diff --git a/Documentation/platforms/xtensa/esp32/boards/esp32-ethernet-kit/index.rst b/Documentation/platforms/xtensa/esp32/boards/esp32-ethernet-kit/index.rst
index 03153c735c4..efdb2a3779f 100644
--- a/Documentation/platforms/xtensa/esp32/boards/esp32-ethernet-kit/index.rst
+++ b/Documentation/platforms/xtensa/esp32/boards/esp32-ethernet-kit/index.rst
@@ -301,11 +301,6 @@ You can set an alarm, check its progress and receive a notification after it exp
     Alarm 0 is active with 10 seconds to expiration
     nsh> alarm_daemon: alarm 0 received
 
-tickless
---------
-
-This configuration enables the support for tickless scheduler mode.
-
 wifi
 ----
 
diff --git a/Documentation/platforms/xtensa/esp32/boards/esp32-wrover-kit/index.rst b/Documentation/platforms/xtensa/esp32/boards/esp32-wrover-kit/index.rst
index 2187737178b..1b8253c5877 100644
--- a/Documentation/platforms/xtensa/esp32/boards/esp32-wrover-kit/index.rst
+++ b/Documentation/platforms/xtensa/esp32/boards/esp32-wrover-kit/index.rst
@@ -257,11 +257,6 @@ You can set an alarm, check its progress and receive a notification after it exp
     Alarm 0 is active with 10 seconds to expiration
     nsh> alarm_daemon: alarm 0 received
 
-tickless
---------
-
-This configuration enables the support for tickless scheduler mode.
-
 wifi
 ----
 
diff --git a/boards/risc-v/esp32c3/esp32c3-devkit/configs/tickless/defconfig b/boards/risc-v/esp32c3/esp32c3-devkit/configs/tickless/defconfig
index a7e5297f4c1..8a5fa7baa47 100644
--- a/boards/risc-v/esp32c3/esp32c3-devkit/configs/tickless/defconfig
+++ b/boards/risc-v/esp32c3/esp32c3-devkit/configs/tickless/defconfig
@@ -39,4 +39,6 @@ CONFIG_START_DAY=29
 CONFIG_START_MONTH=11
 CONFIG_START_YEAR=2019
 CONFIG_SYSTEM_NSH=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
 CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/xtensa/esp32/esp32-devkitc/configs/tickless/defconfig b/boards/xtensa/esp32/esp32-devkitc/configs/tickless/defconfig
index 269d8a88836..6aab74bd8ce 100644
--- a/boards/xtensa/esp32/esp32-devkitc/configs/tickless/defconfig
+++ b/boards/xtensa/esp32/esp32-devkitc/configs/tickless/defconfig
@@ -41,4 +41,6 @@ CONFIG_START_DAY=6
 CONFIG_START_MONTH=12
 CONFIG_START_YEAR=2011
 CONFIG_SYSTEM_NSH=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
 CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/xtensa/esp32/esp32-ethernet-kit/configs/tickless/defconfig b/boards/xtensa/esp32/esp32-ethernet-kit/configs/tickless/defconfig
deleted file mode 100644
index 947cd0a7ad8..00000000000
--- a/boards/xtensa/esp32/esp32-ethernet-kit/configs/tickless/defconfig
+++ /dev/null
@@ -1,43 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_NSH_ARGCAT is not set
-# CONFIG_NSH_CMDOPT_HEXDUMP is not set
-CONFIG_ARCH="xtensa"
-CONFIG_ARCH_BOARD="esp32-ethernet-kit"
-CONFIG_ARCH_BOARD_COMMON=y
-CONFIG_ARCH_BOARD_ESP32_ETHERNETKIT=y
-CONFIG_ARCH_CHIP="esp32"
-CONFIG_ARCH_CHIP_ESP32=y
-CONFIG_ARCH_CHIP_ESP32WROVER=y
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARCH_XTENSA=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BUILTIN=y
-CONFIG_ESP32_TICKLESS=y
-CONFIG_ESP32_UART0=y
-CONFIG_FS_PROCFS=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=3072
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INTELHEX_BINARY=y
-CONFIG_MM_REGIONS=3
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_FILEIOSIZE=512
-CONFIG_NSH_LINELEN=64
-CONFIG_NSH_READLINE=y
-CONFIG_PREALLOC_TIMERS=4
-CONFIG_RAM_SIZE=114688
-CONFIG_RAM_START=0x20000000
-CONFIG_SCHED_WAITPID=y
-CONFIG_START_DAY=6
-CONFIG_START_MONTH=12
-CONFIG_START_YEAR=2011
-CONFIG_SYSTEM_NSH=y
-CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/xtensa/esp32/esp32-wrover-kit/configs/tickless/defconfig b/boards/xtensa/esp32/esp32-wrover-kit/configs/tickless/defconfig
deleted file mode 100644
index afee11d15fe..00000000000
--- a/boards/xtensa/esp32/esp32-wrover-kit/configs/tickless/defconfig
+++ /dev/null
@@ -1,44 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_ARCH_LEDS is not set
-# CONFIG_NSH_ARGCAT is not set
-# CONFIG_NSH_CMDOPT_HEXDUMP is not set
-CONFIG_ARCH="xtensa"
-CONFIG_ARCH_BOARD="esp32-wrover-kit"
-CONFIG_ARCH_BOARD_COMMON=y
-CONFIG_ARCH_BOARD_ESP32_WROVERKIT=y
-CONFIG_ARCH_CHIP="esp32"
-CONFIG_ARCH_CHIP_ESP32=y
-CONFIG_ARCH_CHIP_ESP32WROVER=y
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARCH_XTENSA=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BUILTIN=y
-CONFIG_ESP32_TICKLESS=y
-CONFIG_ESP32_UART0=y
-CONFIG_FS_PROCFS=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=3072
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INTELHEX_BINARY=y
-CONFIG_MM_REGIONS=3
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_FILEIOSIZE=512
-CONFIG_NSH_LINELEN=64
-CONFIG_NSH_READLINE=y
-CONFIG_PREALLOC_TIMERS=4
-CONFIG_RAM_SIZE=114688
-CONFIG_RAM_START=0x20000000
-CONFIG_SCHED_WAITPID=y
-CONFIG_START_DAY=6
-CONFIG_START_MONTH=12
-CONFIG_START_YEAR=2011
-CONFIG_SYSTEM_NSH=y
-CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/xtensa/esp32s3/esp32s3-devkit/configs/tickless/defconfig b/boards/xtensa/esp32s3/esp32s3-devkit/configs/tickless/defconfig
index e86b2d9f97a..a02305a7a72 100644
--- a/boards/xtensa/esp32s3/esp32s3-devkit/configs/tickless/defconfig
+++ b/boards/xtensa/esp32s3/esp32s3-devkit/configs/tickless/defconfig
@@ -43,5 +43,7 @@ CONFIG_START_DAY=6
 CONFIG_START_MONTH=12
 CONFIG_START_YEAR=2011
 CONFIG_SYSTEM_NSH=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
 CONFIG_UART0_SERIAL_CONSOLE=y
 CONFIG_USEC_PER_TICK=10000