diff --git a/arch/xtensa/src/esp32/esp32_wifi_adapter.c b/arch/xtensa/src/esp32/esp32_wifi_adapter.c
index 958125cbd1..f571fdd142 100644
--- a/arch/xtensa/src/esp32/esp32_wifi_adapter.c
+++ b/arch/xtensa/src/esp32/esp32_wifi_adapter.c
@@ -406,7 +406,12 @@ static bool g_sta_connected;
 /* Wi-Fi station TX done callback function */
 
 static wifi_txdone_cb_t g_sta_txdone_cb;
-#endif
+
+/* Wi-Fi interface configuration */
+
+static wifi_config_t g_sta_wifi_cfg;
+
+#endif /* ESP32_WLAN_HAS_STA */
 
 #ifdef ESP32_WLAN_HAS_SOFTAP
 
@@ -417,7 +422,12 @@ static bool g_softap_started;
 /* Wi-Fi SoftAP TX done callback function */
 
 static wifi_txdone_cb_t g_softap_txdone_cb;
-#endif
+
+/* Wi-Fi interface configuration */
+
+static wifi_config_t g_softap_wifi_cfg;
+
+#endif /* ESP32_WLAN_HAS_SOFTAP */
 
 /* Device specific lock */
 
@@ -2222,6 +2232,13 @@ static void esp_evt_work_cb(void *arg)
             if (ret)
               {
                 wlerr("Failed to close PS\n");
+                break;
+              }
+
+            ret = esp_wifi_get_config(WIFI_IF_STA, &g_sta_wifi_cfg);
+            if (ret)
+              {
+                wlerr("Failed to get Wi-Fi config data ret=%d\n", ret);
               }
             break;
 
@@ -2252,6 +2269,11 @@ static void esp_evt_work_cb(void *arg)
 #ifdef ESP32_WLAN_HAS_SOFTAP
           case WIFI_ADPT_EVT_AP_START:
             wlinfo("INFO: Wi-Fi softap start\n");
+            ret = esp_wifi_get_config(WIFI_IF_AP, &g_softap_wifi_cfg);
+            if (ret)
+              {
+                wlerr("Failed to get Wi-Fi config data ret=%d\n", ret);
+              }
             break;
 
           case WIFI_ADPT_EVT_AP_STOP:
@@ -2265,7 +2287,7 @@ static void esp_evt_work_cb(void *arg)
           case WIFI_ADPT_EVT_AP_STADISCONNECTED:
             wlinfo("INFO: Wi-Fi station leave\n");
             break;
-#endif
+#endif /* ESP32_WLAN_HAS_SOFTAP */
           default:
             break;
         }
@@ -3475,10 +3497,14 @@ static void *esp_malloc_internal(size_t size)
   return xtensa_imm_malloc(size);
 #else
   void *ptr = kmm_malloc(size);
-  if (esp32_ptr_extram(ptr))
+
+  if (ptr != NULL)
     {
-      kmm_free(ptr);
-      return NULL;
+      if (esp32_ptr_extram(ptr))
+        {
+          kmm_free(ptr);
+          return NULL;
+        }
     }
 
   return ptr;
@@ -3559,10 +3585,13 @@ static void *esp_calloc_internal(size_t n, size_t size)
   return xtensa_imm_calloc(n, size);
 #else
   void *ptr = kmm_calloc(n, size);
-  if (esp32_ptr_extram(ptr))
+  if (ptr != NULL)
     {
-      kmm_free(ptr);
-      return NULL;
+      if (esp32_ptr_extram(ptr))
+        {
+          kmm_free(ptr);
+          return NULL;
+        }
     }
 
   return ptr;
@@ -3591,10 +3620,13 @@ static void *esp_zalloc_internal(size_t size)
   return xtensa_imm_zalloc(size);
 #else
   void *ptr = kmm_zalloc(size);
-  if (esp32_ptr_extram(ptr))
+  if (ptr != NULL)
     {
-      kmm_free(ptr);
-      return NULL;
+      if (esp32_ptr_extram(ptr))
+        {
+          kmm_free(ptr);
+          return NULL;
+        }
     }
 
   return ptr;
@@ -5073,27 +5105,45 @@ int esp_wifi_sta_password(struct iwreq *iwr, bool set)
       return -EINVAL;
     }
 
-  ret = esp_wifi_get_config(WIFI_IF_STA, &wifi_cfg);
-  if (ret)
-    {
-      wlerr("Failed to get Wi-Fi config data ret=%d\n", ret);
-      return wifi_errno_trans(ret);
-    }
+  wifi_cfg = g_sta_wifi_cfg;
 
   if (set)
     {
       memset(wifi_cfg.sta.password, 0x0, PWD_MAX_LEN);
-      memcpy(wifi_cfg.sta.password, pdata, len);
+
+      if (ext->alg != IW_ENCODE_ALG_NONE)
+        {
+          memcpy(wifi_cfg.sta.password, pdata, len);
+        }
 
       wifi_cfg.sta.pmf_cfg.capable = true;
       wifi_cfg.sta.listen_interval = DEFAULT_LISTEN_INTERVAL;
 
-      ret = esp_wifi_set_config(WIFI_IF_STA, &wifi_cfg);
-      if (ret)
+      if (g_sta_connected)
         {
-          wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
-          return wifi_errno_trans(ret);
+          ret = esp_wifi_sta_disconnect();
+          if (ret)
+            {
+              wlerr("Failed to disconnect from Wi-Fi AP ret=%d\n", ret);
+              return ret;
+            }
+
+          ret = esp_wifi_set_config(WIFI_IF_STA, &wifi_cfg);
+          if (ret)
+            {
+              wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
+              return wifi_errno_trans(ret);
+            }
+
+          ret = esp_wifi_sta_connect();
+          if (ret)
+            {
+              wlerr("Failed to connect to Wi-Fi AP ret=%d\n", ret);
+              return ret;
+            }
         }
+
+      g_sta_wifi_cfg = wifi_cfg;
     }
   else
     {
@@ -5198,24 +5248,38 @@ int esp_wifi_sta_essid(struct iwreq *iwr, bool set)
       return -EINVAL;
     }
 
-  ret = esp_wifi_get_config(WIFI_IF_STA, &wifi_cfg);
-  if (ret)
-    {
-      wlerr("Failed to get Wi-Fi config data ret=%d\n", ret);
-      return wifi_errno_trans(ret);
-    }
+  wifi_cfg = g_sta_wifi_cfg;
 
   if (set)
     {
       memset(wifi_cfg.sta.ssid, 0x0, SSID_MAX_LEN);
       memcpy(wifi_cfg.sta.ssid, pdata, len);
 
-      ret = esp_wifi_set_config(WIFI_IF_STA, &wifi_cfg);
-      if (ret)
+      if (g_sta_connected)
         {
-          wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
-          return wifi_errno_trans(ret);
+          ret = esp_wifi_sta_disconnect();
+          if (ret)
+            {
+              wlerr("Failed to disconnect from Wi-Fi AP ret=%d\n", ret);
+              return ret;
+            }
+
+          ret = esp_wifi_set_config(WIFI_IF_STA, &wifi_cfg);
+          if (ret)
+            {
+              wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
+              return wifi_errno_trans(ret);
+            }
+
+          ret = esp_wifi_sta_connect();
+          if (ret)
+            {
+              wlerr("Failed to connect to Wi-Fi AP ret=%d\n", ret);
+              return ret;
+            }
         }
+
+      g_sta_wifi_cfg = wifi_cfg;
     }
   else
     {
@@ -5272,27 +5336,41 @@ int esp_wifi_sta_bssid(struct iwreq *iwr, bool set)
   struct sockaddr *sockaddr;
   char *pdata;
 
-  ret = esp_wifi_get_config(WIFI_IF_STA, &wifi_cfg);
-  if (ret)
-    {
-      wlerr("Failed to get Wi-Fi config data ret=%d\n", ret);
-      return wifi_errno_trans(ret);
-    }
-
   sockaddr = &iwr->u.ap_addr;
   pdata    = sockaddr->sa_data;
 
+  wifi_cfg = g_sta_wifi_cfg;
+
   if (set)
     {
       wifi_cfg.sta.bssid_set = true;
       memcpy(wifi_cfg.sta.bssid, pdata, MAC_LEN);
 
-      ret = esp_wifi_set_config(WIFI_IF_STA, &wifi_cfg);
-      if (ret)
+      if (g_sta_connected)
         {
-          wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
-          return wifi_errno_trans(ret);
+          ret = esp_wifi_sta_disconnect();
+          if (ret)
+            {
+              wlerr("Failed to disconnect from Wi-Fi AP ret=%d\n", ret);
+              return ret;
+            }
+
+          ret = esp_wifi_set_config(WIFI_IF_STA, &wifi_cfg);
+          if (ret)
+            {
+              wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
+              return wifi_errno_trans(ret);
+            }
+
+          ret = esp_wifi_sta_connect();
+          if (ret)
+            {
+              wlerr("Failed to connect to Wi-Fi AP ret=%d\n", ret);
+              return ret;
+            }
         }
+
+      g_sta_wifi_cfg = wifi_cfg;
     }
   else
     {
@@ -5333,6 +5411,13 @@ int esp_wifi_sta_connect(void)
 
   g_sta_reconnect = true;
 
+  ret = esp_wifi_set_config(WIFI_IF_STA, &g_sta_wifi_cfg);
+  if (ret)
+    {
+      wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
+      return wifi_errno_trans(ret);
+    }
+
   ret = esp_wifi_connect();
   if (ret)
     {
@@ -5454,11 +5539,114 @@ int esp_wifi_sta_auth(struct iwreq *iwr, bool set)
 {
   int ret;
   int cmd;
+  wifi_config_t wifi_cfg;
   wifi_ap_record_t ap_info;
 
+  wifi_cfg = g_sta_wifi_cfg;
+
   if (set)
     {
-      return OK;
+      cmd = iwr->u.param.flags & IW_AUTH_INDEX;
+      switch (cmd)
+        {
+          case IW_AUTH_WPA_VERSION:
+            {
+              switch (iwr->u.param.value)
+                {
+                  case IW_AUTH_WPA_VERSION_DISABLED:
+                    wifi_cfg.sta.threshold.authmode = WIFI_AUTH_OPEN;
+                    break;
+
+                  case IW_AUTH_WPA_VERSION_WPA:
+                    wifi_cfg.sta.threshold.authmode = WIFI_AUTH_WPA_PSK;
+                    break;
+
+                  case IW_AUTH_WPA_VERSION_WPA2:
+                    wifi_cfg.sta.threshold.authmode = WIFI_AUTH_WPA2_PSK;
+                    break;
+
+                  default:
+                    wlerr("Invalid wpa version %" PRId32 "\n",
+                          iwr->u.param.value);
+                    return -EINVAL;
+                }
+            }
+
+            break;
+          case IW_AUTH_CIPHER_PAIRWISE:
+          case IW_AUTH_CIPHER_GROUP:
+            {
+              switch (iwr->u.param.value)
+                {
+                  case IW_AUTH_CIPHER_NONE:
+                    wifi_cfg.sta.threshold.authmode = WIFI_AUTH_OPEN;
+                    break;
+
+                  case IW_AUTH_CIPHER_WEP40:
+                  case IW_AUTH_CIPHER_WEP104:
+                    wifi_cfg.sta.threshold.authmode = WIFI_AUTH_WEP;
+                    break;
+
+                  case IW_AUTH_CIPHER_TKIP:
+                    wifi_cfg.sta.threshold.authmode = WIFI_AUTH_WPA_PSK;
+                    break;
+
+                  case IW_AUTH_CIPHER_CCMP:
+                  case IW_AUTH_CIPHER_AES_CMAC:
+                    wifi_cfg.sta.threshold.authmode = WIFI_AUTH_WPA2_PSK;
+                    break;
+
+                  default:
+                    wlerr("Invalid cipher mode %" PRId32 "\n",
+                          iwr->u.param.value);
+                    return -EINVAL;
+                }
+            }
+
+            break;
+          case IW_AUTH_KEY_MGMT:
+          case IW_AUTH_TKIP_COUNTERMEASURES:
+          case IW_AUTH_DROP_UNENCRYPTED:
+          case IW_AUTH_80211_AUTH_ALG:
+          case IW_AUTH_WPA_ENABLED:
+          case IW_AUTH_RX_UNENCRYPTED_EAPOL:
+          case IW_AUTH_ROAMING_CONTROL:
+          case IW_AUTH_PRIVACY_INVOKED:
+          default:
+            wlerr("Unknown cmd %d\n", cmd);
+            return -EINVAL;
+        }
+
+      size_t password_len = strlen((const char *)wifi_cfg.sta.password);
+      wifi_auth_mode_t authmode = wifi_cfg.sta.threshold.authmode;
+
+      if (g_sta_connected &&
+          ((password_len > 0 && authmode != WIFI_AUTH_OPEN) ||
+           (password_len == 0 && authmode == WIFI_AUTH_OPEN)))
+        {
+          ret = esp_wifi_sta_disconnect();
+          if (ret)
+            {
+              wlerr("Failed to disconnect from Wi-Fi AP ret=%d\n", ret);
+              return ret;
+            }
+
+          ret = esp_wifi_set_config(WIFI_IF_STA, &wifi_cfg);
+          if (ret)
+            {
+              wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
+              return wifi_errno_trans(ret);
+            }
+
+          ret = esp_wifi_sta_connect();
+          if (ret)
+            {
+              wlerr("Failed to connect to Wi-Fi AP ret=%d\n", ret);
+              return ret;
+            }
+        }
+
+      g_sta_wifi_cfg = wifi_cfg;
     }
   else
     {
@@ -5526,24 +5714,38 @@ int esp_wifi_sta_auth(struct iwreq *iwr, bool set)
 int esp_wifi_sta_freq(struct iwreq *iwr, bool set)
 {
   int ret;
-  wifi_config_t wifi_cfg;
 
   if (set && (iwr->u.freq.flags == IW_FREQ_FIXED))
     {
-      ret = esp_wifi_get_config(WIFI_IF_STA, &wifi_cfg);
-      if (ret)
-        {
-          wlerr("Failed to get Wi-Fi config data ret=%d\n", ret);
-          return wifi_errno_trans(ret);
-        }
+      wifi_config_t wifi_cfg = g_sta_wifi_cfg;
 
       wifi_cfg.sta.channel = esp_freq_to_channel(iwr->u.freq.m);
-      ret = esp_wifi_set_config(WIFI_IF_STA, &wifi_cfg);
-      if (ret)
+
+      if (g_sta_connected)
         {
-          wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
-          return wifi_errno_trans(ret);
+          ret = esp_wifi_sta_disconnect();
+          if (ret)
+            {
+              wlerr("Failed to disconnect from Wi-Fi AP ret=%d\n", ret);
+              return ret;
+            }
+
+          ret = esp_wifi_set_config(WIFI_IF_STA, &wifi_cfg);
+          if (ret)
+            {
+              wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
+              return wifi_errno_trans(ret);
+            }
+
+          ret = esp_wifi_sta_connect();
+          if (ret)
+            {
+              wlerr("Failed to connect to Wi-Fi AP ret=%d\n", ret);
+              return ret;
+            }
         }
+
+      g_sta_wifi_cfg = wifi_cfg;
     }
   else
     {
@@ -6142,36 +6344,60 @@ int esp_wifi_softap_password(struct iwreq *iwr, bool set)
       return -EINVAL;
     }
 
-  ret = esp_wifi_get_config(WIFI_IF_AP, &wifi_cfg);
-  if (ret)
-    {
-      wlerr("Failed to get Wi-Fi config data ret=%d\n", ret);
-      return wifi_errno_trans(ret);
-    }
-
-  ext   = iwr->u.encoding.pointer;
   pdata = ext->key;
   len   = ext->key_len;
 
+  wifi_cfg = g_softap_wifi_cfg;
+
   if (set)
     {
       /* Clear the password field and copy the user password to it */
 
       memset(wifi_cfg.ap.password, 0x0, PWD_MAX_LEN);
-      memcpy(wifi_cfg.ap.password, pdata, len);
-
-      /* Enable the WPA2 password by default */
-
-      wifi_cfg.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
-
-      /* Setup the config to the SoftAP */
-
-      ret = esp_wifi_set_config(WIFI_IF_AP, &wifi_cfg);
-      if (ret)
+      if (len)
         {
-          wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
-          return wifi_errno_trans(ret);
+          memcpy(wifi_cfg.ap.password, pdata, len);
+          switch (ext->alg)
+            {
+              case IW_ENCODE_ALG_NONE:
+                wifi_cfg.ap.authmode = WIFI_AUTH_OPEN;
+                break;
+
+              case IW_ENCODE_ALG_WEP:
+                wifi_cfg.ap.authmode = WIFI_AUTH_WEP;
+                break;
+
+              case IW_ENCODE_ALG_TKIP:
+                wifi_cfg.ap.authmode = WIFI_AUTH_WPA_PSK;
+                break;
+
+              case IW_ENCODE_ALG_CCMP:
+                wifi_cfg.ap.authmode = WIFI_AUTH_WPA2_PSK;
+                break;
+
+              case IW_ENCODE_ALG_PMK:
+              case IW_ENCODE_ALG_AES_CMAC:
+                wifi_cfg.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
+                break;
+
+              default:
+                wlerr("Failed to transfer wireless authmode: %d",
+                      ext->alg);
+                return -EINVAL;
+            }
         }
+
+        if (g_softap_started)
+        {
+          ret = esp_wifi_set_config(WIFI_IF_AP, &wifi_cfg);
+          if (ret)
+            {
+              wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
+              return wifi_errno_trans(ret);
+            }
+        }
+
+      g_softap_wifi_cfg = wifi_cfg;
     }
   else
     {
@@ -6234,24 +6460,25 @@ int esp_wifi_softap_essid(struct iwreq *iwr, bool set)
       return -EINVAL;
     }
 
-  ret = esp_wifi_get_config(WIFI_IF_AP, &wifi_cfg);
-  if (ret)
-    {
-      wlerr("Failed to get Wi-Fi config data ret=%d\n", ret);
-      return wifi_errno_trans(ret);
-    }
+  wifi_cfg = g_softap_wifi_cfg;
 
   if (set)
     {
       memset(wifi_cfg.ap.ssid, 0x0, SSID_MAX_LEN);
       memcpy(wifi_cfg.ap.ssid, pdata, len);
+      wifi_cfg.ap.ssid_len = len;
 
-      ret = esp_wifi_set_config(WIFI_IF_AP, &wifi_cfg);
-      if (ret)
+      if (g_softap_started)
         {
-          wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
-          return wifi_errno_trans(ret);
+          ret = esp_wifi_set_config(WIFI_IF_AP, &wifi_cfg);
+          if (ret)
+            {
+              wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
+              return wifi_errno_trans(ret);
+            }
         }
+
+      g_softap_wifi_cfg = wifi_cfg;
     }
   else
     {
@@ -6314,6 +6541,15 @@ int esp_wifi_softap_bssid(struct iwreq *iwr, bool set)
 
 int esp_wifi_softap_connect(void)
 {
+  int ret;
+
+  ret = esp_wifi_set_config(WIFI_IF_AP, &g_softap_wifi_cfg);
+  if (ret)
+    {
+      wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
+      return wifi_errno_trans(ret);
+    }
+
   return OK;
 }
 
@@ -6384,15 +6620,10 @@ int esp_wifi_softap_auth(struct iwreq *iwr, bool set)
   int cmd;
   wifi_config_t wifi_cfg;
 
+  wifi_cfg = g_softap_wifi_cfg;
+
   if (set)
     {
-      ret = esp_wifi_get_config(WIFI_IF_AP, &wifi_cfg);
-      if (ret)
-        {
-          wlerr("Failed to get Wi-Fi config data ret=%d\n", ret);
-          return wifi_errno_trans(ret);
-        }
-
       cmd = iwr->u.param.flags & IW_AUTH_INDEX;
       switch (cmd)
         {
@@ -6464,12 +6695,21 @@ int esp_wifi_softap_auth(struct iwreq *iwr, bool set)
             return -EINVAL;
         }
 
-      ret = esp_wifi_set_config(WIFI_IF_AP, &wifi_cfg);
-      if (ret)
+      size_t password_len = strlen((const char *)wifi_cfg.ap.password);
+
+      if (g_softap_started &&
+          ((password_len > 0 && wifi_cfg.ap.authmode != WIFI_AUTH_OPEN) ||
+           (password_len == 0 && wifi_cfg.ap.authmode == WIFI_AUTH_OPEN)))
         {
-          wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
-          return wifi_errno_trans(ret);
+          ret = esp_wifi_set_config(WIFI_IF_AP, &wifi_cfg);
+          if (ret)
+            {
+              wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
+              return wifi_errno_trans(ret);
+            }
         }
+
+      g_softap_wifi_cfg = wifi_cfg;
     }
   else
     {
@@ -6500,12 +6740,7 @@ int esp_wifi_softap_freq(struct iwreq *iwr, bool set)
   int ret;
   wifi_config_t wifi_cfg;
 
-  ret = esp_wifi_get_config(WIFI_IF_AP, &wifi_cfg);
-  if (ret)
-    {
-      wlerr("Failed to get Wi-Fi config data ret=%d\n", ret);
-      return wifi_errno_trans(ret);
-    }
+  wifi_cfg = g_softap_wifi_cfg;
 
   if (set)
     {
@@ -6513,12 +6748,17 @@ int esp_wifi_softap_freq(struct iwreq *iwr, bool set)
 
       wifi_cfg.ap.channel = channel;
 
-      ret = esp_wifi_set_config(WIFI_IF_AP, &wifi_cfg);
-      if (ret)
+      if (g_softap_started)
         {
-          wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
-          return wifi_errno_trans(ret);
+          ret = esp_wifi_set_config(WIFI_IF_AP, &wifi_cfg);
+          if (ret)
+            {
+              wlerr("Failed to set Wi-Fi config data ret=%d\n", ret);
+              return wifi_errno_trans(ret);
+            }
         }
+
+      g_softap_wifi_cfg = wifi_cfg;
     }
   else
     {