diff --git a/components/esp32/freertos_hooks.c b/components/esp32/freertos_hooks.c
index 328ef36e26..e5198542b8 100644
--- a/components/esp32/freertos_hooks.c
+++ b/components/esp32/freertos_hooks.c
@@ -59,11 +59,10 @@ void esp_vApplicationIdleHook()
 #ifdef CONFIG_PM_ENABLE
     esp_pm_impl_idle_hook();
 #endif
-}
 
-extern void esp_vApplicationWaitiHook( void )
-{
+#ifndef CONFIG_FREERTOS_USE_TICKLESS_IDLE
     asm("waiti 0");
+#endif
 }
 
 esp_err_t esp_register_freertos_idle_hook_for_cpu(esp_freertos_idle_cb_t new_idle_cb, UBaseType_t cpuid)
diff --git a/components/esp32/pm_esp32.c b/components/esp32/pm_esp32.c
index 5d77dd8db6..bf01418337 100644
--- a/components/esp32/pm_esp32.c
+++ b/components/esp32/pm_esp32.c
@@ -455,7 +455,7 @@ void IRAM_ATTR esp_pm_impl_isr_hook()
 
 #if CONFIG_FREERTOS_USE_TICKLESS_IDLE
 
-bool IRAM_ATTR vApplicationSleep( TickType_t xExpectedIdleTime )
+void IRAM_ATTR vApplicationSleep( TickType_t xExpectedIdleTime )
 {
     bool result = false;
     portENTER_CRITICAL(&s_switch_lock);
@@ -499,7 +499,11 @@ bool IRAM_ATTR vApplicationSleep( TickType_t xExpectedIdleTime )
         }
     }
     portEXIT_CRITICAL(&s_switch_lock);
-    return result;
+
+    /* Tick less idle was not successful, can block till next interrupt here */
+    if (!result) {
+        asm("waiti 0");
+    }
 }
 #endif //CONFIG_FREERTOS_USE_TICKLESS_IDLE
 
diff --git a/components/freertos/Kconfig b/components/freertos/Kconfig
index 16c7c4bc87..df474e6b90 100644
--- a/components/freertos/Kconfig
+++ b/components/freertos/Kconfig
@@ -173,24 +173,6 @@ config FREERTOS_LEGACY_HOOKS
         hooks can also still be enabled. Please enable this only if you have code that for some
         reason can't be migrated to the esp_register_freertos_xxx_hook system.
 
-if FREERTOS_LEGACY_HOOKS
-
-config FREERTOS_LEGACY_IDLE_HOOK
-    bool "Enable legacy idle hook"
-    default n
-    help
-        If enabled, FreeRTOS will call a function called vApplicationIdleHook when the idle thread
-        on a CPU is running. Please make sure your code defines such a function.
-
-config FREERTOS_LEGACY_TICK_HOOK
-    bool "Enable legacy tick hook"
-    default n
-    help
-        If enabled, FreeRTOS will call a function called vApplicationTickHook when a FreeRTOS
-        tick is executed. Please make sure your code defines such a function.
-
-endif #FREERTOS_LEGACY_HOOKS
-
 config FREERTOS_MAX_TASK_NAME_LEN
     int "Maximum task name length"
     range 1 256
diff --git a/components/freertos/include/freertos/FreeRTOSConfig.h b/components/freertos/include/freertos/FreeRTOSConfig.h
index f74b79d4ea..aa33917e2c 100644
--- a/components/freertos/include/freertos/FreeRTOSConfig.h
+++ b/components/freertos/include/freertos/FreeRTOSConfig.h
@@ -159,9 +159,8 @@ int xt_clock_freq(void) __attribute__((deprecated));
  *----------------------------------------------------------*/
 
 #define configUSE_PREEMPTION			1
-#define configUSE_IDLE_HOOK				( CONFIG_FREERTOS_LEGACY_IDLE_HOOK )
-
-#define configUSE_TICK_HOOK				( CONFIG_FREERTOS_LEGACY_TICK_HOOK )
+#define configUSE_IDLE_HOOK				1
+#define configUSE_TICK_HOOK				1
 
 #define configTICK_RATE_HZ				( CONFIG_FREERTOS_HZ )
 
diff --git a/components/freertos/include/freertos/portmacro.h b/components/freertos/include/freertos/portmacro.h
index 48b8993957..adeb3bb009 100644
--- a/components/freertos/include/freertos/portmacro.h
+++ b/components/freertos/include/freertos/portmacro.h
@@ -368,10 +368,15 @@ typedef struct {
 #endif
 
 extern void esp_vApplicationIdleHook( void );
-extern void esp_vApplicationWaitiHook( void );
+extern void esp_vApplicationTickHook( void );
+
+#ifndef CONFIG_FREERTOS_LEGACY_HOOKS
+#define vApplicationIdleHook    esp_vApplicationIdleHook
+#define vApplicationTickHook    esp_vApplicationTickHook
+#endif /* !CONFIG_FREERTOS_LEGACY_HOOKS */
 
 void _xt_coproc_release(volatile void * coproc_sa_base);
-bool vApplicationSleep( TickType_t xExpectedIdleTime );
+void vApplicationSleep( TickType_t xExpectedIdleTime );
 
 #define portSUPPRESS_TICKS_AND_SLEEP( idleTime ) vApplicationSleep( idleTime )
 
diff --git a/components/freertos/tasks.c b/components/freertos/tasks.c
index b86fa4e777..0f42f3c474 100644
--- a/components/freertos/tasks.c
+++ b/components/freertos/tasks.c
@@ -489,7 +489,6 @@ to its original value when it is released. */
 #if configUSE_TICK_HOOK > 0
 	extern void vApplicationTickHook( void );
 #endif
-extern void esp_vApplicationTickHook( void );
 
 #if  portFIRST_TASK_HOOK
 	extern void vPortFirstTaskHook(TaskFunction_t taskfn);
@@ -2497,7 +2496,9 @@ BaseType_t xSwitchRequired = pdFALSE;
 		#if ( configUSE_TICK_HOOK == 1 )
 		vApplicationTickHook();
 		#endif /* configUSE_TICK_HOOK */
+		#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
 		esp_vApplicationTickHook();
+		#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
 
 		/*
 		  We can't really calculate what we need, that's done on core 0... just assume we need a switch.
@@ -2640,7 +2641,9 @@ BaseType_t xSwitchRequired = pdFALSE;
 				#if ( configUSE_TICK_HOOK == 1 )
 				vApplicationTickHook();
 				#endif /* configUSE_TICK_HOOK */
+				#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
 				esp_vApplicationTickHook();
+				#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
 			}
 			else
 			{
@@ -2660,7 +2663,9 @@ BaseType_t xSwitchRequired = pdFALSE;
 			vApplicationTickHook();
 		}
 		#endif
+		#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
 		esp_vApplicationTickHook();
+		#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
 	}
 
 	#if ( configUSE_PREEMPTION == 1 )
@@ -3434,10 +3439,12 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 			vApplicationIdleHook();
 		}
 		#endif /* configUSE_IDLE_HOOK */
+		#if ( CONFIG_FREERTOS_LEGACY_HOOKS == 1 )
 		{
 			/* Call the esp-idf hook system */
 			esp_vApplicationIdleHook();
 		}
+		#endif /* CONFIG_FREERTOS_LEGACY_HOOKS */
 
 
 		/* This conditional compilation should use inequality to 0, not equality
@@ -3447,7 +3454,6 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 		#if ( configUSE_TICKLESS_IDLE != 0 )
 		{
 		TickType_t xExpectedIdleTime;
-		BaseType_t xEnteredSleep = pdFALSE;
 
 			/* It is not desirable to suspend then resume the scheduler on
 			each iteration of the idle task.  Therefore, a preliminary
@@ -3469,7 +3475,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 					if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
 					{
 						traceLOW_POWER_IDLE_BEGIN();
-						xEnteredSleep = portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
+						portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
 						traceLOW_POWER_IDLE_END();
 					}
 					else
@@ -3483,16 +3489,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 			{
 				mtCOVERAGE_TEST_MARKER();
 			}
-			/* It might be possible to enter tickless idle again, so skip
-			 * the fallback sleep hook if tickless idle was successful
-			 */
-			if ( !xEnteredSleep )
-			{
-				esp_vApplicationWaitiHook();
-			}
 		}
-		#else
-		esp_vApplicationWaitiHook();
 		#endif /* configUSE_TICKLESS_IDLE */
 	}
 }
diff --git a/docs/en/api-reference/system/freertos_additions.rst b/docs/en/api-reference/system/freertos_additions.rst
index 24e47a390f..e083a01977 100644
--- a/docs/en/api-reference/system/freertos_additions.rst
+++ b/docs/en/api-reference/system/freertos_additions.rst
@@ -374,9 +374,8 @@ defined Idle Hook and Tick Hook on every iteration of the Idle Task and Tick
 Interrupt respectively. 
 
 Vanilla FreeRTOS hooks are referred to as **Legacy Hooks** in ESP-IDF FreeRTOS. 
-To enable legacy hooks, :envvar:`CONFIG_FREERTOS_LEGACY_HOOKS`, 
-:envvar:`CONFIG_FREERTOS_LEGACY_IDLE_HOOK`, and :envvar:`CONFIG_FREERTOS_LEGACY_TICK_HOOK` 
-should all be enabled in ``make menuconfig``.
+To enable legacy hooks, :envvar:`CONFIG_FREERTOS_LEGACY_HOOKS` should be enabled
+in ``make menuconfig``.
 
 Due to vanilla FreeRTOS being designed for single core, ``vApplicationIdleHook()``
 and ``vApplicationTickHook()`` can only be defined once. However, the ESP32 is dual core