diff --git a/components/esp_gdbstub/src/port/riscv/gdbstub_riscv.c b/components/esp_gdbstub/src/port/riscv/gdbstub_riscv.c
index 7a405d6edb..9e2d1b7846 100644
--- a/components/esp_gdbstub/src/port/riscv/gdbstub_riscv.c
+++ b/components/esp_gdbstub/src/port/riscv/gdbstub_riscv.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -85,8 +85,15 @@ void esp_gdbstub_int(__attribute__((unused)) void *frame)
    /* Pointer to saved frame is in pxCurrentTCB
     * See rtos_int_enter function
     */
-    extern void *pxCurrentTCB;
-    dummy_tcb_t *tcb = pxCurrentTCB;
+    /* Todo: Provide IDF interface for getting pxCurrentTCB (IDF-8182) */
+    int core_id = esp_cpu_get_core_id();
+#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+    extern void **pxCurrentTCBs;
+    dummy_tcb_t *tcb = pxCurrentTCBs[core_id];
+#else
+    extern void **pxCurrentTCB;
+    dummy_tcb_t *tcb = pxCurrentTCB[core_id];
+#endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
     gdbstub_handle_uart_int((esp_gdbstub_frame_t *)tcb->top_of_stack);
 }
 
diff --git a/components/freertos/CMakeLists.txt b/components/freertos/CMakeLists.txt
index 9ac34ce96a..39a9634432 100644
--- a/components/freertos/CMakeLists.txt
+++ b/components/freertos/CMakeLists.txt
@@ -32,7 +32,7 @@ if(CONFIG_FREERTOS_SMP)
     set(kernel_impl "FreeRTOS-Kernel-SMP")
 else()
     if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
-        message(FATAL_ERROR "FreeRTOS v10.5.1 is not buildable yet. Still under development")
+        set(kernel_impl "FreeRTOS-Kernel-V10.5.1")
     else()
         set(kernel_impl "FreeRTOS-Kernel")
     endif()
@@ -71,30 +71,54 @@ list(APPEND srcs
     "${kernel_impl}/queue.c"
     "${kernel_impl}/tasks.c"
     "${kernel_impl}/timers.c"
-    "${kernel_impl}/croutine.c"
     "${kernel_impl}/event_groups.c"
     "${kernel_impl}/stream_buffer.c")
+if(NOT CONFIG_FREERTOS_USE_KERNEL_10_5_1)
+    list(APPEND srcs "${kernel_impl}/croutine.c")
+endif()
 
 # Add port source files
-list(APPEND srcs
-    "${kernel_impl}/portable/${arch}/port.c")
-
-if(arch STREQUAL "linux")
+if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
     list(APPEND srcs
-        "${kernel_impl}/portable/${arch}/utils/wait_for_event.c")
-    if(kernel_impl STREQUAL "FreeRTOS-Kernel")
-        list(APPEND srcs
-            "${kernel_impl}/portable/${arch}/port_idf.c")
-    endif()
+        "FreeRTOS-Kernel/portable/${arch}/port.c")
 else()
     list(APPEND srcs
-        "${kernel_impl}/portable/${arch}/portasm.S")
+        "${kernel_impl}/portable/${arch}/port.c")
+endif()
+
+if(arch STREQUAL "linux")
+    if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
+        list(APPEND srcs
+            "FreeRTOS-Kernel/portable/${arch}/utils/wait_for_event.c"
+            "FreeRTOS-Kernel/portable/${arch}/port_idf.c")
+    else()
+        list(APPEND srcs
+            "${kernel_impl}/portable/${arch}/utils/wait_for_event.c")
+        if(kernel_impl STREQUAL "FreeRTOS-Kernel")
+            list(APPEND srcs
+                "${kernel_impl}/portable/${arch}/port_idf.c")
+        endif()
+    endif()
+else()
+    if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
+        list(APPEND srcs
+            "FreeRTOS-Kernel/portable/${arch}/portasm.S")
+    else()
+        list(APPEND srcs
+            "${kernel_impl}/portable/${arch}/portasm.S")
+    endif()
 endif()
 
 if(arch STREQUAL "xtensa")
-    list(APPEND srcs
-        "${kernel_impl}/portable/${arch}/xtensa_init.c"
-        "${kernel_impl}/portable/${arch}/xtensa_overlay_os_hook.c")
+    if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
+        list(APPEND srcs
+            "FreeRTOS-Kernel/portable/${arch}/xtensa_init.c"
+            "FreeRTOS-Kernel/portable/${arch}/xtensa_overlay_os_hook.c")
+    else()
+        list(APPEND srcs
+            "${kernel_impl}/portable/${arch}/xtensa_init.c"
+            "${kernel_impl}/portable/${arch}/xtensa_overlay_os_hook.c")
+    endif()
 endif()
 
 # Add ESP-additions source files
@@ -127,9 +151,15 @@ list(APPEND include_dirs
     "${kernel_impl}/include")       # FreeRTOS headers via `#include "freertos/xxx.h"`
 
 # Add port public include directories
-list(APPEND include_dirs
-    "${kernel_impl}/portable/${arch}/include"               # For port headers via `#include "freertos/...h"`
-    "${kernel_impl}/portable/${arch}/include/freertos")     # For port headers via `#include "...h"`
+if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
+    list(APPEND include_dirs
+        "FreeRTOS-Kernel/portable/${arch}/include"               # For port headers via `#include "freertos/...h"`
+        "FreeRTOS-Kernel/portable/${arch}/include/freertos")     # For port headers via `#include "...h"`
+else()
+    list(APPEND include_dirs
+        "${kernel_impl}/portable/${arch}/include"               # For port headers via `#include "freertos/...h"`
+        "${kernel_impl}/portable/${arch}/include/freertos")     # For port headers via `#include "...h"`
+endif()
 
 # Add ESP-additions public include directories
 list(APPEND include_dirs
@@ -151,8 +181,13 @@ list(APPEND private_include_dirs
 
 # Add port private include directories
 if(arch STREQUAL "linux")
-    list(APPEND private_include_dirs
-        "${kernel_impl}/portable/${arch}/") # Linux port `#include "utils/wait_for_event.h"`
+    if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
+        list(APPEND private_include_dirs
+            "FreeRTOS-Kernel/portable/${arch}/") # Linux port `#include "utils/wait_for_event.h"`
+    else()
+        list(APPEND private_include_dirs
+            "${kernel_impl}/portable/${arch}/") # Linux port `#include "utils/wait_for_event.h"`
+    endif()
 endif()
 
 # Add ESP-additions private include directories
diff --git a/components/freertos/FreeRTOS-Kernel-V10.5.1/include/freertos/FreeRTOS.h b/components/freertos/FreeRTOS-Kernel-V10.5.1/include/freertos/FreeRTOS.h
index ea168b1e9f..dd8a67905a 100644
--- a/components/freertos/FreeRTOS-Kernel-V10.5.1/include/freertos/FreeRTOS.h
+++ b/components/freertos/FreeRTOS-Kernel-V10.5.1/include/freertos/FreeRTOS.h
@@ -1474,6 +1474,46 @@ typedef StaticStreamBuffer_t StaticMessageBuffer_t;
 
 #ifdef ESP_PLATFORM
 
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    extern "C" {
+#endif
+/* *INDENT-ON* */
+
+/*
+ * Default values for trace macros added by ESP-IDF and are not part of Vanilla FreeRTOS
+ */
+
+    #ifndef traceISR_EXIT_TO_SCHEDULER
+        #define traceISR_EXIT_TO_SCHEDULER()
+    #endif
+
+    #ifndef traceISR_EXIT
+        #define traceISR_EXIT()
+    #endif
+
+    #ifndef traceISR_ENTER
+        #define traceISR_ENTER( _n_ )
+    #endif
+
+    #ifndef traceQUEUE_SEMAPHORE_RECEIVE
+        #define traceQUEUE_SEMAPHORE_RECEIVE( pxQueue )
+    #endif
+
+    #ifndef traceQUEUE_GIVE_FROM_ISR
+        #define traceQUEUE_GIVE_FROM_ISR( pxQueue )
+    #endif
+
+    #ifndef traceQUEUE_GIVE_FROM_ISR_FAILED
+        #define traceQUEUE_GIVE_FROM_ISR_FAILED( pxQueue )
+    #endif
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    }
+#endif
+/* *INDENT-ON* */
+
 /*
  * Include ESP-IDF API additions implicitly for compatibility reasons.
  *
diff --git a/components/freertos/FreeRTOS-Kernel-V10.5.1/include/freertos/projdefs.h b/components/freertos/FreeRTOS-Kernel-V10.5.1/include/freertos/projdefs.h
index c234d4f2a4..eac820910b 100644
--- a/components/freertos/FreeRTOS-Kernel-V10.5.1/include/freertos/projdefs.h
+++ b/components/freertos/FreeRTOS-Kernel-V10.5.1/include/freertos/projdefs.h
@@ -46,6 +46,15 @@ typedef void (* TaskFunction_t)( void * );
     #define pdMS_TO_TICKS( xTimeInMs )    ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000U ) )
 #endif
 
+/* Converts a time in ticks to milliseconds. This macro can be
+ * overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
+ * definition here is not suitable for your application.
+ *
+ * Todo: Upstream this macro (IDF-8181) */
+#ifndef pdTICKS_TO_MS
+    #define pdTICKS_TO_MS( xTicks )    ( ( TickType_t ) ( ( uint64_t ) ( xTicks ) * 1000 / configTICK_RATE_HZ ) )
+#endif
+
 #define pdFALSE                                  ( ( BaseType_t ) 0 )
 #define pdTRUE                                   ( ( BaseType_t ) 1 )
 
diff --git a/components/freertos/FreeRTOS-Kernel-V10.5.1/queue.c b/components/freertos/FreeRTOS-Kernel-V10.5.1/queue.c
index faa22ca5a5..32e787a26d 100644
--- a/components/freertos/FreeRTOS-Kernel-V10.5.1/queue.c
+++ b/components/freertos/FreeRTOS-Kernel-V10.5.1/queue.c
@@ -1448,7 +1448,8 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
                 const int8_t cTxLock = queueUNLOCKED;
             #endif /* queueUSE_LOCKS == 1 */
 
-            traceQUEUE_SEND_FROM_ISR( pxQueue );
+            /* Todo: Reconcile tracing differences (IDF-8183) */
+            traceQUEUE_GIVE_FROM_ISR( pxQueue );
 
             /* A task can only have an inherited priority if it is a mutex
              * holder - and if there is a mutex holder then the mutex cannot be
@@ -1557,7 +1558,8 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
         }
         else
         {
-            traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
+            /* Todo: Reconcile tracing differences (IDF-8183) */
+            traceQUEUE_GIVE_FROM_ISR_FAILED( pxQueue );
             xReturn = errQUEUE_FULL;
         }
     }
@@ -1782,7 +1784,8 @@ BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue,
              * must be the highest priority task wanting to access the queue. */
             if( uxSemaphoreCount > ( UBaseType_t ) 0 )
             {
-                traceQUEUE_RECEIVE( pxQueue );
+                /* Todo: Reconcile tracing differences (IDF-8183) */
+                traceQUEUE_SEMAPHORE_RECEIVE( pxQueue );
 
                 /* Semaphores are queues with a data size of zero and where the
                  * messages waiting is the semaphore's count.  Reduce the count. */
diff --git a/components/freertos/FreeRTOS-Kernel-V10.5.1/tasks.c b/components/freertos/FreeRTOS-Kernel-V10.5.1/tasks.c
index 5c25e0c129..2644f5c1e4 100644
--- a/components/freertos/FreeRTOS-Kernel-V10.5.1/tasks.c
+++ b/components/freertos/FreeRTOS-Kernel-V10.5.1/tasks.c
@@ -4197,6 +4197,10 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
         }
         #endif /* configUSE_IDLE_HOOK */
 
+        /* Call the esp-idf idle hook system. Todo IDF-8180 */
+        extern void esp_vApplicationIdleHook( void );
+        esp_vApplicationIdleHook();
+
         /* This conditional compilation should use inequality to 0, not equality
          * to 1.  This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
          * user defined low power mode  implementations require
diff --git a/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h b/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
index 08e489d3c0..b026bf49b9 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
@@ -444,6 +444,11 @@ void vPortTCBPreDeleteHook( void *pxTCB );
  * - Maps to forward declared functions
  * ------------------------------------------------------------------------------------------------------------------ */
 
+#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+#define portGET_CORE_ID()       xPortGetCoreID()
+#define portYIELD_CORE( x )     vPortYieldOtherCore( x )
+#endif
+
 // --------------------- Interrupts ------------------------
 
 #define portDISABLE_INTERRUPTS()            portSET_INTERRUPT_MASK_FROM_ISR()
diff --git a/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S b/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S
index 214303e4f8..2b215156c7 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S
+++ b/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S
@@ -8,6 +8,13 @@
 #include "freertos/FreeRTOSConfig.h"
 #include "soc/soc_caps.h"
 
+#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+#define pxCurrentTCB    pxCurrentTCBs
+.extern pxCurrentTCBs
+#else
+.extern pxCurrentTCB
+#endif
+
 #if CONFIG_ESP_SYSTEM_HW_STACK_GUARD
 #include "esp_private/hw_stack_guard.h"
 #endif
diff --git a/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h b/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
index 6a44c2817a..2c107da027 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
@@ -427,6 +427,11 @@ void vPortTCBPreDeleteHook( void *pxTCB );
  * - Maps to forward declared functions
  * ------------------------------------------------------------------------------------------------------------------ */
 
+#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+#define portGET_CORE_ID()       xPortGetCoreID()
+#define portYIELD_CORE( x )     vPortYieldOtherCore( x )
+#endif
+
 // --------------------- Interrupts ------------------------
 
 /**
diff --git a/components/freertos/FreeRTOS-Kernel/portable/xtensa/portasm.S b/components/freertos/FreeRTOS-Kernel/portable/xtensa/portasm.S
index b7fe0f36a7..931aa3dc31 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/xtensa/portasm.S
+++ b/components/freertos/FreeRTOS-Kernel/portable/xtensa/portasm.S
@@ -3,7 +3,7 @@
  *
  * SPDX-License-Identifier: MIT
  *
- * SPDX-FileContributor: 2016-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileContributor: 2016-2023 Espressif Systems (Shanghai) CO LTD
  */
 /*
  * Copyright (c) 2015-2019 Cadence Design Systems, Inc.
@@ -33,7 +33,13 @@
 
 #define TOPOFSTACK_OFFS                 0x00    /* StackType_t *pxTopOfStack */
 
+#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+#define pxCurrentTCB    pxCurrentTCBs
+.extern pxCurrentTCBs
+#else
 .extern pxCurrentTCB
+#endif
+
 #if XCHAL_CP_NUM > 0
 /* Offsets used to get a task's coprocessor save area (CPSA) from its TCB */
 .extern offset_pxEndOfStack
diff --git a/components/freertos/Kconfig b/components/freertos/Kconfig
index 678ba052fc..ebe716b483 100644
--- a/components/freertos/Kconfig
+++ b/components/freertos/Kconfig
@@ -4,11 +4,12 @@ menu "FreeRTOS"
         # Upstream FreeRTOS configurations go here
 
         config FREERTOS_USE_KERNEL_10_5_1
-            bool "Use v10.5.1 Kernel (EXPERIMENTAL)"
-            depends on IDF_EXPERIMENTAL_FEATURES
+            bool "Use v10.5.1 Kernel (BETA)"
             default n
             help
-                Hidden option for development/testing purposes to enable building with the v10.5.1 kernel
+                This option enables building for FreeRTOS v10.5.1 kernel.
+
+                Note: The v10.5.1 kernel is still in BETA, thus is not production ready.
 
         config FREERTOS_SMP
             bool "Run the Amazon SMP FreeRTOS kernel instead (FEATURE UNDER DEVELOPMENT)"
diff --git a/components/freertos/config/include/freertos/FreeRTOSConfig.h b/components/freertos/config/include/freertos/FreeRTOSConfig.h
index bc92aad523..83f337af7d 100644
--- a/components/freertos/config/include/freertos/FreeRTOSConfig.h
+++ b/components/freertos/config/include/freertos/FreeRTOSConfig.h
@@ -199,6 +199,7 @@
 #define INCLUDE_xTaskResumeFromISR                 1
 #define INCLUDE_xTimerPendFunctionCall             1
 #define INCLUDE_xTaskGetSchedulerState             1
+#define INCLUDE_xTaskGetCurrentTaskHandle          1
 
 /* -------------------- Trace Macros ----------------------- */
 
diff --git a/components/freertos/config/linux/include/freertos/FreeRTOSConfig_arch.h b/components/freertos/config/linux/include/freertos/FreeRTOSConfig_arch.h
index 4530bc0fd3..bd0276b06b 100644
--- a/components/freertos/config/linux/include/freertos/FreeRTOSConfig_arch.h
+++ b/components/freertos/config/linux/include/freertos/FreeRTOSConfig_arch.h
@@ -52,7 +52,7 @@
 
 /* -------------------- API Includes ----------------------- */
 
-#define INCLUDE_xTaskGetCurrentTaskHandle    0                /* not defined in POSIX simulator */
+/* Todo: Reconcile INCLUDE_option differences (IDF-8186) */
 #define INCLUDE_vTaskDelayUntil              1
 #define INCLUDE_uxTaskGetStackHighWaterMark2 0
 
diff --git a/components/freertos/config/riscv/include/freertos/FreeRTOSConfig_arch.h b/components/freertos/config/riscv/include/freertos/FreeRTOSConfig_arch.h
index 75e4e75948..e0288dd5c8 100644
--- a/components/freertos/config/riscv/include/freertos/FreeRTOSConfig_arch.h
+++ b/components/freertos/config/riscv/include/freertos/FreeRTOSConfig_arch.h
@@ -28,20 +28,31 @@
 /* ---------------- Amazon SMP FreeRTOS -------------------- */
 
 #if CONFIG_FREERTOS_SMP
-    #define configUSE_CORE_AFFINITY                  1
+    #define configUSE_CORE_AFFINITY              1
 
 /* This is always enabled to call IDF style idle hooks, by can be "--Wl,--wrap"
  * if users enable CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK. */
-    #define configUSE_MINIMAL_IDLE_HOOK             1
+    #define configUSE_MINIMAL_IDLE_HOOK          1
 
-    /* IDF Newlib supports dynamic reentrancy. We provide our own __getreent()
-     * function. */
-    #define configNEWLIB_REENTRANT_IS_DYNAMIC       1
+/* IDF Newlib supports dynamic reentrancy. We provide our own __getreent()
+ * function. */
+    #define configNEWLIB_REENTRANT_IS_DYNAMIC    1
 #endif
 
 /* ----------------------- System -------------------------- */
 
-#define configUSE_NEWLIB_REENTRANT                   1
+#define configUSE_NEWLIB_REENTRANT    1
+#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+
+/* - FreeRTOS provides default for configTLS_BLOCK_TYPE.
+ * - We simply provide our own INIT and DEINIT functions
+ * - We set "SET" to a blank macro since there is no need to set the reentrancy
+ * pointer. All newlib functions calls __getreent. */
+    #define configINIT_TLS_BLOCK( xTLSBlock )      esp_reent_init( &( xTLSBlock ) )
+    #define configSET_TLS_BLOCK( xTLSBlock )
+    #define configDEINIT_TLS_BLOCK( xTLSBlock )    _reclaim_reent( &( xTLSBlock ) )
+
+#endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
 
 #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H    1
 
@@ -61,9 +72,9 @@
 
 /* -------------------- API Includes ----------------------- */
 
-#define INCLUDE_xTaskDelayUntil              1
-#define INCLUDE_xTaskGetCurrentTaskHandle    1
-#define INCLUDE_uxTaskGetStackHighWaterMark2 1
+/* Todo: Reconcile INCLUDE_option differences (IDF-8186) */
+#define INCLUDE_xTaskDelayUntil                 1
+#define INCLUDE_uxTaskGetStackHighWaterMark2    1
 
 /* ------------------------------------------------ ESP-IDF Additions --------------------------------------------------
  *
diff --git a/components/freertos/config/xtensa/include/freertos/FreeRTOSConfig_arch.h b/components/freertos/config/xtensa/include/freertos/FreeRTOSConfig_arch.h
index c93bb977e5..2349c6d49b 100644
--- a/components/freertos/config/xtensa/include/freertos/FreeRTOSConfig_arch.h
+++ b/components/freertos/config/xtensa/include/freertos/FreeRTOSConfig_arch.h
@@ -55,20 +55,31 @@
 /* ---------------- Amazon SMP FreeRTOS -------------------- */
 
 #if CONFIG_FREERTOS_SMP
-    #define configUSE_CORE_AFFINITY                  1
+    #define configUSE_CORE_AFFINITY              1
 
 /* This is always enabled to call IDF style idle hooks, by can be "--Wl,--wrap"
  * if users enable CONFIG_FREERTOS_USE_MINIMAL_IDLE_HOOK. */
-    #define configUSE_MINIMAL_IDLE_HOOK              1
+    #define configUSE_MINIMAL_IDLE_HOOK          1
 
-    /* IDF Newlib supports dynamic reentrancy. We provide our own __getreent()
-     * function. */
-    #define configNEWLIB_REENTRANT_IS_DYNAMIC        1
+/* IDF Newlib supports dynamic reentrancy. We provide our own __getreent()
+ * function. */
+    #define configNEWLIB_REENTRANT_IS_DYNAMIC    1
 #endif
 
 /* ----------------------- System -------------------------- */
 
-#define configUSE_NEWLIB_REENTRANT                   1
+#define configUSE_NEWLIB_REENTRANT    1
+#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+
+/* - FreeRTOS provides default for configTLS_BLOCK_TYPE.
+ * - We simply provide our own INIT and DEINIT functions
+ * - We set "SET" to a blank macro since there is no need to set the reentrancy
+ * pointer. All newlib functions calls __getreent. */
+    #define configINIT_TLS_BLOCK( xTLSBlock )      esp_reent_init( &( xTLSBlock ) )
+    #define configSET_TLS_BLOCK( xTLSBlock )
+    #define configDEINIT_TLS_BLOCK( xTLSBlock )    _reclaim_reent( &( xTLSBlock ) )
+
+#endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
 
 #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H    1
 
@@ -88,9 +99,9 @@
 
 /* -------------------- API Includes ----------------------- */
 
-#define INCLUDE_xTaskDelayUntil              1
-#define INCLUDE_xTaskGetCurrentTaskHandle    1
-#define INCLUDE_uxTaskGetStackHighWaterMark2 1
+/* Todo: Reconcile INCLUDE_option differences (IDF-8186) */
+#define INCLUDE_xTaskDelayUntil                 1
+#define INCLUDE_uxTaskGetStackHighWaterMark2    1
 
 /* ------------------------------------------------ ESP-IDF Additions --------------------------------------------------
  *
diff --git a/components/freertos/esp_additions/freertos_tasks_c_additions.h b/components/freertos/esp_additions/freertos_tasks_c_additions.h
index c7e08d0af1..e0266a53ef 100644
--- a/components/freertos/esp_additions/freertos_tasks_c_additions.h
+++ b/components/freertos/esp_additions/freertos_tasks_c_additions.h
@@ -20,6 +20,11 @@
  * additional API.
  */
 
+#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+    #define pxCurrentTCB    pxCurrentTCBs
+#else
+#endif
+
 /* ------------------------------------------------- Static Asserts ------------------------------------------------- */
 
 /*
@@ -222,10 +227,23 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
 
                 if( pxNewTCB != NULL )
                 {
-                    /* Allocate space for the stack used by the task being created.
-                     * The base of the stack memory stored in the TCB so the task can
-                     * be deleted later if required. */
-                    pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+                    #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+                    {
+                        memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
+
+                        /* Allocate space for the stack used by the task being created.
+                         * The base of the stack memory stored in the TCB so the task can
+                         * be deleted later if required. */
+                        pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+                    }
+                    #else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+                    {
+                        /* Allocate space for the stack used by the task being created.
+                         * The base of the stack memory stored in the TCB so the task can
+                         * be deleted later if required. */
+                        pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+                    }
+                    #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
 
                     if( pxNewTCB->pxStack == NULL )
                     {
@@ -239,8 +257,17 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
             {
                 StackType_t * pxStack;
 
-                /* Allocate space for the stack used by the task being created. */
-                pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
+                #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+                {
+                    /* Allocate space for the stack used by the task being created. */
+                    pxStack = pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
+                }
+                #else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+                {
+                    /* Allocate space for the stack used by the task being created. */
+                    pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
+                }
+                #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
 
                 if( pxStack != NULL )
                 {
@@ -249,6 +276,12 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
 
                     if( pxNewTCB != NULL )
                     {
+                        #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+                        {
+                            memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
+                        }
+                        #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+
                         /* Store the stack location in the TCB. */
                         pxNewTCB->pxStack = pxStack;
                     }
@@ -256,7 +289,15 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
                     {
                         /* The stack cannot be used as the TCB was not created.  Free
                          * it again. */
-                        vPortFree( pxStack );
+                        #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+                        {
+                            vPortFreeStack( pxStack );
+                        }
+                        #else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+                        {
+                            vPortFree( pxStack );
+                        }
+                        #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
                     }
                 }
                 else
@@ -356,6 +397,13 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
                 /* The memory used for the task's TCB and stack are passed into this
                  * function - use them. */
                 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
+
+                #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+                {
+                    memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
+                }
+                #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+
                 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
 
                 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
@@ -892,7 +940,15 @@ uint8_t * pxTaskGetStackStart( TaskHandle_t xTask )
         else
         {
             /* We have a task; return its reentrant struct. */
-            ret = &pxCurTask->xNewLib_reent;
+            #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+            {
+                ret = &pxCurTask->xTLSBlock;
+            }
+            #else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+            {
+                ret = &pxCurTask->xNewLib_reent;
+            }
+            #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
         }
 
         return ret;
diff --git a/components/freertos/esp_additions/include/freertos/idf_additions.h b/components/freertos/esp_additions/include/freertos/idf_additions.h
index 3b39afe808..0da84064d6 100644
--- a/components/freertos/esp_additions/include/freertos/idf_additions.h
+++ b/components/freertos/esp_additions/include/freertos/idf_additions.h
@@ -208,6 +208,17 @@ TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t xCoreID )
  */
     configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercentForCore( BaseType_t xCoreID );
 
+#else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+
+/* CMock Workaround: CMock currently doesn't preprocess files, thus functions
+ * guarded by ifdef still get mocked. We provide a dummy define here so that
+ * functions using configRUN_TIME_COUNTER_TYPE can still be mocked.
+ *
+ * Todo: Will be removed when V10.5.1 becomes the default kernel. */
+    #ifndef configRUN_TIME_COUNTER_TYPE
+        #define configRUN_TIME_COUNTER_TYPE    unsigned int
+    #endif
+
 #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
 
 /**
diff --git a/tools/ci/check_public_headers_exceptions.txt b/tools/ci/check_public_headers_exceptions.txt
index 39ddc16643..2167932fe2 100644
--- a/tools/ci/check_public_headers_exceptions.txt
+++ b/tools/ci/check_public_headers_exceptions.txt
@@ -12,6 +12,7 @@ components/freertos/FreeRTOS-Kernel/include/freertos/
 components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/
 components/freertos/FreeRTOS-Kernel-SMP/include/freertos/
 components/freertos/FreeRTOS-Kernel-SMP/portable/xtensa/include/freertos/
+components/freertos/FreeRTOS-Kernel-V10.5.1/include/freertos/
 
 
 components/log/include/esp_log_internal.h