diff --git a/components/pthread/test_apps/pthread_unity_tests/main/test_pthread_cond_var.c b/components/pthread/test_apps/pthread_unity_tests/main/test_pthread_cond_var.c
index d281e7203c..73b34efd7a 100644
--- a/components/pthread/test_apps/pthread_unity_tests/main/test_pthread_cond_var.c
+++ b/components/pthread/test_apps/pthread_unity_tests/main/test_pthread_cond_var.c
@@ -5,6 +5,8 @@
  */
 #include <pthread.h>
 #include "unity.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
 
 typedef struct {
     pthread_cond_t *cond;
@@ -117,4 +119,7 @@ TEST_CASE("pthread cond wait", "[pthread]")
 
     TEST_ASSERT_EQUAL_INT(ESP_OK, pthread_cond_destroy(&cond));
     TEST_ASSERT_EQUAL_INT(ESP_OK, pthread_mutex_destroy(&mutex));
+
+    // Wait a few ticks to allow freertos idle task to free up memory
+    vTaskDelay(10);
 }
diff --git a/components/pthread/test_apps/pthread_unity_tests/main/test_pthread_rwlock.c b/components/pthread/test_apps/pthread_unity_tests/main/test_pthread_rwlock.c
index b42f7c7af9..0f9349da30 100644
--- a/components/pthread/test_apps/pthread_unity_tests/main/test_pthread_rwlock.c
+++ b/components/pthread/test_apps/pthread_unity_tests/main/test_pthread_rwlock.c
@@ -179,6 +179,9 @@ TEST_CASE("wrlock reader waits", "[pthread][rwlock]")
 
     TEST_ASSERT_EQUAL_INT(pthread_rwlock_destroy(&rwlock), 0);
     vQueueDelete(wait_queue);
+
+    // Wait a few ticks to allow freertos idle task to free up memory
+    vTaskDelay(10);
 }
 
 TEST_CASE("wrlock multiple readers wait", "[pthread][rwlock]")