diff --git a/components/driver/can.c b/components/driver/can.c
index 34d4938b32..712b9b1264 100644
--- a/components/driver/can.c
+++ b/components/driver/can.c
@@ -467,13 +467,17 @@ static void can_intr_handler_tx(can_status_reg_t *status, int *alert_req)
 
     //Update TX message count
     p_can_obj->tx_msg_count--;
-    configASSERT(p_can_obj->tx_msg_count >= 0);     //Sanity check
+    assert(p_can_obj->tx_msg_count >= 0);     //Sanity check
 
     //Check if there are more frames to transmit
     if (p_can_obj->tx_msg_count > 0 && p_can_obj->tx_queue != NULL) {
         can_frame_t frame;
-        configASSERT(xQueueReceiveFromISR(p_can_obj->tx_queue, &frame, NULL) == pdTRUE);
-        can_set_tx_buffer_and_transmit(&frame);
+        int res = xQueueReceiveFromISR(p_can_obj->tx_queue, &frame, NULL);
+        if (res == pdTRUE) {
+            can_set_tx_buffer_and_transmit(&frame);
+        } else {
+            assert(false && "failed to get a frame from TX queue");
+        }
     } else {
         //No more frames to transmit
         CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
@@ -699,7 +703,8 @@ esp_err_t can_driver_install(const can_general_config_t *g_config, const can_tim
     }
     periph_module_reset(PERIPH_CAN_MODULE);
     periph_module_enable(PERIPH_CAN_MODULE);            //Enable APB CLK to CAN peripheral
-    configASSERT(can_enter_reset_mode() == ESP_OK);     //Must enter reset mode to write to config registers
+    esp_err_t err = can_exit_reset_mode();              //Must enter reset mode to write to config registers
+    assert(err == ESP_OK);
     can_config_pelican();                               //Use PeliCAN addresses
     /* Note: REC is allowed to increase even in reset mode. Listen only mode
        will freeze REC. The desired mode will be set when can_start() is called. */
@@ -760,7 +765,8 @@ esp_err_t can_driver_uninstall(void)
     //Check state
     CAN_CHECK_FROM_CRIT(p_can_obj != NULL, ESP_ERR_INVALID_STATE);
     CAN_CHECK_FROM_CRIT(p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF), ESP_ERR_INVALID_STATE);
-    configASSERT(can_enter_reset_mode() == ESP_OK); //Enter reset mode to stop any CAN bus activity
+    esp_err_t err = can_exit_reset_mode();  //Enter reset mode to stop any CAN bus activity
+    assert(err == ESP_OK);
     //Clear registers by reading
     (void) can_get_interrupt_reason();
     (void) can_get_arbitration_lost_capture();
@@ -798,7 +804,8 @@ esp_err_t can_start(void)
     //Reset RX queue, and RX message count
     xQueueReset(p_can_obj->rx_queue);
     p_can_obj->rx_msg_count = 0;
-    configASSERT(can_enter_reset_mode() == ESP_OK); //Should already be in bus-off mode, set again to make sure
+    esp_err_t err = can_exit_reset_mode(); //Should already be in bus-off mode, set again to make sure
+    assert(err == ESP_OK);
 
     //Currently in listen only mode, need to set to mode specified by configuration
     can_mode_t mode;
@@ -811,7 +818,8 @@ esp_err_t can_start(void)
     }
     can_config_mode(mode);                              //Set mode
     (void) can_get_interrupt_reason();                  //Clear interrupt register
-    configASSERT(can_exit_reset_mode() == ESP_OK);
+    err = can_exit_reset_mode();
+    assert(err == ESP_OK);
 
     CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_STOPPED);
     CAN_EXIT_CRITICAL();
@@ -826,7 +834,8 @@ esp_err_t can_stop(void)
     CAN_CHECK_FROM_CRIT(!(p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)), ESP_ERR_INVALID_STATE);
 
     //Clear interrupts and reset flags
-    configASSERT(can_enter_reset_mode() == ESP_OK);
+    esp_err_t err = can_exit_reset_mode();
+    assert(err == ESP_OK);
     (void) can_get_interrupt_reason();          //Read interrupt register to clear interrupts
     can_config_mode(CAN_MODE_LISTEN_ONLY);      //Set to listen only mode to freeze REC
     CAN_RESET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
@@ -877,11 +886,13 @@ esp_err_t can_transmit(const can_message_t *message, TickType_t ticks_to_wait)
             CAN_ENTER_CRITICAL();
             if (p_can_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)) {
                 //TX queue was reset (due to stop/bus_off), remove copied frame from queue to prevent transmission
-                configASSERT(xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0) == pdTRUE);
+                int res = xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0);
+                assert(res == pdTRUE);
                 ret = ESP_ERR_INVALID_STATE;
             } else if ((p_can_obj->tx_msg_count == 0) && !(p_can_obj->control_flags & CTRL_FLAG_TX_BUFF_OCCUPIED)) {
                 //TX buffer was freed during copy, manually trigger transmission
-                configASSERT(xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0) == pdTRUE);
+                int res = xQueueReceive(p_can_obj->tx_queue, &tx_frame, 0);
+                assert(res == pdTRUE);
                 can_set_tx_buffer_and_transmit(&tx_frame);
                 p_can_obj->tx_msg_count++;
                 CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
@@ -972,7 +983,8 @@ esp_err_t can_initiate_recovery(void)
     CAN_SET_FLAG(p_can_obj->control_flags, CTRL_FLAG_RECOVERING);
 
     //Trigger start of recovery process
-    configASSERT(can_exit_reset_mode() == ESP_OK);
+    esp_err_t err = can_exit_reset_mode();
+    assert(err == ESP_OK);
     CAN_EXIT_CRITICAL();
 
     return ESP_OK;
diff --git a/components/spiffs/CMakeLists.txt b/components/spiffs/CMakeLists.txt
index dfe4643c0f..0c68155dc7 100644
--- a/components/spiffs/CMakeLists.txt
+++ b/components/spiffs/CMakeLists.txt
@@ -10,3 +10,4 @@ idf_component_register(SRCS "esp_spiffs.c"
                     REQUIRES spi_flash
                     PRIV_REQUIRES bootloader_support)
 
+set_source_files_properties(spiffs/src/spiffs_nucleus.c PROPERTIES COMPILE_FLAGS -Wno-stringop-truncation)
\ No newline at end of file
diff --git a/tools/ci/config/build.yml b/tools/ci/config/build.yml
index 77802271ed..46ee9fdefb 100644
--- a/tools/ci/config/build.yml
+++ b/tools/ci/config/build.yml
@@ -22,6 +22,17 @@
       - $BOT_LABEL_UNIT_TEST
       - $BOT_LABEL_REGULAR_TEST
 
+
+.build_with_make_and_cmake: &build_with_make_and_cmake |
+  echo -e "section_end:"`date +%s`":build_script\r\e[0Ksection_start:"`date +%s`":build_make\r\e[0KBuild with Make"
+  make defconfig
+  make all
+  make clean
+  echo -e "section_end:"`date +%s`":build_make\r\e[0Ksection_start:"`date +%s`":build_cmake\r\e[0KBuild with CMake"
+  rm -rf build sdkconfig
+  idf.py build
+  echo -e "section_end:"`date +%s`":build_cmake\r\e[0Ksection_start:"`date +%s`":build_script\r\e[0K"
+
 build_template_app:
   stage: build
   image: $CI_DOCKER_REGISTRY/esp32-ci-env$BOT_DOCKER_IMAGE_TAG
@@ -45,43 +56,37 @@ build_template_app:
     - export PATH="$IDF_PATH/tools:$PATH"
     - export EXTRA_CFLAGS=${PEDANTIC_CFLAGS}
     - export EXTRA_CXXFLAGS=${PEDANTIC_CXXFLAGS}
-    
-    # CONFIG_COMPILER_OPTIMIZATION_DEFAULT with flag -Og
-    - echo "CONFIG_COMPILER_OPTIMIZATION_DEFAULT=y" >> sdkconfig
-    - make defconfig
-    - make all V=1
-    - make clean
 
-    # CONFIG_COMPILER_OPTIMIZATION_SIZE with flag -Os
-    - echo "CONFIG_COMPILER_OPTIMIZATION_SIZE=y" >> sdkconfig
-    - make defconfig
-    - make all V=1
-    - make clean
-    
-    # CONFIG_COMPILER_OPTIMIZATION_PERF with flag -O2
-    - echo "CONFIG_COMPILER_OPTIMIZATION_PERF=y" >> sdkconfig
-    - make defconfig
-    - make all V=1
-    - make clean
+    # CONFIG_COMPILER_OPTIMIZATION_DEFAULT with flag -Og
+    - echo "CONFIG_COMPILER_OPTIMIZATION_DEFAULT=y" > sdkconfig.defaults
+    - *build_with_make_and_cmake
 
     # CONFIG_COMPILER_OPTIMIZATION_NONE with flag -O0
-    - echo "CONFIG_COMPILER_OPTIMIZATION_NONE=y" >> sdkconfig
-    - make defconfig
-    - make all V=1
-    - make clean
+    - echo "CONFIG_COMPILER_OPTIMIZATION_NONE=y" > sdkconfig.defaults
+    - *build_with_make_and_cmake
+
+    # CONFIG_COMPILER_OPTIMIZATION_SIZE with flag -Os
+    - echo "CONFIG_COMPILER_OPTIMIZATION_SIZE=y" > sdkconfig.defaults
+    - *build_with_make_and_cmake
+
+    # CONFIG_COMPILER_OPTIMIZATION_PERF with flag -O2
+    - echo "CONFIG_COMPILER_OPTIMIZATION_PERF=y" > sdkconfig.defaults
+    - *build_with_make_and_cmake
+
+    # Same as above, but also disable assertions.
+    - echo "CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE=y" >> sdkconfig.defaults
+    # Don't error out on -Wunused, when assertions are disabled
+    - export EXTRA_CFLAGS=${PEDANTIC_CFLAGS/-Werror=unused-variable -Werror=unused-but-set-variable -Werror=unused-function/}
+    - export EXTRA_CXXFLAGS=${PEDANTIC_CXXFLAGS/-Werror=unused-variable -Werror=unused-but-set-variable -Werror=unused-function/}
+    - *build_with_make_and_cmake
+    - export EXTRA_CFLAGS=${PEDANTIC_CFLAGS}
+    - export EXTRA_CXXFLAGS=${PEDANTIC_CXXFLAGS}
 
     # Check if there are any stray printf/ets_printf references in WiFi libs
     - pushd ../components/esp_wifi/lib_esp32
     - test $(xtensa-esp32-elf-nm *.a | grep -w printf | wc -l) -eq 0
     - test $(xtensa-esp32-elf-nm *.a | grep -w ets_printf | wc -l) -eq 0
     - popd
-    # Repeat the build using CMake
-    - rm -rf build sdkconfig
-    # Debug build
-    - idf.py build
-    # Release build
-    - sed -i.bak -e's/CONFIG_OPTIMIZATION_LEVEL_DEBUG\=y/CONFIG_OPTIMIZATION_LEVEL_RELEASE=y/' sdkconfig
-    - idf.py build
 
 build_ssc:
   extends: .build_template