diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml
index 34e1779840..c47f0f0f95 100644
--- a/.github/ISSUE_TEMPLATE/bug_report.yml
+++ b/.github/ISSUE_TEMPLATE/bug_report.yml
@@ -1,93 +1,50 @@
-name: Bug Report
-description: Report a problem with TinyUSB
-labels: 'Bug 🐞'
+name: Bug report
+description: Report build and runtime bugs
+labels: ["Type: Bug"]
 body:
-  - type: markdown
-    attributes:
-      value: |
-        Thanks for taking the time to fill out this bug report!
-        It's okay to leave some blank if it doesn't apply to your problem.
-
-  - type: dropdown
+  - type: checkboxes
+    id: checklist
     attributes:
-      label: Operating System
+      label: Answers checklist.
+      description: Before submitting a new issue, please follow the checklist and try to find the answer.
       options:
-              - Linux
-              - MacOS
-              - RaspberryPi OS
-              - Windows 7
-              - Windows 10
-              - Windows 11
-              - Others
-    validations:
-      required: true
-
+        - label: I have read the component documentation [ESP-IDF Components](https://components.espressif.com) and the issue is not addressed there.
+          required: true
+        - label: I am using target and esp-idf version as defined in component's idf_component.yml
+          required: true
+        - label: I have searched the upstream [issue tracker](https://github.com/hathach/tinyusb/issues?q=is%3Aissue) for a similar issue and not found any related issue.
+          required: true
+        - label: I have searched the Espressif esp-usb component [issue tracker](https://github.com/espressif/esp-usb/issues?q=is%3Aissue) for a similar issue and not found any related issue.
+          required: true
   - type: input
+    id: idf_version
     attributes:
-      label: Commit SHA
-      placeholder: e.g 3a042b37da28d0ba1e5593eb1068ca5645d77b56 or version bundled by esp-idf or pico-sdk
+      label: ESP-IDF version.
+      description: Which ESP-IDF version does this issue occur on? Run `git describe --tags` in your esp-idf folder to find it.
+      placeholder: ex. v5.0-rc1
     validations:
       required: true
-
   - type: input
+    id: devkit
     attributes:
-      label: Board
-      placeholder: e.g Adafruit Feather nRF52840 Express
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Firmware
-      placeholder: |
-        e.g examples/device/cdc_msc. If it is custom firmware, it is preferably compiled like one in example folder and reviewable for people to comment on. The easiest way is
-        - Fork this repo, checkout a new branch
-        - Add your-own-example based on stock one
-        - Push and post it here.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: What happened ?
-      placeholder: A clear and concise description of what the bug is.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: How to reproduce ?
-      placeholder: |
-        Exact steps in chronological order, details should be specific e.g if you use a command/script to test with, please post it as well.
-        1. Go to '...'
-        2. Click on '....'
-        3. See error
+      label: Development Kit.
+      description: Which Development Kit does this issue occur on?
+      placeholder: ex. ESP32-Wrover-Kit v2 | Custom Board
     validations:
       required: true
-
-  - type: textarea
+  - type: input
+    id: component_version
     attributes:
-      label: Debug Log as txt file (LOG/CFG_TUSB_DEBUG=2)
-      placeholder: |
-        Attach your debug log txt file here, where the issue occurred, best with comments to explain the actual events.
-
-        Note1: Please DO NOT paste your lengthy log contents here since it hurts the readability.
-        Note2: To enable logging, add `LOG=2` to to the make command if building with stock examples or set `CFG_TUSB_DEBUG=2` in your tusb_config.h.
-        More information can be found at [example's readme](https://github.com/hathach/tinyusb/blob/master/docs/getting_started.md)
+      label: Used Component version.
+      description: Which Component version does this issue occur on? Check `dependencies.lock` file in your project root to find it.
+      placeholder: ex. v1.2.0-rc0
     validations:
       required: true
-
   - type: textarea
+    id: more-info
     attributes:
-      label: Screenshots
-      description: If applicable, add screenshots to help explain your problem.
+      label: More Information.
+      description: Any other information from investigating this?
+      placeholder: ex. I tried on Windows 10 PC and the issue couldn't be reproduced there.
     validations:
       required: false
-
-  - type: checkboxes
-    attributes:
-      label: I have checked existing issues, discussion and documentation
-      description: You agree to check all the resources above before opening a new issue.
-      options:
-        - label: I confirm I have checked existing issues, discussion and documentation.
-          required: true
diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
deleted file mode 100644
index 28fd274674..0000000000
--- a/.github/ISSUE_TEMPLATE/config.yml
+++ /dev/null
@@ -1,8 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: TinyUSB Discussion
-    url: https://github.com/hathach/tinyusb/discussions
-    about: If you have other questions or need help, post it here.
-  - name: TinyUSB Docs
-    url: https://docs.tinyusb.org/
-    about: Online documentation
diff --git a/.github/ISSUE_TEMPLATE/feature_request.yml b/.github/ISSUE_TEMPLATE/feature_request.yml
deleted file mode 100644
index 19f403246e..0000000000
--- a/.github/ISSUE_TEMPLATE/feature_request.yml
+++ /dev/null
@@ -1,49 +0,0 @@
-name: Feature Request
-description: Suggest an idea for this project
-labels: 'Feature 💡'
-body:
-  - type: markdown
-    attributes:
-      value: |
-        Thanks for taking the time to fill out this request!
-        It's okay to leave some blank if it doesn't apply to your request.
-
-  - type: input
-    attributes:
-      label: Related area
-      description: Please briefly explain the area of your Feature Request.
-      placeholder: eg. new port support, device stack, class driver ...
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Hardware specification
-      description: Please provide if your proposal depends on specific Hardware.
-      placeholder: eg. rp2040, samd51 ...
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Is your feature request related to a problem?
-      description: Please provide a clear and concise description of what the problem is. Add relevant issue link.
-      placeholder: ex. I'm facing the issue/missing function...
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe the solution you'd like
-      description: Please provide a clear and concise description of what you want to happen.
-      placeholder: ex. When using this function...
-    validations:
-      required: true
-
-  - type: checkboxes
-    attributes:
-      label: I have checked existing issues, dicussion and documentation
-      description: You agree to check all the resources above before opening a new issue.
-      options:
-        - label: I confirm I have checked existing issues, dicussion and documentation.
-          required: true
diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
new file mode 100644
index 0000000000..22c9febcb0
--- /dev/null
+++ b/.github/PULL_REQUEST_TEMPLATE.md
@@ -0,0 +1,17 @@
+## Requirements
+_Provide a requirements for requesting changes_
+
+## Limitations
+_Describe limitations if there are any_
+
+## Breaking change
+_No breaking changes_
+
+## Checklist
+
+- [ ] Pull Request name has appropriate format (for example: "fix(dcd_dwc2): Resolved address selection when several phy are present")
+- [ ] _Optional:_ README.md updated
+- [ ] CI passed
+
+## Related issues
+_No related issues_
diff --git a/.github/ci/.build_and_run_idf_examples_config.toml b/.github/ci/.build_and_run_idf_examples_config.toml
new file mode 100644
index 0000000000..a213e3ad5d
--- /dev/null
+++ b/.github/ci/.build_and_run_idf_examples_config.toml
@@ -0,0 +1,23 @@
+# Config file for build_and_run_idf_examples.yml workflow
+
+# This file contains configuration settings for the idf-build-apps tool,
+# which is used to build and run example applications in the workflow.
+# If you change the 'build_dir' value, make sure to update the corresponding
+# Run step in the workflow, as it will need to reference the new build directory.
+
+paths = [
+    "${IDF_PATH}/examples/peripherals/usb/device",     # ESP-IDF USB Device examples path
+]
+
+exclude = [
+    "${IDF_PATH}/examples/peripherals/usb/device/cherryusb_serial_device", # Exclude cherryusb-based device examples
+]
+
+recursive = true
+manifest_file = "${IDF_PATH}/examples/peripherals/.build-test-rules.yml"
+check_warnings = true
+target = "all"
+enable_preview_targets = true
+
+# Build related options (build_dir uses '@t' for target and '@w' for wildcard pattern (sdkconfig usually)
+build_dir = "build_@t_@w"
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
deleted file mode 100644
index aa148eb79f..0000000000
--- a/.github/pull_request_template.md
+++ /dev/null
@@ -1,5 +0,0 @@
-**Describe the PR**
-A clear and concise description of what this PR solve.
-
-**Additional context**
-If applicable, add any other context about the PR and/or screenshots here.
diff --git a/.github/workflows/build_and_run_esp_usb_test_apps.yml b/.github/workflows/build_and_run_esp_usb_test_apps.yml
index c0a85b23a4..ee82f26aa7 100644
--- a/.github/workflows/build_and_run_esp_usb_test_apps.yml
+++ b/.github/workflows/build_and_run_esp_usb_test_apps.yml
@@ -1,4 +1,8 @@
-name: ESP-USB Test Apps
+# This workflow builds and runs ESP-USB test applications for pull requests.
+# It checks out the latest code from ESP-USB master, builds test apps using Espressif's IDF,
+# uploads artifacts, and runs tests on self-hosted runners for supported targets.
+
+name: ESP-USB Test Apps [master]
 
 on:
   pull_request:
@@ -8,12 +12,20 @@ jobs:
   build:
     name: Build
     strategy:
+      fail-fast: false
       matrix:
-        idf_ver: ["release-v5.1", "release-v5.2", "release-v5.3", "release-v5.4", "release-v5.5", "latest"]
+        idf_ver: ["release-v5.1", "release-v5.2", "release-v5.3", "release-v5.4", "release-v5.5", "release-v6.0", "latest"]
     runs-on: ubuntu-latest
     container: espressif/idf:${{ matrix.idf_ver }}
     env:
-      ESP_TINYUSB_TEST_APPS: ./esp-usb/device/esp_tinyusb/test_apps
+      IDF_COMP_MAN_VER: "2.4.3"
+      IDF_BUILD_APPS_VER: "2.13.3"
+      # We are cloning esp-usb repo to get the test apps to build, the paths should be configured explicitly
+      ESP_USB_PATH: esp-usb
+      ESP_USB_CONFIG_FILE: esp-usb/.idf_build_apps.toml
+      ESP_USB_MANIFEST: esp-usb/.build-test-rules.yml
+      ESP_USB_IGNORE_WARNING_FILE: esp-usb/.ignore_build_warnings.txt
+      ESP_TINYUSB_TEST_APPS: esp-usb/device/esp_tinyusb/test_apps
     steps:
       - uses: actions/checkout@v4
         with:
@@ -25,57 +37,69 @@ jobs:
         shell: bash
         run: |
           . ${IDF_PATH}/export.sh
-          pip install --no-cache-dir idf-component-manager>=2.1.2 idf-build-apps==2.13.1 pyyaml --upgrade
+          pip install --no-cache-dir idf-component-manager>=${{ env.IDF_COMP_MAN_VER }} idf-build-apps==${{ env.IDF_BUILD_APPS_VER }} pyyaml --upgrade
           export PEDANTIC_FLAGS="-DIDF_CI_BUILD -Werror -Werror=deprecated-declarations -Werror=unused-variable -Werror=unused-but-set-variable -Werror=unused-function"
           export EXTRA_CFLAGS="${PEDANTIC_FLAGS} -Wstrict-prototypes"
           export EXTRA_CXXFLAGS="${PEDANTIC_FLAGS}"
           python .github/ci/override_managed_component.py tinyusb . ${{ env.ESP_TINYUSB_TEST_APPS }}/*/
-          cd esp-usb
-          idf-build-apps find --path ./device/esp_tinyusb/test_apps/
-          idf-build-apps build --path ./device/esp_tinyusb/test_apps/
+          idf-build-apps find --config-file ${{ env.ESP_USB_CONFIG_FILE }} -p ${{ env.ESP_TINYUSB_TEST_APPS }} -t all --manifest-files ${{ env.ESP_USB_MANIFEST }} --manifest-rootpath ${{ env.ESP_USB_PATH }}
+          idf-build-apps build --config-file ${{ env.ESP_USB_CONFIG_FILE }} -p ${{ env.ESP_TINYUSB_TEST_APPS }} -t all --manifest-files ${{ env.ESP_USB_MANIFEST }} --manifest-rootpath ${{ env.ESP_USB_PATH }} --ignore-warning-files ${{ env.ESP_USB_IGNORE_WARNING_FILE }}
       - uses: actions/upload-artifact@v4
         with:
-          name: usb_test_app_bin_${{ matrix.idf_ver }}
+          # Test apps builds live under the repository workspace, we use workspace-relative glob
+          name: usb_device_test_app_bin_${{ matrix.idf_ver }}
           path: |
-            ${{env.ESP_TINYUSB_TEST_APPS}}/**/build_*/bootloader/bootloader.bin
-            ${{env.ESP_TINYUSB_TEST_APPS}}/**/build_*/partition_table/partition-table.bin
-            ${{env.ESP_TINYUSB_TEST_APPS}}/**/build_*/test_app_*.bin
-            ${{env.ESP_TINYUSB_TEST_APPS}}/**/build_*/test_app_*.elf
-            ${{env.ESP_TINYUSB_TEST_APPS}}/**/build_*/flasher_args.json
-            ${{env.ESP_TINYUSB_TEST_APPS}}/**/build_*/config/sdkconfig.json
+            **/build_esp*/bootloader/bootloader.bin
+            **/build_esp*/partition_table/partition-table.bin
+            **/build_esp*/test_app_*.bin
+            **/build_esp*/test_app_*.elf
+            **/build_esp*/flasher_args.json
+            **/build_esp*/config/sdkconfig.json
           if-no-files-found: error
 
-  # run-target:
-  #   name: Run
-  #   if: ${{ github.repository_owner == 'espressif' }}
-  #   needs: build
-  #   strategy:
-  #     matrix:
-  #       idf_ver: ["release-v5.1", "release-v5.2", "release-v5.3", "release-v5.4", "release-v5.5", "latest"]
-  #       idf_target: ["esp32s2"]
-  #       runner_tag: ["usb_device"]
-  #   runs-on: [self-hosted, linux, docker, "${{ matrix.idf_target }}", "${{ matrix.runner_tag }}"]
-  #   container:
-  #     image: python:3.11-bookworm
-  #     options: --privileged --device-cgroup-rule="c 188:* rmw" --device-cgroup-rule="c 166:* rmw"
-  #   env:
-  #     ESP_TINYUSB_TEST_APPS: ./esp-usb/device/esp_tinyusb/test_apps
-  #   steps:
-  #     - uses: actions/checkout@v4
-  #     - name: Clone esp-usb repository
-  #       run: |
-  #         git clone https://github.com/espressif/esp-usb.git
-  #     - name: ⚙️ Install System tools
-  #       run: |
-  #         apt update
-  #         apt install -y usbutils
-  #     - name: Install Python packages
-  #       env:
-  #         PIP_EXTRA_INDEX_URL: "https://dl.espressif.com/pypi/"
-  #       run: pip install --only-binary cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-idf pyserial pyusb
-  #     - uses: actions/download-artifact@v4
-  #       with:
-  #         name: usb_test_app_bin_${{ matrix.idf_ver }}
-  #         path: ${{env.ESP_TINYUSB_TEST_APPS}}
-  #     - name: Run USB Test App on target
-  #       run: pytest ${{env.ESP_TINYUSB_TEST_APPS}} --embedded-services esp,idf --target=${{ matrix.idf_target }} -m ${{ matrix.runner_tag }} --build-dir=build_${{ matrix.idf_target }}
+  run-target:
+    name: Run
+    # Disable the job in forks
+    if: ${{ github.repository_owner == 'espressif' }}
+    needs: build
+    strategy:
+      fail-fast: false
+      matrix:
+        idf_ver: ["release-v5.1", "release-v5.2", "release-v5.3", "release-v5.4", "release-v5.5", "release-v6.0", "latest"]
+        idf_target: ["esp32s2", "esp32p4"]
+        sdkconfig: ["default"]
+        runner_tag: ["usb_device"]
+        exclude:
+          # Exclude esp32p4 for releases before IDF 5.3 for all runner tags (esp32p4 support starts in IDF 5.3)
+          - idf_ver: "release-v5.1"
+            idf_target: "esp32p4"
+          - idf_ver: "release-v5.2"
+            idf_target: "esp32p4"
+    runs-on: [self-hosted, linux, docker, "${{ matrix.idf_target }}", "${{ matrix.runner_tag }}"]
+    container:
+      image: python:3.11-bookworm
+      options: --privileged --device-cgroup-rule="c 188:* rmw" --device-cgroup-rule="c 166:* rmw"
+    env:
+      ESP_USB_ROOT: esp-usb
+      ESP_USB_TEST_APPS_PATH: esp-usb/device/esp_tinyusb/test_apps
+    steps:
+      - uses: actions/checkout@v4
+      - name: Clone esp-usb repository
+        run: |
+          git clone https://github.com/espressif/esp-usb.git
+      - name: ⚙️ Install System tools
+        run: |
+          apt update
+          apt install -y usbutils
+      - name: Install Python packages
+        env:
+          PIP_EXTRA_INDEX_URL: "https://dl.espressif.com/pypi/"
+        run: pip install --only-binary cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-idf pyserial pyusb
+      - uses: actions/download-artifact@v4
+        with:
+          # No need to set the path manually.
+          # The test apps were built after cloning the esp-usb repo,
+          # and the build artifacts already have the correct folder structure.
+          name: usb_device_test_app_bin_${{ matrix.idf_ver }}
+      - name: Run on target
+        run: pytest ${{ env.ESP_USB_TEST_APPS_PATH }} --target=${{ matrix.idf_target }} -m ${{ matrix.runner_tag }} --build-dir=build_${{ matrix.idf_target }}_${{ matrix.sdkconfig }}
diff --git a/.github/workflows/build_and_run_idf_examples.yml b/.github/workflows/build_and_run_idf_examples.yml
index 2d1792fe78..6702c2c08d 100644
--- a/.github/workflows/build_and_run_idf_examples.yml
+++ b/.github/workflows/build_and_run_idf_examples.yml
@@ -6,56 +6,81 @@ on:
 
 jobs:
   build:
+    name: Build
     strategy:
-      matrix:
-        idf_ver: ["release-v5.1", "release-v5.2", "release-v5.3", "release-v5.4", "release-v5.5", "latest"]
       fail-fast: false
+      matrix:
+        idf_ver: ["release-v5.1", "release-v5.2", "release-v5.3", "release-v5.4", "release-v5.5", "release-v6.0", "latest"]
     runs-on: ubuntu-latest
     container: espressif/idf:${{ matrix.idf_ver }}
     env:
-      CONFIG_PATH: ${{ github.workspace }}/.github/ci/.idf_build_examples_config.toml
+      IDF_COMP_MAN_VER: "2.4.3"
+      IDF_BUILD_APPS_VER: "2.13.3"
+      CONFIG_PATH: ${{ github.workspace }}/.github/ci/.build_and_run_idf_examples_config.toml
     steps:
       - uses: actions/checkout@v4
       - name: Install Python dependencies
         shell: bash
         run: |
           . ${IDF_PATH}/export.sh
-          pip install --no-cache-dir idf-component-manager>=2.1.2 idf-build-apps==2.13.1 pyyaml --upgrade
+          pip install --no-cache-dir idf-component-manager>=${{ env.IDF_COMP_MAN_VER }} idf-build-apps==${{ env.IDF_BUILD_APPS_VER }} pyyaml --upgrade
+      - name: Build Network USB related examples
+        shell: bash
+        run: |
+          . ${IDF_PATH}/export.sh
+          # Hint: To build network example we just use default config and network build rules provided by IDF
+          export EXAMPLES_PATH="${IDF_PATH}/examples/network/sta2eth"
+          export MANIFEST_FILE="${IDF_PATH}/examples/network/.build-test-rules.yml"
+          python .github/ci/override_managed_component.py tinyusb . ${EXAMPLES_PATH}
+          idf-build-apps find -p ${EXAMPLES_PATH} -t esp32s2 --manifest-files ${MANIFEST_FILE} --manifest-rootpath ${IDF_PATH}
+          idf-build-apps build -p ${EXAMPLES_PATH} -t esp32s2 --manifest-files ${MANIFEST_FILE} --manifest-rootpath ${IDF_PATH}
       - name: Build USB Device examples
         shell: bash
         run: |
           . ${IDF_PATH}/export.sh
           python .github/ci/override_managed_component.py tinyusb . ${IDF_PATH}/examples/peripherals/usb/device/tusb_*
-          python .github/ci/override_managed_component.py tinyusb . ${IDF_PATH}/examples/network/sta2eth
-          cd ${IDF_PATH}
-          idf-build-apps find --config-file ${CONFIG_PATH}
-          idf-build-apps build --config-file ${CONFIG_PATH}
+          idf-build-apps find --config-file ${CONFIG_PATH} --manifest-rootpath ${IDF_PATH}
+          idf-build-apps build --config-file ${CONFIG_PATH} --manifest-rootpath ${IDF_PATH}
       - uses: actions/upload-artifact@v4
+        env:
+          IDF_ROOT: "/opt/esp/idf"
         with:
-          # We upload only the USB Device example binaries to run them on the target
-          name: usb_device_tusb_apps_bin_${{ matrix.idf_ver }}
+          # We upload only USB Device example binaries to run them on the target
+          name: usb_device_examples_bin_${{ matrix.idf_ver }}
           path: |
-              /opt/esp/idf/examples/peripherals/usb/device/tusb_*/build_*/bootloader/bootloader.bin
-              /opt/esp/idf/examples/peripherals/usb/device/tusb_*/build_*/partition_table/partition-table.bin
-              /opt/esp/idf/examples/peripherals/usb/device/tusb_*/build_*/tusb_*.bin
-              /opt/esp/idf/examples/peripherals/usb/device/tusb_*/build_*/tusb_*.elf
-              /opt/esp/idf/examples/peripherals/usb/device/tusb_*/build_*/flasher_args.json
-              /opt/esp/idf/examples/peripherals/usb/device/tusb_*/build_*/config/sdkconfig.json
+              ${{ env.IDF_ROOT }}/**/build_esp*/bootloader/bootloader.bin
+              ${{ env.IDF_ROOT }}/**/build_esp*/partition_table/partition-table.bin
+              ${{ env.IDF_ROOT }}/**/build_esp*/tusb_*.bin
+              ${{ env.IDF_ROOT }}/**/build_esp*/tusb_*.elf
+              ${{ env.IDF_ROOT }}/**/build_esp*/flasher_args.json
+              ${{ env.IDF_ROOT }}/**/build_esp*/config/sdkconfig.json
           if-no-files-found: error
   run-target:
-    name: Run USB Device examples
+    name: Run
+    # Disable the job in forks
     if: ${{ github.repository_owner == 'espressif' }}
     needs: build
     strategy:
       fail-fast: false
       matrix:
-        idf_ver: ["release-v5.3", "release-v5.4", "release-v5.5" , "latest"]
-        idf_target: ["esp32s2"]
+        idf_ver: ["release-v5.1", "release-v5.2", "release-v5.3", "release-v5.4", "release-v5.5", "release-v6.0", "latest"]
+        idf_target: ["esp32s2", "esp32p4"]
         runner_tag: ["usb_device"]
+        exclude:
+          # Exclude esp32p4 for releases before IDF 5.3 for all runner tags (esp32p4 support starts in IDF 5.3)
+          - idf_ver: "release-v5.1"
+            idf_target: "esp32p4"
+          - idf_ver: "release-v5.2"
+            idf_target: "esp32p4"
     runs-on: [self-hosted, linux, docker, "${{ matrix.idf_target }}", "${{ matrix.runner_tag }}"]
     container:
+      # We run on espressif/idf image as we need the code of examples to be present to run pytest
       image: espressif/idf:${{ matrix.idf_ver }}
       options: --privileged --device-cgroup-rule="c 188:* rmw" --device-cgroup-rule="c 166:* rmw"
+    env:
+      # We do not use ${IDF_PATH} here, because it is not available during download of artifacts step
+      IDF_ROOT: "/opt/esp/idf"
+      IDF_EXAMPLES_PATH: "${IDF_PATH}/examples/peripherals/usb/device"
     steps:
       - name: ⚙️ Install System tools
         run: |
@@ -65,16 +90,15 @@ jobs:
         env:
           PIP_EXTRA_INDEX_URL: "https://dl.espressif.com/pypi/"
         run: |
-          cd ${IDF_PATH}
-          . ./export.sh
+          . ${IDF_PATH}/export.sh
           pip install --no-cache-dir --only-binary cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-jtag pytest-embedded-idf pyserial pyusb python-gitlab minio idf-build-apps idf_ci pytest_ignore_test_results pytest-timeout netifaces
       - uses: actions/download-artifact@v4
         with:
-          name: usb_device_tusb_apps_bin_${{ matrix.idf_ver }}
-          path: /opt/esp/idf/examples/peripherals/usb/device
-      - name: Run USB Test App on target
+          # Need to set the path manually.
+          # The examples were built on a system files, which are not under the repository.
+          name: usb_device_examples_bin_${{ matrix.idf_ver }}
+          path: ${{ env.IDF_ROOT }}
+      - name: Run on target
         run: |
-          cd ${IDF_PATH}
-          . ./export.sh
-          export EXAMPLES_PATH="${IDF_PATH}/examples/peripherals/usb/device"
-          pytest ${EXAMPLES_PATH} --target ${{ matrix.idf_target }} -m ${{ matrix.runner_tag }} --ignore-result-cases=*ncm_example
+          . ${IDF_PATH}/export.sh
+          pytest ${{ env.IDF_EXAMPLES_PATH }} --target ${{ matrix.idf_target }} -m ${{ matrix.runner_tag }} --ignore-result-cases=*ncm_example --build-dir=build_${{ matrix.idf_target }}
diff --git a/.github/workflows/build_iot_examples.yml b/.github/workflows/build_iot_examples.yml
index 0c650c7aac..28c4341385 100644
--- a/.github/workflows/build_iot_examples.yml
+++ b/.github/workflows/build_iot_examples.yml
@@ -6,16 +6,19 @@ on:
 
 jobs:
   build:
+    name: Build
     strategy:
       matrix:
-        idf_ver: ["release-v5.3", "release-v5.4", "release-v5.5", "latest"]
+        idf_ver: ["release-v5.3", "release-v5.4", "release-v5.5", "release-v6.0", "latest"]
         name: ["usb_uart_bridge"]
     runs-on: ubuntu-latest
     container: espressif/idf:${{ matrix.idf_ver }}
     env:
-      ESP_IOT_PATH: esp-iot-solution
-      MANIFEST_PATH: esp-iot-solution/examples/.build-rules.yml
-      EXAMPLE_PATH: esp-iot-solution/examples/usb/device/${{ matrix.name }}
+      IDF_COMP_MAN_VER: "2.4.3"
+      IDF_BUILD_APPS_VER: "2.13.3"
+      TARGET_PATH: esp-iot-solution
+      TARGET_MANIFEST_PATH: esp-iot-solution/examples/.build-rules.yml
+      TARGET_EXAMPLES_PATH: esp-iot-solution/examples/usb/device/${{ matrix.name }}
     steps:
       - uses: actions/checkout@v4
         with:
@@ -27,7 +30,7 @@ jobs:
         shell: bash
         run: |
           . ${IDF_PATH}/export.sh
-          pip install --no-cache-dir idf-component-manager>=2.1.2 idf-build-apps==2.13.1 pyyaml --upgrade
-          python .github/ci/override_managed_component.py tinyusb . ${{ env.EXAMPLE_PATH }}/
-          idf-build-apps find --paths ${{ env.EXAMPLE_PATH }} --manifest-file ${{ env.MANIFEST_PATH }} --manifest-rootpath ${{ env.ESP_IOT_PATH }}
-          idf-build-apps build --paths ${{ env.EXAMPLE_PATH }} --manifest-file ${{ env.MANIFEST_PATH }} --manifest-rootpath ${{ env.ESP_IOT_PATH }}
+          pip install --no-cache-dir idf-component-manager>=${{ env.IDF_COMP_MAN_VER }} idf-build-apps==${{ env.IDF_BUILD_APPS_VER }} pyyaml --upgrade
+          python .github/ci/override_managed_component.py tinyusb . ${{ env.TARGET_EXAMPLES_PATH }}/
+          idf-build-apps find -p ${{ env.TARGET_EXAMPLES_PATH }} -t all --manifest-file ${{ env.TARGET_MANIFEST_PATH }} --manifest-rootpath ${{ env.TARGET_PATH }}
+          idf-build-apps build -p ${{ env.TARGET_EXAMPLES_PATH }} -t all --manifest-file ${{ env.TARGET_MANIFEST_PATH }} --manifest-rootpath ${{ env.TARGET_PATH }}
diff --git a/hw/bsp/espressif/boards/family.c b/hw/bsp/espressif/boards/family.c
index a837417f40..a29415cc0e 100644
--- a/hw/bsp/espressif/boards/family.c
+++ b/hw/bsp/espressif/boards/family.c
@@ -90,7 +90,7 @@ void board_init(void) {
   gpio_set_direction(BUTTON_PIN, GPIO_MODE_INPUT);
   gpio_set_pull_mode(BUTTON_PIN, BUTTON_STATE_ACTIVE ? GPIO_PULLDOWN_ONLY : GPIO_PULLUP_ONLY);
 
-#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32P4)
+#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4, OPT_MCU_ESP32P4)
   usb_init();
 #endif
 
diff --git a/src/class/video/video_device.c b/src/class/video/video_device.c
index 5c00cc358a..afc63a4981 100644
--- a/src/class/video/video_device.c
+++ b/src/class/video/video_device.c
@@ -644,7 +644,8 @@ static bool _negotiate_streaming_parameters(videod_streaming_interface_t const *
     tusb_desc_cs_video_fmt_t const *fmt = _find_desc_format(tu_desc_next(vs), end, fmtnum);
     tusb_desc_cs_video_frm_t const *frm = _find_desc_frame(tu_desc_next(fmt), end, frmnum);
 
-    uint_fast32_t interval, interval_ms;
+    uint_fast32_t interval = 0;
+    uint_fast32_t interval_ms = 0;
     switch (request) {
       case VIDEO_REQUEST_GET_MAX: {
         uint_fast32_t min_interval, max_interval;
diff --git a/src/portable/synopsys/dwc2/dcd_dwc2.c b/src/portable/synopsys/dwc2/dcd_dwc2.c
index f10f0bdc33..20b499af8f 100644
--- a/src/portable/synopsys/dwc2/dcd_dwc2.c
+++ b/src/portable/synopsys/dwc2/dcd_dwc2.c
@@ -422,8 +422,9 @@ bool dcd_init(uint8_t rhport, const tusb_rhport_init_t* rh_init) {
   // Force device mode
   dwc2->gusbcfg = (dwc2->gusbcfg & ~GUSBCFG_FHMOD) | GUSBCFG_FDMOD;
 
-  // Clear A override, force B Valid
-  dwc2->gotgctl = (dwc2->gotgctl & ~GOTGCTL_AVALOEN) | GOTGCTL_BVALOEN | GOTGCTL_BVALOVAL;
+  // No overrides
+  dwc2->gotgctl &= ~(GOTGCTL_BVALOEN | GOTGCTL_BVALOVAL | GOTGCTL_VBVALOVAL);
+
 
 #if CFG_TUSB_MCU == OPT_MCU_STM32N6
   // No hardware detection of Vbus B-session is available on the STM32N6