diff --git a/components/esp_system/port/soc/esp32c5/system_internal.c b/components/esp_system/port/soc/esp32c5/system_internal.c
index 83228327566..1ab861d269c 100644
--- a/components/esp_system/port/soc/esp32c5/system_internal.c
+++ b/components/esp_system/port/soc/esp32c5/system_internal.c
@@ -29,6 +29,10 @@
 #include "hal/modem_lpcon_ll.h"
 #endif
 #include "esp_private/cache_err_int.h"
+#include "esp_memory_utils.h"
+
+#define ALIGN_DOWN(val, align)  ((val) & ~((align) - 1))
+extern int _bss_end;
 
 #include "esp32c5/rom/cache.h"
 #include "esp32c5/rom/rtc.h"
@@ -101,6 +105,24 @@ void esp_system_reset_modules_on_exit(void)
     uart_ll_sclk_enable(&UART0);
 }
 
+static void IRAM_ATTR __attribute__((noinline, noreturn)) esp_restart_noos_inner(void)
+{
+    // Disable cache
+    Cache_Disable_Cache();
+
+    esp_system_reset_modules_on_exit();
+
+    // Set CPU back to XTAL source, same as hard reset, but keep BBPLL on so that USB Serial JTAG can log at 1st stage bootloader.
+#if !CONFIG_IDF_ENV_FPGA
+    rtc_clk_cpu_set_to_default_config();
+#endif
+
+    // Reset PRO CPU
+    esp_rom_software_reset_cpu(0);
+
+    ESP_INFINITE_LOOP();
+}
+
 /* "inner" restart function for after RTOS, interrupts & anything else on this
  * core are already stopped. Stalls other core, resets hardware,
  * triggers restart.
@@ -137,18 +159,15 @@ void esp_restart_noos(void)
     wdt_hal_write_protect_enable(&wdt1_context);
 #endif /* SOC_WDT_SUPPORTED */
 
-    // Disable cache
-    Cache_Disable_Cache();
-
-    esp_system_reset_modules_on_exit();
-
-    // Set CPU back to XTAL source, same as hard reset, but keep BBPLL on so that USB Serial JTAG can log at 1st stage bootloader.
-#if !CONFIG_IDF_ENV_FPGA
-    rtc_clk_cpu_set_to_default_config();
+#ifdef CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM
+    if (esp_ptr_external_ram(esp_cpu_get_sp())) {
+        // If stack is in external RAM (CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM), switch SP to
+        // internal RAM before disabling the cache to avoid a "Cache disabled but cached memory
+        // region accessed" crash.
+        uint32_t new_sp = ALIGN_DOWN((uint32_t)&_bss_end, 16);
+        rv_utils_set_sp((void *)new_sp);
+    }
 #endif
 
-    // Reset PRO CPU
-    esp_rom_software_reset_cpu(0);
-
-    ESP_INFINITE_LOOP();
+    esp_restart_noos_inner();
 }
diff --git a/components/esp_system/port/soc/esp32c61/system_internal.c b/components/esp_system/port/soc/esp32c61/system_internal.c
index 02a3ec8b9b4..5e703bc3927 100644
--- a/components/esp_system/port/soc/esp32c61/system_internal.c
+++ b/components/esp_system/port/soc/esp32c61/system_internal.c
@@ -26,6 +26,10 @@
 #endif
 #include "hal/uart_ll.h"
 #include "esp_private/cache_err_int.h"
+#include "esp_memory_utils.h"
+
+#define ALIGN_DOWN(val, align)  ((val) & ~((align) - 1))
+extern int _bss_end;
 
 #if SOC_MODEM_CLOCK_SUPPORTED
 #include "hal/modem_syscon_ll.h"
@@ -102,6 +106,23 @@ void esp_system_reset_modules_on_exit(void)
     uart_ll_sclk_enable(&UART0);
 }
 
+static void IRAM_ATTR __attribute__((noinline, noreturn)) esp_restart_noos_inner(void)
+{
+    // Disable cache
+    Cache_Disable_Cache();
+
+    esp_system_reset_modules_on_exit();
+
+    // Set CPU back to XTAL source, same as hard reset, but keep BBPLL on so that USB Serial JTAG can log at 1st stage bootloader.
+#if !CONFIG_IDF_ENV_FPGA
+    rtc_clk_cpu_set_to_default_config();
+#endif
+
+    // Reset PRO CPU
+    esp_rom_software_reset_cpu(0);
+    ESP_INFINITE_LOOP();
+}
+
 /* "inner" restart function for after RTOS, interrupts & anything else on this
  * core are already stopped. Stalls other core, resets hardware,
  * triggers restart.
@@ -138,17 +159,15 @@ void esp_restart_noos(void)
     wdt_hal_write_protect_enable(&wdt1_context);
 #endif /* SOC_WDT_SUPPORTED */
 
-    // Disable cache
-    Cache_Disable_Cache();
-
-    esp_system_reset_modules_on_exit();
-
-    // Set CPU back to XTAL source, same as hard reset, but keep BBPLL on so that USB Serial JTAG can log at 1st stage bootloader.
-#if !CONFIG_IDF_ENV_FPGA
-    rtc_clk_cpu_set_to_default_config();
+#ifdef CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM
+    if (esp_ptr_external_ram(esp_cpu_get_sp())) {
+        // If stack is in external RAM (CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM), switch SP to
+        // internal RAM before disabling the cache to avoid a "Cache disabled but cached memory
+        // region accessed" crash.
+        uint32_t new_sp = ALIGN_DOWN((uint32_t)&_bss_end, 16);
+        rv_utils_set_sp((void *)new_sp);
+    }
 #endif
 
-    // Reset PRO CPU
-    esp_rom_software_reset_cpu(0);
-    ESP_INFINITE_LOOP();
+    esp_restart_noos_inner();
 }
diff --git a/components/esp_system/port/soc/esp32h4/system_internal.c b/components/esp_system/port/soc/esp32h4/system_internal.c
index bab0dd57698..9b765e5843a 100644
--- a/components/esp_system/port/soc/esp32h4/system_internal.c
+++ b/components/esp_system/port/soc/esp32h4/system_internal.c
@@ -24,6 +24,10 @@
 #include "hal/wdt_hal.h"
 #endif
 #include "hal/uart_ll.h"
+#include "esp_memory_utils.h"
+
+#define ALIGN_DOWN(val, align)  ((val) & ~((align) - 1))
+extern int _bss_end;
 
 #include "esp32h4/rom/cache.h"
 #include "esp32h4/rom/ets_sys.h"
@@ -87,46 +91,9 @@ void esp_system_reset_modules_on_exit(void)
     uart_ll_sclk_enable(&UART0);
 }
 
-/* "inner" restart function for after RTOS, interrupts & anything else on this
- * core are already stopped. Stalls other core, resets hardware,
- * triggers restart.
-*/
-void esp_restart_noos(void)
+static void IRAM_ATTR __attribute__((noinline, noreturn)) esp_restart_noos_inner(void)
 {
-    // Disable interrupts
-    rv_utils_intr_global_disable();
-#if SOC_RTC_WDT_SUPPORTED
-    // Enable RTC watchdog for 1 second
-    wdt_hal_context_t rtc_wdt_ctx;
-    wdt_hal_init(&rtc_wdt_ctx, WDT_RWDT, 0, false);
-    uint32_t stage_timeout_ticks = (uint32_t)(1000ULL * rtc_clk_slow_freq_get_hz() / 1000ULL);
-    wdt_hal_write_protect_disable(&rtc_wdt_ctx);
-    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE0, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_SYSTEM);
-    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE1, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_RTC);
-    //Enable flash boot mode so that flash booting after restart is protected by the RTC WDT.
-    wdt_hal_set_flashboot_en(&rtc_wdt_ctx, true);
-    wdt_hal_write_protect_enable(&rtc_wdt_ctx);
-#endif /* SOC_RTC_WDT_SUPPORTED */
-
     const uint32_t core_id = esp_cpu_get_core_id();
-#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
-    const uint32_t other_core_id = (core_id == 0) ? 1 : 0;
-    esp_cpu_reset(other_core_id);
-    esp_cpu_stall(other_core_id);
-#endif
-
-#if SOC_WDT_SUPPORTED
-    // Disable TG0/TG1 watchdogs
-    wdt_hal_context_t wdt0_context = {.inst = WDT_MWDT0, .mwdt_dev = &TIMERG0};
-    wdt_hal_write_protect_disable(&wdt0_context);
-    wdt_hal_disable(&wdt0_context);
-    wdt_hal_write_protect_enable(&wdt0_context);
-
-    wdt_hal_context_t wdt1_context = {.inst = WDT_MWDT1, .mwdt_dev = &TIMERG1};
-    wdt_hal_write_protect_disable(&wdt1_context);
-    wdt_hal_disable(&wdt1_context);
-    wdt_hal_write_protect_enable(&wdt1_context);
-#endif /* SOC_WDT_SUPPORTED */
 
     // Disable cache
     Cache_Disable_Cache(CACHE_MAP_ALL);
@@ -162,3 +129,57 @@ void esp_restart_noos(void)
 #endif
     ESP_INFINITE_LOOP();
 }
+
+/* "inner" restart function for after RTOS, interrupts & anything else on this
+ * core are already stopped. Stalls other core, resets hardware,
+ * triggers restart.
+*/
+void esp_restart_noos(void)
+{
+    // Disable interrupts
+    rv_utils_intr_global_disable();
+#if SOC_RTC_WDT_SUPPORTED
+    // Enable RTC watchdog for 1 second
+    wdt_hal_context_t rtc_wdt_ctx;
+    wdt_hal_init(&rtc_wdt_ctx, WDT_RWDT, 0, false);
+    uint32_t stage_timeout_ticks = (uint32_t)(1000ULL * rtc_clk_slow_freq_get_hz() / 1000ULL);
+    wdt_hal_write_protect_disable(&rtc_wdt_ctx);
+    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE0, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_SYSTEM);
+    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE1, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_RTC);
+    //Enable flash boot mode so that flash booting after restart is protected by the RTC WDT.
+    wdt_hal_set_flashboot_en(&rtc_wdt_ctx, true);
+    wdt_hal_write_protect_enable(&rtc_wdt_ctx);
+#endif /* SOC_RTC_WDT_SUPPORTED */
+
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+    const uint32_t core_id = esp_cpu_get_core_id();
+    const uint32_t other_core_id = (core_id == 0) ? 1 : 0;
+    esp_cpu_reset(other_core_id);
+    esp_cpu_stall(other_core_id);
+#endif
+
+#if SOC_WDT_SUPPORTED
+    // Disable TG0/TG1 watchdogs
+    wdt_hal_context_t wdt0_context = {.inst = WDT_MWDT0, .mwdt_dev = &TIMERG0};
+    wdt_hal_write_protect_disable(&wdt0_context);
+    wdt_hal_disable(&wdt0_context);
+    wdt_hal_write_protect_enable(&wdt0_context);
+
+    wdt_hal_context_t wdt1_context = {.inst = WDT_MWDT1, .mwdt_dev = &TIMERG1};
+    wdt_hal_write_protect_disable(&wdt1_context);
+    wdt_hal_disable(&wdt1_context);
+    wdt_hal_write_protect_enable(&wdt1_context);
+#endif /* SOC_WDT_SUPPORTED */
+
+#ifdef CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM
+    if (esp_ptr_external_ram(esp_cpu_get_sp())) {
+        // If stack is in external RAM (CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM), switch SP to
+        // internal RAM before disabling the cache to avoid a "Cache disabled but cached memory
+        // region accessed" crash.
+        uint32_t new_sp = ALIGN_DOWN((uint32_t)&_bss_end, 16);
+        rv_utils_set_sp((void *)new_sp);
+    }
+#endif
+
+    esp_restart_noos_inner();
+}
diff --git a/components/esp_system/port/soc/esp32p4/system_internal.c b/components/esp_system/port/soc/esp32p4/system_internal.c
index 6e9de0ffc63..5456d680631 100644
--- a/components/esp_system/port/soc/esp32p4/system_internal.c
+++ b/components/esp_system/port/soc/esp32p4/system_internal.c
@@ -37,6 +37,10 @@
 #include "hal/dw_gdma_ll.h"
 #include "hal/dma2d_ll.h"
 #include "hal/efuse_hal.h"
+#include "esp_memory_utils.h"
+
+#define ALIGN_DOWN(val, align)  ((val) & ~((align) - 1))
+extern int _bss_end;
 
 void esp_system_reset_modules_on_exit(void)
 {
@@ -153,46 +157,9 @@ void esp_system_reset_modules_on_exit(void)
 #endif
 }
 
-/* "inner" restart function for after RTOS, interrupts & anything else on this
- * core are already stopped. Stalls other core, resets hardware,
- * triggers restart.
-*/
-void esp_restart_noos(void)
+static void IRAM_ATTR __attribute__((noinline, noreturn)) esp_restart_noos_inner(void)
 {
-    // Disable interrupts
-    rv_utils_intr_global_disable();
-#if SOC_RTC_WDT_SUPPORTED
-    // Enable RTC watchdog for 1 second
-    wdt_hal_context_t rtc_wdt_ctx;
-    wdt_hal_init(&rtc_wdt_ctx, WDT_RWDT, 0, false);
-    uint32_t stage_timeout_ticks = (uint32_t)(1000ULL * rtc_clk_slow_freq_get_hz() / 1000ULL);
-    wdt_hal_write_protect_disable(&rtc_wdt_ctx);
-    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE0, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_SYSTEM);
-    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE1, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_RTC);
-    //Enable flash boot mode so that flash booting after restart is protected by the RTC WDT.
-    wdt_hal_set_flashboot_en(&rtc_wdt_ctx, true);
-    wdt_hal_write_protect_enable(&rtc_wdt_ctx);
-#endif /* SOC_RTC_WDT_SUPPORTED */
-
     const uint32_t core_id = esp_cpu_get_core_id();
-#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
-    const uint32_t other_core_id = (core_id == 0) ? 1 : 0;
-    esp_cpu_reset(other_core_id);
-    esp_cpu_stall(other_core_id);
-#endif
-
-#if SOC_WDT_SUPPORTED
-    // Disable TG0/TG1 watchdogs
-    wdt_hal_context_t wdt0_context = {.inst = WDT_MWDT0, .mwdt_dev = &TIMERG0};
-    wdt_hal_write_protect_disable(&wdt0_context);
-    wdt_hal_disable(&wdt0_context);
-    wdt_hal_write_protect_enable(&wdt0_context);
-
-    wdt_hal_context_t wdt1_context = {.inst = WDT_MWDT1, .mwdt_dev = &TIMERG1};
-    wdt_hal_write_protect_disable(&wdt1_context);
-    wdt_hal_disable(&wdt1_context);
-    wdt_hal_write_protect_enable(&wdt1_context);
-#endif /* SOC_WDT_SUPPORTED */
 
     // Disable cache
 #if CONFIG_SPIRAM
@@ -237,3 +204,57 @@ void esp_restart_noos(void)
 
     ESP_INFINITE_LOOP();
 }
+
+/* "inner" restart function for after RTOS, interrupts & anything else on this
+ * core are already stopped. Stalls other core, resets hardware,
+ * triggers restart.
+*/
+void esp_restart_noos(void)
+{
+    // Disable interrupts
+    rv_utils_intr_global_disable();
+#if SOC_RTC_WDT_SUPPORTED
+    // Enable RTC watchdog for 1 second
+    wdt_hal_context_t rtc_wdt_ctx;
+    wdt_hal_init(&rtc_wdt_ctx, WDT_RWDT, 0, false);
+    uint32_t stage_timeout_ticks = (uint32_t)(1000ULL * rtc_clk_slow_freq_get_hz() / 1000ULL);
+    wdt_hal_write_protect_disable(&rtc_wdt_ctx);
+    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE0, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_SYSTEM);
+    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE1, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_RTC);
+    //Enable flash boot mode so that flash booting after restart is protected by the RTC WDT.
+    wdt_hal_set_flashboot_en(&rtc_wdt_ctx, true);
+    wdt_hal_write_protect_enable(&rtc_wdt_ctx);
+#endif /* SOC_RTC_WDT_SUPPORTED */
+
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+    const uint32_t core_id = esp_cpu_get_core_id();
+    const uint32_t other_core_id = (core_id == 0) ? 1 : 0;
+    esp_cpu_reset(other_core_id);
+    esp_cpu_stall(other_core_id);
+#endif
+
+#if SOC_WDT_SUPPORTED
+    // Disable TG0/TG1 watchdogs
+    wdt_hal_context_t wdt0_context = {.inst = WDT_MWDT0, .mwdt_dev = &TIMERG0};
+    wdt_hal_write_protect_disable(&wdt0_context);
+    wdt_hal_disable(&wdt0_context);
+    wdt_hal_write_protect_enable(&wdt0_context);
+
+    wdt_hal_context_t wdt1_context = {.inst = WDT_MWDT1, .mwdt_dev = &TIMERG1};
+    wdt_hal_write_protect_disable(&wdt1_context);
+    wdt_hal_disable(&wdt1_context);
+    wdt_hal_write_protect_enable(&wdt1_context);
+#endif /* SOC_WDT_SUPPORTED */
+
+#ifdef CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM
+    if (esp_ptr_external_ram(esp_cpu_get_sp())) {
+        // If stack is in external RAM (CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM), switch SP to
+        // internal RAM before disabling the cache to avoid a "Cache disabled but cached memory
+        // region accessed" crash.
+        uint32_t new_sp = ALIGN_DOWN((uint32_t)&_bss_end, 16);
+        rv_utils_set_sp((void *)new_sp);
+    }
+#endif
+
+    esp_restart_noos_inner();
+}
diff --git a/components/esp_system/port/soc/esp32s31/system_internal.c b/components/esp_system/port/soc/esp32s31/system_internal.c
index bdc656ed639..470bd516425 100644
--- a/components/esp_system/port/soc/esp32s31/system_internal.c
+++ b/components/esp_system/port/soc/esp32s31/system_internal.c
@@ -26,6 +26,11 @@
 #endif
 #include "esp_private/cache_err_int.h"
 #include "hal/uart_ll.h"
+#include "esp_memory_utils.h"
+
+#define ALIGN_DOWN(val, align)  ((val) & ~((align) - 1))
+extern int _bss_end;
+
 #include "esp32s31/rom/cache.h"
 #include "esp32s31/rom/ets_sys.h"
 #include "esp32s31/rom/rtc.h"
@@ -45,47 +50,9 @@ void esp_system_reset_modules_on_exit(void)
     }
 }
 
-/* "inner" restart function for after RTOS, interrupts & anything else on this
- * core are already stopped. Stalls other core, resets hardware,
- * triggers restart.
-*/
-void esp_restart_noos(void)
+static void IRAM_ATTR __attribute__((noinline, noreturn)) esp_restart_noos_inner(void)
 {
-    // Disable interrupts
-    rv_utils_intr_global_disable();
-#if SOC_RTC_WDT_SUPPORTED
-    // Enable RTC watchdog for 1 second
-    wdt_hal_context_t rtc_wdt_ctx;
-    wdt_hal_init(&rtc_wdt_ctx, WDT_RWDT, 0, false);
-    // uint32_t stage_timeout_ticks = (uint32_t)(1000ULL * rtc_clk_slow_freq_get_hz() / 1000ULL);
-    uint32_t stage_timeout_ticks = (uint32_t)rtc_clk_slow_freq_get_hz();
-    wdt_hal_write_protect_disable(&rtc_wdt_ctx);
-    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE0, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_SYSTEM);
-    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE1, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_RTC);
-    //Enable flash boot mode so that flash booting after restart is protected by the RTC WDT.
-    wdt_hal_set_flashboot_en(&rtc_wdt_ctx, true);
-    wdt_hal_write_protect_enable(&rtc_wdt_ctx);
-#endif /* SOC_RTC_WDT_SUPPORTED */
-
     const uint32_t core_id = esp_cpu_get_core_id();
-#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
-    const uint32_t other_core_id = (core_id == 0) ? 1 : 0;
-    esp_cpu_reset(other_core_id);
-    esp_cpu_stall(other_core_id);
-#endif
-
-#if SOC_WDT_SUPPORTED
-    // Disable TG0/TG1 watchdogs
-    wdt_hal_context_t wdt0_context = {.inst = WDT_MWDT0, .mwdt_dev = &TIMERG0};
-    wdt_hal_write_protect_disable(&wdt0_context);
-    wdt_hal_disable(&wdt0_context);
-    wdt_hal_write_protect_enable(&wdt0_context);
-
-    wdt_hal_context_t wdt1_context = {.inst = WDT_MWDT1, .mwdt_dev = &TIMERG1};
-    wdt_hal_write_protect_disable(&wdt1_context);
-    wdt_hal_disable(&wdt1_context);
-    wdt_hal_write_protect_enable(&wdt1_context);
-#endif /* SOC_WDT_SUPPORTED */
 
     // Disable cache
 #if CONFIG_SPIRAM
@@ -129,3 +96,58 @@ void esp_restart_noos(void)
 
     ESP_INFINITE_LOOP();
 }
+
+/* "inner" restart function for after RTOS, interrupts & anything else on this
+ * core are already stopped. Stalls other core, resets hardware,
+ * triggers restart.
+*/
+void esp_restart_noos(void)
+{
+    // Disable interrupts
+    rv_utils_intr_global_disable();
+#if SOC_RTC_WDT_SUPPORTED
+    // Enable RTC watchdog for 1 second
+    wdt_hal_context_t rtc_wdt_ctx;
+    wdt_hal_init(&rtc_wdt_ctx, WDT_RWDT, 0, false);
+    // uint32_t stage_timeout_ticks = (uint32_t)(1000ULL * rtc_clk_slow_freq_get_hz() / 1000ULL);
+    uint32_t stage_timeout_ticks = (uint32_t)rtc_clk_slow_freq_get_hz();
+    wdt_hal_write_protect_disable(&rtc_wdt_ctx);
+    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE0, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_SYSTEM);
+    wdt_hal_config_stage(&rtc_wdt_ctx, WDT_STAGE1, stage_timeout_ticks, WDT_STAGE_ACTION_RESET_RTC);
+    //Enable flash boot mode so that flash booting after restart is protected by the RTC WDT.
+    wdt_hal_set_flashboot_en(&rtc_wdt_ctx, true);
+    wdt_hal_write_protect_enable(&rtc_wdt_ctx);
+#endif /* SOC_RTC_WDT_SUPPORTED */
+
+#if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE
+    const uint32_t core_id = esp_cpu_get_core_id();
+    const uint32_t other_core_id = (core_id == 0) ? 1 : 0;
+    esp_cpu_reset(other_core_id);
+    esp_cpu_stall(other_core_id);
+#endif
+
+#if SOC_WDT_SUPPORTED
+    // Disable TG0/TG1 watchdogs
+    wdt_hal_context_t wdt0_context = {.inst = WDT_MWDT0, .mwdt_dev = &TIMERG0};
+    wdt_hal_write_protect_disable(&wdt0_context);
+    wdt_hal_disable(&wdt0_context);
+    wdt_hal_write_protect_enable(&wdt0_context);
+
+    wdt_hal_context_t wdt1_context = {.inst = WDT_MWDT1, .mwdt_dev = &TIMERG1};
+    wdt_hal_write_protect_disable(&wdt1_context);
+    wdt_hal_disable(&wdt1_context);
+    wdt_hal_write_protect_enable(&wdt1_context);
+#endif /* SOC_WDT_SUPPORTED */
+
+#ifdef CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM
+    if (esp_ptr_external_ram(esp_cpu_get_sp())) {
+        // If stack is in external RAM (CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM), switch SP to
+        // internal RAM before disabling the cache to avoid a "Cache disabled but cached memory
+        // region accessed" crash.
+        uint32_t new_sp = ALIGN_DOWN((uint32_t)&_bss_end, 16);
+        rv_utils_set_sp((void *)new_sp);
+    }
+#endif
+
+    esp_restart_noos_inner();
+}
diff --git a/components/esp_system/test_apps/esp_system_unity_tests/main/test_reset_reason.c b/components/esp_system/test_apps/esp_system_unity_tests/main/test_reset_reason.c
index baaa1048ea7..ab7d73fb2aa 100644
--- a/components/esp_system/test_apps/esp_system_unity_tests/main/test_reset_reason.c
+++ b/components/esp_system/test_apps/esp_system_unity_tests/main/test_reset_reason.c
@@ -323,15 +323,31 @@ TEST_CASE_MULTIPLE_STAGES("reset reason ESP_RST_BROWNOUT after brownout event",
                           check_reset_reason_brownout);
 
 #ifdef CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM
-#ifndef CONFIG_FREERTOS_UNICORE
+#if (defined(CONFIG_IDF_TARGET_ARCH_XTENSA) && !defined(CONFIG_FREERTOS_UNICORE)) || defined(CONFIG_IDF_TARGET_ARCH_RISCV)
+#include "esp_memory_utils.h"
+#include "freertos/task.h"
 #if CONFIG_IDF_TARGET_ARCH_XTENSA
 #include "xt_instr_macros.h"
 #include "xtensa/config/xt_specreg.h"
+#endif
 
+/* IDF's xTaskCreateStatic[PinnedToCore]() takes the stack size in BYTES
+ * (not in words like upstream FreeRTOS). */
 static int size_stack = 1024 * 4;
 static StackType_t *start_addr_stack;
 
-static int fibonacci(int n, void* func(void))
+static void func_do_exception(void)
+{
+    *((volatile int *) 0x01) = 0;
+}
+
+#if CONFIG_IDF_TARGET_ARCH_XTENSA
+/* On Xtensa (windowed ABI), recursing forces the register window to wrap,
+ * which triggers overflow/underflow exceptions that spill/fill registers
+ * to/from the (SPIRAM-backed) task stack. This makes sure SP is genuinely
+ * pointing into SPIRAM and that spilled frames live there too when func()
+ * is finally called from deep inside the recursion. */
+static int fibonacci(int n, void *func(void))
 {
     int tmp1 = n, tmp2 = n;
     uint32_t base, start;
@@ -349,6 +365,7 @@ static int fibonacci(int n, void* func(void))
     printf("fib = %d\n", (tmp1 - tmp2) + fib);
     return fib;
 }
+#endif // CONFIG_IDF_TARGET_ARCH_XTENSA
 
 static void test_task(void *func)
 {
@@ -358,30 +375,13 @@ static void test_task(void *func)
     } else {
         printf("restart_task: uses internal stack, addr_stack = %p\n", start_addr_stack);
     }
+#if CONFIG_IDF_TARGET_ARCH_XTENSA
     fibonacci(35, func);
-}
-
-static void func_do_exception(void)
-{
-    *((int *) 0) = 0;
-}
-
-static void init_restart_task(void)
-{
-    StackType_t *stack_for_task = (StackType_t *) heap_caps_calloc(1, size_stack, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
-    printf("init_task: current addr_stack = %p, stack_for_task = %p\n", esp_cpu_get_sp(), stack_for_task);
-    static StaticTask_t task_buf;
-    xTaskCreateStaticPinnedToCore(test_task, "test_task", size_stack, esp_restart, 5, stack_for_task, &task_buf, 1);
-    while (1) { };
-}
-
-static void init_task_do_exception(void)
-{
-    StackType_t *stack_for_task = (StackType_t *) heap_caps_calloc(1, size_stack, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
-    printf("init_task: current addr_stack = %p, stack_for_task = %p\n", esp_cpu_get_sp(), stack_for_task);
-    static StaticTask_t task_buf;
-    xTaskCreateStaticPinnedToCore(test_task, "test_task", size_stack, func_do_exception, 5, stack_for_task, &task_buf, 1);
-    while (1) { };
+#else
+    /* RISC-V has no register windows, so no need to recurse. Just invoke
+     * the test function directly from this task (whose stack is in SPIRAM). */
+    ((void (*)(void))func)();
+#endif
 }
 
 static void test1_finish(void)
@@ -396,6 +396,38 @@ static void test2_finish(void)
     printf("test - OK\n");
 }
 
+#if CONFIG_IDF_TARGET_ARCH_XTENSA
+#ifndef CONFIG_FREERTOS_UNICORE
+#define CREATE_TEST_TASK(stack, buf, entry) \
+    xTaskCreateStaticPinnedToCore(test_task, "test_task", size_stack, (entry), 5, (stack), (buf), 1)
+#endif // !CONFIG_FREERTOS_UNICORE
+#else // RISCV
+#define CREATE_TEST_TASK(stack, buf, entry) \
+    xTaskCreateStatic(test_task, "test_task", size_stack, (entry), 5, (stack), (buf))
+#endif
+
+#if defined(CREATE_TEST_TASK)
+
+static void init_restart_task(void)
+{
+    StackType_t *stack_for_task = (StackType_t *) heap_caps_calloc(1, size_stack, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
+    TEST_ASSERT_NOT_NULL(stack_for_task);
+    printf("init_task: current addr_stack = %p, stack_for_task = %p\n", esp_cpu_get_sp(), stack_for_task);
+    static StaticTask_t task_buf;
+    CREATE_TEST_TASK(stack_for_task, &task_buf, esp_restart);
+    while (1) { }
+}
+
+static void init_task_do_exception(void)
+{
+    StackType_t *stack_for_task = (StackType_t *) heap_caps_calloc(1, size_stack, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
+    TEST_ASSERT_NOT_NULL(stack_for_task);
+    printf("init_task: current addr_stack = %p, stack_for_task = %p\n", esp_cpu_get_sp(), stack_for_task);
+    static StaticTask_t task_buf;
+    CREATE_TEST_TASK(stack_for_task, &task_buf, func_do_exception);
+    while (1) { }
+}
+
 TEST_CASE_MULTIPLE_STAGES("reset reason ESP_RST_SW after restart in a task with spiram stack", "[spiram_stack]",
                           init_restart_task,
                           test1_finish);
@@ -404,8 +436,8 @@ TEST_CASE_MULTIPLE_STAGES("reset reason ESP_RST_PANIC after an exception in a ta
                           init_task_do_exception,
                           test2_finish);
 
-#endif //CONFIG_IDF_TARGET_ARCH_XTENSA
-#endif // CONFIG_FREERTOS_UNICORE
+#endif // CREATE_TEST_TASK
+#endif // (XTENSA && !UNICORE) || RISCV
 #endif // CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM
 
 /* Not tested here: ESP_RST_SDIO */
diff --git a/components/riscv/include/riscv/rv_utils.h b/components/riscv/include/riscv/rv_utils.h
index 7b9b6ddfbd6..44af2477d7e 100644
--- a/components/riscv/include/riscv/rv_utils.h
+++ b/components/riscv/include/riscv/rv_utils.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2020-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -106,6 +106,17 @@ FORCE_INLINE_ATTR void *rv_utils_get_sp(void)
     return sp;
 }
 
+/* Switch the stack pointer to a new address.
+ *
+ * Unlike the Xtensa SET_STACK, no window register management is required on
+ * RISC-V; a plain register move is sufficient.  The "memory" clobber prevents
+ * the compiler from reordering any accesses across the switch.
+ */
+FORCE_INLINE_ATTR void rv_utils_set_sp(void *new_sp)
+{
+    asm volatile ("mv sp, %0" :: "r"(new_sp) : "memory");
+}
+
 FORCE_INLINE_ATTR uint32_t __attribute__((always_inline)) rv_utils_get_cycle_count(void)
 {
 #if !SOC_CPU_HAS_CSR_PC