diff --git a/Kconfig b/Kconfig
index 2f04cac80c..05a8b32cc2 100644
--- a/Kconfig
+++ b/Kconfig
@@ -389,18 +389,18 @@ mainmenu "Espressif IoT Development Framework Configuration"
         endchoice # assertions
 
         config COMPILER_ASSERT_NDEBUG_EVALUATE
-            bool "Enable to evaluate the expression inside assert(X) when NDEBUG is set"
+            bool "Enable the evaluation of the expression inside assert(X) when NDEBUG is set"
             default y
             help
                 When NDEBUG is set, assert(X) will not cause code to trigger an assertion.
-                With this option set assert(X) will still evaluate the expression X, though
+                With this option set, assert(X) will still evaluate the expression X, though
                 the result will never cause an assertion. This means that if X is a function
                 then the function will be called.
 
                 This is not according to the standard, which states that the assert(X) should
                 be replaced with ((void)0) if NDEBUG is defined.
 
-                In ESP-IDF v6.0 the default behavior will change to "no" to be inline with the
+                In ESP-IDF v6.0 the default behavior will change to "no" to be in line with the
                 standard.
 
         choice COMPILER_FLOAT_LIB_FROM
diff --git a/components/bootloader_support/bootloader_flash/src/bootloader_flash.c b/components/bootloader_support/bootloader_flash/src/bootloader_flash.c
index 8494c1c9c6..c913fea722 100644
--- a/components/bootloader_support/bootloader_flash/src/bootloader_flash.c
+++ b/components/bootloader_support/bootloader_flash/src/bootloader_flash.c
@@ -323,7 +323,8 @@ static esp_err_t bootloader_flash_read_allow_decrypt(size_t src_addr, void *dest
             ESP_EARLY_LOGD(TAG, "mmu set block paddr=0x%08" PRIx32 " (was 0x%08" PRIx32 ")", map_at, current_read_mapping);
 #if CONFIG_IDF_TARGET_ESP32
             //Should never fail if we only map a SPI_FLASH_MMU_PAGE_SIZE to the vaddr starting from FLASH_READ_VADDR
-            int e = cache_flash_mmu_set(0, 0, FLASH_READ_VADDR, map_at, 64, 1);
+            // Return value unused if asserts are disabled
+            int e __attribute__((unused)) = cache_flash_mmu_set(0, 0, FLASH_READ_VADDR, map_at, 64, 1);
             assert(e == 0);
 #else
             uint32_t actual_mapped_len = 0;
diff --git a/components/esp_hw_support/dma/esp_dma_utils.c b/components/esp_hw_support/dma/esp_dma_utils.c
index 518cb0c5f9..75c739926f 100644
--- a/components/esp_hw_support/dma/esp_dma_utils.c
+++ b/components/esp_hw_support/dma/esp_dma_utils.c
@@ -112,7 +112,8 @@ esp_err_t esp_dma_capable_malloc(size_t size, const esp_dma_mem_info_t *dma_mem_
         heap_caps &= ~MALLOC_CAP_DMA;
     }
 
-    esp_err_t ret = esp_cache_get_alignment(cache_flags, &cache_alignment_bytes);
+    // Return value unused if asserts are disabled
+    esp_err_t __attribute((unused)) ret = esp_cache_get_alignment(cache_flags, &cache_alignment_bytes);
     assert(ret == ESP_OK);
 
     //Get the least common multiple of two alignment
@@ -198,7 +199,8 @@ bool esp_dma_is_buffer_alignment_satisfied(const void *ptr, size_t size, esp_dma
     if (esp_ptr_external_ram(ptr)) {
         cache_flags |= MALLOC_CAP_SPIRAM;
     }
-    esp_err_t ret = esp_cache_get_alignment(cache_flags, &cache_alignment_bytes);
+    // Return value unused if asserts are disabled
+    esp_err_t __attribute__((unused)) ret = esp_cache_get_alignment(cache_flags, &cache_alignment_bytes);
     assert(ret == ESP_OK);
 
     //Get the least common multiple of two alignment
diff --git a/components/esp_hw_support/include/spinlock.h b/components/esp_hw_support/include/spinlock.h
index 7501faabea..e16e83829c 100644
--- a/components/esp_hw_support/include/spinlock.h
+++ b/components/esp_hw_support/include/spinlock.h
@@ -69,13 +69,15 @@ static inline void __attribute__((always_inline)) spinlock_initialize(spinlock_t
  *       function reenables interrupts once the spinlock is acquired). For critical
  *       sections, use the interface provided by the operating system.
  * @param lock - target spinlock object
- * @param timeout - cycles to wait, passing SPINLOCK_WAIT_FOREVER blocs indefinitely
+ * @param timeout - cycles to wait, passing SPINLOCK_WAIT_FOREVER blocks indefinitely
  */
 static inline bool __attribute__((always_inline)) spinlock_acquire(spinlock_t *lock, int32_t timeout)
 {
 #if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE && !BOOTLOADER_BUILD
     uint32_t irq_status;
-    uint32_t core_owner_id, other_core_owner_id;
+    uint32_t core_owner_id;
+    // Unused if asserts are disabled
+    uint32_t __attribute__((unused)) other_core_owner_id;
     bool lock_set;
     esp_cpu_cycle_count_t start_count;
 
@@ -173,7 +175,8 @@ static inline void __attribute__((always_inline)) spinlock_release(spinlock_t *l
 {
 #if !CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE && !BOOTLOADER_BUILD
     uint32_t irq_status;
-    uint32_t core_owner_id;
+    // Return value unused if asserts are disabled
+    uint32_t __attribute__((unused)) core_owner_id;
 
     assert(lock);
 #if __XTENSA__
diff --git a/components/esp_mm/esp_cache.c b/components/esp_mm/esp_cache.c
index ea0cbfbedc..ee01552045 100644
--- a/components/esp_mm/esp_cache.c
+++ b/components/esp_mm/esp_cache.c
@@ -50,7 +50,8 @@ static void s_c2m_ops(uint32_t vaddr, size_t size)
     } else
 #endif
     {
-        bool valid = false;
+        // Value unused if asserts are disabled
+        bool __attribute__((unused)) valid = false;
         esp_os_enter_critical_safe(&s_spinlock);
         valid = cache_hal_writeback_addr(vaddr, size);
         esp_os_exit_critical_safe(&s_spinlock);
diff --git a/components/esp_pm/pm_impl.c b/components/esp_pm/pm_impl.c
index d9b3c1b6f3..7b04a08013 100644
--- a/components/esp_pm/pm_impl.c
+++ b/components/esp_pm/pm_impl.c
@@ -931,7 +931,9 @@ void esp_pm_impl_init(void)
         uart_ll_set_sclk(UART_LL_GET_HW(CONFIG_ESP_CONSOLE_UART_NUM), (soc_module_clk_t)clk_source);
     }
     uint32_t sclk_freq;
-    esp_err_t err = esp_clk_tree_src_get_freq_hz((soc_module_clk_t)clk_source, ESP_CLK_TREE_SRC_FREQ_PRECISION_CACHED, &sclk_freq);
+
+    // Return value unused if asserts are disabled
+    esp_err_t __attribute__((unused)) err = esp_clk_tree_src_get_freq_hz((soc_module_clk_t)clk_source, ESP_CLK_TREE_SRC_FREQ_PRECISION_CACHED, &sclk_freq);
     assert(err == ESP_OK);
     HP_UART_SRC_CLK_ATOMIC() {
         uart_ll_set_baudrate(UART_LL_GET_HW(CONFIG_ESP_CONSOLE_UART_NUM), CONFIG_ESP_CONSOLE_UART_BAUDRATE, sclk_freq);
diff --git a/components/esp_ringbuf/ringbuf.c b/components/esp_ringbuf/ringbuf.c
index aa877f38d2..39d3848c7c 100644
--- a/components/esp_ringbuf/ringbuf.c
+++ b/components/esp_ringbuf/ringbuf.c
@@ -1397,7 +1397,8 @@ err:
 
 void vRingbufferDeleteWithCaps(RingbufHandle_t xRingbuffer)
 {
-    BaseType_t xResult;
+    // Return value unused if asserts are disabled
+    BaseType_t __attribute__((unused)) xResult;
     StaticRingbuffer_t *pxStaticRingbuffer = NULL;
     uint8_t *pucRingbufferStorage = NULL;
 
diff --git a/components/esp_system/port/arch/riscv/debug_stubs.c b/components/esp_system/port/arch/riscv/debug_stubs.c
index e92fcd0468..37aa45f292 100644
--- a/components/esp_system/port/arch/riscv/debug_stubs.c
+++ b/components/esp_system/port/arch/riscv/debug_stubs.c
@@ -26,7 +26,8 @@ static int esp_dbg_stubs_advertise_table(void *stub_table_addr)
 void esp_dbg_stubs_ll_init(void *stub_table_addr)
 {
     // notify host about control block address
-    int res = esp_dbg_stubs_advertise_table(stub_table_addr);
+    // Value unused if asserts are disabled
+    int __attribute__((unused)) res = esp_dbg_stubs_advertise_table(stub_table_addr);
     assert(res == 0 && "Failed to send debug stubs table address to host!");
     ESP_LOGV(TAG, "%s stubs %p", __func__, stub_table_addr);
 }
diff --git a/components/esp_system/task_wdt/task_wdt.c b/components/esp_system/task_wdt/task_wdt.c
index 5b4ea5c572..0541164a14 100644
--- a/components/esp_system/task_wdt/task_wdt.c
+++ b/components/esp_system/task_wdt/task_wdt.c
@@ -370,7 +370,7 @@ static UBaseType_t get_task_affinity(const TaskHandle_t xTask)
 void task_wdt_timeout_abort(bool current_core)
 {
     TaskSnapshot_t snapshot = { 0 };
-    BaseType_t ret = pdTRUE;
+    BaseType_t __attribute__((unused)) ret = pdTRUE;
 
     ESP_EARLY_LOGE(TAG, "Aborting.");
     esp_reset_reason_set_hint(ESP_RST_TASK_WDT);
diff --git a/components/freertos/FreeRTOS-Kernel/event_groups.c b/components/freertos/FreeRTOS-Kernel/event_groups.c
index 3c3a290520..108061b254 100644
--- a/components/freertos/FreeRTOS-Kernel/event_groups.c
+++ b/components/freertos/FreeRTOS-Kernel/event_groups.c
@@ -115,6 +115,7 @@ static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits,
              * event group structure. */
             volatile size_t xSize = sizeof( StaticEventGroup_t );
             configASSERT( xSize == sizeof( EventGroup_t ) );
+            ( void ) xSize; /* Prevent unused variable warning when configASSERT() is not used. */
         } /*lint !e529 xSize is referenced if configASSERT() is defined. */
         #endif /* configASSERT_DEFINED */
 
diff --git a/components/freertos/FreeRTOS-Kernel/stream_buffer.c b/components/freertos/FreeRTOS-Kernel/stream_buffer.c
index f474580ebc..50c2fb13ca 100644
--- a/components/freertos/FreeRTOS-Kernel/stream_buffer.c
+++ b/components/freertos/FreeRTOS-Kernel/stream_buffer.c
@@ -455,6 +455,7 @@ static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer,
              * message buffer structure. */
             volatile size_t xSize = sizeof( StaticStreamBuffer_t );
             configASSERT( xSize == sizeof( StreamBuffer_t ) );
+            ( void ) xSize; /* Prevent unused variable warning when configASSERT() is not used. */
         } /*lint !e529 xSize is referenced is configASSERT() is defined. */
         #endif /* configASSERT_DEFINED */
 
@@ -1420,6 +1421,7 @@ static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer,
          * result in confusion as to what is actually being observed. */
         const BaseType_t xWriteValue = 0x55;
         configASSERT( memset( pucBuffer, ( int ) xWriteValue, xBufferSizeBytes ) == pucBuffer );
+        (void)xWriteValue;
     } /*lint !e529 !e438 xWriteValue is only used if configASSERT() is defined. */
     #endif
 
diff --git a/components/freertos/esp_additions/idf_additions.c b/components/freertos/esp_additions/idf_additions.c
index 172ad76573..b559f86cc8 100644
--- a/components/freertos/esp_additions/idf_additions.c
+++ b/components/freertos/esp_additions/idf_additions.c
@@ -164,7 +164,8 @@ err:
                     portYIELD_WITHIN_API();
                 }
 
-                BaseType_t xResult;
+                // Return value unused if asserts are disabled
+                BaseType_t __attribute__((unused)) xResult;
                 StaticTask_t * pxTaskBuffer;
                 StackType_t * puxStackBuffer;
 
@@ -187,7 +188,8 @@ err:
              * from another task's context. */
             configASSERT( eRunning != eTaskGetState( xTaskToDelete ) );
 
-            BaseType_t xResult;
+            // Return value unused if asserts are disabled
+            BaseType_t __attribute__((unused)) xResult;
             StaticTask_t * pxTaskBuffer;
             StackType_t * puxStackBuffer;
 
@@ -260,7 +262,8 @@ err:
 
     void vQueueDeleteWithCaps( QueueHandle_t xQueue )
     {
-        BaseType_t xResult;
+        // Return value unused if asserts are disabled
+        BaseType_t __attribute__((unused)) xResult;
         StaticQueue_t * pxQueueBuffer;
         uint8_t * pucQueueStorageBuffer;
 
@@ -332,7 +335,8 @@ err:
 
     void vSemaphoreDeleteWithCaps( SemaphoreHandle_t xSemaphore )
     {
-        BaseType_t xResult;
+        // Return value unused if asserts are disabled
+        BaseType_t __attribute__((unused)) xResult;
         StaticSemaphore_t * pxSemaphoreBuffer;
 
         /* Retrieve the buffer used to create the semaphore before deleting it
@@ -404,7 +408,8 @@ err:
     void vStreamBufferGenericDeleteWithCaps( StreamBufferHandle_t xStreamBuffer,
                                              BaseType_t xIsMessageBuffer )
     {
-        BaseType_t xResult;
+        // Return value unused if asserts are disabled
+        BaseType_t __attribute__((unused)) xResult;
         StaticStreamBuffer_t * pxStaticStreamBuffer;
         uint8_t * pucStreamBufferStorageArea;
 
diff --git a/components/freertos/esp_additions/idf_additions_event_groups.c b/components/freertos/esp_additions/idf_additions_event_groups.c
index 8fedd98c1c..3ea8e321af 100644
--- a/components/freertos/esp_additions/idf_additions_event_groups.c
+++ b/components/freertos/esp_additions/idf_additions_event_groups.c
@@ -59,7 +59,8 @@
 
     void vEventGroupDeleteWithCaps( EventGroupHandle_t xEventGroup )
     {
-        BaseType_t xResult;
+        // Return value unused if asserts are disabled
+        BaseType_t __attribute__((unused)) xResult;
         StaticEventGroup_t * pxEventGroupBuffer;
 
         /* Retrieve the buffer used to create the event group before deleting it