diff --git a/components/openthread/lib b/components/openthread/lib
index 34d698a274..203c78501e 160000
--- a/components/openthread/lib
+++ b/components/openthread/lib
@@ -1 +1 @@
-Subproject commit 34d698a274940730901b934caa023a3281aca53e
+Subproject commit 203c78501e9a6ea9ca3a929e6f9b6b9691ef16ee
diff --git a/components/openthread/src/esp_openthread_cli.c b/components/openthread/src/esp_openthread_cli.c
index 6ce998a430..b2a76a4df0 100644
--- a/components/openthread/src/esp_openthread_cli.c
+++ b/components/openthread/src/esp_openthread_cli.c
@@ -99,8 +99,11 @@ static void ot_cli_loop(void *context)
                     printf("Internal error: %s\n", esp_err_to_name(err));
                 }
             } else {
-                esp_openthread_cli_input(line);
-                xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
+                if (esp_openthread_cli_input(line) == ESP_OK) {
+                    xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
+                } else {
+                    printf("Openthread task is busy, failed to run command: %s\n", line);
+                }
             }
             linenoiseHistoryAdd(line);
         }
diff --git a/components/openthread/src/esp_openthread_lwip_netif.c b/components/openthread/src/esp_openthread_lwip_netif.c
index 29be440ae0..94c8e16861 100644
--- a/components/openthread/src/esp_openthread_lwip_netif.c
+++ b/components/openthread/src/esp_openthread_lwip_netif.c
@@ -23,6 +23,12 @@
 
 #define OPENTHREAD_IP6_MTU 1280
 
+#if CONFIG_OPENTHREAD_BORDER_ROUTER
+#if CONFIG_LWIP_IPV6_NUM_ADDRESSES != 12
+#error CONFIG_LWIP_IPV6_NUM_ADDRESSES should be set to 12, please configure it using `idf.py menuconfig`
+#endif
+#endif
+
 static err_t openthread_netif_init(struct netif *netif);
 static void openthread_netif_input(void *h, void *buffer, size_t len, void *eb);
 
diff --git a/components/openthread/src/esp_openthread_task_queue.c b/components/openthread/src/esp_openthread_task_queue.c
index 32bb4f2002..9d9bf87e6f 100644
--- a/components/openthread/src/esp_openthread_task_queue.c
+++ b/components/openthread/src/esp_openthread_task_queue.c
@@ -21,6 +21,8 @@ static QueueHandle_t s_task_queue = NULL;
 static int s_task_queue_event_fd = -1;
 static const char *task_queue_workflow = "task_queue";
 
+#define OT_TASK_QUEUE_SENDING_WAIT_TIME pdMS_TO_TICKS(100)
+
 typedef struct {
     esp_openthread_task_t task;
     void *arg;
@@ -60,7 +62,7 @@ esp_err_t IRAM_ATTR esp_openthread_task_queue_post(esp_openthread_task_t task, v
         ESP_RETURN_ON_FALSE_ISR(xQueueSendFromISR(s_task_queue, &task_storage, &task_woken), ESP_FAIL, OT_PLAT_LOG_TAG,
                                 "Failed to post task to OpenThread task queue");
     } else {
-        ESP_RETURN_ON_FALSE(xQueueSend(s_task_queue, &task_storage, portMAX_DELAY), ESP_FAIL, OT_PLAT_LOG_TAG,
+        ESP_RETURN_ON_FALSE(xQueueSend(s_task_queue, &task_storage, OT_TASK_QUEUE_SENDING_WAIT_TIME), ESP_FAIL, OT_PLAT_LOG_TAG,
                             "Failed to post task to OpenThread task queue");
     }
     ret = write(s_task_queue_event_fd, &val, sizeof(val));
diff --git a/examples/openthread/ot_br/main/esp_ot_br.c b/examples/openthread/ot_br/main/esp_ot_br.c
index d29718c4ae..bf887803a9 100644
--- a/examples/openthread/ot_br/main/esp_ot_br.c
+++ b/examples/openthread/ot_br/main/esp_ot_br.c
@@ -73,29 +73,15 @@ static void ot_task_worker(void *aContext)
 
     // Initialize the OpenThread stack
     ESP_ERROR_CHECK(esp_openthread_init(&config));
-
-    // Initialize border routing features
-    esp_openthread_lock_acquire(portMAX_DELAY);
-#if CONFIG_OPENTHREAD_STATE_INDICATOR_ENABLE
-    ESP_ERROR_CHECK(esp_openthread_state_indicator_init(esp_openthread_get_instance()));
-#endif
     ESP_ERROR_CHECK(esp_netif_attach(openthread_netif, esp_openthread_netif_glue_init(&config)));
-
+    esp_openthread_lock_acquire(portMAX_DELAY);
     (void)otLoggingSetLevel(CONFIG_LOG_DEFAULT_LEVEL);
     esp_openthread_cli_init();
-
-#if CONFIG_OPENTHREAD_BR_AUTO_START
-    ESP_ERROR_CHECK(esp_openthread_border_router_init());
-    otOperationalDatasetTlvs dataset;
-    otError error = otDatasetGetActiveTlvs(esp_openthread_get_instance(), &dataset);
-    ESP_ERROR_CHECK(esp_openthread_auto_start((error == OT_ERROR_NONE) ? &dataset : NULL));
-#endif // CONFIG_OPENTHREAD_BR_AUTO_START
-
     esp_cli_custom_command_init();
+    esp_openthread_cli_create_task();
     esp_openthread_lock_release();
 
     // Run the main loop
-    esp_openthread_cli_create_task();
     esp_openthread_launch_mainloop();
 
     // Clean up
@@ -105,36 +91,15 @@ static void ot_task_worker(void *aContext)
     vTaskDelete(NULL);
 }
 
-void app_main(void)
+void ot_br_init(void *ctx)
 {
-    // Used eventfds:
-    // * netif
-    // * task queue
-    // * border router
-    esp_vfs_eventfd_config_t eventfd_config = {
-#if CONFIG_OPENTHREAD_RADIO_NATIVE || CONFIG_OPENTHREAD_RADIO_SPINEL_SPI
-        // * radio driver (A native radio device needs a eventfd for radio driver.)
-        // * SpiSpinelInterface (The Spi Spinel Interface needs a eventfd.)
-        // The above will not exist at the same time.
-        .max_fds = 4,
-#else
-        .max_fds = 3,
-#endif
-    };
-    ESP_ERROR_CHECK(esp_vfs_eventfd_register(&eventfd_config));
-
-    ESP_ERROR_CHECK(nvs_flash_init());
-    ESP_ERROR_CHECK(esp_netif_init());
-    ESP_ERROR_CHECK(esp_event_loop_create_default());
-
 #if CONFIG_EXAMPLE_CONNECT_WIFI
 #if CONFIG_OPENTHREAD_BR_AUTO_START
     ESP_ERROR_CHECK(example_connect());
+    ESP_ERROR_CHECK(esp_wifi_set_ps(WIFI_PS_MAX_MODEM));
 #if CONFIG_ESP_COEX_SW_COEXIST_ENABLE && CONFIG_OPENTHREAD_RADIO_NATIVE
-    ESP_ERROR_CHECK(esp_wifi_set_ps(WIFI_PS_MIN_MODEM));
     ESP_ERROR_CHECK(esp_coex_wifi_i154_enable());
 #else
-    ESP_ERROR_CHECK(esp_wifi_set_ps(WIFI_PS_NONE));
 
 #if CONFIG_EXTERNAL_COEX_ENABLE
     ot_br_external_coexist_init();
@@ -155,5 +120,44 @@ void app_main(void)
 
     ESP_ERROR_CHECK(mdns_init());
     ESP_ERROR_CHECK(mdns_hostname_set("esp-ot-br"));
-    xTaskCreate(ot_task_worker, "ot_br_main", 20480, xTaskGetCurrentTaskHandle(), 5, NULL);
+
+    // Initialize border routing features
+    esp_openthread_lock_acquire(portMAX_DELAY);
+#if CONFIG_OPENTHREAD_STATE_INDICATOR_ENABLE
+    ESP_ERROR_CHECK(esp_openthread_state_indicator_init(esp_openthread_get_instance()));
+#endif
+
+#if CONFIG_OPENTHREAD_BR_AUTO_START
+    ESP_ERROR_CHECK(esp_openthread_border_router_init());
+    otOperationalDatasetTlvs dataset;
+    otError error = otDatasetGetActiveTlvs(esp_openthread_get_instance(), &dataset);
+    ESP_ERROR_CHECK(esp_openthread_auto_start((error == OT_ERROR_NONE) ? &dataset : NULL));
+#endif // CONFIG_OPENTHREAD_BR_AUTO_START
+
+    esp_openthread_lock_release();
+    vTaskDelete(NULL);
+}
+
+void app_main(void)
+{
+    // Used eventfds:
+    // * netif
+    // * task queue
+    // * border router
+    esp_vfs_eventfd_config_t eventfd_config = {
+#if CONFIG_OPENTHREAD_RADIO_NATIVE || CONFIG_OPENTHREAD_RADIO_SPINEL_SPI
+        // * radio driver (A native radio device needs a eventfd for radio driver.)
+        // * SpiSpinelInterface (The Spi Spinel Interface needs a eventfd.)
+        // The above will not exist at the same time.
+        .max_fds = 4,
+#else
+        .max_fds = 3,
+#endif
+    };
+    ESP_ERROR_CHECK(esp_vfs_eventfd_register(&eventfd_config));
+    ESP_ERROR_CHECK(nvs_flash_init());
+    ESP_ERROR_CHECK(esp_netif_init());
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    xTaskCreate(ot_task_worker, "ot_br_main", 8192, xTaskGetCurrentTaskHandle(), 5, NULL);
+    xTaskCreate(ot_br_init, "ot_br_init", 6144, NULL, 4, NULL);
 }
diff --git a/examples/openthread/ot_br/sdkconfig.defaults b/examples/openthread/ot_br/sdkconfig.defaults
index 6620bfa46b..619ab0f7e7 100644
--- a/examples/openthread/ot_br/sdkconfig.defaults
+++ b/examples/openthread/ot_br/sdkconfig.defaults
@@ -31,7 +31,7 @@ CONFIG_OPENTHREAD_RADIO_SPINEL_UART=y
 # lwIP
 #
 CONFIG_LWIP_IPV6_FORWARD=y
-CONFIG_LWIP_IPV6_NUM_ADDRESSES=8
+CONFIG_LWIP_IPV6_NUM_ADDRESSES=12
 CONFIG_LWIP_MULTICAST_PING=y
 CONFIG_LWIP_NETIF_STATUS_CALLBACK=y
 CONFIG_LWIP_HOOK_IP6_ROUTE_DEFAULT=y