diff --git a/Cargo.lock b/Cargo.lock
index d68143696..6c5afa2cd 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1780,6 +1780,7 @@ dependencies = [
  "esp-hal-procmacros",
  "esp-metadata",
  "esp-riscv-rt",
+ "esp-synopsys-usb-otg",
  "esp32",
  "esp32c2",
  "esp32c3",
@@ -1795,7 +1796,9 @@ dependencies = [
  "riscv",
  "serde",
  "strum",
+ "usb-device",
  "void",
+ "xtensa-lx",
  "xtensa-lx-rt",
 ]
 
@@ -1869,6 +1872,19 @@ dependencies = [
  "riscv-rt-macros",
 ]
 
+[[package]]
+name = "esp-synopsys-usb-otg"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8938451cb19032f13365328ea66ab38c8d16deecdf322067442297110eb74468"
+dependencies = [
+ "critical-section",
+ "embedded-hal 0.2.7",
+ "ral-registers",
+ "usb-device",
+ "vcell",
+]
+
 [[package]]
 name = "esp-wifi"
 version = "0.8.0"
@@ -2000,6 +2016,14 @@ dependencies = [
  "riot-rs-rt",
 ]
 
+[[package]]
+name = "espressif-esp32-s3-wroom-1"
+version = "0.1.0"
+dependencies = [
+ "riot-rs-debug",
+ "riot-rs-rt",
+]
+
 [[package]]
 name = "example-random"
 version = "0.1.0"
@@ -3498,6 +3522,12 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bd7a31eed1591dcbc95d92ad7161908e72f4677f8fabf2a32ca49b4237cbf211"
 
+[[package]]
+name = "ral-registers"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46b71a9d9206e8b46714c74255adcaea8b11e0350c1d8456165073c3f75fc81a"
+
 [[package]]
 name = "rand"
 version = "0.8.5"
@@ -3632,6 +3662,7 @@ dependencies = [
  "cfg-if",
  "cortex-m",
  "defmt",
+ "esp-hal",
 ]
 
 [[package]]
@@ -3642,6 +3673,7 @@ dependencies = [
  "cfg-if",
  "dwm1001",
  "espressif-esp32-c6-devkitc-1",
+ "espressif-esp32-s3-wroom-1",
  "linkme",
  "microbit",
  "microbit-v2",
diff --git a/laze-project.yml b/laze-project.yml
index e32bb8b77..86fad66b5 100644
--- a/laze-project.yml
+++ b/laze-project.yml
@@ -12,8 +12,6 @@ contexts:
       - ?defmt
     env:
       RUSTFLAGS:
-        - "-Clink-arg=--nmagic"
-        - "-Clink-arg=${LINK_ARG_PREFIX}--no-eh-frame-hdr"
         - --cfg builder=\"${builder}\"
         - --cfg context=\"${builder}\"
         - --cfg context=\"riot-rs\"
@@ -63,7 +61,7 @@ contexts:
         pool: console
         always: true
         cmd: >-
-          cd ${relpath} && ${CARGO_ENV} cargo ${CARGO_ARGS} build --${PROFILE} ${FEATURES}
+          cd ${relpath} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS} build --${PROFILE} ${FEATURES}
           && cp ${relroot}/${build-dir}/bin/${builder}/${app}/cargo/${RUSTC_TARGET}/${PROFILE}/${riot_binary} ${relroot}/${out}
 
       - name: GIT_DOWNLOAD
@@ -77,13 +75,13 @@ contexts:
 
       cargo:
         cmd:
-          - cd ${relpath} && ${CARGO_ENV} cargo ${CARGO_ARGS}
+          - cd ${relpath} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS}
         build: false
 
       run:
         build: false
         cmd:
-          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_ARGS} run --${PROFILE} ${FEATURES}
+          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS} run --${PROFILE} ${FEATURES}
 
       cargo-test:
         cmd:
@@ -92,7 +90,7 @@ contexts:
 
       debug:
         cmd:
-          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_ARGS} run --${PROFILE} ${FEATURES}
+          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS} run --${PROFILE} ${FEATURES}
         build: false
         ignore_ctrl_c: true
 
@@ -104,12 +102,12 @@ contexts:
 
       bloat:
         cmd:
-          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_ARGS} bloat --${PROFILE} ${FEATURES}
+          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS} bloat --${PROFILE} ${FEATURES}
         build: false
 
       tree:
         cmd:
-          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_ARGS} tree ${FEATURES}
+          - cd ${appdir} && ${CARGO_ENV} cargo ${CARGO_TOOLCHAIN} ${CARGO_ARGS} tree ${FEATURES}
         build: false
 
       flash:
@@ -278,8 +276,6 @@ contexts:
         - --cfg context=\"esp\"
         # linkall first
         - -Clink-arg=-Tlinkall.x
-        - -Clink-arg=-Tlinkme-esp-fixup.x
-        - -Clink-arg=-Tlinkme.x
         # this might be needed for backtraces
         # - -C force-frame-pointers
       CARGO_ARGS:
@@ -288,6 +284,8 @@ contexts:
 
   - name: esp32c3
     parent: esp
+    selects:
+      - riscv
     env:
       RUSTFLAGS:
         - --cfg context=\"esp32c3\"
@@ -296,12 +294,25 @@ contexts:
 
   - name: esp32c6
     parent: esp
+    selects:
+      - riscv
     env:
       RUSTFLAGS:
         - --cfg context=\"esp32c6\"
       RUSTC_TARGET: riscv32imac-unknown-none-elf
       CARGO_TARGET_PREFIX: CARGO_TARGET_RISCV32IMAC_UNKNOWN_NONE_ELF
 
+  - name: esp32s3
+    parent: esp
+    selects:
+      - xtensa
+    env:
+      CARGO_TOOLCHAIN: +esp
+      RUSTFLAGS:
+        - --cfg context=\"esp32s3\"
+      RUSTC_TARGET: xtensa-esp32s3-none-elf
+      CARGO_TARGET_PREFIX: CARGO_TARGET_XTENSA_ESP32S3_NONE_ELF
+
   - name: stm32
     help: STM32 support (based on embassy-stm32)
     parent: riot-rs
@@ -358,6 +369,8 @@ modules:
       global:
         OBJCOPY: arm-none-eabi-objcopy
         RUSTFLAGS:
+          - -Clink-arg=--nmagic
+          - -Clink-arg=${LINK_ARG_PREFIX}--no-eh-frame-hdr
           - -Clink-arg=-Tlinkme.x
           - -Clink-arg=-Tlink.x
           - -Clink-arg=-Tdevice.x
@@ -414,6 +427,18 @@ modules:
         RUSTFLAGS:
           - --cfg armv7m
 
+  - name: xtensa
+    env:
+      global:
+        RUSTFLAGS:
+          - --cfg context=\"xtensa\"
+
+  - name: riscv
+    env:
+      global:
+        RUSTFLAGS:
+          - --cfg context=\"riscv\"
+
   - name: rp-link-arg
     help: helper module that ensures link-rp.x is added behind cortex-m ld scripts
     env:
@@ -630,6 +655,7 @@ modules:
       - nrf
       - rp
       - stm32
+      - esp
 
   - name: wifi-esp
     context:
@@ -776,6 +802,9 @@ builders:
   - name: espressif-esp32-c6-devkitc-1
     parent: esp32c6
 
+  - name: espressif-esp32-s3-wroom-1
+    parent: esp32s3
+
   - name: nrf5340dk
     parent: nrf5340
 
diff --git a/src/riot-rs-bench/Cargo.toml b/src/riot-rs-bench/Cargo.toml
index 5bcffaf36..75b519a65 100644
--- a/src/riot-rs-bench/Cargo.toml
+++ b/src/riot-rs-bench/Cargo.toml
@@ -15,3 +15,6 @@ defmt = { workspace = true, optional = true }
 
 [target.'cfg(context = "cortex-m")'.dependencies]
 cortex-m = { workspace = true, features = ["critical-section-single-core"] }
+
+[target.'cfg(context = "esp")'.dependencies]
+esp-hal = { workspace = true }
diff --git a/src/riot-rs-bench/src/esp.rs b/src/riot-rs-bench/src/esp.rs
new file mode 100644
index 000000000..45cf14f6f
--- /dev/null
+++ b/src/riot-rs-bench/src/esp.rs
@@ -0,0 +1,28 @@
+use esp_hal::{
+    peripherals,
+    timer::systimer::{SystemTimer, Unit as _},
+};
+
+use crate::Error;
+
+#[allow(missing_docs)]
+pub fn benchmark<F: Fn() -> ()>(iterations: usize, f: F) -> Result<usize, Error> {
+    let mut systimer_periph = unsafe { peripherals::SYSTIMER::steal() };
+    let timer = SystemTimer::new(&mut systimer_periph);
+
+    // Reset counter of unit0, which is read in `SystemTimer::now()`.
+    timer.unit0.set_count(0);
+
+    while SystemTimer::now() == 0 {}
+
+    let before = SystemTimer::now();
+
+    for _ in 0..iterations {
+        f();
+    }
+
+    SystemTimer::now()
+        .checked_sub(before)
+        .map(|total| total as usize / iterations)
+        .ok_or(Error::SystemTimerWrapped)
+}
diff --git a/src/riot-rs-bench/src/lib.rs b/src/riot-rs-bench/src/lib.rs
index 1f6a230bb..e58d1e7d6 100644
--- a/src/riot-rs-bench/src/lib.rs
+++ b/src/riot-rs-bench/src/lib.rs
@@ -9,8 +9,10 @@ cfg_if::cfg_if! {
     if #[cfg(context = "cortex-m")] {
         mod cortexm;
         use cortexm as bench;
-    }
-    else if #[cfg(context = "riot-rs")] {
+    } else if #[cfg(context = "esp")] {
+        mod esp;
+        use esp as bench;
+    } else if #[cfg(context = "riot-rs")] {
         // When run with laze but the architecture is not supported
         compile_error!("benchmarking is not supported for this architecture");
     } else {
diff --git a/src/riot-rs-boards/Cargo.toml b/src/riot-rs-boards/Cargo.toml
index 93865777a..f65a6d990 100644
--- a/src/riot-rs-boards/Cargo.toml
+++ b/src/riot-rs-boards/Cargo.toml
@@ -16,6 +16,7 @@ riot-rs-rt = { path = "../riot-rs-rt" }
 
 ai-c3 = { optional = true, path = "ai-c3" }
 espressif-esp32-c6-devkitc-1 = { optional = true, path = "espressif-esp32-c6-devkitc-1" }
+espressif-esp32-s3-wroom-1 = { optional = true, path = "espressif-esp32-s3-wroom-1" }
 dwm1001 = { optional = true, path = "dwm1001" }
 microbit = { optional = true, path = "microbit" }
 microbit-v2 = { optional = true, path = "microbit-v2" }
diff --git a/src/riot-rs-boards/espressif-esp32-s3-wroom-1/Cargo.toml b/src/riot-rs-boards/espressif-esp32-s3-wroom-1/Cargo.toml
new file mode 100644
index 000000000..6dcfe097b
--- /dev/null
+++ b/src/riot-rs-boards/espressif-esp32-s3-wroom-1/Cargo.toml
@@ -0,0 +1,10 @@
+[package]
+name = "espressif-esp32-s3-wroom-1"
+version = "0.1.0"
+authors = ["Elena Frank <elena.frank@proton.me>"]
+license.workspace = true
+edition = "2021"
+
+[dependencies]
+riot-rs-rt = { workspace = true, features = ["_esp32s3"] }
+riot-rs-debug.workspace = true
diff --git a/src/riot-rs-boards/espressif-esp32-s3-wroom-1/src/lib.rs b/src/riot-rs-boards/espressif-esp32-s3-wroom-1/src/lib.rs
new file mode 100644
index 000000000..f2b338c79
--- /dev/null
+++ b/src/riot-rs-boards/espressif-esp32-s3-wroom-1/src/lib.rs
@@ -0,0 +1,7 @@
+#![no_std]
+
+use riot_rs_debug::log::debug;
+
+pub fn init() {
+    debug!("espressif-esp32-s3-wroom-1::init()");
+}
diff --git a/src/riot-rs-boards/src/lib.rs b/src/riot-rs-boards/src/lib.rs
index 37e836946..08739b75d 100644
--- a/src/riot-rs-boards/src/lib.rs
+++ b/src/riot-rs-boards/src/lib.rs
@@ -8,6 +8,8 @@ cfg_if! {
         pub use ai_c3 as board;
     } else if #[cfg(feature = "espressif-esp32-c6-devkitc-1")] {
         pub use espressif_esp32_c6_devkitc_1 as board;
+    } else if #[cfg(feature = "espressif-esp32-s3-wroom-1")] {
+        pub use espressif_esp32_s3_wroom_1 as board;
     } else if #[cfg(feature = "nrf52dk")] {
         pub use nrf52dk as board;
     } else if #[cfg(feature = "dwm1001")] {
diff --git a/src/riot-rs-debug/Cargo.toml b/src/riot-rs-debug/Cargo.toml
index 7db58f3f4..509239ea1 100644
--- a/src/riot-rs-debug/Cargo.toml
+++ b/src/riot-rs-debug/Cargo.toml
@@ -33,6 +33,9 @@ esp-println = { workspace = true, features = ["esp32c3"] }
 [target.'cfg(context = "esp32c6")'.dependencies]
 esp-println = { workspace = true, features = ["esp32c6"] }
 
+[target.'cfg(context = "esp32s3")'.dependencies]
+esp-println = { workspace = true, features = ["esp32s3"] }
+
 [features]
 debug-console = []
 defmt = ["dep:defmt", "esp-println?/defmt-espflash"]
diff --git a/src/riot-rs-esp/Cargo.toml b/src/riot-rs-esp/Cargo.toml
index 1482e78a9..d91b534bf 100644
--- a/src/riot-rs-esp/Cargo.toml
+++ b/src/riot-rs-esp/Cargo.toml
@@ -51,6 +51,15 @@ esp-wifi = { workspace = true, default-features = false, features = [
   "esp32c6",
 ], optional = true }
 
+[target.'cfg(context = "esp32s3")'.dependencies]
+esp-hal = { workspace = true, features = ["esp32s3"] }
+esp-hal-embassy = { workspace = true, default-features = false, features = [
+  "esp32s3",
+] }
+esp-wifi = { workspace = true, default-features = false, features = [
+  "esp32s3",
+], optional = true }
+
 [features]
 ## Enables GPIO interrupt support.
 external-interrupts = ["riot-rs-embassy-common/external-interrupts"]
diff --git a/src/riot-rs-rt/Cargo.toml b/src/riot-rs-rt/Cargo.toml
index 5c94b30c2..c407457a0 100644
--- a/src/riot-rs-rt/Cargo.toml
+++ b/src/riot-rs-rt/Cargo.toml
@@ -38,10 +38,11 @@ silent-panic = []
 _panic-handler = []
 
 # internal
-# These two features are used by `build.rs`, which doesn't "see" context
+# These features are used by `build.rs`, which doesn't "see" context
 # variables.
 _esp32c3 = []
 _esp32c6 = []
+_esp32s3 = []
 
 [dev-dependencies]
 riot-rs-boards = { path = "../riot-rs-boards" }
diff --git a/src/riot-rs-rt/build.rs b/src/riot-rs-rt/build.rs
index fcc8a4da3..058c357e9 100644
--- a/src/riot-rs-rt/build.rs
+++ b/src/riot-rs-rt/build.rs
@@ -8,13 +8,5 @@ fn main() {
     std::fs::copy("isr_stack.ld.in", out.join("isr_stack.x")).unwrap();
     std::fs::copy("linkme.x", out.join("linkme.x")).unwrap();
 
-    if env::var_os("CARGO_FEATURE__ESP32C3").is_some() {
-        std::fs::copy("linkme-esp32c3-fixup.x", out.join("linkme-esp-fixup.x")).unwrap();
-    }
-
-    if env::var_os("CARGO_FEATURE__ESP32C6").is_some() {
-        std::fs::copy("linkme-esp32c6-fixup.x", out.join("linkme-esp-fixup.x")).unwrap();
-    }
-
     println!("cargo:rustc-link-search={}", out.display());
 }
diff --git a/src/riot-rs-rt/linkme-esp32c3-fixup.x b/src/riot-rs-rt/linkme-esp32c3-fixup.x
deleted file mode 100644
index e73dd91ed..000000000
--- a/src/riot-rs-rt/linkme-esp32c3-fixup.x
+++ /dev/null
@@ -1 +0,0 @@
-REGION_ALIAS("FLASH", IROM);
diff --git a/src/riot-rs-rt/linkme-esp32c6-fixup.x b/src/riot-rs-rt/linkme-esp32c6-fixup.x
deleted file mode 100644
index 352184123..000000000
--- a/src/riot-rs-rt/linkme-esp32c6-fixup.x
+++ /dev/null
@@ -1 +0,0 @@
-REGION_ALIAS("FLASH", ROM);
diff --git a/src/riot-rs-threads/Cargo.toml b/src/riot-rs-threads/Cargo.toml
index 7220f502c..b9e4fcdb4 100644
--- a/src/riot-rs-threads/Cargo.toml
+++ b/src/riot-rs-threads/Cargo.toml
@@ -26,6 +26,9 @@ esp-hal = { workspace = true, features = ["esp32c3"] }
 [target.'cfg(context = "esp32c6")'.dependencies]
 esp-hal = { workspace = true, features = ["esp32c6"] }
 
+[target.'cfg(context = "esp32s3")'.dependencies]
+esp-hal = { workspace = true, features = ["esp32s3"] }
+
 [target.'cfg(context = "cortex-m")'.dependencies]
 # cortex-m specifics
 cortex-m.workspace = true
diff --git a/src/riot-rs-threads/src/arch/mod.rs b/src/riot-rs-threads/src/arch/mod.rs
index 9cd270e1f..eeff25352 100644
--- a/src/riot-rs-threads/src/arch/mod.rs
+++ b/src/riot-rs-threads/src/arch/mod.rs
@@ -28,12 +28,13 @@ cfg_if::cfg_if! {
     if #[cfg(context = "cortex-m")] {
         mod cortex_m;
         pub use cortex_m::Cpu;
-    }
-    else if #[cfg(any(context = "esp32c3", context = "esp32c6"))] {
+    } else if #[cfg(context = "riscv")] {
         mod riscv;
         pub use riscv::Cpu;
-    }
-    else {
+    } else if #[cfg(context = "xtensa")] {
+        mod xtensa;
+        pub use xtensa::Cpu;
+    } else {
         pub struct Cpu;
         impl Arch for Cpu {
             type ThreadData = ();
diff --git a/src/riot-rs-threads/src/arch/riscv.rs b/src/riot-rs-threads/src/arch/riscv.rs
index 413039940..7d36e2a67 100644
--- a/src/riot-rs-threads/src/arch/riscv.rs
+++ b/src/riot-rs-threads/src/arch/riscv.rs
@@ -42,7 +42,8 @@ impl Arch for Cpu {
     fn start_threading() {
         interrupt::disable(EspHalCpu::ProCpu, Interrupt::FROM_CPU_INTR1);
         Self::schedule();
-        // TODO: handle unwrap error?
+        // Panics if `FROM_CPU_INTR1` is among `esp_hal::interrupt::RESERVED_INTERRUPTS`,
+        // which isn't the case.
         interrupt::enable(Interrupt::FROM_CPU_INTR1, interrupt::Priority::min()).unwrap();
     }
 }
diff --git a/src/riot-rs-threads/src/arch/xtensa.rs b/src/riot-rs-threads/src/arch/xtensa.rs
new file mode 100644
index 000000000..329a5e899
--- /dev/null
+++ b/src/riot-rs-threads/src/arch/xtensa.rs
@@ -0,0 +1,141 @@
+use esp_hal::{
+    interrupt,
+    peripherals::{Interrupt, SYSTEM},
+    trapframe::TrapFrame,
+};
+
+use crate::{cleanup, Arch, THREADS};
+
+pub struct Cpu;
+
+impl Arch for Cpu {
+    type ThreadData = TrapFrame;
+    const DEFAULT_THREAD_DATA: Self::ThreadData = default_trap_frame();
+
+    fn schedule() {
+        unsafe {
+            (&*SYSTEM::PTR)
+                .cpu_intr_from_cpu_1()
+                .modify(|_, w| w.cpu_intr_from_cpu_1().set_bit());
+        }
+    }
+
+    fn setup_stack(thread: &mut crate::thread::Thread, stack: &mut [u8], func: usize, arg: usize) {
+        let stack_start = stack.as_ptr() as usize;
+        let task_stack_ptr = stack_start + stack.len();
+        // 16 byte alignment.
+        let stack_pos = task_stack_ptr - (task_stack_ptr % 0x10);
+
+        thread.sp = stack_pos;
+        thread.data.A1 = stack_pos as u32;
+        thread.data.A6 = arg as u32;
+        // Usually A0 holds the return address.
+        // However, xtensa features so-called Windowed registers, which allow
+        // to shift the used registers when calling procedure.
+        // The xtensa-lx-rt does this when calling the exception handler using
+        // call4, which shifts the window by 4.
+        // See `xtensa_lx_rt::exception::asm::__default_naked_exception`.
+        // (At least that's what I assume is happening)
+        thread.data.A4 = cleanup as u32;
+        thread.data.PC = func as u32;
+
+        // Copied from esp-wifi::preempt::preempt_xtensa
+
+        // For windowed ABI set WOE and CALLINC (pretend task was 'call4'd).
+        thread.data.PS = 0x00040000 | (1 & 3) << 16;
+    }
+
+    fn start_threading() {
+        interrupt::disable(esp_hal::Cpu::ProCpu, Interrupt::FROM_CPU_INTR1);
+        Self::schedule();
+        // Panics if `FROM_CPU_INTR1` is among `esp_hal::interrupt::RESERVED_INTERRUPTS`,
+        // which isn't the case.
+        interrupt::enable(Interrupt::FROM_CPU_INTR1, interrupt::Priority::min()).unwrap();
+    }
+}
+
+const fn default_trap_frame() -> TrapFrame {
+    TrapFrame {
+        PC: 0,
+        PS: 0,
+        A0: 0,
+        A1: 0,
+        A2: 0,
+        A3: 0,
+        A4: 0,
+        A5: 0,
+        A6: 0,
+        A7: 0,
+        A8: 0,
+        A9: 0,
+        A10: 0,
+        A11: 0,
+        A12: 0,
+        A13: 0,
+        A14: 0,
+        A15: 0,
+        SAR: 0,
+        EXCCAUSE: 0,
+        EXCVADDR: 0,
+        LBEG: 0,
+        LEND: 0,
+        LCOUNT: 0,
+        THREADPTR: 0,
+        SCOMPARE1: 0,
+        BR: 0,
+        ACCLO: 0,
+        ACCHI: 0,
+        M0: 0,
+        M1: 0,
+        M2: 0,
+        M3: 0,
+    }
+}
+
+/// Handler for software interrupt 0, which we use for context switching.
+#[allow(non_snake_case)]
+#[no_mangle]
+extern "C" fn FROM_CPU_INTR1(trap_frame: &mut TrapFrame) {
+    unsafe {
+        // clear FROM_CPU_INTR1
+        (&*SYSTEM::PTR)
+            .cpu_intr_from_cpu_1()
+            .modify(|_, w| w.cpu_intr_from_cpu_1().clear_bit());
+
+        sched(trap_frame)
+    }
+}
+
+/// Probes the runqueue for the next thread and switches context if needed.
+///
+/// # Safety
+///
+/// This method might switch the current register state that is saved in the
+/// `trap_frame`.
+/// It should only be called from inside the trap handler that is responsible for
+/// context switching.
+unsafe fn sched(trap_frame: &mut TrapFrame) {
+    loop {
+        if THREADS.with_mut(|mut threads| {
+            let Some(next_pid) = threads.runqueue.get_next() else {
+                return false;
+            };
+
+            if let Some(current_pid) = threads.current_pid() {
+                if next_pid == current_pid {
+                    return true;
+                }
+                threads.threads[usize::from(current_pid)].data = *trap_frame;
+            }
+            threads.current_thread = Some(next_pid);
+            *trap_frame = threads.threads[usize::from(next_pid)].data;
+            true
+        }) {
+            break;
+        }
+        // The esp-hal implementation of critical-section doesn't disable all interrupts.
+        // Thus we should release our hold on `THREADS` before we `waiti`, to prevent
+        // that another interrupt handler will try to borrow it while we still have it borrowed.
+        unsafe { core::arch::asm!("waiti 0") };
+    }
+}
diff --git a/src/riot-rs-threads/src/lib.rs b/src/riot-rs-threads/src/lib.rs
index ad3775a11..f60fe01bb 100644
--- a/src/riot-rs-threads/src/lib.rs
+++ b/src/riot-rs-threads/src/lib.rs
@@ -1,6 +1,7 @@
 #![cfg_attr(not(test), no_std)]
 #![feature(naked_functions)]
 #![feature(used_with_arg)]
+#![cfg_attr(target_arch = "xtensa", feature(asm_experimental_arch))]
 // Disable indexing lints for now, possible panics are documented or rely on internally-enforced
 // invariants
 #![allow(clippy::indexing_slicing)]
diff --git a/tests/benchmarks/bench_sched_yield/laze.yml b/tests/benchmarks/bench_sched_yield/laze.yml
index b8277bc23..ae6ddaa57 100644
--- a/tests/benchmarks/bench_sched_yield/laze.yml
+++ b/tests/benchmarks/bench_sched_yield/laze.yml
@@ -2,4 +2,5 @@ apps:
   - name: bench_sched_yield
     selects:
       - sw/benchmark
+      - executor-thread
       - ?release