diff --git a/CMakeLists.txt b/CMakeLists.txt
index 82af32ddb64ad..77755168edf90 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -230,6 +230,16 @@ set(ENV{HOST_OTHER} n)
 
 include(nuttx_sethost)
 
+option(NXTMPDIR "Create the nxtmpdir folder for third-party packages." OFF)
+
+include(nuttx_3rdparty)
+
+if(NXTMPDIR)
+  nuttx_make_nxtmpdir()
+else()
+  nuttx_remove_nxtmpdir()
+endif()
+
 include(nuttx_parse_function_args)
 include(nuttx_add_subdirectory)
 include(nuttx_create_symlink)
diff --git a/arch/risc-v/src/common/espressif/CMakeLists.txt b/arch/risc-v/src/common/espressif/CMakeLists.txt
index c948bd9b3852a..10e1415e0c913 100644
--- a/arch/risc-v/src/common/espressif/CMakeLists.txt
+++ b/arch/risc-v/src/common/espressif/CMakeLists.txt
@@ -243,8 +243,6 @@ if(NOT IS_DIRECTORY "${ESP_HAL_3RDPARTY_REPO}")
   # NXTMPDIR contains a cached version of the esp-hal-3rdparty repository, which
   # is located on nuttx/../nxtmpdir/esp-hal-3rdparty if it exists.
   if(NXTMPDIR)
-    include(${NUTTX_DIR}/cmake/nuttx_3rdparty.cmake)
-    nuttx_make_nxtmpdir()
     set(ESP_HAL_NXTMPDIR_CACHE "${NXTMPDIR_PATH}/${ESP_HAL_3RDPARTY_REPO_NAME}")
     get_filename_component(ESP_HAL_NXTMPDIR_CACHE "${ESP_HAL_NXTMPDIR_CACHE}"
                            REALPATH)
diff --git a/cmake/nuttx_3rdparty.cmake b/cmake/nuttx_3rdparty.cmake
index 2bd3d0835daf7..593bbcd84b13b 100644
--- a/cmake/nuttx_3rdparty.cmake
+++ b/cmake/nuttx_3rdparty.cmake
@@ -40,6 +40,21 @@ function(nuttx_make_nxtmpdir)
   endif()
 endfunction()
 
+# ~~~
+# nuttx_remove_nxtmpdir
+#
+# Description:
+#   Remove the third-party cache directory under nuttx/../nxtmpdir
+#
+# ~~~
+
+function(nuttx_remove_nxtmpdir)
+  set(_nxtmpdir "${NUTTX_DIR}/../nxtmpdir")
+  if(EXISTS "${_nxtmpdir}")
+    file(REMOVE_RECURSE "${_nxtmpdir}")
+  endif()
+endfunction()
+
 # ~~~
 # nuttx_check_git_hash
 #
diff --git a/tools/ci/testlist/risc-v-02.dat b/tools/ci/testlist/risc-v-02.dat
index 91c1a0456fa12..ac60ce2788fd7 100644
--- a/tools/ci/testlist/risc-v-02.dat
+++ b/tools/ci/testlist/risc-v-02.dat
@@ -1 +1,11 @@
 /risc-v/esp32c[0-5]*
+
+# Boards build by CMake
+CMake,esp32c3-xiao:nimble
+CMake,esp32c3-xiao:gpio
+CMake,esp32c3-xiao:wifi
+CMake,esp32c3-xiao:usbnsh
+CMake,esp32-c3-zero:wifi
+CMake,esp32-c3-zero:jumbo
+CMake,esp32-c3-zero:sta_softap
+CMake,esp32-c3-zero:usbnsh
diff --git a/tools/testbuild.sh b/tools/testbuild.sh
index 420d553a03584..baeed8952e134 100755
--- a/tools/testbuild.sh
+++ b/tools/testbuild.sh
@@ -35,6 +35,7 @@ MAKE=make
 unset testfile
 unset HOPTION
 unset STORE
+unset NXTMPDIR
 unset JOPTION
 PRINTLISTONLY=0
 GITCLEAN=0
@@ -42,6 +43,7 @@ SAVEARTIFACTS=0
 CHECKCLEAN=1
 CODECHECKER=0
 NINJACMAKE=0
+STORECMAKE=0
 RUN=0
 
 case $(uname -s) in
@@ -150,6 +152,7 @@ while [ ! -z "$1" ]; do
     ;;
   -S )
     STORE+=" $1"
+    STORECMAKE=1
     ;;
   --codechecker )
     CODECHECKER=1
@@ -200,6 +203,14 @@ if [ ${NINJACMAKE} -eq 1 ]; then
   cmakelist=`grep "^[C|c][M|m][A|a][K|k][E|e]" $testfile | cut -d',' -f2 || true`
 fi
 
+if [ ${STORECMAKE} -eq 1 ]; then
+  NXTMPDIR="ON"
+  echo "NXTMPDIR store is enabled"
+else
+  NXTMPDIR="OFF"
+  echo "NXTMPDIR store is disabled"
+fi
+
 cd $nuttx || { echo "ERROR: failed to CD to $nuttx"; exit 1; }
 
 function exportandimport {
@@ -342,8 +353,8 @@ function configure_default {
 }
 
 function configure_cmake {
-  if ! cmake -B build -DBOARD_CONFIG=$config -GNinja 1>/dev/null; then
-    cmake -B build -DBOARD_CONFIG=$config -GNinja
+  if ! cmake -B build -DBOARD_CONFIG=$config -DNXTMPDIR="$NXTMPDIR" -GNinja 1>/dev/null; then
+    cmake -B build -DBOARD_CONFIG=$config -DNXTMPDIR="$NXTMPDIR" -GNinja
     fail=1
   fi