diff --git a/Documentation/platforms/risc-v/esp32c6/index.rst b/Documentation/platforms/risc-v/esp32c6/index.rst
index 976fc53bb67b0..84f139f1e0f1f 100644
--- a/Documentation/platforms/risc-v/esp32c6/index.rst
+++ b/Documentation/platforms/risc-v/esp32c6/index.rst
@@ -842,6 +842,9 @@ Makefile/CMake Variables for ULP Core Build:
 - ``ULP_APP_C_SRCS``: Lists all C source files (.c) that need to be compiled for the ULP application.
 - ``ULP_APP_ASM_SRCS``: Lists all assembly source files (.S or .s) to be assembled.
 - ``ULP_APP_INCLUDES``: Specifies additional include directories for the compiler and assembler.
+- ``ULP_CUSTOM_SECTIONS_LD``: Optional. Replaces the default ``${CHIP_SERIES}_lpcore_sections.ld`` linker template.
+- ``ULP_EXTRA_DEFINES``: Optional. Extra compile definitions for the ULP firmware
+- ``ULP_POST_LINK``: Optional (Make only). Commands run after linking.
 
 Here is an Makefile example when using prebuilt binary for ULP core:
 
diff --git a/Documentation/platforms/risc-v/esp32p4/index.rst b/Documentation/platforms/risc-v/esp32p4/index.rst
index 04a982445e2c9..08764b0944dfc 100644
--- a/Documentation/platforms/risc-v/esp32p4/index.rst
+++ b/Documentation/platforms/risc-v/esp32p4/index.rst
@@ -470,6 +470,9 @@ Makefile/CMake Variables for ULP Core Build:
 - ``ULP_APP_C_SRCS``: Lists all C source files (.c) that need to be compiled for the ULP application.
 - ``ULP_APP_ASM_SRCS``: Lists all assembly source files (.S or .s) to be assembled.
 - ``ULP_APP_INCLUDES``: Specifies additional include directories for the compiler and assembler.
+- ``ULP_CUSTOM_SECTIONS_LD``: Optional. Replaces the default ``${CHIP_SERIES}_lpcore_sections.ld`` linker template.
+- ``ULP_EXTRA_DEFINES``: Optional. Extra compile definitions for the ULP firmware
+- ``ULP_POST_LINK``: Optional (Make only). Commands run after linking.
 
 Here is an Makefile example when using prebuilt binary for ULP core:
 
diff --git a/arch/risc-v/src/common/espressif/Kconfig b/arch/risc-v/src/common/espressif/Kconfig
index e4df0a5c2ebb1..cbdbd04bd04c3 100644
--- a/arch/risc-v/src/common/espressif/Kconfig
+++ b/arch/risc-v/src/common/espressif/Kconfig
@@ -1732,7 +1732,7 @@ config ESPRESSIF_ANA_COMPR1
 config ESPRESSIF_LP_MAILBOX
 	bool "LP Mailbox"
 	default n
-	depends on ARCH_CHIP_ESP32P4 && ESPRESSIF_USE_LP_CORE
+	depends on ESPRESSIF_USE_LP_CORE
 	---help---
 		Enable lp mailbox support for data passing between cores.
 
diff --git a/arch/risc-v/src/common/espressif/esp_lp_mailbox.c b/arch/risc-v/src/common/espressif/esp_lp_mailbox.c
index 18a785378530a..5ef4af6696871 100644
--- a/arch/risc-v/src/common/espressif/esp_lp_mailbox.c
+++ b/arch/risc-v/src/common/espressif/esp_lp_mailbox.c
@@ -30,6 +30,7 @@
 #include <nuttx/debug.h>
 
 #include "lp_core_mailbox.h"
+#include "soc/soc_caps.h"
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -52,6 +53,7 @@ struct esp_lp_mailbox_priv_s
  * Private Function Prototypes
  ****************************************************************************/
 
+static int esp_lp_mailbox_open(struct file *filep);
 static int esp_lp_mailbox_read(struct file *filep,
                                char *buffer,
                                size_t buflen);
@@ -68,7 +70,7 @@ static int esp_lp_mailbox_ioctl(struct file *filep,
 
 static const struct file_operations g_esp_lp_mailbox_fops =
 {
-  .open = NULL,                       /* open */
+  .open = esp_lp_mailbox_open,        /* open */
   .close = NULL,                      /* close */
   .read = esp_lp_mailbox_read,        /* read */
   .write = esp_lp_mailbox_write,      /* write */
@@ -91,6 +93,31 @@ struct esp_lp_mailbox_priv_s esp_lp_mailbox_priv =
  * Private Functions
  ****************************************************************************/
 
+/****************************************************************************
+ * Name: esp_lp_mailbox_open
+ *
+ * Description:
+ *   Handler for the LP Mailbox initializer.
+ *
+ * Input Parameters:
+ *   filep - Pointer to the file structure.
+ *
+ * Returned Value:
+ *   None.
+ *
+ ****************************************************************************/
+
+static int esp_lp_mailbox_open(struct file *filep)
+{
+  int ret = OK;
+#ifndef SOC_LP_MAILBOX_SUPPORTED
+  ret = lp_core_mailbox_init(&esp_lp_mailbox_priv.mailbox,
+                             &esp_lp_mailbox_priv.config);
+#endif
+
+  return ret;
+}
+
 /****************************************************************************
  * Name: esp_lp_mailbox_rcv_callback
  *
@@ -312,6 +339,7 @@ static int esp_lp_mailbox_ioctl(struct file *filep,
 
 int esp_lp_mailbox_init(void)
 {
+#ifdef SOC_LP_MAILBOX_SUPPORTED
   int ret = lp_core_mailbox_init(&esp_lp_mailbox_priv.mailbox,
                                  &esp_lp_mailbox_priv.config);
 
@@ -320,6 +348,7 @@ int esp_lp_mailbox_init(void)
       ferr("Failed to initialize LP Mailbox driver: %d\n", ret);
       return ret;
     }
+#endif
 
   register_driver("/dev/lp_mailbox", esp_lp_mailbox_priv.ops,
                   0600, (void *)&esp_lp_mailbox_priv);
diff --git a/arch/risc-v/src/common/espressif/esp_ulp.cmake b/arch/risc-v/src/common/espressif/esp_ulp.cmake
index 95a1de9593332..9fbef1708e2cd 100644
--- a/arch/risc-v/src/common/espressif/esp_ulp.cmake
+++ b/arch/risc-v/src/common/espressif/esp_ulp.cmake
@@ -74,6 +74,9 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
 
   set(ULP_LPCORE_SECTIONS_LD
       ${ULP_BOARD_SCRIPTS_DIR}/${CHIP_SERIES}_lpcore_sections.ld)
+  if(ULP_CUSTOM_SECTIONS_LD)
+    set(ULP_LPCORE_SECTIONS_LD ${ULP_CUSTOM_SECTIONS_LD})
+  endif()
   set(ULP_SECTIONS_LD ${ULP_FOLDER}/ulp_sections.ld)
   set(ULP_MAPGEN_TOOL ${HAL}/components/ulp/esp32ulp_mapgen.py)
 
@@ -116,6 +119,8 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
       ${HAL}/components/esp_rom/${CHIP_SERIES}/include/${CHIP_SERIES}
       ${HAL}/components/hal/include
       ${HAL}/components/hal/platform_port/include
+      ${HAL}/components/esp_hal_wdt/include
+      ${HAL}/components/esp_hal_wdt/${CHIP_SERIES}/include
       ${HAL}/components/log
       ${HAL}/components/log/include
       ${HAL}/components/riscv/include
@@ -201,6 +206,7 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
       ${HAL}/components/ulp/lp_core/lp_core/lp_core_startup.c
       ${HAL}/components/ulp/lp_core/lp_core/lp_core_utils.c
       ${HAL}/components/ulp/lp_core/lp_core/lp_core_uart.c
+      ${HAL}/components/ulp/lp_core/lp_core/lp_core_mailbox.c
       ${HAL}/components/ulp/lp_core/lp_core/lp_core_print.c
       ${HAL}/components/ulp/lp_core/lp_core/lp_core_panic.c
       ${HAL}/components/ulp/lp_core/lp_core/lp_core_interrupt.c
@@ -211,10 +217,14 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
   )
 
   if(CONFIG_ARCH_CHIP_ESP32P4)
-    list(
-      APPEND ULP_CSOURCES ${HAL}/components/ulp/lp_core/lp_core/lp_core_touch.c
-      ${HAL}/components/ulp/lp_core/lp_core/port/lp_core_mailbox_impl_hw.c
-      ${HAL}/components/ulp/lp_core/lp_core/lp_core_mailbox.c)
+    list(APPEND ULP_CSOURCES
+         ${HAL}/components/ulp/lp_core/lp_core/lp_core_touch.c
+         ${HAL}/components/ulp/lp_core/lp_core/port/lp_core_mailbox_impl_hw.c)
+  endif()
+
+  if(CONFIG_ARCH_CHIP_ESP32C6)
+    list(APPEND ULP_CSOURCES
+         ${HAL}/components/ulp/lp_core/lp_core/port/lp_core_mailbox_impl_sw.c)
   endif()
 
   # ############################################################################
@@ -311,17 +321,29 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
     set(ULP_NUTTX_CONFIG_COPY ${ULP_FOLDER}/nuttx/config.h)
 
     foreach(_ulp_csrc ${ULP_APP_C_SRCS})
-      list(APPEND ULP_APP_C_SOURCES ${ULP_APP_FOLDER}/${_ulp_csrc})
+      if(IS_ABSOLUTE "${_ulp_csrc}")
+        list(APPEND ULP_APP_C_SOURCES ${_ulp_csrc})
+      else()
+        list(APPEND ULP_APP_C_SOURCES ${ULP_APP_FOLDER}/${_ulp_csrc})
+      endif()
     endforeach()
 
     foreach(_ulp_asrc ${ULP_APP_ASM_SRCS})
-      list(APPEND ULP_APP_ASM_SOURCES ${ULP_APP_FOLDER}/${_ulp_asrc})
+      if(IS_ABSOLUTE "${_ulp_asrc}")
+        list(APPEND ULP_APP_ASM_SOURCES ${_ulp_asrc})
+      else()
+        list(APPEND ULP_APP_ASM_SOURCES ${ULP_APP_FOLDER}/${_ulp_asrc})
+      endif()
     endforeach()
 
     if(ULP_APP_INCLUDES)
       foreach(_ulp_incl ${ULP_APP_INCLUDES})
-        get_filename_component(_ulp_incl_dir ${_ulp_incl} DIRECTORY)
-        list(APPEND ULP_APP_INCLUDE_DIRS ${_ulp_incl_dir})
+        if(IS_DIRECTORY "${_ulp_incl}")
+          list(APPEND ULP_APP_INCLUDE_DIRS ${_ulp_incl})
+        else()
+          get_filename_component(_ulp_incl_dir ${_ulp_incl} DIRECTORY)
+          list(APPEND ULP_APP_INCLUDE_DIRS ${_ulp_incl_dir})
+        endif()
       endforeach()
       list(REMOVE_DUPLICATES ULP_APP_INCLUDE_DIRS)
       list(APPEND ULP_INCLUDE_DIRS ${ULP_APP_INCLUDE_DIRS})
@@ -375,6 +397,10 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
     target_include_directories(${ULP_FIRMWARE_TARGET}
                                PRIVATE ${ULP_INCLUDE_DIRS})
     target_compile_definitions(${ULP_FIRMWARE_TARGET} PRIVATE IS_ULP_COCPU)
+    if(ULP_EXTRA_DEFINES)
+      target_compile_definitions(${ULP_FIRMWARE_TARGET}
+                                 PRIVATE ${ULP_EXTRA_DEFINES})
+    endif()
     target_compile_options(
       ${ULP_FIRMWARE_TARGET}
       PRIVATE ${ULP_COMPILE_OPTS}
@@ -399,6 +425,13 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
       COMMENT "Linking ULP firmware"
       VERBATIM)
 
+    set(_ulp_postprocess_sw_mailbox_alias
+        [=[if grep -q 'g_lp_core_mailbox_impl_sw_ctx' "@ULP_MAIN_LD@"; then addr=$(grep 'g_lp_core_mailbox_impl_sw_ctx' "@ULP_MAIN_LD@" | head -1 | sed -E 's/.*=[[:space:]]*([0x0-9a-fA-F]+);.*/\1/'); if ! grep -qE '^[[:space:]]*ulp_g_lp_core_mailbox_impl_sw_ctx[[:space:]]*=' "@ULP_MAIN_LD@"; then echo "ulp_g_lp_core_mailbox_impl_sw_ctx = ${addr};" >> "@ULP_MAIN_LD@"; fi; fi]=]
+    )
+    string(REPLACE "@ULP_MAIN_LD@" "${ULP_MAIN_LD}"
+                   _ulp_postprocess_sw_mailbox_alias
+                   "${_ulp_postprocess_sw_mailbox_alias}")
+
     set(_ulp_postprocess_aliases
         [=[grep -E '^[[:space:]]*[a-zA-Z_][a-zA-Z0-9_]*[[:space:]]*=[[:space:]]*[0x]*[0-9a-fA-F]+;' "@ULP_MAIN_LD@" | while IFS= read -r line; do var_name=$(echo "$line" | sed -E 's/^[[:space:]]*([a-zA-Z_][a-zA-Z0-9_]*).*/\1/'); existing_line=$(grep -E "^[[:space:]]*${var_name}[[:space:]]*=" "@ULP_ALIASES_LD@" 2>/dev/null || true); if [ -n "$existing_line" ]; then if [ "$existing_line" != "$line" ]; then sed -i "/${existing_line}/c\\${line}" "@ULP_ALIASES_LD@"; fi; else echo "$line" >> "@ULP_ALIASES_LD@"; fi; done]=]
     )
@@ -408,7 +441,7 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
                    _ulp_postprocess_aliases "${_ulp_postprocess_aliases}")
 
     set(_ulp_postprocess_var_map
-        [=[if ! grep -q "struct ulp_var_map_s ulp_var_map" "@ULP_VAR_MAP_HEADER@"; then printf '%s\n' '#include "nuttx/symtab.h"' '#include "ulp/ulp_vars.h"' '' 'struct ulp_var_map_s' '{' '  struct symtab_s sym;' '  size_t size;' '};' '' 'struct ulp_var_map_s ulp_var_map[] =' '{ };' > "@ULP_VAR_MAP_HEADER@"; fi; sed -i "/@ULP_PREFIX@/d" "@ULP_VAR_MAP_HEADER@"; flock -x "@ULP_LOCKFILE@" -c 'grep "@ULP_PREFIX@" "@ULP_MAIN_HEADER@" | while IFS= read -r line; do var=$(echo "$line" | grep -oP "@ULP_PREFIX@\w+(?=[;\[])" ); if [ -n "$var" ]; then size=$(echo "$line" | grep -oP "\[\d+\]" | grep -oP "\d+"); if [ -n "$size" ]; then size=$(( size * 4 )); else size=4; fi; sed -i "s/ };//" "@ULP_VAR_MAP_HEADER@"; echo -ne "  { .sym.sym_name = \"${var}\", .sym.sym_value = &${var}, .size = ${size}},\n };" >> "@ULP_VAR_MAP_HEADER@"; fi; done']=]
+        [=[if ! grep -q "struct ulp_var_map_s ulp_var_map" "@ULP_VAR_MAP_HEADER@"; then printf '%s\n' '#include "nuttx/symtab.h"' '#include "ulp/ulp_vars.h"' '' 'struct ulp_var_map_s' '{' '  struct symtab_s sym;' '  size_t size;' '};' '' 'struct ulp_var_map_s ulp_var_map[] =' '{ };' > "@ULP_VAR_MAP_HEADER@"; fi; sed -i "/@ULP_PREFIX@/d" "@ULP_VAR_MAP_HEADER@"; flock -x "@ULP_LOCKFILE@" -c 'grep "@ULP_PREFIX@" "@ULP_MAIN_HEADER@" | while IFS= read -r line; do var=$(echo "$line" | grep -oP "@ULP_PREFIX@\w+(?=[;\[])" ); if [ -n "$var" ]; then size=$(echo "$line" | grep -oP "\[\d+\]" | grep -oP "\d+"); if [ -n "$size" ]; then size=$(( size * 4 )); else size=4; fi; sed -i "s/ };//" "@ULP_VAR_MAP_HEADER@"; printf "  { .sym.sym_name = \"%s\", .sym.sym_value = &%s, .size = %s},\n };" "${var}" "${var}" "${size}" >> "@ULP_VAR_MAP_HEADER@"; fi; done']=]
     )
     string(REPLACE "@ULP_VAR_MAP_HEADER@" "${ULP_VAR_MAP_HEADER}"
                    _ulp_postprocess_var_map "${_ulp_postprocess_var_map}")
@@ -427,6 +460,7 @@ if(CONFIG_ESPRESSIF_USE_LP_CORE)
       COMMAND ${ULP_READELF} -sW ${ULP_ELF_FILE} > ${ULP_SYM_FILE}
       COMMAND ${Python3_EXECUTABLE} ${ULP_MAPGEN_TOOL} -s ${ULP_SYM_FILE} -o
               ${ULP_FOLDER}/ulp_main --base ${ULP_BASE} --prefix ${ULP_PREFIX}
+      COMMAND bash -c "${_ulp_postprocess_sw_mailbox_alias}"
       COMMAND bash -c "${_ulp_postprocess_aliases}"
       COMMAND sed -i "/${ULP_PREFIX}/d" ${ULP_VARS_HEADER}
       COMMAND
diff --git a/arch/risc-v/src/common/espressif/esp_ulp.mk b/arch/risc-v/src/common/espressif/esp_ulp.mk
index 26db0f2d42bc2..4f1a5d64840b3 100644
--- a/arch/risc-v/src/common/espressif/esp_ulp.mk
+++ b/arch/risc-v/src/common/espressif/esp_ulp.mk
@@ -63,6 +63,8 @@ ULP_INCLUDES += $(INCDIR_PREFIX)$(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)c
 ULP_INCLUDES += $(INCDIR_PREFIX)$(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)include
 ULP_INCLUDES += $(INCDIR_PREFIX)$(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)include
 ULP_INCLUDES += $(INCDIR_PREFIX)$(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)hal$(DELIM)platform_port$(DELIM)include
+ULP_INCLUDES += $(INCDIR_PREFIX)$(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)esp_hal_wdt$(DELIM)include
+ULP_INCLUDES += $(INCDIR_PREFIX)$(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)esp_hal_wdt$(DELIM)$(CHIP_SERIES)$(DELIM)include
 ULP_INCLUDES += $(INCDIR_PREFIX)$(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log
 ULP_INCLUDES += $(INCDIR_PREFIX)$(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)log$(DELIM)include
 ULP_INCLUDES += $(INCDIR_PREFIX)$(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)riscv$(DELIM)include
@@ -141,10 +143,12 @@ ULP_CSOURCES += $(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM
 ULP_CSOURCES += $(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)shared$(DELIM)ulp_lp_core_lp_adc_shared.c
 ULP_CSOURCES += $(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)shared$(DELIM)ulp_lp_core_lp_vad_shared.c
 ULP_CSOURCES += $(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)shared$(DELIM)ulp_lp_core_critical_section_shared.c
+ULP_CSOURCES += $(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)lp_core$(DELIM)lp_core_mailbox.c
 ifeq ($(CONFIG_ARCH_CHIP_ESP32P4),y)
 	ULP_CSOURCES += $(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)lp_core$(DELIM)lp_core_touch.c
 	ULP_CSOURCES += $(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)lp_core$(DELIM)port$(DELIM)lp_core_mailbox_impl_hw.c
-	ULP_CSOURCES += $(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)lp_core$(DELIM)lp_core_mailbox.c
+else
+	ULP_CSOURCES += $(CHIP)$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)lp_core$(DELIM)port$(DELIM)lp_core_mailbox_impl_sw.c
 endif
 
 # Add ULP app source files and directories
@@ -159,8 +163,8 @@ else
 	ULP_BIN_FILE = $(ULP_FOLDER)$(DELIM)ulp.bin
 	ULP_BIN_FILE_PATH = $(ULP_BIN_FILE)
 
-	ULP_C_SRCS = $(addprefix $(ULP_APP_FOLDER)/,$(sort $(ULP_APP_C_SRCS)))
-	ULP_ASM_SRCS = $(addprefix $(ULP_APP_FOLDER)/,$(sort $(ULP_APP_ASM_SRCS)))
+	ULP_C_SRCS = $(foreach s,$(sort $(ULP_APP_C_SRCS)),$(if $(filter /%,$(s)),$(s),$(ULP_APP_FOLDER)/$(s)))
+	ULP_ASM_SRCS = $(foreach s,$(sort $(ULP_APP_ASM_SRCS)),$(if $(filter /%,$(s)),$(s),$(ULP_APP_FOLDER)/$(s)))
 
 	ULP_APP_OBJS = $(ULP_ASM_SRCS:.S=_ulp.o)
 	ULP_APP_OBJS += $(ULP_C_SRCS:.c=_ulp.o)
@@ -250,6 +254,17 @@ ULP_LDFLAGS :=										\
 	-Xlinker -Map=$(ULP_MAP_FILE)		\
 	$(ULP_LDINCLUDES)
 
+# Optional compile defines (e.g. -DNUTTX_ESP_BIST_MODULE) — after := above
+ULP_CFLAGS += $(ULP_EXTRA_DEFINES)
+ULP_ASFLAGS += $(ULP_EXTRA_DEFINES)
+
+# Default LP sections linker template; apps may override with ULP_CUSTOM_SECTIONS_LD
+ifeq ($(ULP_CUSTOM_SECTIONS_LD),)
+	ULP_SECTIONS_TEMPLATE = $(BOARD)$(DELIM)scripts$(DELIM)${CHIP_SERIES}_lpcore_sections.ld
+else
+	ULP_SECTIONS_TEMPLATE = $(ULP_CUSTOM_SECTIONS_LD)
+endif
+
 # Build rules
 
 .PHONY: context depend
@@ -261,15 +276,18 @@ checkpython3:
 		exit 1; \
 	fi
 
-%_ulp.o: %.c $(ULP_NUTTX_CONFIG)
+%_ulp.o: %.c $(ULP_NUTTX_CONFIG) $(ULP_FOLDER)$(DELIM)ulp_sections.ld
 	$(Q) echo "Compiling $< for ULP"
 	$(Q) $(CC) $(ULP_CFLAGS) -c $< -o $@
-	$(Q) $(CC) $(ULP_INCLUDES) -E -P -xc -o $(ULP_FOLDER)$(DELIM)ulp_sections.ld $(BOARD)$(DELIM)scripts$(DELIM)${CHIP_SERIES}_lpcore_sections.ld
 
 %_ulp.o: %.S $(ULP_NUTTX_CONFIG)
 	$(Q) echo "Compiling $< for ULP"
 	$(Q) $(CC) $(ULP_ASFLAGS) -c $< -o $@
 
+$(ULP_FOLDER)$(DELIM)ulp_sections.ld: $(ULP_NUTTX_CONFIG) $(ULP_SECTIONS_TEMPLATE)
+	$(Q) echo "Preprocessing ULP linker sections from $(ULP_SECTIONS_TEMPLATE)"
+	$(Q) $(CC) $(ULP_INCLUDES) -E -P -xc -o $@ $(ULP_SECTIONS_TEMPLATE)
+
 $(ULP_NUTTX_CONFIG): $(ULP_FOLDER)
 	$(Q) echo "Copying nuttx$(DELIM)config.h into $(ULP_FOLDER)$(DELIM)nuttx"
 	$(Q) cp $(TOPDIR)$(DELIM)include$(DELIM)nuttx$(DELIM)config.h $(ULP_FOLDER)$(DELIM)nuttx
@@ -277,6 +295,7 @@ $(ULP_NUTTX_CONFIG): $(ULP_FOLDER)
 $(ULP_ELF_FILE): $(ULP_OBJS)
 	$(Q) echo "Linking for ULP"
 	$(Q) $(CC) $(ULP_LDFLAGS) $(ULP_OBJS) -o $@
+	$(ULP_POST_LINK)
 
 $(ULP_BIN_FILE): $(ULP_ELF_FILE) checkpython3
 	$(Q) \
@@ -288,6 +307,13 @@ ifneq ($(suffix $(ULP_APP_BIN)),.bin)
 	$(Q) $(OBJCOPY) -O binary $(ULP_ELF_FILE) $(ULP_BIN_FILE)
 	$(Q) $(ULP_READELF) -sW $(ULP_ELF_FILE) > $(ULP_SYM_FILE)
 	$(Q) python3 $(ULP_MAPGEN_TOOL_PATH) -s $(ULP_SYM_FILE) -o $(ULP_FOLDER)$(DELIM)ulp_main --base $(ULP_BASE) --prefix $(ULP_PREFIX)
+	$(Q) if grep -q 'g_lp_core_mailbox_impl_sw_ctx' $(ULP_FOLDER)$(DELIM)ulp_main.ld; then \
+		addr=$$(grep 'g_lp_core_mailbox_impl_sw_ctx' $(ULP_FOLDER)$(DELIM)ulp_main.ld | head -1 | \
+			sed -E 's/.*=[[:space:]]*([0x0-9a-fA-F]+);.*/\1/'); \
+		if ! grep -qE '^[[:space:]]*ulp_g_lp_core_mailbox_impl_sw_ctx[[:space:]]*=' $(ULP_FOLDER)$(DELIM)ulp_main.ld; then \
+			echo "ulp_g_lp_core_mailbox_impl_sw_ctx = $$addr;" >> $(ULP_FOLDER)$(DELIM)ulp_main.ld; \
+		fi; \
+	fi
 # Checking ULP linker script output and adding/changing related lines on common linker for HP core to access ULP core variables on HP core.
 	$(Q) grep -E '^[[:space:]]*[a-zA-Z_][a-zA-Z0-9_]*[[:space:]]*=[[:space:]]*[0x]*[0-9a-fA-F]+;' $(ULP_FOLDER)$(DELIM)ulp_main.ld | while IFS= read -r line; do \
 		out_file=$(BOARD)$(DELIM)scripts$(DELIM)ulp_aliases.ld; \
@@ -317,7 +343,7 @@ ifneq ($(suffix $(ULP_APP_BIN)),.bin)
 								size=4; \
 				fi; \
 					sed -i "s/ };//" $(ULP_VAR_MAP_HEADER); \
-					echo -ne "  { .sym.sym_name = \"$${var}\", .sym.sym_value = &$${var}, .size = $${size}},\n };" >> $(ULP_VAR_MAP_HEADER); \
+					printf "  { .sym.sym_name = \"%s\", .sym.sym_value = &%s, .size = %s},\n };" "$${var}" "$${var}" "$${size}" >> $(ULP_VAR_MAP_HEADER); \
 			fi; \
 		done'
 endif
diff --git a/arch/risc-v/src/esp32c6/hal_esp32c6.cmake b/arch/risc-v/src/esp32c6/hal_esp32c6.cmake
index 897a290a7e532..994bc313e2d95 100644
--- a/arch/risc-v/src/esp32c6/hal_esp32c6.cmake
+++ b/arch/risc-v/src/esp32c6/hal_esp32c6.cmake
@@ -270,6 +270,7 @@ list(
   ${ESP_HAL_3RDPARTY_REPO}/components/esp_hw_support/mac_addr.c
   ${ESP_HAL_3RDPARTY_REPO}/components/esp_hw_support/modem_clock.c
   ${ESP_HAL_3RDPARTY_REPO}/components/esp_hw_support/periph_ctrl.c
+  ${ESP_HAL_3RDPARTY_REPO}/components/esp_hw_support/pmu_share_hw.c
   ${ESP_HAL_3RDPARTY_REPO}/components/esp_hw_support/regi2c_ctrl.c
   ${ESP_HAL_3RDPARTY_REPO}/components/esp_hw_support/rtc_module.c
   ${ESP_HAL_3RDPARTY_REPO}/components/esp_hw_support/sleep_console.c
@@ -504,6 +505,9 @@ list(
   HAL_SRCS
   ${ESP_HAL_3RDPARTY_REPO}/components/ulp/lp_core/lp_core_i2c.c
   ${ESP_HAL_3RDPARTY_REPO}/components/ulp/lp_core/lp_core.c
+  ${ESP_HAL_3RDPARTY_REPO}/components/ulp/lp_core/lp_core_mailbox.c
+  ${ESP_HAL_3RDPARTY_REPO}/components/ulp/lp_core/lp_core_mailbox_impl_sw.c
+  ${ESP_HAL_3RDPARTY_REPO}/components/ulp/lp_core/shared/ulp_lp_core_critical_section_shared.c
   ${ESP_HAL_3RDPARTY_REPO}/components/ulp/lp_core/shared/ulp_lp_core_memory_shared.c
   ${ESP_HAL_3RDPARTY_REPO}/components/ulp/lp_core/shared/ulp_lp_core_lp_timer_shared.c
 )
diff --git a/arch/risc-v/src/esp32c6/hal_esp32c6.mk b/arch/risc-v/src/esp32c6/hal_esp32c6.mk
index 6da49a12d2a7d..c3dbd8d66d0ad 100644
--- a/arch/risc-v/src/esp32c6/hal_esp32c6.mk
+++ b/arch/risc-v/src/esp32c6/hal_esp32c6.mk
@@ -213,6 +213,7 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)esp_
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)esp_hw_support$(DELIM)mac_addr.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)esp_hw_support$(DELIM)modem_clock.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)esp_hw_support$(DELIM)periph_ctrl.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)esp_hw_support$(DELIM)pmu_share_hw.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)esp_hw_support$(DELIM)regi2c_ctrl.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)esp_hw_support$(DELIM)rtc_module.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)esp_hw_support$(DELIM)sleep_console.c
@@ -364,6 +365,9 @@ CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)spi_
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)spi_flash$(DELIM)cache_utils.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)lp_core_i2c.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)lp_core.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)lp_core_mailbox.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)lp_core_mailbox_impl_sw.c
+CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)shared$(DELIM)ulp_lp_core_critical_section_shared.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)shared$(DELIM)ulp_lp_core_memory_shared.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)ulp$(DELIM)lp_core$(DELIM)shared$(DELIM)ulp_lp_core_lp_timer_shared.c
 CHIP_CSRCS += chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)upper_hal_rmt$(DELIM)src$(DELIM)rmt_common.c
diff --git a/boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c b/boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c
index d44081a652ffc..d50b9e0a34165 100644
--- a/boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c
+++ b/boards/risc-v/esp32c6/esp32c6-devkitc/src/esp32c6_bringup.c
@@ -158,6 +158,10 @@
 #  endif
 #endif
 
+#  ifdef CONFIG_ESPRESSIF_LP_MAILBOX
+#    include "espressif/esp_lp_mailbox.h"
+#  endif
+
 #include "esp32c6-devkitc.h"
 
 /****************************************************************************
@@ -549,6 +553,10 @@ int esp_bringup(void)
 
 #ifdef CONFIG_ESPRESSIF_USE_LP_CORE
 
+#  ifdef CONFIG_ESPRESSIF_LP_MAILBOX
+  esp_lp_mailbox_init();
+#  endif
+
   /* ULP initialization should be the handled later than
    * peripherals to use supported peripherals properly on ULP core
    */