diff --git a/components/esp_system/Kconfig b/components/esp_system/Kconfig
index c00d1130259..97e63b27488 100644
--- a/components/esp_system/Kconfig
+++ b/components/esp_system/Kconfig
@@ -406,6 +406,7 @@ menu "ESP System Settings"
         bool "Preload OpenOCD stub binaries to speed up debugging. 12K memory will be reserved"
         default n
         depends on SOC_DEBUG_HAVE_OCD_STUB_BINS
+        depends on !IDF_TARGET_ESP32P4 || ESP32P4_SELECTS_REV_LESS_V3 || CACHE_L2_CACHE_512KB
         help
             OpenOCD uses stub code to access flash during programming or when inserting and removing
             SW flash breakpoints.
@@ -415,6 +416,12 @@ menu "ESP System Settings"
             By enabling this option, 12K of memory in RAM will be preallocated with the stub code,
             eliminating the need to back up and restore the memory region.
 
+            The stub binaries are prebuilt and linked to run at the start of IRAM (_iram_start).
+            On ESP32-P4 rev >= v3, _iram_start is 0x4FF00000 + L2 cache size, so it only matches the
+            stub's link address (0x4FF80000) when the L2 cache is 512KB. This option is therefore
+            only available on ESP32-P4 rev >= v3 when CACHE_L2_CACHE_512KB is selected. Earlier P4
+            revisions and other targets place _iram_start at a fixed address and are not affected.
+
     config ESP_DEBUG_OCDAWARE
         bool "Make exception and panic handlers JTAG/OCD aware"
         default y
diff --git a/components/esp_system/openocd_stub_bins/CMakeLists.txt b/components/esp_system/openocd_stub_bins/CMakeLists.txt
index ebd73f430aa..ee420877f76 100644
--- a/components/esp_system/openocd_stub_bins/CMakeLists.txt
+++ b/components/esp_system/openocd_stub_bins/CMakeLists.txt
@@ -15,10 +15,14 @@ set(openocd_path $ENV{OPENOCD_SCRIPTS})
 
 if(openocd_path)
     set(stub_bin_path ${openocd_path}/../espressif/stub_bins)
-    if(IS_DIRECTORY ${stub_bin_path} AND IS_DIRECTORY ${stub_bin_path}/${target})
-        set(code_bin "${stub_bin_path}/${target}/stub_flash_idf_binary_code.inc")
-        set(data_bin "${stub_bin_path}/${target}/stub_flash_idf_binary_data.inc")
-        set(img_header "${stub_bin_path}/${target}/stub_flash_idf_image.h")
+    set(stub_target_dir ${target})
+    if(target STREQUAL "esp32p4" AND CONFIG_ESP32P4_REV_MIN_FULL LESS 300)
+        set(stub_target_dir "esp32p4-rev1")
+    endif()
+    if(IS_DIRECTORY ${stub_bin_path} AND IS_DIRECTORY ${stub_bin_path}/${stub_target_dir})
+        set(code_bin "${stub_bin_path}/${stub_target_dir}/stub_flash_idf_binary_code.inc")
+        set(data_bin "${stub_bin_path}/${stub_target_dir}/stub_flash_idf_binary_data.inc")
+        set(img_header "${stub_bin_path}/${stub_target_dir}/stub_flash_idf_image.h")
         if(EXISTS ${code_bin} AND EXISTS ${data_bin} AND EXISTS ${img_header})
             set(dest_dir "${CMAKE_BINARY_DIR}/openocd_stub_bins")
             set(output_code_bin "${dest_dir}/stub_flash_idf_binary_code.inc")
diff --git a/components/esp_tee/subproject/main/ld/esp32c5/esp_tee.ld.in b/components/esp_tee/subproject/main/ld/esp32c5/esp_tee.ld.in
index becd7e7a5b4..bbb5c11442f 100644
--- a/components/esp_tee/subproject/main/ld/esp32c5/esp_tee.ld.in
+++ b/components/esp_tee/subproject/main/ld/esp32c5/esp_tee.ld.in
@@ -32,7 +32,12 @@
  * should be stored via esp_app_tee_config structure
  */
 
+#if CONFIG_ESP_DEBUG_INCLUDE_OCD_STUB_BINS
+PROVIDE ( esp_tee_app_config        = SRAM_REE_SEG_START + 0x32b0 );
+#else
 PROVIDE ( esp_tee_app_config        = SRAM_REE_SEG_START + 0x2b0 );
+#endif
+
 PROVIDE ( GDMA                      = 0x60080000 );
 
 /* SPI Flash functions required from the ROM (refer esp32c5.rom.spiflash.ld) */
diff --git a/components/esp_tee/subproject/main/ld/esp32c61/esp_tee.ld.in b/components/esp_tee/subproject/main/ld/esp32c61/esp_tee.ld.in
index 3e08a50c6bb..cbfa205a646 100644
--- a/components/esp_tee/subproject/main/ld/esp32c61/esp_tee.ld.in
+++ b/components/esp_tee/subproject/main/ld/esp32c61/esp_tee.ld.in
@@ -32,7 +32,12 @@
  * should be stored via esp_app_tee_config structure
  */
 
+#if CONFIG_ESP_DEBUG_INCLUDE_OCD_STUB_BINS
+PROVIDE ( esp_tee_app_config        = SRAM_REE_SEG_START + 0x32b0 );
+#else
 PROVIDE ( esp_tee_app_config        = SRAM_REE_SEG_START + 0x2b0 );
+#endif
+
 PROVIDE ( GDMA                      = 0x60080000 );
 
 /* SPI Flash functions required from the ROM (refer esp32c61.rom.spiflash.ld) */
diff --git a/components/soc/esp32c5/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c5/include/soc/Kconfig.soc_caps.in
index 538073e7465..1970768a4ab 100644
--- a/components/soc/esp32c5/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c5/include/soc/Kconfig.soc_caps.in
@@ -1667,6 +1667,10 @@ config SOC_PHY_CALIBRATION_CLOCK_IS_INDEPENDENT
     bool
     default y
 
+config SOC_DEBUG_HAVE_OCD_STUB_BINS
+    bool
+    default y
+
 config SOC_LP_CORE_SINGLE_INTERRUPT_VECTOR
     bool
     default y
diff --git a/components/soc/esp32c5/include/soc/soc_caps.h b/components/soc/esp32c5/include/soc/soc_caps.h
index 9dbc9c3d241..92568d65ddf 100644
--- a/components/soc/esp32c5/include/soc/soc_caps.h
+++ b/components/soc/esp32c5/include/soc/soc_caps.h
@@ -668,6 +668,9 @@
 // #define SOC_PHY_COMBO_MODULE                  (1) /*!< Support Wi-Fi, BLE and 15.4*/
 #define SOC_PHY_CALIBRATION_CLOCK_IS_INDEPENDENT (1)
 
+/*------------------------------------- DEBUG CAPS -------------------------------------*/
+#define SOC_DEBUG_HAVE_OCD_STUB_BINS    (1)
+
 /*------------------------------------- ULP CAPS -------------------------------------*/
 #define SOC_LP_CORE_SINGLE_INTERRUPT_VECTOR         (1) /*!< LP Core interrupts all map to a single entry in vector table */
 #define SOC_LP_CORE_SUPPORT_ETM                     (1) /*!< LP Core supports ETM */
diff --git a/components/soc/esp32c61/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c61/include/soc/Kconfig.soc_caps.in
index 666f807c180..6747bd70884 100644
--- a/components/soc/esp32c61/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c61/include/soc/Kconfig.soc_caps.in
@@ -1290,3 +1290,7 @@ config SOC_PHY_COMBO_MODULE
 config SOC_PHY_CALIBRATION_CLOCK_IS_INDEPENDENT
     bool
     default y
+
+config SOC_DEBUG_HAVE_OCD_STUB_BINS
+    bool
+    default y
diff --git a/components/soc/esp32c61/include/soc/soc_caps.h b/components/soc/esp32c61/include/soc/soc_caps.h
index 52676047a4c..d32d1d0dbf7 100644
--- a/components/soc/esp32c61/include/soc/soc_caps.h
+++ b/components/soc/esp32c61/include/soc/soc_caps.h
@@ -526,5 +526,8 @@
 #define SOC_PHY_COMBO_MODULE                  (1) /*!< Support Wi-Fi, BLE and 15.4*/
 #define SOC_PHY_CALIBRATION_CLOCK_IS_INDEPENDENT (1)
 
+/*------------------------------------- DEBUG CAPS -------------------------------------*/
+#define SOC_DEBUG_HAVE_OCD_STUB_BINS    (1)
+
 /*------------------------------------- No Reset CAPS -------------------------------------*/
 //  \#define SOC_CAPS_NO_RESET_BY_ANA_BOD           (1)   //TODO: [ESP32C61] IDF-9254
diff --git a/components/soc/esp32h21/include/soc/Kconfig.soc_caps.in b/components/soc/esp32h21/include/soc/Kconfig.soc_caps.in
index 46c9e1b2708..17323bc6c96 100644
--- a/components/soc/esp32h21/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32h21/include/soc/Kconfig.soc_caps.in
@@ -962,3 +962,7 @@ config SOC_MODEM_CLOCK_IS_INDEPENDENT
 config SOC_RCC_IS_INDEPENDENT
     bool
     default y
+
+config SOC_DEBUG_HAVE_OCD_STUB_BINS
+    bool
+    default y
diff --git a/components/soc/esp32h21/include/soc/soc_caps.h b/components/soc/esp32h21/include/soc/soc_caps.h
index bd5b93bdb6d..65ebb8e03cd 100644
--- a/components/soc/esp32h21/include/soc/soc_caps.h
+++ b/components/soc/esp32h21/include/soc/soc_caps.h
@@ -532,3 +532,6 @@
 // #define SOC_BLE_MULTI_CONN_OPTIMIZATION (1)    /*!< Support multiple connections optimization */
 // #define SOC_BLE_PERIODIC_ADV_ENH_SUPPORTED  (1)    /*!< Support For BLE Periodic Adv Enhancements */
 // #define SOC_BLE_CTE_SUPPORTED           (1)    /*!< Support Bluetooth LE Constant Tone Extension (CTE) */
+
+/*------------------------------------- DEBUG CAPS -------------------------------------*/
+#define SOC_DEBUG_HAVE_OCD_STUB_BINS    (1)
diff --git a/components/soc/esp32h4/include/soc/Kconfig.soc_caps.in b/components/soc/esp32h4/include/soc/Kconfig.soc_caps.in
index 6b602b83c7b..6a178d19b37 100644
--- a/components/soc/esp32h4/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32h4/include/soc/Kconfig.soc_caps.in
@@ -1014,3 +1014,7 @@ config SOC_USB_OTG_PERIPH_NUM
 config SOC_USB_FSLS_PHY_NUM
     int
     default 1
+
+config SOC_DEBUG_HAVE_OCD_STUB_BINS
+    bool
+    default y
diff --git a/components/soc/esp32h4/include/soc/soc_caps.h b/components/soc/esp32h4/include/soc/soc_caps.h
index 728c9188cd7..f35e69bf123 100644
--- a/components/soc/esp32h4/include/soc/soc_caps.h
+++ b/components/soc/esp32h4/include/soc/soc_caps.h
@@ -541,3 +541,6 @@
 /*-------------------------- USB CAPS ----------------------------------------*/
 #define SOC_USB_OTG_PERIPH_NUM          (1U)
 #define SOC_USB_FSLS_PHY_NUM            (1U)
+
+/*------------------------------------- DEBUG CAPS -------------------------------------*/
+#define SOC_DEBUG_HAVE_OCD_STUB_BINS    (1)
diff --git a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
index 7a4d03bb422..41c06444ba0 100644
--- a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
@@ -1998,3 +1998,7 @@ config SOC_LP_CORE_LP_UART_WAKEUP_KEEP_TRIGGERED
 config SOC_LP_CORE_HW_AUTO_CLRWAKEUPCAUSE
     bool
     default y
+
+config SOC_DEBUG_HAVE_OCD_STUB_BINS
+    bool
+    default y
diff --git a/components/soc/esp32p4/include/soc/soc_caps.h b/components/soc/esp32p4/include/soc/soc_caps.h
index 910d571760f..ae95e80cc5b 100644
--- a/components/soc/esp32p4/include/soc/soc_caps.h
+++ b/components/soc/esp32p4/include/soc/soc_caps.h
@@ -772,3 +772,6 @@
 #define SOC_LP_CORE_SUPPORT_STORE_LOAD_EXCEPTIONS   (1) /*!< LP Core will raise exceptions if accessing invalid addresses */
 #define SOC_LP_CORE_LP_UART_WAKEUP_KEEP_TRIGGERED   (1) /*!< LP UART wakeup source is kept triggered */
 #define SOC_LP_CORE_HW_AUTO_CLRWAKEUPCAUSE          (1) /*!< LP core requests sleep, PMU clears both HP and LP wakeup causes */
+
+/*------------------------------------- DEBUG CAPS -------------------------------------*/
+#define SOC_DEBUG_HAVE_OCD_STUB_BINS    (1)