diff --git a/boards/xtensa/esp32s2/common/Kconfig b/boards/xtensa/esp32s2/common/Kconfig
index 18c7905aed..67d129236b 100644
--- a/boards/xtensa/esp32s2/common/Kconfig
+++ b/boards/xtensa/esp32s2/common/Kconfig
@@ -3,3 +3,11 @@
 # see the file kconfig-language.txt in the NuttX tools repository.
 #
 
+config ESP32S2_MERGE_BINS
+	bool "Merge raw binary files into a single file"
+	default n
+	---help---
+		Merge the raw binary files into a single file for flashing to the
+		device.
+		This is only useful when the path to binary files (e.g. bootloader)
+		is provided via the ESPTOOL_BINDIR variable.
diff --git a/tools/esp32s2/Config.mk b/tools/esp32s2/Config.mk
index 54f9d7670b..bd61b102c0 100644
--- a/tools/esp32s2/Config.mk
+++ b/tools/esp32s2/Config.mk
@@ -61,18 +61,45 @@ else
 endif
 
 ifdef ESPTOOL_BINDIR
-	BL_OFFSET=0x1000
-	PT_OFFSET=0x8000
-	BOOTLOADER=$(ESPTOOL_BINDIR)/bootloader-esp32s2.bin
-	PARTITION_TABLE=$(ESPTOOL_BINDIR)/partition-table-esp32s2.bin
-	FLASH_BL=$(BL_OFFSET) $(BOOTLOADER)
-	FLASH_PT=$(PT_OFFSET) $(PARTITION_TABLE)
+	BL_OFFSET       := 0x1000
+	PT_OFFSET       := 0x8000
+	BOOTLOADER      := $(ESPTOOL_BINDIR)/bootloader-esp32s2.bin
+	PARTITION_TABLE := $(ESPTOOL_BINDIR)/partition-table-esp32s2.bin
+	FLASH_BL        := $(BL_OFFSET) $(BOOTLOADER)
+	FLASH_PT        := $(PT_OFFSET) $(PARTITION_TABLE)
+	ESPTOOL_BINS    := $(FLASH_BL) $(FLASH_PT)
+endif
+
+ESPTOOL_BINS += 0x10000 nuttx.bin
+
+# MERGEBIN -- Merge raw binary files into a single file
+
+ifeq ($(CONFIG_ESP32S2_MERGE_BINS),y)
+define MERGEBIN
+	$(Q) if [ -z $(ESPTOOL_BINDIR) ]; then \
+		echo "MERGEBIN error: Missing argument for binary files directory."; \
+		echo "USAGE: make ESPTOOL_BINDIR=<dir>"; \
+		exit 1; \
+	fi
+	$(Q) if [ -z $(FLASH_SIZE) ]; then \
+		echo "Missing Flash memory size configuration for the ESP32-S2 chip."; \
+		exit 1; \
+	fi
+	$(eval ESPTOOL_MERGEBIN_OPTS := -fs $(FLASH_SIZE) -fm $(FLASH_MODE) -ff $(FLASH_FREQ))
+	esptool.py -c esp32s2 merge_bin --output nuttx.merged.bin $(ESPTOOL_MERGEBIN_OPTS) $(ESPTOOL_BINS)
+	$(Q) echo nuttx.merged.bin >> nuttx.manifest
+	$(Q) echo "Generated: nuttx.merged.bin"
+endef
+else
+define MERGEBIN
+
+endef
 endif
 
 # POSTBUILD -- Perform post build operations
 
 define POSTBUILD
-	$(Q) echo "MKIMAGE: ESP32S2 binary"
+	$(Q) echo "MKIMAGE: ESP32-S2 binary"
 	$(Q) if ! esptool.py version 1>/dev/null 2>&1; then \
 		echo ""; \
 		echo "esptool.py not found.  Please run: \"pip install esptool\""; \
@@ -81,11 +108,12 @@ define POSTBUILD
 		exit 1; \
 	fi
 	$(Q) if [ -z $(FLASH_SIZE) ]; then \
-		echo "Missing Flash memory size configuration for the ESP32S2 chip."; \
+		echo "Missing Flash memory size configuration for the ESP32-S2 chip."; \
 		exit 1; \
 	fi
-	esptool.py -c esp32-s2 elf2image $(ESPTOOL_ELF2IMG_OPTS) -o nuttx.bin nuttx
-	$(Q) echo "Generated: nuttx.bin (ESP32S2 compatible)"
+	esptool.py -c esp32s2 elf2image $(ESPTOOL_ELF2IMG_OPTS) -o nuttx.bin nuttx
+	$(Q) echo "Generated: nuttx.bin (ESP32-S2 compatible)"
+	$(call MERGEBIN)
 endef
 
 # ESPTOOL_BAUD -- Serial port baud rate used when flashing/reading via esptool.py
@@ -95,13 +123,10 @@ ESPTOOL_BAUD ?= 921600
 # DOWNLOAD -- Download binary image via esptool.py
 
 define DOWNLOAD
-
-	$(eval ESPTOOL_BINS := $(FLASH_BL) $(FLASH_PT) 0x10000 $(1).bin)
-
 	$(Q) if [ -z $(ESPTOOL_PORT) ]; then \
 		echo "DOWNLOAD error: Missing serial port device argument."; \
 		echo "USAGE: make download ESPTOOL_PORT=<port> [ ESPTOOL_BAUD=<baud> ] [ ESPTOOL_BINDIR=<dir> ]"; \
 		exit 1; \
 	fi
-	esptool.py -c esp32-s2 -p $(ESPTOOL_PORT) -b $(ESPTOOL_BAUD) write_flash $(ESPTOOL_WRITEFLASH_OPTS) $(ESPTOOL_BINS)
+	esptool.py -c esp32s2 -p $(ESPTOOL_PORT) -b $(ESPTOOL_BAUD) write_flash $(ESPTOOL_WRITEFLASH_OPTS) $(ESPTOOL_BINS)
 endef