diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 107b093778..7fbceeb1fa 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -142,6 +142,48 @@ before_script:
     - export PYTHONPATH="$IDF_PATH/tools:$IDF_PATH/tools/ci/python_packages:$PYTHONPATH"
     - *fetch_submodules
 
+.build_template_app_template:
+  stage: build
+  image: $CI_DOCKER_REGISTRY/esp32-ci-env$BOT_DOCKER_IMAGE_TAG
+  tags:
+    - build
+  variables:
+    BATCH_BUILD: "1"
+    LOG_PATH: "${CI_PROJECT_DIR}/log_template_app"
+    BUILD_PATH: "${CI_PROJECT_DIR}/build_template_app"
+    SIZE_INFO_LOCATION: "$CI_PROJECT_DIR/size_info.txt"
+    BUILD_DIR: "@t/@w"
+    BUILD_LOG_MAKE: "${LOG_PATH}/make_@t_@w.txt"
+    BUILD_LOG_CMAKE: "${LOG_PATH}/cmake_@t_@w.txt"
+    BUILD_COMMAND_ARGS: ""
+  artifacts:
+    when: always
+    paths:
+      - log_template_app/*
+      - size_info.txt
+      - build_template_app/**/size.json
+  only:
+    variables:
+      - $BOT_TRIGGER_WITH_LABEL == null
+      - $BOT_LABEL_BUILD
+      - $BOT_LABEL_REGULAR_TEST
+  script:
+    # Set the variable for 'esp-idf-template' testing
+    - ESP_IDF_TEMPLATE_GIT=${ESP_IDF_TEMPLATE_GIT:-"https://github.com/espressif/esp-idf-template.git"}
+    - ./tools/ci/retry_failed.sh git clone ${ESP_IDF_TEMPLATE_GIT}
+    # Try to use the same branch name for esp-idf-template that we're
+    # using on esp-idf. If it doesn't exist then just stick to the default branch
+    - python $CHECKOUT_REF_SCRIPT esp-idf-template esp-idf-template
+    - export PATH="$IDF_PATH/tools:$PATH"
+    - export EXTRA_CFLAGS=${PEDANTIC_CFLAGS}
+    - export EXTRA_CXXFLAGS=${PEDANTIC_CXXFLAGS}
+    # Only do the default cmake build for each target, remaining part are done in the build_template_app job
+    - tools/ci/build_template_app.sh ${BUILD_COMMAND_ARGS}
+    # Check if there are any stray printf/ets_printf references in WiFi libs
+    - cd components/esp_wifi/lib
+    - for dir in esp32 esp32s2; do test $(xtensa-esp32-elf-nm $dir/*.a | grep -w printf | wc -l) -eq 0; done;
+    - for dir in esp32 esp32s2; do test $(xtensa-esp32-elf-nm $dir/*.a | grep -w ets_printf | wc -l) -eq 0; done;
+
 include:
   - '/tools/ci/config/pre_check.yml'
   - '/tools/ci/config/build.yml'
diff --git a/tools/ci/build_template_app.sh b/tools/ci/build_template_app.sh
new file mode 100755
index 0000000000..73195b1b31
--- /dev/null
+++ b/tools/ci/build_template_app.sh
@@ -0,0 +1,127 @@
+#!/usr/bin/env bash
+#
+# Usage: build_template_app.sh [-p]
+# -p: optional, if specified, do a fast build for every chip target with cmake and only the default
+#     config. Otherwise permutations of (chip target, build system, configs) which were not built in
+#     the fast build will be built.
+#
+# Needs to be called under IDF root folder
+#
+# This script will call find_apps.py with the following arguments:
+# - CMake build arguments: --work-dir {BUILD_PATH}/cmake --build-dir ${BUILD_DIR} --build-log ${BUILD_LOG_CMAKE}
+# - Make build arguments: --work-dir {BUILD_PATH}/make/${BUILD_DIR} --build-dir build --build-log ${BUILD_LOG_MAKE}
+
+set -euo pipefail
+
+gen_configs() {
+    # CONFIG_COMPILER_OPTIMIZATION_NONE with flag -O0
+    echo "CONFIG_COMPILER_OPTIMIZATION_NONE=y" > esp-idf-template/sdkconfig.ci.O0
+    echo "CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_NONE=y" >> esp-idf-template/sdkconfig.ci.O0
+    # CONFIG_COMPILER_OPTIMIZATION_SIZE with flag -Os
+    echo "CONFIG_COMPILER_OPTIMIZATION_SIZE=y" > esp-idf-template/sdkconfig.ci.Os
+    echo "CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y" >> esp-idf-template/sdkconfig.ci.Os
+    # CONFIG_COMPILER_OPTIMIZATION_PERF with flag -O2
+    echo "CONFIG_COMPILER_OPTIMIZATION_PERF=y" > esp-idf-template/sdkconfig.ci.O2
+    echo "CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_PERF=y" >> esp-idf-template/sdkconfig.ci.O2
+
+    # Only built in make, because CMake already build this config in pre_build job
+    # CONFIG_COMPILER_OPTIMIZATION_DEFAULT with flag -Og
+    echo "CONFIG_COMPILER_OPTIMIZATION_DEFAULT=y" > esp-idf-template/sdkconfig.ci2.Og
+    echo "CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_DEBUG=y" >> esp-idf-template/sdkconfig.ci2.Og
+
+    # Needs to be built with specific extra flags
+    # Same as O2, but also disable assertions.
+    cp esp-idf-template/sdkconfig.ci.O2 esp-idf-template/sdkconfig.ci3.no_assert
+    echo "CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE=y" >> esp-idf-template/sdkconfig.ci3.no_assert
+}
+
+get_config_str() {
+    CONFIG_STR=
+    until [ $# -eq 0 ]
+    do
+        CONFIG_STR+=" --config $1"
+        shift
+    done
+    echo ${CONFIG_STR}
+}
+
+search_cmake() {
+    TARGET=$1
+    shift
+    CONFIG_STR=$*
+    tools/find_apps.py -vv --format json --work-dir ${BUILD_PATH}/cmake --build-dir ${BUILD_DIR} --build-log ${BUILD_LOG_CMAKE} -p esp-idf-template --build-system cmake ${CONFIG_STR} --target ${TARGET} --output scan_temp.json
+    cat scan_temp.json >> scan.json
+    rm scan_temp.json
+}
+
+search_make() {
+    TARGET=$1
+    shift
+    CONFIG_STR=$*
+    tools/find_apps.py -vv --format json --work-dir ${BUILD_PATH}/make/${BUILD_DIR} --build-dir build --build-log ${BUILD_LOG_MAKE} -p esp-idf-template --build-system make ${CONFIG_STR} --target ${TARGET} --output scan_temp.json
+    cat scan_temp.json >> scan.json
+    rm scan_temp.json
+}
+
+build() {
+    tools/build_apps.py -vv --format json --keep-going --parallel-count 1 --parallel-index 1 --size-info ${SIZE_INFO_LOCATION} scan.json
+    rm scan.json
+}
+
+build_stage2() {
+    CONFIG_STR=$(get_config_str sdkconfig.ci.*=)
+    search_cmake esp32 ${CONFIG_STR}
+    search_cmake esp32s2 ${CONFIG_STR}
+
+    CONFIG_STR=$(get_config_str sdkconfig.ci.*= sdkconfig.ci2.*=)
+    search_make esp32 ${CONFIG_STR}
+    search_make esp32s2 ${CONFIG_STR}
+
+    build build_list_1.json
+
+    CONFIG_STR=$(get_config_str sdkconfig.ci3.*=)
+    search_cmake esp32 ${CONFIG_STR}
+    search_make esp32 ${CONFIG_STR}
+    search_cmake esp32s2 ${CONFIG_STR}
+    search_make esp32s2 ${CONFIG_STR}
+
+    # Override EXTRA_CFLAGS and EXTRA_CXXFLAGS in the environment
+    export EXTRA_CFLAGS=${PEDANTIC_CFLAGS/-Werror=unused-variable -Werror=unused-but-set-variable -Werror=unused-function/}
+    export EXTRA_CXXFLAGS=${PEDANTIC_CXXFLAGS/-Werror=unused-variable -Werror=unused-but-set-variable -Werror=unused-function/}
+    build
+}
+
+build_stage1() {
+    CONFIG_STR=$(get_config_str sdkconfig.ci2.*=)
+    search_cmake esp32 ${CONFIG_STR}
+    search_cmake esp32s2 ${CONFIG_STR}
+
+    build
+}
+
+# Default arguments
+# STAGE:
+# 1 (-p): fast build, 2 (default): regular build
+STAGE=2
+
+# Parse arguments: -p for STAGE
+for arg in $*
+do
+    if [ ${arg} = "-p" ]; then
+        STAGE=1
+    fi
+done
+
+mkdir -p ${BUILD_PATH}/make
+mkdir -p ${BUILD_PATH}/cmake
+mkdir -p ${LOG_PATH}
+rm -f scan.json
+
+gen_configs
+
+if [ ${STAGE} = 1 ]
+then
+    build_stage1
+else
+    build_stage2
+fi
\ No newline at end of file
diff --git a/tools/ci/config/build.yml b/tools/ci/config/build.yml
index 77d99cc15d..536d8addf7 100644
--- a/tools/ci/config/build.yml
+++ b/tools/ci/config/build.yml
@@ -404,3 +404,7 @@ build_installer:
   script:
     - cd tools/windows/tool_setup/
     - ./build_installer.sh
+
+# This job builds template app with permutations of targets and optimization levels
+build_template_app:
+  extends: .build_template_app_template
diff --git a/tools/ci/config/pre_check.yml b/tools/ci/config/pre_check.yml
index cc89f17010..b49e39bfaf 100644
--- a/tools/ci/config/pre_check.yml
+++ b/tools/ci/config/pre_check.yml
@@ -107,74 +107,12 @@ check_wifi_lib_md5:
     - IDF_TARGET=esp32 $IDF_PATH/components/esp_wifi/test_md5/test_md5.sh
     - IDF_TARGET=esp32s2 $IDF_PATH/components/esp_wifi/test_md5/test_md5.sh
 
-.build_with_make_and_cmake: &build_with_make_and_cmake |
-  echo -e "section_end:"`date +%s`":build_script\r\e[0Ksection_start:"`date +%s`":build_make\r\e[0KBuild with Make"
-  make defconfig
-  make all
-  make clean
-  echo -e "section_end:"`date +%s`":build_make\r\e[0Ksection_start:"`date +%s`":build_cmake\r\e[0KBuild with CMake"
-  rm -rf build sdkconfig
-  idf.py build
-  echo -e "section_end:"`date +%s`":build_cmake\r\e[0Ksection_start:"`date +%s`":build_script\r\e[0K"
-
-build_template_app:
+# Build at least one project for each target at earliest stage to reduce build cost for obvious failing commits
+fast_template_app:
+  extends: .build_template_app_template
   stage: pre_check
-  image: $CI_DOCKER_REGISTRY/esp32-ci-env$BOT_DOCKER_IMAGE_TAG
-  tags:
-    - build
   variables:
-    BATCH_BUILD: "1"
-  only:
-    variables:
-      - $BOT_TRIGGER_WITH_LABEL == null
-      - $BOT_LABEL_BUILD
-      - $BOT_LABEL_REGULAR_TEST
-  script:
-    # Set the variable for 'esp-idf-template' testing
-    - ESP_IDF_TEMPLATE_GIT=${ESP_IDF_TEMPLATE_GIT:-"https://github.com/espressif/esp-idf-template.git"}
-    - ./tools/ci/retry_failed.sh git clone ${ESP_IDF_TEMPLATE_GIT}
-    # Try to use the same branch name for esp-idf-template that we're
-    # using on esp-idf. If it doesn't exist then just stick to the default branch
-    - python $CHECKOUT_REF_SCRIPT esp-idf-template esp-idf-template
-    - cd esp-idf-template
-    - export PATH="$IDF_PATH/tools:$PATH"
-    - export EXTRA_CFLAGS=${PEDANTIC_CFLAGS}
-    - export EXTRA_CXXFLAGS=${PEDANTIC_CXXFLAGS}
-
-    # CONFIG_COMPILER_OPTIMIZATION_DEFAULT with flag -Og
-    - echo "CONFIG_COMPILER_OPTIMIZATION_DEFAULT=y" > sdkconfig.defaults
-    - echo "CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_DEBUG=y" >> sdkconfig.defaults
-    - *build_with_make_and_cmake
-
-    # CONFIG_COMPILER_OPTIMIZATION_NONE with flag -O0
-    - echo "CONFIG_COMPILER_OPTIMIZATION_NONE=y" > sdkconfig.defaults
-    - echo "CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_NONE=y" >> sdkconfig.defaults
-    - *build_with_make_and_cmake
-
-    # CONFIG_COMPILER_OPTIMIZATION_SIZE with flag -Os
-    - echo "CONFIG_COMPILER_OPTIMIZATION_SIZE=y" > sdkconfig.defaults
-    - echo "CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y" >> sdkconfig.defaults
-    - *build_with_make_and_cmake
-
-    # CONFIG_COMPILER_OPTIMIZATION_PERF with flag -O2
-    - echo "CONFIG_COMPILER_OPTIMIZATION_PERF=y" > sdkconfig.defaults
-    - echo "CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_PERF=y" >> sdkconfig.defaults
-    - *build_with_make_and_cmake
-
-    # Same as above, but also disable assertions.
-    - echo "CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE=y" >> sdkconfig.defaults
-    # Don't error out on -Wunused, when assertions are disabled
-    - export EXTRA_CFLAGS=${PEDANTIC_CFLAGS/-Werror=unused-variable -Werror=unused-but-set-variable -Werror=unused-function/}
-    - export EXTRA_CXXFLAGS=${PEDANTIC_CXXFLAGS/-Werror=unused-variable -Werror=unused-but-set-variable -Werror=unused-function/}
-    - *build_with_make_and_cmake
-    - export EXTRA_CFLAGS=${PEDANTIC_CFLAGS}
-    - export EXTRA_CXXFLAGS=${PEDANTIC_CXXFLAGS}
-
-    # Check if there are any stray printf/ets_printf references in WiFi libs
-    - pushd ../components/esp_wifi/lib
-    - for dir in esp32 esp32s2; do test $(xtensa-esp32-elf-nm $dir/*.a | grep -w printf | wc -l) -eq 0; done;
-    - for dir in esp32 esp32s2; do test $(xtensa-esp32-elf-nm $dir/*.a | grep -w ets_printf | wc -l) -eq 0; done;
-    - popd
+    BUILD_COMMAND_ARGS: "-p"
 
 check_public_headers:
   stage: pre_check
diff --git a/tools/ci/executable-list.txt b/tools/ci/executable-list.txt
index 7d9cc904b1..a45275aa09 100644
--- a/tools/ci/executable-list.txt
+++ b/tools/ci/executable-list.txt
@@ -35,6 +35,7 @@ tools/build_apps.py
 tools/check_kconfigs.py
 tools/check_python_dependencies.py
 tools/ci/apply_bot_filter.py
+tools/ci/build_template_app.sh
 tools/ci/check-executable.sh
 tools/ci/check-line-endings.sh
 tools/ci/check_build_warnings.py
diff --git a/tools/find_build_apps/common.py b/tools/find_build_apps/common.py
index 2aa92a5974..7b0b1c95ef 100644
--- a/tools/find_build_apps/common.py
+++ b/tools/find_build_apps/common.py
@@ -147,7 +147,8 @@ class BuildItem(object):
         return self._expand(self._build_log_path)
 
     def __repr__(self):
-        return "Build app {} for target {}, sdkconfig {} in {}".format(
+        return "({}) Build app {} for target {}, sdkconfig {} in {}".format(
+            self.build_system,
             self.app_dir,
             self.target,
             self.sdkconfig_path or "(default)",