diff --git a/Documentation/platforms/xtensa/esp32s3/boards/esp32s3-devkit/index.rst b/Documentation/platforms/xtensa/esp32s3/boards/esp32s3-devkit/index.rst
index e1fe2a10df..880d4af44a 100644
--- a/Documentation/platforms/xtensa/esp32s3/boards/esp32s3-devkit/index.rst
+++ b/Documentation/platforms/xtensa/esp32s3/boards/esp32s3-devkit/index.rst
@@ -139,9 +139,9 @@ Flash and PSRAM).
 mcuboot_nsh
 -----------
 
-Similar configuration as nsh, except that it enables booting from
-MCUboot and the experimental features configuration.
-You can find more information on the `example's documentation <https://github.com/apache/nuttx-apps/blob/master/examples/mcuboot/swap_test/README.md>`_.
+This configuration is the same as the ``nsh`` configuration, but it generates the application
+image in a format that can be used by MCUboot. It also makes the ``make bootloader`` command to
+build the MCUboot bootloader image using the Espressif HAL.
 
 nsh
 ---
diff --git a/arch/xtensa/src/esp32s3/.gitignore b/arch/xtensa/src/esp32s3/.gitignore
index 24754aa308..172cd927bd 100644
--- a/arch/xtensa/src/esp32s3/.gitignore
+++ b/arch/xtensa/src/esp32s3/.gitignore
@@ -1,2 +1,3 @@
-/esp-nuttx-bootloader
+/bootloader
 /esp-hal-3rdparty
+/esp-nuttx-bootloader
diff --git a/arch/xtensa/src/esp32s3/Bootloader.mk b/arch/xtensa/src/esp32s3/Bootloader.mk
index 3d1a30e2f8..0b3d1a6678 100644
--- a/arch/xtensa/src/esp32s3/Bootloader.mk
+++ b/arch/xtensa/src/esp32s3/Bootloader.mk
@@ -18,25 +18,34 @@
 #
 ############################################################################
 
+.PHONY: bootloader clean_bootloader
+
 ifeq ($(CONFIG_ESP32S3_BOOTLOADER_BUILD_FROM_SOURCE),y)
 
+TOOLSDIR           = $(TOPDIR)/tools/espressif
 CHIPDIR            = $(TOPDIR)/arch/xtensa/src/chip
+HALDIR             = $(CHIPDIR)/esp-hal-3rdparty
 
-BOOTLOADER_SRCDIR  = $(CHIPDIR)/esp-nuttx-bootloader
+BOOTLOADER_DIR     = $(CHIPDIR)/bootloader
+BOOTLOADER_SRCDIR  = $(BOOTLOADER_DIR)/esp-nuttx-bootloader
 BOOTLOADER_VERSION = main
 BOOTLOADER_URL     = https://github.com/espressif/esp-nuttx-bootloader
 BOOTLOADER_OUTDIR  = out
-BOOTLOADER_CONFIG  = $(CHIPDIR)/bootloader.conf
+BOOTLOADER_CONFIG  = $(BOOTLOADER_DIR)/bootloader.conf
 
-$(BOOTLOADER_SRCDIR):
-	$(Q) git clone $(BOOTLOADER_URL) $(BOOTLOADER_SRCDIR) -b $(BOOTLOADER_VERSION)
+MCUBOOT_SRCDIR     = $(BOOTLOADER_DIR)/mcuboot
+MCUBOOT_ESPDIR     = $(MCUBOOT_SRCDIR)/boot/espressif
+MCUBOOT_URL        = https://github.com/mcu-tools/mcuboot
+
+$(BOOTLOADER_DIR):
+	$(Q) mkdir -p $(BOOTLOADER_DIR) &>/dev/null
 
 # Helpers for creating the configuration file
 
 cfg_en  = echo "$(1)=$(if $(CONFIG_ESP32S3_APP_FORMAT_MCUBOOT),1,y)";
 cfg_val = echo "$(1)=$(2)";
 
-$(BOOTLOADER_CONFIG): $(TOPDIR)/.config
+$(BOOTLOADER_CONFIG): $(TOPDIR)/.config $(BOOTLOADER_DIR)
 	$(Q) echo "Creating Bootloader configuration"
 	$(Q) { \
 		$(if $(CONFIG_ESP32S3_FLASH_4M),$(call cfg_en,CONFIG_ESPTOOLPY_FLASHSIZE_4MB)) \
@@ -55,12 +64,16 @@ ifeq ($(CONFIG_ESP32S3_APP_FORMAT_MCUBOOT),y)
 	$(Q) { \
 		$(call cfg_val,CONFIG_ESP_BOOTLOADER_OFFSET,0x0000) \
 		$(call cfg_val,CONFIG_ESP_BOOTLOADER_SIZE,0xF000) \
-		$(call cfg_val,CONFIG_ESP_APPLICATION_PRIMARY_START_ADDRESS,$(CONFIG_ESP32S3_OTA_PRIMARY_SLOT_OFFSET)) \
+		$(call cfg_val,CONFIG_ESP_IMAGE0_PRIMARY_START_ADDRESS,$(CONFIG_ESP32S3_OTA_PRIMARY_SLOT_OFFSET)) \
 		$(call cfg_val,CONFIG_ESP_APPLICATION_SIZE,$(CONFIG_ESP32S3_OTA_SLOT_SIZE)) \
-		$(call cfg_val,CONFIG_ESP_APPLICATION_SECONDARY_START_ADDRESS,$(CONFIG_ESP32S3_OTA_SECONDARY_SLOT_OFFSET)) \
+		$(call cfg_val,CONFIG_ESP_IMAGE0_SECONDARY_START_ADDRESS,$(CONFIG_ESP32S3_OTA_SECONDARY_SLOT_OFFSET)) \
 		$(call cfg_en,CONFIG_ESP_MCUBOOT_WDT_ENABLE) \
 		$(call cfg_val,CONFIG_ESP_SCRATCH_OFFSET,$(CONFIG_ESP32S3_OTA_SCRATCH_OFFSET)) \
 		$(call cfg_val,CONFIG_ESP_SCRATCH_SIZE,$(CONFIG_ESP32S3_OTA_SCRATCH_SIZE)) \
+		$(call cfg_en,CONFIG_ESP_CONSOLE_UART) \
+		$(if $(CONFIG_UART0_SERIAL_CONSOLE),$(call cfg_val,CONFIG_ESP_CONSOLE_UART_NUM,0)) \
+		$(if $(CONFIG_UART1_SERIAL_CONSOLE),$(call cfg_val,CONFIG_ESP_CONSOLE_UART_NUM,1)) \
+		$(call cfg_en,CONFIG_BOOTLOADER_FLASH_XMC_SUPPORT) \
 	} >> $(BOOTLOADER_CONFIG)
 else ifeq ($(CONFIG_ESP32S3_APP_FORMAT_LEGACY),y)
 	$(Q) { \
@@ -74,20 +87,32 @@ ifeq ($(CONFIG_ESP32S3_APP_FORMAT_MCUBOOT),y)
 
 BOOTLOADER_BIN        = $(TOPDIR)/mcuboot-esp32s3.bin
 
-$(BOOTLOADER_BIN): $(BOOTLOADER_CONFIG)
-	$(Q) echo "Building Bootloader"
-	$(Q) $(BOOTLOADER_SRCDIR)/build_mcuboot.sh -c esp32s3 -s -f $(BOOTLOADER_CONFIG)
-	$(call COPYFILE, $(BOOTLOADER_SRCDIR)/$(BOOTLOADER_OUTDIR)/mcuboot-esp32s3.bin, $(TOPDIR))
+$(MCUBOOT_SRCDIR): $(BOOTLOADER_DIR)
+	$(Q) echo "Cloning MCUboot"
+	$(Q) git clone --quiet $(MCUBOOT_URL) $(MCUBOOT_SRCDIR)
+	$(Q) git -C "$(MCUBOOT_SRCDIR)" checkout --quiet $(CONFIG_ESP32S2_MCUBOOT_VERSION)
+	$(Q) git -C "$(MCUBOOT_SRCDIR)" submodule --quiet update --init --recursive ext/mbedtls
 
-bootloader: $(BOOTLOADER_CONFIG) $(BOOTLOADER_SRCDIR) $(BOOTLOADER_BIN)
+$(BOOTLOADER_BIN): chip/$(ESP_HAL_3RDPARTY_REPO) $(MCUBOOT_SRCDIR) $(BOOTLOADER_CONFIG)
+	$(Q) echo "Building Bootloader"
+	$(Q) $(TOOLSDIR)/build_mcuboot.sh \
+		-c esp32s3 \
+		-f $(BOOTLOADER_CONFIG) \
+		-p $(BOOTLOADER_DIR) \
+		-e $(HALDIR)
+	$(call COPYFILE, $(BOOTLOADER_DIR)/$(BOOTLOADER_OUTDIR)/mcuboot-esp32s3.bin, $(TOPDIR))
+
+bootloader: $(BOOTLOADER_CONFIG) $(BOOTLOADER_BIN)
 
 clean_bootloader:
-	$(call DELDIR,$(BOOTLOADER_SRCDIR))
-	$(call DELFILE,$(BOOTLOADER_CONFIG))
+	$(call DELDIR,$(BOOTLOADER_DIR))
 	$(call DELFILE,$(BOOTLOADER_BIN))
 
 else ifeq ($(CONFIG_ESP32S3_APP_FORMAT_LEGACY),y)
 
+$(BOOTLOADER_SRCDIR): $(BOOTLOADER_DIR)
+	$(Q) git clone $(BOOTLOADER_URL) $(BOOTLOADER_SRCDIR) -b $(BOOTLOADER_VERSION)
+
 bootloader: $(BOOTLOADER_SRCDIR) $(BOOTLOADER_CONFIG)
 	$(Q) echo "Building Bootloader binaries"
 	$(Q) $(BOOTLOADER_SRCDIR)/build_idfboot.sh -c esp32s3 -s -f $(BOOTLOADER_CONFIG)
@@ -95,8 +120,7 @@ bootloader: $(BOOTLOADER_SRCDIR) $(BOOTLOADER_CONFIG)
 	$(call COPYFILE,$(BOOTLOADER_SRCDIR)/$(BOOTLOADER_OUTDIR)/partition-table-esp32s3.bin,$(TOPDIR))
 
 clean_bootloader:
-	$(call DELDIR,$(BOOTLOADER_SRCDIR))
-	$(call DELFILE,$(BOOTLOADER_CONFIG))
+	$(call DELDIR,$(BOOTLOADER_DIR))
 	$(call DELFILE,$(TOPDIR)/bootloader-esp32s3.bin)
 	$(call DELFILE,$(TOPDIR)/partition-table-esp32s3.bin)
 
diff --git a/arch/xtensa/src/esp32s3/Kconfig b/arch/xtensa/src/esp32s3/Kconfig
index 2e69cf1c0a..42760604ff 100644
--- a/arch/xtensa/src/esp32s3/Kconfig
+++ b/arch/xtensa/src/esp32s3/Kconfig
@@ -1415,6 +1415,11 @@ config ESP32S3_ESPTOOL_TARGET_SECONDARY
 
 endchoice
 
+config ESP32S3_MCUBOOT_VERSION
+	string "MCUboot version"
+	default "b206b99b1555ca15f790a3287e57dc98ef3df2ac"
+	depends on ESP32S3_APP_FORMAT_MCUBOOT
+
 config ESP32S3_APP_MCUBOOT_HEADER_SIZE
 	int "Application image header size (in bytes)"
 	default 32
diff --git a/arch/xtensa/src/esp32s3/Make.defs b/arch/xtensa/src/esp32s3/Make.defs
index c7e4c47cf6..4cd5063c68 100644
--- a/arch/xtensa/src/esp32s3/Make.defs
+++ b/arch/xtensa/src/esp32s3/Make.defs
@@ -18,7 +18,6 @@
 #
 ############################################################################
 
-include chip/Bootloader.mk
 include common/Make.defs
 
 # The start-up, "head", file.  May be either a .S or a .c file.
@@ -145,12 +144,44 @@ ifeq ($(CONFIG_ESP32S3_OTG_DEVICE),y)
 CHIP_CSRCS += esp32s3_otg_device.c
 endif
 
-ifeq ($(CONFIG_ESP32S3_WIRELESS),y)
-include chip/Wireless.mk
-endif
-
 CHIP_CSRCS += esp32s3_rtc.c
 
 ifeq ($(CONFIG_RTC_DRIVER),y)
 CHIP_CSRCS += esp32s3_rtc_lowerhalf.c
 endif
+
+#############################################################################
+# Espressif HAL for 3rd Party Platforms
+#############################################################################
+
+# Fetch source files and add them to build
+
+ESP_HAL_3RDPARTY_REPO   = esp-hal-3rdparty
+ifndef ESP_HAL_3RDPARTY_VERSION
+	ESP_HAL_3RDPARTY_VERSION = 45c33111b441363e1267158186a60f42525228ca
+endif
+
+ifndef ESP_HAL_3RDPARTY_URL
+	ESP_HAL_3RDPARTY_URL = https://github.com/espressif/esp-hal-3rdparty.git
+endif
+
+chip/$(ESP_HAL_3RDPARTY_REPO):
+	$(Q) echo "Cloning Espressif HAL for 3rd Party Platforms"
+	$(Q) git clone --quiet $(ESP_HAL_3RDPARTY_URL) chip/$(ESP_HAL_3RDPARTY_REPO)
+	$(Q) echo "Espressif HAL for 3rd Party Platforms: ${ESP_HAL_3RDPARTY_VERSION}"
+	$(Q) git -C chip/$(ESP_HAL_3RDPARTY_REPO) checkout --quiet $(ESP_HAL_3RDPARTY_VERSION)
+
+# Silent preprocessor warnings
+
+CFLAGS += -Wno-undef -Wno-unused-variable
+
+# Files that require the HAL recipe
+
+include chip/Bootloader.mk
+
+ifeq ($(CONFIG_ESP32S3_WIRELESS),y)
+include chip/Wireless.mk
+endif
+
+distclean::
+	$(call DELDIR,chip/$(ESP_HAL_3RDPARTY_REPO))
diff --git a/arch/xtensa/src/esp32s3/Wireless.mk b/arch/xtensa/src/esp32s3/Wireless.mk
index cd8cd93155..98a4fb657e 100644
--- a/arch/xtensa/src/esp32s3/Wireless.mk
+++ b/arch/xtensa/src/esp32s3/Wireless.mk
@@ -18,26 +18,6 @@
 #
 ############################################################################
 
-ESP_HAL_3RDPARTY_REPO   = esp-hal-3rdparty
-ESP_HAL_3RDPARTY_PATH   = $(ARCH_SRCDIR)$(DELIM)chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)
-ifndef ESP_HAL_3RDPARTY_VERSION
-	ESP_HAL_3RDPARTY_VERSION = 45c33111b441363e1267158186a60f42525228ca
-endif
-
-ifndef ESP_HAL_3RDPARTY_URL
-	ESP_HAL_3RDPARTY_URL	= https://github.com/espressif/esp-hal-3rdparty.git
-endif
-
-chip/$(ESP_HAL_3RDPARTY_REPO):
-	$(Q) echo "Cloning Espressif HAL for 3rd Party Platforms"
-	$(Q) git clone --quiet $(ESP_HAL_3RDPARTY_URL) chip/$(ESP_HAL_3RDPARTY_REPO)
-	$(Q) echo "Espressif HAL for 3rd Party Platforms: checking out to ${ESP_HAL_3RDPARTY_VERSION}"
-	$(Q) git -C chip/$(ESP_HAL_3RDPARTY_REPO) checkout --quiet $(ESP_HAL_3RDPARTY_VERSION)
-
-# Silent preprocessor warnings
-
-CFLAGS += -Wno-undef -Wno-unused-variable
-
 context:: chip/$(ESP_HAL_3RDPARTY_REPO)
 	$(Q) echo "Espressif HAL for 3rd Party Platforms: initializing submodules..."
 	$(Q) git -C chip/$(ESP_HAL_3RDPARTY_REPO) submodule --quiet update --init --depth=1 components/mbedtls/mbedtls components/esp_phy/lib components/esp_wifi/lib components/bt/controller/lib_esp32c3_family components/esp_coex/lib
@@ -98,7 +78,6 @@ INCLUDES += ${INCDIR_PREFIX}$(ARCH_SRCDIR)$(DELIM)chip$(DELIM)$(ESP_HAL_3RDPARTY
 INCLUDES += ${INCDIR_PREFIX}$(ARCH_SRCDIR)$(DELIM)chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)components$(DELIM)mbedtls$(DELIM)port$(DELIM)include
 INCLUDES += ${INCDIR_PREFIX}$(ARCH_SRCDIR)$(DELIM)chip$(DELIM)$(ESP_HAL_3RDPARTY_REPO)$(DELIM)nuttx$(DELIM)include$(DELIM)mbedtls
 
-
 ### Define Espressif's configs for mbedTLS
 
 CFLAGS += ${DEFINE_PREFIX}MBEDTLS_CONFIG_FILE="<mbedtls/esp_config.h>"
diff --git a/boards/xtensa/esp32s3/common/scripts/flat_memory.ld b/boards/xtensa/esp32s3/common/scripts/flat_memory.ld
index 3131e5a654..9a2acc1acb 100644
--- a/boards/xtensa/esp32s3/common/scripts/flat_memory.ld
+++ b/boards/xtensa/esp32s3/common/scripts/flat_memory.ld
@@ -43,10 +43,15 @@
  * Application Image properly.
  *
  * For more information, refer to the bootloader linker scripts:
- * https://github.com/espressif/esp-idf/blob/v4.4.2/components/bootloader/subproject/main/ld/esp32s3/bootloader.ld#L41-L47
+ * https://github.com/espressif/esp-idf/blob/v5.1/components/bootloader/subproject/main/ld/esp32s3/bootloader.ld#L46-L52
  */
 
+#ifdef CONFIG_ESP32S3_APP_FORMAT_MCUBOOT
+#define SRAM_IRAM_END       0x403ba000
+#else
 #define SRAM_IRAM_END       0x403cc700
+#endif
+
 #define I_D_SRAM_OFFSET     (SRAM_DIRAM_I_START - SRAM_DRAM_START)
 
 #define SRAM_DRAM_START     0x3fc88000
diff --git a/boards/xtensa/esp32s3/esp32s3-devkit/configs/mcuboot_nsh/defconfig b/boards/xtensa/esp32s3/esp32s3-devkit/configs/mcuboot_nsh/defconfig
index da2a469223..5dff764aa8 100644
--- a/boards/xtensa/esp32s3/esp32s3-devkit/configs/mcuboot_nsh/defconfig
+++ b/boards/xtensa/esp32s3/esp32s3-devkit/configs/mcuboot_nsh/defconfig
@@ -22,6 +22,7 @@ CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BUILTIN=y
 CONFIG_ESP32S3_APP_FORMAT_MCUBOOT=y
+CONFIG_ESP32S3_BOOTLOADER_BUILD_FROM_SOURCE=y
 CONFIG_ESP32S3_SPIFLASH=y
 CONFIG_ESP32S3_UART0=y
 CONFIG_FS_PROCFS=y