6table_filter'])
     # Start the BRs
     otbr_dockers = []
-    for nodeid in range(args.ot_num + 1, args.ot_num + args.otbr_num + 1):
-        otbr_dockers.append(otbr_docker.OtbrDocker(nodeid, OTBR_DOCKER_NAME_PREFIX + str(nodeid)))
-
-    s = init_socket(args.ifname, GROUP, PORT)
-
-    logging.info('Advertising on interface %s group %s ...', args.ifname, GROUP)
+    nodeid = ot_nodes_num
+    for item in ot_build['otbr']:
+        tag = item['tag']
+        ot_rcp_path = os.path.join(ot_path, item['rcp_subpath'], 'examples/apps/ncp/ot-rcp')
+        docker_image = item['docker_image']
+        for _ in range(item['number']):
+            nodeid += 1
+            otbr_dockers.append(
+                otbr_docker.OtbrDocker(nodeid=nodeid,
+                                       ot_path=ot_path,
+                                       ot_rcp_path=ot_rcp_path,
+                                       docker_image=docker_image,
+                                       docker_name=f'{tag}_{nodeid}'))
+
+    s = init_socket(ifname, GROUP, PORT)
+
+    logging.info('Advertising on interface %s group %s ...', ifname, GROUP)
 
     # Terminate all sniffer simulation server processes and then exit
     def exit_handler(signum, context):
@@ -227,17 +224,19 @@ def exit_handler(signum, context):
 
         if data == b'BBR':
             logging.info('Received OpenThread simulation query, advertising')
-            advertise_devices(s, src, ven='OpenThread_Sim', add=addr, nodeids=range(1, args.ot_num + 1))
-            advertise_devices(s,
-                              src,
-                              ven='OpenThread_BR_Sim',
-                              add=addr,
-                              nodeids=range(args.ot_num + 1, args.ot_num + args.otbr_num + 1),
-                              prefix=OTBR_DOCKER_NAME_PREFIX)
+
+            nodeid = 1
+            for ven, devices in [('OpenThread_Sim', ot_devices), ('OpenThread_BR_Sim', otbr_devices)]:
+                for tag, number in devices:
+                    advertise_devices(s, src, ven=ven, add=addr, nodeids=range(nodeid, nodeid + number), tag=tag)
+                    nodeid += number
 
         elif data == b'Sniffer':
             logging.info('Received sniffer simulation query, advertising')
-            advertise_sniffers(s, src, add=addr, number=args.sniffer_num)
+            advertise_sniffers(s,
+                               src,
+                               add=addr,
+                               ports=range(sniffer_server_port_base, sniffer_server_port_base + sniffer_num))
 
         else:
             logging.warning('Received %r, but ignored', data)
diff --git a/tools/harness-simulation/posix/otbr_sim/otbr_docker.py b/tools/harness-simulation/posix/otbr_sim/otbr_docker.py
index b116163f7cb..cc7f73b47fc 100644
--- a/tools/harness-simulation/posix/otbr_sim/otbr_docker.py
+++ b/tools/harness-simulation/posix/otbr_sim/otbr_docker.py
@@ -33,14 +33,15 @@
 import subprocess
 import time
 
-from config import (OT_PATH, OTBR_DOCKER_IMAGE)
-
 
 class OtbrDocker:
     device_pattern = re.compile('(?<=PTY is )/dev/.+$')
 
-    def __init__(self, nodeid: int, docker_name: str):
+    def __init__(self, nodeid: int, ot_path: str, ot_rcp_path: str, docker_image: str, docker_name: str):
         self.nodeid = nodeid
+        self.ot_path = ot_path
+        self.ot_rcp_path = ot_rcp_path
+        self.docker_image = docker_image
         self.docker_name = docker_name
 
         self.logger = logging.getLogger('otbr_docker.OtbrDocker')
@@ -96,9 +97,8 @@ def _shutdown_socat(self):
         self._rcp_device = None
 
     def _launch_ot_rcp(self):
-        ot_rcp_path = os.path.join(OT_PATH, 'build/simulation/examples/apps/ncp/ot-rcp')
         self._ot_rcp_proc = subprocess.Popen(
-            f'{ot_rcp_path} {self.nodeid} > {self._rcp_device_pty} < {self._rcp_device_pty}',
+            f'{self.ot_rcp_path} {self.nodeid} > {self._rcp_device_pty} < {self._rcp_device_pty}',
             shell=True,
             stdin=subprocess.DEVNULL,
             stdout=subprocess.DEVNULL,
@@ -136,8 +136,8 @@ def _launch_docker(self):
             '-v',
             f'{self._rcp_device}:/dev/ttyUSB0',
             '-v',
-            f'{OT_PATH.rstrip("/")}:/home/pi/repo/openthread',
-            OTBR_DOCKER_IMAGE,
+            f'{self.ot_path.rstrip("/")}:/home/pi/repo/openthread',
+            self.docker_image,
         ]
         self.logger.info('Launching docker:  %s', ' '.join(cmd))
         launch_proc = subprocess.Popen(cmd,
diff --git a/tools/harness-simulation/posix/requirements.txt b/tools/harness-simulation/posix/requirements.txt
index a6646e7b950..21ed00b551f 100644
--- a/tools/harness-simulation/posix/requirements.txt
+++ b/tools/harness-simulation/posix/requirements.txt
@@ -1,2 +1,3 @@
 grpcio
 grpcio-tools
+PyYAML
diff --git a/tools/harness-simulation/posix/sniffer_sim/sniffer.py b/tools/harness-simulation/posix/sniffer_sim/sniffer.py
index 2e4bc8e8958..b059cf3da07 100644
--- a/tools/harness-simulation/posix/sniffer_sim/sniffer.py
+++ b/tools/harness-simulation/posix/sniffer_sim/sniffer.py
@@ -58,21 +58,21 @@ class SnifferServicer(sniffer_pb2_grpc.Sniffer):
 
     RECV_BUFFER_SIZE = 4096
     TIMEOUT = 0.1
-    MAX_NODES_NUM = 64
 
     def _reset(self):
         self._state = CaptureState.NONE
         self._pcap = None
-        self._allowed_nodeids = None
+        self._denied_nodeids = None
         self._transport = None
         self._thread = None
         self._thread_alive.clear()
         self._pcapng_filename = None
         self._tshark_proc = None
 
-    def __init__(self):
+    def __init__(self, max_nodes_num):
+        self._max_nodes_num = max_nodes_num
         self._thread_alive = threading.Event()
-        self._mutex = threading.Lock()  # for self._allowed_nodeids
+        self._mutex = threading.Lock()  # for self._denied_nodeids
         self._reset()
 
     def Start(self, request, context):
@@ -104,8 +104,7 @@ def Start(self, request, context):
         self._pcap = pcap_codec.PcapCodec(request.channel, fifo_name)
 
         # Sniffer all nodes in default, i.e. there is no RF enclosure
-        # In this case, self._allowed_nodeids is set to None
-        self._allowed_nodeids = None
+        self._denied_nodeids = set()
 
         # Create transport
         transport_factory = sniffer_transport.SnifferTransportFactory()
@@ -130,10 +129,10 @@ def _sniffer_main_loop(self):
                 continue
 
             with self._mutex:
-                allowed_nodeids = self._allowed_nodeids
+                denied_nodeids = self._denied_nodeids
 
             # Equivalent to RF enclosure
-            if allowed_nodeids is None or nodeid in allowed_nodeids:
+            if nodeid not in denied_nodeids:
                 self._pcap.append(data)
 
     def FilterNodes(self, request, context):
@@ -145,14 +144,14 @@ def FilterNodes(self, request, context):
         if not (self._state & CaptureState.THREAD):
             return sniffer_pb2.FilterNodesResponse(status=sniffer_pb2.OPERATION_ERROR)
 
-        allowed_nodeids = set(request.nodeids)
+        denied_nodeids = set(request.nodeids)
         # Validate the node IDs
-        for nodeid in allowed_nodeids:
-            if not 1 <= nodeid <= self.MAX_NODES_NUM:
+        for nodeid in denied_nodeids:
+            if not 1 <= nodeid <= self._max_nodes_num:
                 return sniffer_pb2.FilterNodesResponse(status=sniffer_pb2.VALUE_ERROR)
 
         with self._mutex:
-            self._allowed_nodeids = allowed_nodeids
+            self._denied_nodeids = denied_nodeids
 
         return sniffer_pb2.FilterNodesResponse(status=sniffer_pb2.OK)
 
@@ -182,9 +181,9 @@ def Stop(self, request, context):
         return sniffer_pb2.StopResponse(status=sniffer_pb2.OK, pcap_content=pcap_content)
 
 
-def serve(address_port):
+def serve(address_port, max_nodes_num):
     server = grpc.server(futures.ThreadPoolExecutor(max_workers=1))
-    sniffer_pb2_grpc.add_SnifferServicer_to_server(SnifferServicer(), server)
+    sniffer_pb2_grpc.add_SnifferServicer_to_server(SnifferServicer(max_nodes_num), server)
     # add_secure_port requires a web domain
     server.add_insecure_port(address_port)
     logging.info('server starts on %s', address_port)
@@ -208,9 +207,14 @@ def run_sniffer():
                         type=str,
                         required=True,
                         help='the address of the sniffer server')
+    parser.add_argument('--max-nodes-num',
+                        dest='max_nodes_num',
+                        type=int,
+                        required=True,
+                        help='the maximum number of nodes')
     args = parser.parse_args()
 
-    serve(args.grpc_server)
+    serve(args.grpc_server, args.max_nodes_num)
 
 
 if __name__ == '__main__':
diff --git a/tools/harness-thci/OpenThread.py b/tools/harness-thci/OpenThread.py
index 8d65cc464df..db145ab5a2e 100644
--- a/tools/harness-thci/OpenThread.py
+++ b/tools/harness-thci/OpenThread.py
@@ -1248,13 +1248,7 @@ def getParentAddress(self):
     @API
     def powerDown(self):
         """power down the Thread device"""
-        self.__sendCommand('reset', expectEcho=False)
-
-        if not self.IsBorderRouter:
-            self._disconnect()
-            self._connect()
-
-        self.isPowerDown = True
+        self._reset()
 
     @API
     def powerUp(self):
@@ -1266,7 +1260,8 @@ def powerUp(self):
                 self.__setPollPeriod(self.__sedPollPeriod)
             self.__startOpenThread()
 
-    def reset_and_wait_for_connection(self, timeout=3):
+    @watched
+    def _reset(self, timeout=3):
         print("Waiting after reset timeout: {} s".format(timeout))
         start_time = time.time()
         self.__sendCommand('reset', expectEcho=False)
@@ -1285,6 +1280,8 @@ def reset_and_wait_for_connection(self, timeout=3):
         else:
             raise AssertionError("Could not connect with OT device {} after reset.".format(self))
 
+    def reset_and_wait_for_connection(self, timeout=3):
+        self._reset(timeout=timeout)
         if self.deviceRole == Thread_Device_Role.SED:
             self.__setPollPeriod(self.__sedPollPeriod)
 
@@ -3259,6 +3256,16 @@ def setCcmState(self, state=0):
     def setVrCheckSkip(self):
         self.__executeCommand("tvcheck disable")
 
+    @API
+    def addBlockedNodeId(self, node_id):
+        cmd = 'nodeidfilter deny %d' % node_id
+        self.__executeCommand(cmd)
+
+    @API
+    def clearBlockedNodeIds(self):
+        cmd = 'nodeidfilter clear'
+        self.__executeCommand(cmd)
+
 
 class OpenThread(OpenThreadTHCI, IThci):
 
diff --git a/tools/harness-thci/OpenThread_BR.py b/tools/harness-thci/OpenThread_BR.py
index 0764fec32ba..a76ca356f71 100644
--- a/tools/harness-thci/OpenThread_BR.py
+++ b/tools/harness-thci/OpenThread_BR.py
@@ -636,7 +636,8 @@ def __truncateSyslog(self):
         self.bash('truncate -s 0 /var/log/syslog')
 
     def __dumpSyslog(self):
-        output = self.bash_unwatched('grep "otbr-agent" /var/log/syslog')
+        cmd = self.extraParams.get('cmd-dump-otbr-log', 'grep "otbr-agent" /var/log/syslog')
+        output = self.bash_unwatched(cmd)
         for line in output:
             self.log('%s', line)
 
@@ -648,28 +649,22 @@ def get_eth_addrs(self):
 
     @API
     def mdns_query(self, service='_meshcop._udp.local', addrs_allowlist=(), addrs_denylist=()):
-        cleanup = []
-
-        def ip6tables_cmd(cmd):
-            assert '-I INPUT' in cmd
-            self.bash(cmd)
-            cleanup.append(cmd.replace('-I INPUT', '-D INPUT'))
-
         try:
             for deny_addr in addrs_denylist:
-                ip6tables_cmd('ip6tables -I INPUT -p udp --dport 5353 -s %s -j DROP' % deny_addr)
+                self.bash('ip6tables -A INPUT -p udp --dport 5353 -s %s -j DROP' % deny_addr)
 
             if addrs_allowlist:
                 for allow_addr in addrs_allowlist:
-                    ip6tables_cmd('ip6tables -I INPUT -p udp --dport 5353 -s %s -j ACCEPT' % allow_addr)
+                    self.bash('ip6tables -A INPUT -p udp --dport 5353 -s %s -j ACCEPT' % allow_addr)
 
-                ip6tables_cmd('ip6tables -I INPUT -p udp --dport 5353 -j DROP')
+                self.bash('ip6tables -A INPUT -p udp --dport 5353 -j DROP')
 
             return self._mdns_query_impl(service, find_active=(addrs_allowlist or addrs_denylist))
 
         finally:
-            for cmd in cleanup:
-                self.bash(cmd)
+            self.bash('ip6tables -L INPUT -v')
+            self.bash('ip6tables -F INPUT')
+            time.sleep(1)
 
     def _mdns_query_impl(self, service, find_active):
         # For BBR-TC-03 or DH test cases (empty arguments) just send a query
diff --git a/examples/platforms/cc2538/Makefile.platform.am b/zephyr/module.yml
similarity index 78%
rename from examples/platforms/cc2538/Makefile.platform.am
rename to zephyr/module.yml
index f908b4ed863..75f79ec19f0 100644
--- a/examples/platforms/cc2538/Makefile.platform.am
+++ b/zephyr/module.yml
@@ -1,5 +1,5 @@
 #
-#  Copyright (c) 2017, The OpenThread Authors.
+#  Copyright (c) 2022, The OpenThread Authors.
 #  All rights reserved.
 #
 #  Redistribution and use in source and binary forms, with or without
@@ -26,14 +26,6 @@
 #  POSSIBILITY OF SUCH DAMAGE.
 #
 
-#
-# cc2538 platform-specific Makefile
-#
-
-LDADD_COMMON                                                          += \
-    $(top_builddir)/examples/platforms/cc2538/libopenthread-cc2538.a     \
-    $(NULL)
-
-LDFLAGS_COMMON                                                        += \
-    -T $(top_srcdir)/examples/platforms/cc2538/cc2538.ld                 \
-    $(NULL)
+build:
+  cmake-ext: True
+  kconfig-ext: True