diff --git a/Kconfig b/Kconfig
index 70187a2703..be6e591a3c 100644
--- a/Kconfig
+++ b/Kconfig
@@ -590,4 +590,3 @@ mainmenu "Espressif IoT Development Framework Configuration"
             - CONFIG_ESPTOOLPY_FLASHFREQ_120M
             - CONFIG_SPIRAM_SPEED_120M
             - CONFIG_SPI_FLASH_QUAD_32BIT_ADDR_ENABLE
-            - CONFIG_FREERTOS_USE_KERNEL_10_5_1
diff --git a/components/freertos/CMakeLists.txt b/components/freertos/CMakeLists.txt
index 39a9634432..e565e01ffa 100644
--- a/components/freertos/CMakeLists.txt
+++ b/components/freertos/CMakeLists.txt
@@ -31,11 +31,7 @@ idf_build_get_property(target IDF_TARGET)
 if(CONFIG_FREERTOS_SMP)
     set(kernel_impl "FreeRTOS-Kernel-SMP")
 else()
-    if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
-        set(kernel_impl "FreeRTOS-Kernel-V10.5.1")
-    else()
-        set(kernel_impl "FreeRTOS-Kernel")
-    endif()
+    set(kernel_impl "FreeRTOS-Kernel")
 endif()
 
 if(CONFIG_IDF_TARGET_ARCH_XTENSA)
@@ -73,52 +69,27 @@ list(APPEND srcs
     "${kernel_impl}/timers.c"
     "${kernel_impl}/event_groups.c"
     "${kernel_impl}/stream_buffer.c")
-if(NOT CONFIG_FREERTOS_USE_KERNEL_10_5_1)
-    list(APPEND srcs "${kernel_impl}/croutine.c")
-endif()
 
 # Add port source files
-if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
-    list(APPEND srcs
-        "FreeRTOS-Kernel/portable/${arch}/port.c")
-else()
-    list(APPEND srcs
-        "${kernel_impl}/portable/${arch}/port.c")
-endif()
+list(APPEND srcs
+    "${kernel_impl}/portable/${arch}/port.c")
 
 if(arch STREQUAL "linux")
-    if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
+    list(APPEND srcs
+        "${kernel_impl}/portable/${arch}/utils/wait_for_event.c")
+    if(kernel_impl STREQUAL "FreeRTOS-Kernel")
         list(APPEND srcs
-            "FreeRTOS-Kernel/portable/${arch}/utils/wait_for_event.c"
-            "FreeRTOS-Kernel/portable/${arch}/port_idf.c")
-    else()
-        list(APPEND srcs
-            "${kernel_impl}/portable/${arch}/utils/wait_for_event.c")
-        if(kernel_impl STREQUAL "FreeRTOS-Kernel")
-            list(APPEND srcs
-                "${kernel_impl}/portable/${arch}/port_idf.c")
-        endif()
+            "${kernel_impl}/portable/${arch}/port_idf.c")
     endif()
 else()
-    if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
-        list(APPEND srcs
-            "FreeRTOS-Kernel/portable/${arch}/portasm.S")
-    else()
-        list(APPEND srcs
-            "${kernel_impl}/portable/${arch}/portasm.S")
-    endif()
+    list(APPEND srcs
+        "${kernel_impl}/portable/${arch}/portasm.S")
 endif()
 
 if(arch STREQUAL "xtensa")
-    if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
-        list(APPEND srcs
-            "FreeRTOS-Kernel/portable/${arch}/xtensa_init.c"
-            "FreeRTOS-Kernel/portable/${arch}/xtensa_overlay_os_hook.c")
-    else()
-        list(APPEND srcs
-            "${kernel_impl}/portable/${arch}/xtensa_init.c"
-            "${kernel_impl}/portable/${arch}/xtensa_overlay_os_hook.c")
-    endif()
+    list(APPEND srcs
+        "${kernel_impl}/portable/${arch}/xtensa_init.c"
+        "${kernel_impl}/portable/${arch}/xtensa_overlay_os_hook.c")
 endif()
 
 # Add ESP-additions source files
@@ -151,15 +122,9 @@ list(APPEND include_dirs
     "${kernel_impl}/include")       # FreeRTOS headers via `#include "freertos/xxx.h"`
 
 # Add port public include directories
-if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
-    list(APPEND include_dirs
-        "FreeRTOS-Kernel/portable/${arch}/include"               # For port headers via `#include "freertos/...h"`
-        "FreeRTOS-Kernel/portable/${arch}/include/freertos")     # For port headers via `#include "...h"`
-else()
-    list(APPEND include_dirs
-        "${kernel_impl}/portable/${arch}/include"               # For port headers via `#include "freertos/...h"`
-        "${kernel_impl}/portable/${arch}/include/freertos")     # For port headers via `#include "...h"`
-endif()
+list(APPEND include_dirs
+    "${kernel_impl}/portable/${arch}/include"               # For port headers via `#include "freertos/...h"`
+    "${kernel_impl}/portable/${arch}/include/freertos")     # For port headers via `#include "...h"`
 
 # Add ESP-additions public include directories
 list(APPEND include_dirs
@@ -181,13 +146,8 @@ list(APPEND private_include_dirs
 
 # Add port private include directories
 if(arch STREQUAL "linux")
-    if(CONFIG_FREERTOS_USE_KERNEL_10_5_1)
-        list(APPEND private_include_dirs
-            "FreeRTOS-Kernel/portable/${arch}/") # Linux port `#include "utils/wait_for_event.h"`
-    else()
-        list(APPEND private_include_dirs
-            "${kernel_impl}/portable/${arch}/") # Linux port `#include "utils/wait_for_event.h"`
-    endif()
+    list(APPEND private_include_dirs
+        "${kernel_impl}/portable/${arch}/") # Linux port `#include "utils/wait_for_event.h"`
 endif()
 
 # Add ESP-additions private include directories
diff --git a/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h b/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
index dfe2f7161d..f09fdaa826 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
@@ -444,10 +444,13 @@ void vPortTCBPreDeleteHook( void *pxTCB );
  * - Maps to forward declared functions
  * ------------------------------------------------------------------------------------------------------------------ */
 
-#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-#define portGET_CORE_ID()       xPortGetCoreID()
-#define portYIELD_CORE( x )     vPortYieldOtherCore( x )
-#endif
+// ----------------------- System --------------------------
+
+#if ( configNUMBER_OF_CORES > 1 )
+    #define portGET_CORE_ID()       xPortGetCoreID()
+#else /* configNUMBER_OF_CORES > 1 */
+    #define portGET_CORE_ID()       ((BaseType_t) 0);
+#endif /* configNUMBER_OF_CORES > 1 */
 
 // --------------------- Interrupts ------------------------
 
@@ -560,6 +563,10 @@ void vPortTCBPreDeleteHook( void *pxTCB );
 */
 #define portYIELD_WITHIN_API() portYIELD()
 
+#if ( configNUMBER_OF_CORES > 1 )
+    #define portYIELD_CORE( xCoreID )     vPortYieldOtherCore( xCoreID )
+#endif /* configNUMBER_OF_CORES > 1 */
+
 // ------------------- Hook Functions ----------------------
 
 #define portSUPPRESS_TICKS_AND_SLEEP(idleTime) vApplicationSleep(idleTime)
diff --git a/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S b/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S
index 2b215156c7..b46fe86db9 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S
+++ b/components/freertos/FreeRTOS-Kernel/portable/riscv/portasm.S
@@ -8,12 +8,7 @@
 #include "freertos/FreeRTOSConfig.h"
 #include "soc/soc_caps.h"
 
-#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-#define pxCurrentTCB    pxCurrentTCBs
 .extern pxCurrentTCBs
-#else
-.extern pxCurrentTCB
-#endif
 
 #if CONFIG_ESP_SYSTEM_HW_STACK_GUARD
 #include "esp_private/hw_stack_guard.h"
@@ -22,7 +17,7 @@
     .global port_uxInterruptNesting
     .global port_xSchedulerRunning
     .global xIsrStackTop
-    .global pxCurrentTCB
+    .global pxCurrentTCBs
     .global vTaskSwitchContext
     .global xPortSwitchFlag
 #if CONFIG_ESP_SYSTEM_HW_STACK_GUARD
@@ -38,7 +33,7 @@
 
 /**
  * This function makes the RTOS aware about an ISR entering. It takes the
- * current task stack pointer and places it into the pxCurrentTCB.
+ * current task stack pointer and places it into the pxCurrentTCBs.
  * It then loads the ISR stack into sp.
  * TODO: ISR nesting code improvements ?
  * In the routines below, let's use a0-a5 registers to let the compiler generate
@@ -75,18 +70,18 @@ rtos_int_enter:
     ESP_HW_STACK_GUARD_MONITOR_STOP_CUR_CORE a0 a1
 #endif /* CONFIG_ESP_SYSTEM_HW_STACK_GUARD */
 
-    /* Save the current sp in pxCurrentTCB[coreID] and load the ISR stack on to sp */
+    /* Save the current sp in pxCurrentTCBs[coreID] and load the ISR stack on to sp */
 #if ( configNUM_CORES > 1 )
-    la      a0, pxCurrentTCB                /* a0 = &pxCurrentTCB */
-    add     a0, a0, a5                      /* a0 = &pxCurrentTCB[coreID] // a5 already contains coreID * 4 */
-    lw      a0, (a0)                        /* a0 = pxCurrentTCB[coreID] */
-    sw      sp, 0(a0)                       /* pxCurrentTCB[coreID] = sp */
+    la      a0, pxCurrentTCBs               /* a0 = &pxCurrentTCBs */
+    add     a0, a0, a5                      /* a0 = &pxCurrentTCBs[coreID] // a5 already contains coreID * 4 */
+    lw      a0, (a0)                        /* a0 = pxCurrentTCBs[coreID] */
+    sw      sp, 0(a0)                       /* pxCurrentTCBs[coreID] = sp */
     la      a0, xIsrStackTop                /* a0 = &xIsrStackTop */
     add     a0, a0, a5                      /* a0 = &xIsrStackTop[coreID] // a5 already contains coreID * 4 */
     lw      sp, (a0)                        /* sp = xIsrStackTop[coreID] */
 #else
-    lw      a0, pxCurrentTCB                /* a0 = pxCurrentTCB */
-    sw      sp, 0(a0)                       /* pxCurrentTCB[0] = sp */
+    lw      a0, pxCurrentTCBs               /* a0 = pxCurrentTCBs */
+    sw      sp, 0(a0)                       /* pxCurrentTCBs[0] = sp */
     lw      sp, xIsrStackTop                /* sp = xIsrStackTop */
 #endif /* ( configNUM_CORES > 1 ) */
 
@@ -180,20 +175,20 @@ no_switch:
     /* Recover the stack of next task and prepare to exit */
     csrr    a1, mhartid
     slli    a1, a1, 2
-    la      a0, pxCurrentTCB                /* a0 = &pxCurrentTCB */
-    add     a0, a0, a1                      /* a0 = &pxCurrentTCB[coreID] */
-    lw      a0, 0(a0)                       /* a0 = pxCurrentTCB[coreID] */
+    la      a0, pxCurrentTCBs               /* a0 = &pxCurrentTCBs */
+    add     a0, a0, a1                      /* a0 = &pxCurrentTCBs[coreID] */
+    lw      a0, 0(a0)                       /* a0 = pxCurrentTCBs[coreID] */
     lw      sp, 0(a0)                       /* sp = previous sp */
 #else
     /* Recover the stack of next task */
-    lw      a0, pxCurrentTCB
+    lw      a0, pxCurrentTCBs
     lw      sp, 0(a0)
 #endif /* ( configNUM_CORES > 1 ) */
 
 
 #if CONFIG_ESP_SYSTEM_HW_STACK_GUARD
-    /* esp_hw_stack_guard_set_bounds(pxCurrentTCB[0]->pxStack,
-     *                               pxCurrentTCB[0]->pxEndOfStack);
+    /* esp_hw_stack_guard_set_bounds(pxCurrentTCBs[0]->pxStack,
+     *                               pxCurrentTCBs[0]->pxEndOfStack);
      */
     lw      a1, PORT_OFFSET_PX_END_OF_STACK(a0)
     lw      a0, PORT_OFFSET_PX_STACK(a0)
diff --git a/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h b/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
index 2c107da027..e6772f12a7 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
@@ -427,10 +427,13 @@ void vPortTCBPreDeleteHook( void *pxTCB );
  * - Maps to forward declared functions
  * ------------------------------------------------------------------------------------------------------------------ */
 
-#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-#define portGET_CORE_ID()       xPortGetCoreID()
-#define portYIELD_CORE( x )     vPortYieldOtherCore( x )
-#endif
+// ----------------------- System --------------------------
+
+#if ( configNUMBER_OF_CORES > 1 )
+    #define portGET_CORE_ID()       xPortGetCoreID()
+#else /* configNUMBER_OF_CORES > 1 */
+    #define portGET_CORE_ID()       ((BaseType_t) 0);
+#endif /* configNUMBER_OF_CORES > 1 */
 
 // --------------------- Interrupts ------------------------
 
@@ -523,6 +526,10 @@ extern void _frxt_setup_switch( void );     //Defined in portasm.S
 */
 #define portYIELD_WITHIN_API() esp_crosscore_int_send_yield(xPortGetCoreID())
 
+#if ( configNUMBER_OF_CORES > 1 )
+    #define portYIELD_CORE( xCoreID )     vPortYieldOtherCore( xCoreID )
+#endif /* configNUMBER_OF_CORES > 1 */
+
 // ------------------- Hook Functions ----------------------
 
 #define portSUPPRESS_TICKS_AND_SLEEP(idleTime) vApplicationSleep(idleTime)
diff --git a/components/freertos/FreeRTOS-Kernel/portable/xtensa/portasm.S b/components/freertos/FreeRTOS-Kernel/portable/xtensa/portasm.S
index 931aa3dc31..c4723ee83f 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/xtensa/portasm.S
+++ b/components/freertos/FreeRTOS-Kernel/portable/xtensa/portasm.S
@@ -33,12 +33,7 @@
 
 #define TOPOFSTACK_OFFS                 0x00    /* StackType_t *pxTopOfStack */
 
-#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-#define pxCurrentTCB    pxCurrentTCBs
 .extern pxCurrentTCBs
-#else
-.extern pxCurrentTCB
-#endif
 
 #if XCHAL_CP_NUM > 0
 /* Offsets used to get a task's coprocessor save area (CPSA) from its TCB */
@@ -154,11 +149,11 @@ _frxt_int_enter:
     s32i    a2,  a3, 0                  /* save nesting count              */
     bnei    a2,  1, .Lnested            /* !=0 before incr, so nested      */
 
-    movi    a2,  pxCurrentTCB
+    movi    a2,  pxCurrentTCBs
     addx4   a2,  a4, a2
     l32i    a2,  a2, 0                  /* a2 = current TCB                */
     beqz    a2,  1f
-    s32i    a1,  a2, TOPOFSTACK_OFFS    /* pxCurrentTCB->pxTopOfStack = SP */
+    s32i    a1,  a2, TOPOFSTACK_OFFS    /* pxCurrentTCBs->pxTopOfStack = SP */
     movi    a1,  port_IntStack+configISR_STACK_SIZE   /* a1 = top of intr stack for CPU 0  */
     movi    a2,  configISR_STACK_SIZE   /* add configISR_STACK_SIZE * cpu_num to arrive at top of stack for cpu_num */
     mull    a2,  a4, a2
@@ -221,11 +216,11 @@ _frxt_int_exit:
     rsync                               /* ensure CPENABLE was modified */
     #endif
 
-    movi    a2,  pxCurrentTCB
+    movi    a2,  pxCurrentTCBs
     addx4   a2,  a4, a2
     l32i    a2,  a2, 0                  /* a2 = current TCB                */
     beqz    a2,  1f                     /* no task ? go to dispatcher      */
-    l32i    a1,  a2, TOPOFSTACK_OFFS    /* SP = pxCurrentTCB->pxTopOfStack */
+    l32i    a1,  a2, TOPOFSTACK_OFFS    /* SP = pxCurrentTCBs->pxTopOfStack */
 
     movi    a2,  port_switch_flag       /* address of switch flag          */
     addx4   a2,  a4, a2                 /* point to flag for this cpu      */
@@ -433,7 +428,7 @@ _frxt_tick_timer_init:
 * If restoring a task that was preempted, restores all state including the task's CPENABLE.
 *
 * Entry:
-*   pxCurrentTCB  points to the TCB of the task to suspend,
+*   pxCurrentTCBs  points to the TCB of the task to suspend,
 *   Because it is tail-called without a true function entrypoint, it needs no 'entry' instruction.
 *
 * Exit:
@@ -449,12 +444,12 @@ _frxt_dispatch:
 
     #ifdef __XTENSA_CALL0_ABI__
     call0   vTaskSwitchContext  // Get next TCB to resume
-    movi    a2, pxCurrentTCB
+    movi    a2, pxCurrentTCBs
     getcoreid a3
     addx4   a2,  a3, a2
     #else
     call4   vTaskSwitchContext  // Get next TCB to resume
-    movi    a2, pxCurrentTCB
+    movi    a2, pxCurrentTCBs
     getcoreid a3
     addx4   a2,  a3, a2
     #endif
@@ -498,7 +493,7 @@ _frxt_dispatch:
 
     #if XCHAL_CP_NUM > 0
     /* Restore CPENABLE from task's co-processor save area. */
-    movi    a2, pxCurrentTCB            /* cp_state =                       */
+    movi    a2, pxCurrentTCBs           /* cp_state =                       */
     getcoreid a3
     addx4   a2, a3, a2
     l32i    a2, a2, 0
@@ -539,7 +534,7 @@ _frxt_dispatch:
 * then tail-calls the dispatcher _frxt_dispatch() to perform the actual context switch
 *
 * At Entry:
-*   pxCurrentTCB  points to the TCB of the task to suspend
+*   pxCurrentTCBs  points to the TCB of the task to suspend
 *   Callable from C (obeys ABI conventions on entry).
 *
 * Does not return to caller.
@@ -591,13 +586,13 @@ vPortYield:
     call0   _xt_coproc_savecs
     #endif
 
-    movi    a2,  pxCurrentTCB
+    movi    a2,  pxCurrentTCBs
     getcoreid a3
     addx4   a2,  a3, a2
-    l32i    a2,  a2, 0                  /* a2 = pxCurrentTCB                */
+    l32i    a2,  a2, 0                  /* a2 = pxCurrentTCBs                */
     movi    a3,  0
     s32i    a3,  sp, XT_SOL_EXIT        /* 0 to flag as solicited frame     */
-    s32i    sp,  a2, TOPOFSTACK_OFFS    /* pxCurrentTCB->pxTopOfStack = SP  */
+    s32i    sp,  a2, TOPOFSTACK_OFFS    /* pxCurrentTCBs->pxTopOfStack = SP  */
 
     #if XCHAL_CP_NUM > 0
     /* Clear CPENABLE, also in task's co-processor state save area. */
@@ -623,8 +618,8 @@ vPortYield:
 * _frxt_dispatch() to perform the actual context switch.
 *
 * At Entry:
-*   Interrupted task context has been saved in an interrupt stack frame at pxCurrentTCB->pxTopOfStack.
-*   pxCurrentTCB  points to the TCB of the task to suspend,
+*   Interrupted task context has been saved in an interrupt stack frame at pxCurrentTCBs->pxTopOfStack.
+*   pxCurrentTCBs  points to the TCB of the task to suspend,
 *   Callable from C (obeys ABI conventions on entry).
 *
 * At Exit:
@@ -642,7 +637,7 @@ vPortYieldFromInt:
 
     #if XCHAL_CP_NUM > 0
     /* Save CPENABLE in task's co-processor save area, and clear CPENABLE.  */
-    movi    a2, pxCurrentTCB            /* cp_state =                       */
+    movi    a2, pxCurrentTCBs           /* cp_state =                       */
     getcoreid a3
     addx4   a2, a3, a2
     l32i    a2, a2, 0
@@ -696,9 +691,9 @@ _frxt_task_coproc_state:
     l32i    a15, a15, 0
     bnez    a15, 1f
 
-    movi    a15, pxCurrentTCB
+    movi    a15, pxCurrentTCBs
     addx4   a15, a3, a15
-    l32i    a15, a15, 0                 /* && pxCurrentTCB != 0) {                 */
+    l32i    a15, a15, 0                 /* && pxCurrentTCBs != 0) {                 */
 
     beqz    a15, 2f
     get_cpsa_from_tcb a15, a3           /* After this, pointer to CP save area is in a15, a3 is destroyed */
@@ -743,9 +738,9 @@ _frxt_coproc_exc_hook:
     bnez    a3, 1f                          /* We are in an interrupt. Return*/
     /* CP operations are incompatible with unpinned tasks. Thus we pin the task
     to the current running core. */
-    movi    a3, pxCurrentTCB
+    movi    a3, pxCurrentTCBs
     addx4   a3, a2, a3
-    l32i    a3, a3, 0                       /* a3 = pxCurrentTCB[xCurCoreID] */
+    l32i    a3, a3, 0                       /* a3 = pxCurrentTCBs[xCurCoreID] */
     movi    a4, offset_xCoreID
     l32i    a4, a4, 0                       /* a4 = offset_xCoreID */
     add     a3, a3, a4                      /* a3 = &TCB.xCoreID */
diff --git a/components/freertos/Kconfig b/components/freertos/Kconfig
index 0a1a18e895..eccb221ff2 100644
--- a/components/freertos/Kconfig
+++ b/components/freertos/Kconfig
@@ -3,17 +3,9 @@ menu "FreeRTOS"
     menu "Kernel"
         # Upstream FreeRTOS configurations go here
 
-        config FREERTOS_USE_KERNEL_10_5_1
-            bool "Use v10.5.1 Kernel (BETA)"
-            default n
-            help
-                This option enables building for FreeRTOS v10.5.1 kernel.
-
-                Note: The v10.5.1 kernel is still in BETA, thus is not production ready.
-
         config FREERTOS_SMP
             bool "Run the Amazon SMP FreeRTOS kernel instead (FEATURE UNDER DEVELOPMENT)"
-            depends on !FREERTOS_USE_KERNEL_10_5_1 && !IDF_TARGET_ESP32P4 #TODO: IDF-8113: Enable P4 support on AMZ SMP
+            depends on !IDF_TARGET_ESP32P4 #TODO: IDF-8113: Enable P4 support on AMZ SMP
             default  "n"
             help
                 Amazon has released an SMP version of the FreeRTOS Kernel which can be found via the following link:
diff --git a/components/freertos/config/include/freertos/FreeRTOSConfig.h b/components/freertos/config/include/freertos/FreeRTOSConfig.h
index 83f337af7d..33dc30f49f 100644
--- a/components/freertos/config/include/freertos/FreeRTOSConfig.h
+++ b/components/freertos/config/include/freertos/FreeRTOSConfig.h
@@ -248,6 +248,8 @@
     #else
         #define configNUM_CORES                  2
     #endif /* CONFIG_FREERTOS_UNICORE */
+    /* For compatibility */
+    #define configNUMBER_OF_CORES                configNUM_CORES
     #define configRUN_MULTIPLE_PRIORITIES        1
     #define configUSE_TASK_PREEMPTION_DISABLE    1
 #endif /* CONFIG_FREERTOS_SMP */
diff --git a/components/freertos/config/riscv/include/freertos/FreeRTOSConfig_arch.h b/components/freertos/config/riscv/include/freertos/FreeRTOSConfig_arch.h
index e0288dd5c8..670ee6d290 100644
--- a/components/freertos/config/riscv/include/freertos/FreeRTOSConfig_arch.h
+++ b/components/freertos/config/riscv/include/freertos/FreeRTOSConfig_arch.h
@@ -42,17 +42,14 @@
 /* ----------------------- System -------------------------- */
 
 #define configUSE_NEWLIB_REENTRANT    1
-#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
 
 /* - FreeRTOS provides default for configTLS_BLOCK_TYPE.
  * - We simply provide our own INIT and DEINIT functions
  * - We set "SET" to a blank macro since there is no need to set the reentrancy
  * pointer. All newlib functions calls __getreent. */
-    #define configINIT_TLS_BLOCK( xTLSBlock )      esp_reent_init( &( xTLSBlock ) )
-    #define configSET_TLS_BLOCK( xTLSBlock )
-    #define configDEINIT_TLS_BLOCK( xTLSBlock )    _reclaim_reent( &( xTLSBlock ) )
-
-#endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+#define configINIT_TLS_BLOCK( xTLSBlock )      esp_reent_init( &( xTLSBlock ) )
+#define configSET_TLS_BLOCK( xTLSBlock )
+#define configDEINIT_TLS_BLOCK( xTLSBlock )    _reclaim_reent( &( xTLSBlock ) )
 
 #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H    1
 
diff --git a/components/freertos/config/xtensa/include/freertos/FreeRTOSConfig_arch.h b/components/freertos/config/xtensa/include/freertos/FreeRTOSConfig_arch.h
index 2349c6d49b..f54952c83f 100644
--- a/components/freertos/config/xtensa/include/freertos/FreeRTOSConfig_arch.h
+++ b/components/freertos/config/xtensa/include/freertos/FreeRTOSConfig_arch.h
@@ -69,17 +69,14 @@
 /* ----------------------- System -------------------------- */
 
 #define configUSE_NEWLIB_REENTRANT    1
-#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
 
 /* - FreeRTOS provides default for configTLS_BLOCK_TYPE.
  * - We simply provide our own INIT and DEINIT functions
  * - We set "SET" to a blank macro since there is no need to set the reentrancy
  * pointer. All newlib functions calls __getreent. */
-    #define configINIT_TLS_BLOCK( xTLSBlock )      esp_reent_init( &( xTLSBlock ) )
-    #define configSET_TLS_BLOCK( xTLSBlock )
-    #define configDEINIT_TLS_BLOCK( xTLSBlock )    _reclaim_reent( &( xTLSBlock ) )
-
-#endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+#define configINIT_TLS_BLOCK( xTLSBlock )      esp_reent_init( &( xTLSBlock ) )
+#define configSET_TLS_BLOCK( xTLSBlock )
+#define configDEINIT_TLS_BLOCK( xTLSBlock )    _reclaim_reent( &( xTLSBlock ) )
 
 #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H    1
 
diff --git a/components/freertos/esp_additions/freertos_tasks_c_additions.h b/components/freertos/esp_additions/freertos_tasks_c_additions.h
index 6640ece168..304bf116d2 100644
--- a/components/freertos/esp_additions/freertos_tasks_c_additions.h
+++ b/components/freertos/esp_additions/freertos_tasks_c_additions.h
@@ -20,11 +20,6 @@
  * additional API.
  */
 
-#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-    #define pxCurrentTCB    pxCurrentTCBs
-#else
-#endif
-
 /* ------------------------------------------------- Static Asserts ------------------------------------------------- */
 
 /*
@@ -87,7 +82,7 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
     {
         /* Minor optimization. This function can never switch cores mid
          * execution */
-        BaseType_t xCoreID = xPortGetCoreID();
+        BaseType_t xCoreID = portGET_CORE_ID();
         BaseType_t xSwitchRequired = pdFALSE;
 
         /* This function should never be called by Core 0. */
@@ -110,7 +105,7 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
             {
                 /* Check if core 0 calling xTaskIncrementTick() has
                  * unblocked a task that can be run. */
-                if( uxTopReadyPriority > pxCurrentTCB[ xCoreID ]->uxPriority )
+                if( uxTopReadyPriority > pxCurrentTCBs[ xCoreID ]->uxPriority )
                 {
                     xSwitchRequired = pdTRUE;
                 }
@@ -126,7 +121,7 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
              * writer has not explicitly turned time slicing off. */
             #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
             {
-                if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB[ xCoreID ]->uxPriority ] ) ) > ( UBaseType_t ) 1 )
+                if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCBs[ xCoreID ]->uxPriority ] ) ) > ( UBaseType_t ) 1 )
                 {
                     xSwitchRequired = pdTRUE;
                 }
@@ -227,23 +222,12 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
 
                 if( pxNewTCB != NULL )
                 {
-                    #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-                    {
-                        memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
+                    memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
 
-                        /* Allocate space for the stack used by the task being created.
-                         * The base of the stack memory stored in the TCB so the task can
-                         * be deleted later if required. */
-                        pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-                    }
-                    #else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
-                    {
-                        /* Allocate space for the stack used by the task being created.
-                         * The base of the stack memory stored in the TCB so the task can
-                         * be deleted later if required. */
-                        pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-                    }
-                    #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+                    /* Allocate space for the stack used by the task being created.
+                     * The base of the stack memory stored in the TCB so the task can
+                     * be deleted later if required. */
+                    pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
                     if( pxNewTCB->pxStack == NULL )
                     {
@@ -257,17 +241,8 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
             {
                 StackType_t * pxStack;
 
-                #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-                {
-                    /* Allocate space for the stack used by the task being created. */
-                    pxStack = pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
-                }
-                #else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
-                {
-                    /* Allocate space for the stack used by the task being created. */
-                    pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
-                }
-                #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+                /* Allocate space for the stack used by the task being created. */
+                pxStack = pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
 
                 if( pxStack != NULL )
                 {
@@ -276,11 +251,7 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
 
                     if( pxNewTCB != NULL )
                     {
-                        #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-                        {
-                            memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
-                        }
-                        #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+                        memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
 
                         /* Store the stack location in the TCB. */
                         pxNewTCB->pxStack = pxStack;
@@ -289,15 +260,7 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
                     {
                         /* The stack cannot be used as the TCB was not created.  Free
                          * it again. */
-                        #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-                        {
-                            vPortFreeStack( pxStack );
-                        }
-                        #else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
-                        {
-                            vPortFree( pxStack );
-                        }
-                        #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+                        vPortFreeStack( pxStack );
                     }
                 }
                 else
@@ -397,13 +360,7 @@ _Static_assert( offsetof( StaticTask_t, pxDummy8 ) == offsetof( TCB_t, pxEndOfSt
                 /* The memory used for the task's TCB and stack are passed into this
                  * function - use them. */
                 pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
-
-                #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-                {
-                    memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
-                }
-                #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
-
+                memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
                 pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
 
                 #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
@@ -500,21 +457,11 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
 
     TaskHandle_t xTaskGetIdleTaskHandleForCore( BaseType_t xCoreID )
     {
-        #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-        {
-            /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
-             * started, then xIdleTaskHandle will be NULL. */
-            configASSERT( ( xCoreID < configNUMBER_OF_CORES ) && ( xCoreID != tskNO_AFFINITY ) );
-            configASSERT( ( xIdleTaskHandle[ xCoreID ] != NULL ) );
-            return xIdleTaskHandle[ xCoreID ];
-        }
-        #else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
-        {
-            configASSERT( xCoreID >= 0 && xCoreID < configNUM_CORES );
-            configASSERT( ( xIdleTaskHandle[ xCoreID ] != NULL ) );
-            return ( TaskHandle_t ) xIdleTaskHandle[ xCoreID ];
-        }
-        #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+        /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
+         * started, then xIdleTaskHandle will be NULL. */
+        configASSERT( ( xCoreID < configNUMBER_OF_CORES ) && ( xCoreID != tskNO_AFFINITY ) );
+        configASSERT( ( xIdleTaskHandle[ xCoreID ] != NULL ) );
+        return xIdleTaskHandle[ xCoreID ];
     }
 
 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
@@ -526,7 +473,11 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
     {
         TaskHandle_t xReturn;
 
-        #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+        #if ( CONFIG_FREERTOS_SMP )
+        {
+            xReturn = xTaskGetCurrentTaskHandleCPU( ( UBaseType_t ) xCoreID );
+        }
+        #else /* CONFIG_FREERTOS_SMP */
         {
             configASSERT( xCoreID < configNUMBER_OF_CORES );
             configASSERT( xCoreID != tskNO_AFFINITY );
@@ -542,26 +493,7 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
             /* Release the previously taken kernel lock. */
             taskEXIT_CRITICAL_SMP_ONLY( &xKernelLock );
         }
-        #else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
-        {
-            #if CONFIG_FREERTOS_SMP
-            {
-                xReturn = xTaskGetCurrentTaskHandleCPU( xCoreID );
-            }
-            #else /* CONFIG_FREERTOS_SMP */
-            {
-                if( xCoreID < configNUM_CORES )
-                {
-                    xReturn = pxCurrentTCB[ xCoreID ];
-                }
-                else
-                {
-                    xReturn = NULL;
-                }
-            }
-            #endif /* CONFIG_FREERTOS_SMP */
-        }
-        #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+        #endif /* CONFIG_FREERTOS_SMP */
 
         return xReturn;
     }
@@ -569,7 +501,7 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
 /*----------------------------------------------------------*/
 
-#if ( CONFIG_FREERTOS_USE_KERNEL_10_5_1 && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
+#if ( !CONFIG_FREERTOS_SMP && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
 
     configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimeCounterForCore( BaseType_t xCoreID )
     {
@@ -590,10 +522,10 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
         return ulRunTimeCounter;
     }
 
-#endif /* ( CONFIG_FREERTOS_USE_KERNEL_10_5_1 && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
+#endif /* ( !CONFIG_FREERTOS_SMP && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
 /*----------------------------------------------------------*/
 
-#if ( CONFIG_FREERTOS_USE_KERNEL_10_5_1 && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
+#if ( !CONFIG_FREERTOS_SMP && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
 
     configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercentForCore( BaseType_t xCoreID )
     {
@@ -627,7 +559,7 @@ BaseType_t xTaskGetCoreID( TaskHandle_t xTask )
         return ulReturn;
     }
 
-#endif /* ( CONFIG_FREERTOS_USE_KERNEL_10_5_1 &&  ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
+#endif /* ( !CONFIG_FREERTOS_SMP && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 uint8_t * pxTaskGetStackStart( TaskHandle_t xTask )
@@ -940,15 +872,15 @@ uint8_t * pxTaskGetStackStart( TaskHandle_t xTask )
         else
         {
             /* We have a task; return its reentrant struct. */
-            #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
-            {
-                ret = &pxCurTask->xTLSBlock;
-            }
-            #else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+            #if ( CONFIG_FREERTOS_SMP )
             {
                 ret = &pxCurTask->xNewLib_reent;
             }
-            #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+            #else /* CONFIG_FREERTOS_SMP */
+            {
+                ret = &pxCurTask->xTLSBlock;
+            }
+            #endif /* CONFIG_FREERTOS_SMP */
         }
 
         return ret;
@@ -1188,16 +1120,12 @@ void * pvTaskGetCurrentTCBForCore( BaseType_t xCoreID )
     void * pvRet;
 
     configASSERT( ( xCoreID >= 0 ) && ( xCoreID < configNUM_CORES ) );
-    #if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+    #if CONFIG_FREERTOS_SMP
+        /* SMP FreeRTOS defines pxCurrentTCB as a macro function call */
+        pvRet = ( void * ) pxCurrentTCB;
+    #else /* CONFIG_FREERTOS_SMP */
         pvRet = ( void * ) pxCurrentTCBs[ xCoreID ];
-    #else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
-        #if CONFIG_FREERTOS_SMP
-            /* SMP FreeRTOS defines pxCurrentTCB as a macro function call */
-            pvRet = pxCurrentTCB;
-        #else /* CONFIG_FREERTOS_SMP */
-            pvRet = ( void * ) pxCurrentTCB[ xCoreID ];
-        #endif /* CONFIG_FREERTOS_SMP */
-    #endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+    #endif /* CONFIG_FREERTOS_SMP */
     return pvRet;
 }
 
diff --git a/components/freertos/esp_additions/include/freertos/idf_additions.h b/components/freertos/esp_additions/include/freertos/idf_additions.h
index 0da84064d6..f230fc02bd 100644
--- a/components/freertos/esp_additions/include/freertos/idf_additions.h
+++ b/components/freertos/esp_additions/include/freertos/idf_additions.h
@@ -184,7 +184,7 @@ TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t xCoreID )
 }
 /** @endcond */
 
-#if CONFIG_FREERTOS_USE_KERNEL_10_5_1
+#if ( !CONFIG_FREERTOS_SMP && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
 
 /**
  * @brief Get the total execution of a particular core's idle task
@@ -208,18 +208,7 @@ TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t xCoreID )
  */
     configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercentForCore( BaseType_t xCoreID );
 
-#else /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
-
-/* CMock Workaround: CMock currently doesn't preprocess files, thus functions
- * guarded by ifdef still get mocked. We provide a dummy define here so that
- * functions using configRUN_TIME_COUNTER_TYPE can still be mocked.
- *
- * Todo: Will be removed when V10.5.1 becomes the default kernel. */
-    #ifndef configRUN_TIME_COUNTER_TYPE
-        #define configRUN_TIME_COUNTER_TYPE    unsigned int
-    #endif
-
-#endif /* CONFIG_FREERTOS_USE_KERNEL_10_5_1 */
+#endif /* ( !CONFIG_FREERTOS_SMP && ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
 
 /**
  * Returns the start of the stack associated with xTask.
diff --git a/components/freertos/linker.lf b/components/freertos/linker.lf
index b66d99bb98..7351856f6f 100644
--- a/components/freertos/linker.lf
+++ b/components/freertos/linker.lf
@@ -171,8 +171,7 @@ entries:
         tasks:ulTaskGenericNotifyValueClear (default)
         if FREERTOS_GENERATE_RUN_TIME_STATS = y:
             tasks:ulTaskGetIdleRunTimeCounter (default)
-            if FREERTOS_USE_KERNEL_10_5_1 = y:
-                tasks:ulTaskGetIdleRunTimePercent (default)
+            tasks:ulTaskGetIdleRunTimePercent (default)
         tasks:prvAddCurrentTaskToDelayedList (default)
         if FREERTOS_USE_TRACE_FACILITY = y:
             tasks:uxTaskGetSystemState (default)
@@ -195,8 +194,7 @@ entries:
         timers:uxTimerGetReloadMode (default)
         timers:xTimerGetExpiryTime (default)
         timers:pcTimerGetName (default)
-        if FREERTOS_USE_KERNEL_10_5_1 = y:
-            timers:prvReloadTimer (default)
+        timers:prvReloadTimer (default)
         timers:prvProcessExpiredTimer (default)
         timers:prvTimerTask (default)
         timers:prvProcessTimerOrBlockTask (default)
diff --git a/components/freertos/linker_common.lf b/components/freertos/linker_common.lf
index c0824ed7e0..0678a3c95a 100644
--- a/components/freertos/linker_common.lf
+++ b/components/freertos/linker_common.lf
@@ -28,7 +28,7 @@ entries:
         tasks:xTaskGetCoreID (default)
         tasks:xTaskGetIdleTaskHandleForCore (default)
         tasks:xTaskGetCurrentTaskHandleForCore (default)
-        if FREERTOS_USE_KERNEL_10_5_1 = y && FREERTOS_GENERATE_RUN_TIME_STATS = y:
+        if FREERTOS_SMP = n && FREERTOS_GENERATE_RUN_TIME_STATS = y:
             tasks:ulTaskGetIdleRunTimeCounterForCore (default)
             tasks:ulTaskGetIdleRunTimePercentForCore (default)
         tasks:pxTaskGetStackStart (default)