diff --git a/.github/workflows/hil.yml b/.github/workflows/hil.yml
index 7a4dd0717cd..8ebbfaacbcc 100644
--- a/.github/workflows/hil.yml
+++ b/.github/workflows/hil.yml
@@ -11,76 +11,26 @@ env:
   CARGO_TERM_COLOR: always
 
 jobs:
-  # TODO: Shall we use a matrix?
-
-  # Test RISC-V targets:
-
-  # test-esp32c2:
-  #   name:HIL Test | ESP32-C2
-  #   runs-on:
-  #     labels: [self-hosted, esp32c2]
-
-  #   steps:
-  #     - name: Run tests on-device
-  #       env:
-  #         PROBE_RS_CHIP: esp32c2
-  #       run: |
-  #         # ...
-
-  # test-esp32c3:
-  #   name: HIL Test | ESP32-C3
-  #   runs-on:
-  #     labels: [self-hosted, rustboard]
-  #   env:
-  #     PROBE_RS_CHIP: esp32c3
-  #     CARGO_BUILD_TARGET: riscv32imc-unknown-none-elf
-
-  #   steps:
-  #     - uses: actions/checkout@v4
-  #       with:
-  #         ref: 'feat/hil-testing'
-
-  #     - uses: dtolnay/rust-toolchain@v1
-  #       with:
-  #         target: ${{ env.CARGO_BUILD_TARGET }}
-  #         toolchain: nightly
-
-  #     - name: Run tests
-  #       run: |
-  #         cd hil-test/
-  #         cargo test --release --features=${{ env.PROBE_RS_CHIP }}
-
-  test-esp32c6:
-    name: HIL Test | ESP32-C6
-    runs-on:
-      labels: [self-hosted, esp32c6-usb]
-    env:
-      PROBE_RS_CHIP: esp32c6
-      CARGO_BUILD_TARGET: riscv32imac-unknown-none-elf
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          ref: 'feat/hil-testing'
-
-      - uses: dtolnay/rust-toolchain@v1
-        with:
-          target: ${{ env.CARGO_BUILD_TARGET }}
-          toolchain: nightly
-
-      - name: Run tests
-        run: |
-          cd hil-test/
-          cargo test --release --features=${{ env.PROBE_RS_CHIP }}
-
-  test-esp32h2:
-    name: HIL Test | ESP32-H2
+  riscv-hil:
+    name: HIL Test | ${{ matrix.target.soc }}
     runs-on:
-      labels: [self-hosted, esp32h2-usb]
+      labels: [self-hosted, "${{ matrix.target.runner }}"]
     env:
-      PROBE_RS_CHIP: esp32h2
-      CARGO_BUILD_TARGET: riscv32imac-unknown-none-elf
-
+      PROBE_RS_CHIP: ${{ matrix.target.soc }}
+      CARGO_BUILD_TARGET: ${{ matrix.target.rust-target }}
+    strategy:
+      fail-fast: false
+      matrix:
+        target:
+          # - soc: esp32c3
+          #   runner: rustboard
+          #   rust-target: riscv32imc-unknown-none-elf
+          - soc: esp32c6
+            runner: esp32c6-usb
+            rust-target: riscv32imac-unknown-none-elf
+          - soc: esp32h2
+            runner: esp32h2-usb
+            rust-target: riscv32imac-unknown-none-elf
     steps:
       - uses: actions/checkout@v4
         with:
@@ -94,7 +44,7 @@ jobs:
       - name: Run tests
         run: |
           cd hil-test/
-          cargo test --release --features=${{ env.PROBE_RS_CHIP }}
+          cargo test --release --features=${{ matrix.target.soc }}
 
   # Test Xtensa targets:
   # TODO: Add jobs for Xtensa once supported by `probe-rs`
diff --git a/hil-test/README.md b/hil-test/README.md
index 830bf65f9d7..260b9c8e53a 100644
--- a/hil-test/README.md
+++ b/hil-test/README.md
@@ -21,7 +21,7 @@ We use [probe-rs] for flashing and running the tests on a target device, however
 ```text
 cargo install probe-rs \
   --git=https://github.com/probe-rs/probe-rs \
-  --branch=feature/testing \
+  --branch=feature/testing-rebased \
   --features=cli \
   --bin=probe-rs
 ```
@@ -60,22 +60,22 @@ Currently, here are the Virtual Machines set up for HIL testing:
 - ESP32-C3:
   - Has an `ESP32-C3-DevKit-RUST-1` connected via USB-JTAG-SERIAL.
     - Pins 2 and 4 are connected for `spi_full_duplex` and `uart` tests.
-    - VM has the following setup:
-      ```
-      # Install Rust:
-      $ curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain stable -y --profile minimal
-      # Source the current shell:
-      $ source "$HOME/.cargo/env"
-      # Install dependencies
-      $ sudo apt install -y pkg-config libudev-dev
-      # Install probe-rs
-      $ cargo install probe-rs --git=https://github.com/probe-rs/probe-rs --branch=feature/testing-rebased --features=cli --bin=probe-rs --locked --force
-      # Add the udev rules
-      $ wget -O - https://probe.rs/files/69-probe-rs.rules | sudo tee /etc/udev/rules.d/69-probe-rs.rules > /dev/null
-      # Add the user to plugdev group
-      $ sudo usermod -a -G plugdev $USER
-      # Reboot the VM
-      ```
+  - VM has the following setup:
+    ```
+    # Install Rust:
+    $ curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain stable -y --profile minimal
+    # Source the current shell:
+    $ source "$HOME/.cargo/env"
+    # Install dependencies
+    $ sudo apt install -y pkg-config libudev-dev
+    # Install probe-rs
+    $ cargo install probe-rs --git=https://github.com/probe-rs/probe-rs --branch=feature/testing-rebased --features=cli --bin=probe-rs --locked --force
+    # Add the udev rules
+    $ wget -O - https://probe.rs/files/69-probe-rs.rules | sudo tee /etc/udev/rules.d/69-probe-rs.rules > /dev/null
+    # Add the user to plugdev group
+    $ sudo usermod -a -G plugdev $USER
+    # Reboot the VM
+    ```
 - ESP32-C6:
   - Has an `ESP32-C6-DevKitC-1 V1.2` connected via USB-JTAG-SERIAL.
     - Pins 2 and 4 are connected for `spi_full_duplex` and `uart` tests.