diff --git a/.github/scripts/sketch_utils.sh b/.github/scripts/sketch_utils.sh
index 01ceafe9af1..8beb70c548b 100755
--- a/.github/scripts/sketch_utils.sh
+++ b/.github/scripts/sketch_utils.sh
@@ -244,6 +244,14 @@ function build_sketch { # build_sketch <ide_path> <user_path> <path-to-ino> [ext
         fi
     fi
 
+    # Install libraries from ci.json if they exist
+    install_libs -ai "$ide_path" -s "$sketchdir"
+    install_result=$?
+    if [ $install_result -ne 0 ]; then
+        echo "ERROR: Library installation failed for $sketchname" >&2
+        exit $install_result
+    fi
+
     ARDUINO_CACHE_DIR="$HOME/.arduino/cache.tmp"
     if [ -n "$ARDUINO_BUILD_DIR" ]; then
         build_dir="$ARDUINO_BUILD_DIR"
@@ -580,6 +588,160 @@ function build_sketches { # build_sketches <ide_path> <user_path> <target> <path
     return 0
 }
 
+# Return 0 if the string looks like a git URL we should pass to --git-url
+is_git_like_url() {
+    local u=$1
+    [[ "$u" =~ ^https?://.+ ]] || [[ "$u" =~ ^git@[^:]+:.+ ]]
+}
+
+# If status!=0, print errors/warnings from captured output (fallback to full output)
+print_err_warnings() {
+    local status=$1; shift
+    local out=$*
+    if [ "$status" -ne 0 ]; then
+        printf '%s\n' "$out" | grep -Ei "error|warning|warn" >&2 || printf '%s\n' "$out" >&2
+    fi
+}
+
+function install_libs { # install_libs <ide_path> <sketchdir> [-v]
+    local ide_path=""
+    local sketchdir=""
+    local verbose=false
+
+    while [ -n "$1" ]; do
+        case "$1" in
+        -ai ) shift; ide_path=$1 ;;
+        -s  ) shift; sketchdir=$1 ;;
+        -v  ) verbose=true ;;
+        * )
+            echo "ERROR: Unknown argument: $1" >&2
+            echo "USAGE: install_libs -ai <ide_path> -s <sketchdir> [-v]" >&2
+            return 1
+            ;;
+        esac
+        shift
+    done
+
+    if [ -z "$ide_path" ]; then
+        echo "ERROR: IDE path not provided" >&2
+        echo "USAGE: install_libs -ai <ide_path> -s <sketchdir> [-v]" >&2
+        return 1
+    fi
+    if [ -z "$sketchdir" ]; then
+        echo "ERROR: Sketch directory not provided" >&2
+        echo "USAGE: install_libs -ai <ide_path> -s <sketchdir> [-v]" >&2
+        return 1
+    fi
+    if [ ! -f "$ide_path/arduino-cli" ]; then
+        echo "ERROR: arduino-cli not found at $ide_path/arduino-cli" >&2
+        return 1
+    fi
+
+    if [ ! -f "$sketchdir/ci.json" ]; then
+        [ "$verbose" = true ] && echo "No ci.json found in $sketchdir, skipping library installation"
+        return 0
+    fi
+    if ! jq -e . "$sketchdir/ci.json" >/dev/null 2>&1; then
+        echo "ERROR: $sketchdir/ci.json is not valid JSON" >&2
+        return 1
+    fi
+
+    local libs_type
+    libs_type=$(jq -r '.libs | type' "$sketchdir/ci.json" 2>/dev/null)
+    if [ -z "$libs_type" ] || [ "$libs_type" = "null" ]; then
+        [ "$verbose" = true ] && echo "No libs field found in ci.json, skipping library installation"
+        return 0
+    elif [ "$libs_type" != "array" ]; then
+        echo "ERROR: libs field in ci.json must be an array, found: $libs_type" >&2
+        return 1
+    fi
+
+    local libs_count
+    libs_count=$(jq -r '.libs | length' "$sketchdir/ci.json" 2>/dev/null)
+    if [ "$libs_count" -eq 0 ]; then
+        [ "$verbose" = true ] && echo "libs array is empty in ci.json, skipping library installation"
+        return 0
+    fi
+
+    echo "Installing $libs_count libraries from $sketchdir/ci.json"
+
+    local needs_unsafe=false
+    local original_unsafe_setting=""
+    local libs
+    libs=$(jq -r '.libs[]? // empty' "$sketchdir/ci.json")
+
+    # Detect any git-like URL (GitHub/GitLab/Bitbucket/self-hosted/ssh)
+    for lib in $libs; do
+        if is_git_like_url "$lib"; then
+            needs_unsafe=true
+            break
+        fi
+    done
+
+    if [ "$needs_unsafe" = true ]; then
+        [ "$verbose" = true ] && echo "Checking current unsafe install setting..."
+        original_unsafe_setting=$("$ide_path/arduino-cli" config get library.enable_unsafe_install 2>/dev/null || echo "false")
+        if [ "$original_unsafe_setting" = "false" ]; then
+            [ "$verbose" = true ] && echo "Enabling unsafe installs for Git URLs..."
+            "$ide_path/arduino-cli" config set library.enable_unsafe_install true >/dev/null 2>&1 || \
+                echo "WARNING: Failed to enable unsafe installs, Git URL installs may fail" >&2
+        else
+            [ "$verbose" = true ] && echo "Unsafe installs already enabled"
+        fi
+    fi
+
+    local rc=0 install_status=0 output=""
+    for lib in $libs; do
+        [ "$verbose" = true ] && echo "Processing library: $lib"
+
+        if is_git_like_url "$lib"; then
+            [ "$verbose" = true ] && echo "Installing library from git URL: $lib"
+            if [ "$verbose" = true ]; then
+                "$ide_path/arduino-cli" lib install --git-url "$lib"
+                install_status=$?
+            else
+                output=$("$ide_path/arduino-cli" lib install --git-url "$lib" 2>&1)
+                install_status=$?
+            fi
+        else
+            [ "$verbose" = true ] && echo "Installing library by name: $lib"
+            if [ "$verbose" = true ]; then
+                "$ide_path/arduino-cli" lib install "$lib"
+                install_status=$?
+            else
+                output=$("$ide_path/arduino-cli" lib install "$lib" 2>&1)
+                install_status=$?
+            fi
+        fi
+
+        # Treat "already installed"/"up to date" as success (idempotent)
+        if [ $install_status -ne 0 ] && echo "$output" | grep -qiE 'already installed|up to date'; then
+            install_status=0
+        fi
+
+        if [ "$verbose" != true ]; then
+            print_err_warnings "$install_status" "$output"
+        fi
+
+        if [ $install_status -ne 0 ]; then
+            echo "ERROR: Failed to install library: $lib" >&2
+            rc=$install_status
+            break
+        else
+            [ "$verbose" = true ] && echo "Successfully installed library: $lib"
+        fi
+    done
+
+    if [ "$needs_unsafe" = true ] && [ "$original_unsafe_setting" = "false" ]; then
+        [ "$verbose" = true ] && echo "Restoring original unsafe install setting..."
+        "$ide_path/arduino-cli" config set library.enable_unsafe_install false >/dev/null 2>&1 || true
+    fi
+
+    [ $rc -eq 0 ] && echo "Library installation completed"
+    return $rc
+}
+
+
 USAGE="
 USAGE: ${0} [command] [options]
 Available commands:
@@ -587,6 +749,7 @@ Available commands:
     build: Build a sketch.
     chunk_build: Build a chunk of sketches.
     check_requirements: Check if target meets sketch requirements.
+    install_libs: Install libraries from ci.json file.
 "
 
 cmd=$1
@@ -606,6 +769,8 @@ case "$cmd" in
     ;;
     "check_requirements") check_requirements "$@"
     ;;
+    "install_libs") install_libs "$@"
+    ;;
     *)
         echo "ERROR: Unrecognized command"
         echo "$USAGE"
diff --git a/.github/scripts/tests_run.sh b/.github/scripts/tests_run.sh
index 1c4bee79742..c85db2e984a 100755
--- a/.github/scripts/tests_run.sh
+++ b/.github/scripts/tests_run.sh
@@ -115,14 +115,14 @@ function run_test {
         rm "$sketchdir"/diagram.json 2>/dev/null || true
 
         result=0
-        printf "\033[95mpytest \"%s/test_%s.py\" --build-dir \"%s\" --junit-xml=\"%s\" -o junit_suite_name=%s_%s_%s_%s%s %s\033[0m\n" "$sketchdir" "$sketchname" "$build_dir" "$report_file" "$test_type" "$platform" "$target" "$sketchname" "$i" "${extra_args[*]@Q}"
-        bash -c "set +e; pytest \"$sketchdir/test_$sketchname.py\" --build-dir \"$build_dir\" --junit-xml=\"$report_file\" -o junit_suite_name=${test_type}_${platform}_${target}_${sketchname}${i} ${extra_args[*]@Q}; exit \$?" || result=$?
+        printf "\033[95mpytest -s \"%s/test_%s.py\" --build-dir \"%s\" --junit-xml=\"%s\" -o junit_suite_name=%s_%s_%s_%s%s %s\033[0m\n" "$sketchdir" "$sketchname" "$build_dir" "$report_file" "$test_type" "$platform" "$target" "$sketchname" "$i" "${extra_args[*]@Q}"
+        bash -c "set +e; pytest -s \"$sketchdir/test_$sketchname.py\" --build-dir \"$build_dir\" --junit-xml=\"$report_file\" -o junit_suite_name=${test_type}_${platform}_${target}_${sketchname}${i} ${extra_args[*]@Q}; exit \$?" || result=$?
         printf "\n"
         if [ $result -ne 0 ]; then
             result=0
             printf "\033[95mRetrying test: %s -- Config: %s\033[0m\n" "$sketchname" "$i"
-            printf "\033[95mpytest \"%s/test_%s.py\" --build-dir \"%s\" --junit-xml=\"%s\" -o junit_suite_name=%s_%s_%s_%s%s %s\033[0m\n" "$sketchdir" "$sketchname" "$build_dir" "$report_file" "$test_type" "$platform" "$target" "$sketchname" "$i" "${extra_args[*]@Q}"
-            bash -c "set +e; pytest \"$sketchdir/test_$sketchname.py\" --build-dir \"$build_dir\" --junit-xml=\"$report_file\" -o junit_suite_name=${test_type}_${platform}_${target}_${sketchname}${i} ${extra_args[*]@Q}; exit \$?" || result=$?
+            printf "\033[95mpytest -s \"%s/test_%s.py\" --build-dir \"%s\" --junit-xml=\"%s\" -o junit_suite_name=%s_%s_%s_%s%s %s\033[0m\n" "$sketchdir" "$sketchname" "$build_dir" "$report_file" "$test_type" "$platform" "$target" "$sketchname" "$i" "${extra_args[*]@Q}"
+            bash -c "set +e; pytest -s \"$sketchdir/test_$sketchname.py\" --build-dir \"$build_dir\" --junit-xml=\"$report_file\" -o junit_suite_name=${test_type}_${platform}_${target}_${sketchname}${i} ${extra_args[*]@Q}; exit \$?" || result=$?
             printf "\n"
             if [ $result -ne 0 ]; then
                 printf "\033[91mFailed test: %s -- Config: %s\033[0m\n\n" "$sketchname" "$i"
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3c9800dfe2b..ca51f66721c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -373,7 +373,7 @@ if(NOT CONFIG_ARDUINO_SELECTIVE_COMPILATION OR CONFIG_ARDUINO_SELECTIVE_OpenThre
   endif()
 endif()
 
-if(IDF_TARGET STREQUAL "esp32p4")
+if(IDF_TARGET STREQUAL "esp32" OR IDF_TARGET STREQUAL "esp32s2" OR IDF_TARGET STREQUAL "esp32s3" OR IDF_TARGET STREQUAL "esp32p4")
   list(APPEND requires esp_driver_touch_sens)
 endif()
 
diff --git a/cores/esp32/esp32-hal-touch-ng.c b/cores/esp32/esp32-hal-touch-ng.c
index 888a299ec0c..98f9052d18c 100644
--- a/cores/esp32/esp32-hal-touch-ng.c
+++ b/cores/esp32/esp32-hal-touch-ng.c
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 #include "soc/soc_caps.h"
+#include "esp_idf_version.h"
 
 #if SOC_TOUCH_SENSOR_SUPPORTED
-#if SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4 for now
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3
 
-#include "driver/touch_sens.h"
 #include "esp32-hal-touch-ng.h"
 #include "esp32-hal-periman.h"
 
@@ -37,11 +37,24 @@ typedef struct {
 static TouchInterruptHandle_t __touchInterruptHandlers[SOC_TOUCH_SENSOR_NUM] = {
   0,
 };
-
-static uint8_t _sample_num = 1;
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+static uint8_t _sample_num = 1;    // only one sample configuration supported
+static float _duration_ms = 5.0f;
+static touch_volt_lim_l_t _volt_low = TOUCH_VOLT_LIM_L_0V5;
+static touch_volt_lim_h_t _volt_high = TOUCH_VOLT_LIM_H_1V7;
+static touch_intr_trig_mode_t _intr_trig_mode = TOUCH_INTR_TRIG_ON_BELOW_THRESH;
+#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
+static uint8_t _sample_num = 1;  // only one sample configuration supported
+static uint32_t _chg_times = 500;
+static touch_volt_lim_l_t _volt_low = TOUCH_VOLT_LIM_L_0V5;
+static touch_volt_lim_h_t _volt_high = TOUCH_VOLT_LIM_H_2V2;
+#elif SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4
+static uint8_t _sample_num = 1;  // TODO: can be extended to multiple samples
 static uint32_t _div_num = 1;
 static uint8_t _coarse_freq_tune = 1;
 static uint8_t _fine_freq_tune = 1;
+#endif
+
 static uint8_t used_pads = 0;
 
 static uint32_t __touchSleepTime = 256;
@@ -156,15 +169,28 @@ bool touchBenchmarkThreshold(uint8_t pad) {
 
   // Reconfigure passed pad with new threshold
   uint32_t benchmark[_sample_num] = {};
+#if SOC_TOUCH_SUPPORT_BENCHMARK  // ESP32S2, ESP32S3,ESP32P4
   if (touch_channel_read_data(touch_channel_handle[pad], TOUCH_CHAN_DATA_TYPE_BENCHMARK, benchmark) != ESP_OK) {
     log_e("Touch channel read data failed!");
     return false;
   }
+#else
+  if (touch_channel_read_data(touch_channel_handle[pad], TOUCH_CHAN_DATA_TYPE_SMOOTH, benchmark) != ESP_OK) {
+    log_e("Touch channel read data failed!");
+    return false;
+  }
+#endif
+
   /* Calculate the proper active thresholds regarding the initial benchmark */
-  touch_channel_config_t chan_cfg = {};
+  touch_channel_config_t chan_cfg = TOUCH_CHANNEL_DEFAULT_CONFIG();
   for (int i = 0; i < _sample_num; i++) {
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+    chan_cfg.abs_active_thresh[i] = (uint32_t)(benchmark[i] * (1 - s_thresh2bm_ratio));
+    log_v("Configured [CH %d] sample %d: benchmark = %" PRIu32 ", threshold = %" PRIu32 "\t", pad, i, benchmark[i], chan_cfg.abs_active_thresh[i]);
+#else
     chan_cfg.active_thresh[i] = (uint32_t)(benchmark[i] * s_thresh2bm_ratio);
     log_v("Configured [CH %d] sample %d: benchmark = %" PRIu32 ", threshold = %" PRIu32 "\t", pad, i, benchmark[i], chan_cfg.active_thresh[i]);
+#endif
   }
   /* Update the channel configuration */
   if (touch_sensor_reconfig_channel(touch_channel_handle[pad], &chan_cfg) != ESP_OK) {
@@ -178,17 +204,26 @@ static bool touchDetachBus(void *pin) {
   int8_t pad = digitalPinToTouchChannel((int)(pin - 1));
   channels_initialized[pad] = false;
   //disable touch pad and delete the channel
+  if (!touchStop()) {
+    log_e("touchStop() failed!");
+    return false;
+  }
+  if (!touchDisable()) {
+    log_e("touchDisable() failed!");
+    return false;
+  }
   touch_sensor_del_channel(touch_channel_handle[pad]);
   used_pads--;
   if (used_pads == 0) {
-    touchStop();
-    touchDisable();
     if (touch_sensor_del_controller(touch_sensor_handle) != ESP_OK)  //deinit touch module, as no pads are used
     {
       log_e("Touch module deinit failed!");
       return false;
     }
     initialized = false;
+  } else {
+    touchEnable();
+    touchStart();
   }
   return true;
 }
@@ -198,21 +233,40 @@ static void __touchInit() {
     return;
   }
   // Support only one sample configuration for now
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+  touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V1_DEFAULT_SAMPLE_CONFIG(_duration_ms, _volt_low, _volt_high);
+#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
+  touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V2_DEFAULT_SAMPLE_CONFIG(_chg_times, _volt_low, _volt_high);
+#elif SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4
   touch_sensor_sample_config_t single_sample_cfg = TOUCH_SENSOR_V3_DEFAULT_SAMPLE_CONFIG(_div_num, _coarse_freq_tune, _fine_freq_tune);
+#endif
   touch_sensor_sample_config_t sample_cfg[_sample_num] = {};
   sample_cfg[0] = single_sample_cfg;
 
-  /* Allocate new touch controller handle */
   touch_sensor_config_t sens_cfg = {
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+    .power_on_wait_us = __touchSleepTime,
+    .meas_interval_us = __touchMeasureTime,
+    .intr_trig_mode = _intr_trig_mode,
+    .intr_trig_group = TOUCH_INTR_TRIG_GROUP_BOTH,
+    .sample_cfg_num = _sample_num,
+    .sample_cfg = sample_cfg,
+#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
+    .power_on_wait_us = __touchSleepTime,
+    .meas_interval_us = __touchMeasureTime,
+    .max_meas_time_us = 0,
+    .sample_cfg_num = _sample_num,
+    .sample_cfg = sample_cfg,
+#elif SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4
     .power_on_wait_us = __touchSleepTime,
     .meas_interval_us = __touchMeasureTime,
     .max_meas_time_us = 0,
     .output_mode = TOUCH_PAD_OUT_AS_CLOCK,
     .sample_cfg_num = _sample_num,
     .sample_cfg = sample_cfg,
+#endif
   };
 
-  // touch_sensor_config_t sens_cfg = TOUCH_SENSOR_DEFAULT_BASIC_CONFIG(_sample_num, sample_cfg);
   if (touch_sensor_new_controller(&sens_cfg, &touch_sensor_handle) != ESP_OK) {
     goto err;
   }
@@ -225,14 +279,10 @@ static void __touchInit() {
   }
 
   /* Register the touch sensor on_active and on_inactive callbacks */
-  touch_event_callbacks_t callbacks = {
-    .on_active = __touchOnActiveISR,
-    .on_inactive = __touchOnInactiveISR,
-    .on_measure_done = NULL,
-    .on_scan_done = NULL,
-    .on_timeout = NULL,
-    .on_proximity_meas_done = NULL,
-  };
+  touch_event_callbacks_t callbacks = {0};
+  callbacks.on_active = __touchOnActiveISR;
+  callbacks.on_inactive = __touchOnInactiveISR;
+
   if (touch_sensor_register_callbacks(touch_sensor_handle, &callbacks, NULL) != ESP_OK) {
     goto err;
   }
@@ -253,9 +303,7 @@ static void __touchChannelInit(int pad) {
   // Initial setup with default Threshold
   __touchInterruptHandlers[pad].fn = NULL;
 
-  touch_channel_config_t chan_cfg = {
-    .active_thresh = {1000}  // default threshold, will be updated after benchmark
-  };
+  touch_channel_config_t chan_cfg = TOUCH_CHANNEL_DEFAULT_CONFIG();
 
   if (!touchStop() || !touchDisable()) {
     log_e("Touch sensor stop and disable failed!");
@@ -323,8 +371,21 @@ static void __touchConfigInterrupt(uint8_t pin, void (*userFunc)(void), void *Ar
     __touchInterruptHandlers[pad].arg = NULL;
   } else {
     // attach ISR User Call
-    __touchInit();
-    __touchChannelInit(pad);
+    if (perimanGetPinBus(pin, ESP32_BUS_TYPE_TOUCH) == NULL) {
+      perimanSetBusDeinit(ESP32_BUS_TYPE_TOUCH, touchDetachBus);
+      if (!perimanClearPinBus(pin)) {
+        log_e("Failed to clear pin bus");
+        return;
+      }
+      __touchInit();
+      __touchChannelInit(pad);
+
+      if (!perimanSetPinBus(pin, ESP32_BUS_TYPE_TOUCH, (void *)(pin + 1), -1, pad)) {
+        touchDetachBus((void *)(pin + 1));
+        log_e("Failed to set bus to Peripheral manager");
+        return;
+      }
+    }
     __touchInterruptHandlers[pad].fn = userFunc;
     __touchInterruptHandlers[pad].callWithArgs = callWithArgs;
     __touchInterruptHandlers[pad].arg = Args;
@@ -338,7 +399,11 @@ static void __touchConfigInterrupt(uint8_t pin, void (*userFunc)(void), void *Ar
 
     touch_channel_config_t chan_cfg = {};
     for (int i = 0; i < _sample_num; i++) {
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+      chan_cfg.abs_active_thresh[i] = threshold;
+#else
       chan_cfg.active_thresh[i] = threshold;
+#endif
     }
 
     if (touch_sensor_reconfig_channel(touch_channel_handle[pad], &chan_cfg) != ESP_OK) {
@@ -375,7 +440,6 @@ bool touchInterruptGetLastStatus(uint8_t pin) {
   if (pad < 0) {
     return false;
   }
-
   return __touchInterruptHandlers[pad].lastStatusIsPressed;
 }
 
@@ -405,9 +469,13 @@ void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold) {
 
   touch_sleep_config_t deep_slp_cfg = {
     .slp_wakeup_lvl = TOUCH_DEEP_SLEEP_WAKEUP,
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+    .deep_slp_sens_cfg = NULL,     // Use the original touch sensor configuration
+#else                              // SOC_TOUCH_SENSOR_VERSION 2 and 3// ESP32S2, ESP32S3, ESP32P4
     .deep_slp_chan = touch_channel_handle[pad],
     .deep_slp_thresh = {threshold},
     .deep_slp_sens_cfg = NULL,  // Use the original touch sensor configuration
+#endif
   };
 
   // Register the deep sleep wake-up
@@ -434,6 +502,29 @@ void touchSetTiming(float measure, uint32_t sleep) {
   __touchMeasureTime = measure;
 }
 
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+void touchSetConfig(float duration_ms, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high) {
+  if (initialized) {
+    log_e("Touch sensor already initialized. Cannot set configuration.");
+    return;
+  }
+  _duration_ms = duration_ms;
+  _volt_low = volt_low;
+  _volt_high = volt_high;
+}
+
+#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
+void touchSetConfig(uint32_t chg_times, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high) {
+  if (initialized) {
+    log_e("Touch sensor already initialized. Cannot set configuration.");
+    return;
+  }
+  _chg_times = chg_times;
+  _volt_low = volt_low;
+  _volt_high = volt_high;
+}
+
+#elif SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4
 void touchSetConfig(uint32_t div_num, uint8_t coarse_freq_tune, uint8_t fine_freq_tune) {
   if (initialized) {
     log_e("Touch sensor already initialized. Cannot set configuration.");
@@ -443,11 +534,22 @@ void touchSetConfig(uint32_t div_num, uint8_t coarse_freq_tune, uint8_t fine_fre
   _coarse_freq_tune = coarse_freq_tune;
   _fine_freq_tune = fine_freq_tune;
 }
+#endif
+
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+void touchInterruptSetThresholdDirection(bool mustbeLower) {
+  if (mustbeLower) {
+    _intr_trig_mode = TOUCH_INTR_TRIG_ON_BELOW_THRESH;
+  } else {
+    _intr_trig_mode = TOUCH_INTR_TRIG_ON_ABOVE_THRESH;
+  }
+}
+#endif
 
 extern touch_value_t touchRead(uint8_t) __attribute__((weak, alias("__touchRead")));
 extern void touchAttachInterrupt(uint8_t, voidFuncPtr, touch_value_t) __attribute__((weak, alias("__touchAttachInterrupt")));
 extern void touchAttachInterruptArg(uint8_t, voidArgFuncPtr, void *, touch_value_t) __attribute__((weak, alias("__touchAttachArgsInterrupt")));
 extern void touchDetachInterrupt(uint8_t) __attribute__((weak, alias("__touchDettachInterrupt")));
 
-#endif /* SOC_TOUCH_SENSOR_VERSION == 3 */
+#endif /* ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3 */
 #endif /* SOC_TOUCH_SENSOR_SUPPORTED */
diff --git a/cores/esp32/esp32-hal-touch-ng.h b/cores/esp32/esp32-hal-touch-ng.h
index 0d4eb79ac58..ebe49466bb9 100644
--- a/cores/esp32/esp32-hal-touch-ng.h
+++ b/cores/esp32/esp32-hal-touch-ng.h
@@ -21,14 +21,31 @@
 #define MAIN_ESP32_HAL_TOUCH_NEW_H_
 
 #include "soc/soc_caps.h"
+#include "esp_idf_version.h"
+
 #if SOC_TOUCH_SENSOR_SUPPORTED
-#if SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 #include "esp32-hal.h"
+#include "driver/touch_sens.h"
+
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+#define TOUCH_CHANNEL_DEFAULT_CONFIG()                                                                                     \
+  {                                                                                                                        \
+    .abs_active_thresh = {1000}, .charge_speed = TOUCH_CHARGE_SPEED_7, .init_charge_volt = TOUCH_INIT_CHARGE_VOLT_DEFAULT, \
+    .group = TOUCH_CHAN_TRIG_GROUP_BOTH,                                                                                   \
+  }
+#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32-S2 & ESP32-S3
+#define TOUCH_CHANNEL_DEFAULT_CONFIG() \
+  { .active_thresh = {2000}, .charge_speed = TOUCH_CHARGE_SPEED_7, .init_charge_volt = TOUCH_INIT_CHARGE_VOLT_DEFAULT, }
+#elif SOC_TOUCH_SENSOR_VERSION == 3  // ESP32-P4
+#define TOUCH_CHANNEL_DEFAULT_CONFIG() \
+  { .active_thresh = {1000}, }
+#endif
 
 typedef uint32_t touch_value_t;
 
@@ -40,11 +57,39 @@ typedef uint32_t touch_value_t;
  **/
 void touchSetTiming(float measure, uint32_t sleep);
 
+#if SOC_TOUCH_SENSOR_VERSION == 1  // ESP32
+/*
+ * @param[in] duration_ms   The measurement duration of the touch channel
+ * @param[in] volt_low      The low voltage limit of the touch channel
+ * @param[in] volt_high     The high voltage limit of the touch channel
+ */
+void touchSetConfig(float duration_ms, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high);
+
+#elif SOC_TOUCH_SENSOR_VERSION == 2  // ESP32S2, ESP32S3
+/*
+ * @param[in] chg_times     The charge times of the touch channel
+ * @param[in] volt_low      The low voltage limit of the touch channel
+ * @param[in] volt_high     The high voltage limit of the touch channel
+ */
+void touchSetConfig(uint32_t chg_times, touch_volt_lim_l_t volt_low, touch_volt_lim_h_t volt_high);
+
+#elif SOC_TOUCH_SENSOR_VERSION == 3  // ESP32P4
 /*
  * Tune the touch pad frequency.
  * Note: Must be called before setting up touch pads
 */
 void touchSetConfig(uint32_t _div_num, uint8_t coarse_freq_tune, uint8_t fine_freq_tune);
+#endif
+
+#if SOC_TOUCH_SENSOR_VERSION == 1
+/*
+ * Specific functions to ESP32
+ * Tells the driver if it shall activate the ISR if the sensor is Lower or Higher than the Threshold
+ * Default if Lower.
+ * Note: Must be called before setting up touch pads
+ **/
+void touchInterruptSetThresholdDirection(bool mustbeLower);
+#endif
 
 /*
  * Read touch pad value.
@@ -86,6 +131,6 @@ void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold);
 }
 #endif
 
-#endif /* SOC_TOUCH_SENSOR_VERSION == 3 */
+#endif /* ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0) || SOC_TOUCH_SENSOR_VERSION == 3 */
 #endif /* SOC_TOUCH_SENSOR_SUPPORTED */
 #endif /* MAIN_ESP32_HAL_TOUCH_H_ */
diff --git a/cores/esp32/esp32-hal-touch.c b/cores/esp32/esp32-hal-touch.c
index 701bf6d16c9..10482234de0 100644
--- a/cores/esp32/esp32-hal-touch.c
+++ b/cores/esp32/esp32-hal-touch.c
@@ -12,9 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 #include "soc/soc_caps.h"
+#include "esp_idf_version.h"
 
 #if SOC_TOUCH_SENSOR_SUPPORTED
-#if SOC_TOUCH_SENSOR_VERSION <= 2  // ESP32, ESP32S2, ESP32S3
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0) && SOC_TOUCH_SENSOR_VERSION <= 2  // ESP32, ESP32S2, ESP32S3
 
 #include "driver/touch_sensor.h"
 #include "esp32-hal-touch.h"
@@ -325,5 +326,5 @@ extern void touchAttachInterruptArg(uint8_t, voidArgFuncPtr, void *, touch_value
 extern void touchDetachInterrupt(uint8_t) __attribute__((weak, alias("__touchDettachInterrupt")));
 extern void touchSetCycles(uint16_t, uint16_t) __attribute__((weak, alias("__touchSetCycles")));
 
-#endif /* SOC_TOUCH_SENSOR_VERSION <= 2 */
+#endif /* ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0) && SOC_TOUCH_SENSOR_VERSION <= 2 */
 #endif /* SOC_TOUCH_SENSOR_SUPPORTED */
diff --git a/cores/esp32/esp32-hal-touch.h b/cores/esp32/esp32-hal-touch.h
index 4b06c7db766..44c99dce206 100644
--- a/cores/esp32/esp32-hal-touch.h
+++ b/cores/esp32/esp32-hal-touch.h
@@ -21,8 +21,10 @@
 #define MAIN_ESP32_HAL_TOUCH_H_
 
 #include "soc/soc_caps.h"
+#include "esp_idf_version.h"
+
 #if SOC_TOUCH_SENSOR_SUPPORTED
-#if SOC_TOUCH_SENSOR_VERSION <= 2  // ESP32 ESP32S2 ESP32S3
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0) && SOC_TOUCH_SENSOR_VERSION <= 2  // ESP32, ESP32S2, ESP32S3
 
 #ifdef __cplusplus
 extern "C" {
@@ -98,6 +100,6 @@ void touchSleepWakeUpEnable(uint8_t pin, touch_value_t threshold);
 }
 #endif
 
-#endif /* SOC_TOUCH_SENSOR_VERSION <= 2 */
+#endif /* ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 5, 0) && SOC_TOUCH_SENSOR_VERSION <= 2 */
 #endif /* SOC_TOUCH_SENSOR_SUPPORTED */
 #endif /* MAIN_ESP32_HAL_TOUCH_H_ */
diff --git a/docs/en/contributing.rst b/docs/en/contributing.rst
index 7a7b99894eb..ae07bb57706 100644
--- a/docs/en/contributing.rst
+++ b/docs/en/contributing.rst
@@ -425,6 +425,10 @@ The ``ci.json`` file is used to specify how the test suite and sketches will han
 * ``fqbn``: A dictionary that specifies the FQBNs that will be used to compile the sketch. The key is the target name and the value is a list
   of FQBNs. The `default FQBNs <https://github.com/espressif/arduino-esp32/blob/a31a5fca1739993173caba995f7785b8eed6b30e/.github/scripts/sketch_utils.sh#L86-L91>`_
   are used if this field is not specified. This overrides the default FQBNs and the ``fqbn_append`` field.
+* ``libs``: A list of libraries that are required to run the test suite. The libraries will be installed automatically if they are not already present.
+  Libraries are installed using the ``arduino-cli lib install`` command, so you can specify libraries by name + version (e.g., ``AudioZero@1.0.0``)
+  or by URL (e.g., ``https://github.com/arduino-libraries/WiFi101.git``).
+  More information can be found in the `Arduino CLI documentation <https://arduino.github.io/arduino-cli/1.3/commands/arduino-cli_lib_install/>`_.
 
 The ``wifi`` test suite is a good example of how to use the ``ci.json`` file:
 
diff --git a/idf_component.yml b/idf_component.yml
index f9357a401f9..58377fab952 100644
--- a/idf_component.yml
+++ b/idf_component.yml
@@ -54,12 +54,12 @@ dependencies:
   espressif/esp_modem:
     version: "^1.1.0"
   espressif/esp-zboss-lib:
-    version: "==1.6.4" # compatible with esp-zigbee-lib 1.6.6
+    version: "==1.6.4" # compatible with esp-zigbee-lib 1.6.7
     require: public
     rules:
       - if: "target not in [esp32c2, esp32p4]"
   espressif/esp-zigbee-lib:
-    version: "==1.6.6"
+    version: "==1.6.7"
     require: public
     rules:
       - if: "target not in [esp32c2, esp32p4]"
diff --git a/libraries/BLE/src/BLE2901.cpp b/libraries/BLE/src/BLE2901.cpp
index 1fa4857ac33..3b5edb0b59f 100644
--- a/libraries/BLE/src/BLE2901.cpp
+++ b/libraries/BLE/src/BLE2901.cpp
@@ -47,7 +47,7 @@ BLE2901::BLE2901() : BLEDescriptor(BLEUUID((uint16_t)BLE2901_UUID)) {}
 /**
  * @brief Set the Characteristic User Description
  */
-void BLE2901::setDescription(String userDesc) {
+void BLE2901::setDescription(const String &userDesc) {
   if (userDesc.length() > ESP_GATT_MAX_ATTR_LEN) {
     log_e("Size %d too large, must be no bigger than %d", userDesc.length(), ESP_GATT_MAX_ATTR_LEN);
     return;
diff --git a/libraries/BLE/src/BLE2901.h b/libraries/BLE/src/BLE2901.h
index 21e7cc9398c..87ce76090fe 100644
--- a/libraries/BLE/src/BLE2901.h
+++ b/libraries/BLE/src/BLE2901.h
@@ -40,7 +40,7 @@ class BLE2901 : public BLEDescriptor {
    ***************************************************************************/
 
   BLE2901();
-  void setDescription(String desc);
+  void setDescription(const String &desc);
 };  // BLE2901
 
 #endif /* CONFIG_BLUEDROID_ENABLED || CONFIG_NIMBLE_ENABLED */
diff --git a/libraries/BLE/src/BLECharacteristic.cpp b/libraries/BLE/src/BLECharacteristic.cpp
index 0234cd11cca..3d218e6bd13 100644
--- a/libraries/BLE/src/BLECharacteristic.cpp
+++ b/libraries/BLE/src/BLECharacteristic.cpp
@@ -346,7 +346,7 @@ void BLECharacteristic::setReadProperty(bool value) {
  * @param [in] data The data to set for the characteristic.
  * @param [in] length The length of the data in bytes.
  */
-void BLECharacteristic::setValue(uint8_t *data, size_t length) {
+void BLECharacteristic::setValue(const uint8_t *data, size_t length) {
 // The call to BLEUtils::buildHexData() doesn't output anything if the log level is not
 // "VERBOSE". As it is quite CPU intensive, it is much better to not call it if not needed.
 #if ARDUHAL_LOG_LEVEL >= ARDUHAL_LOG_LEVEL_VERBOSE
@@ -371,43 +371,28 @@ void BLECharacteristic::setValue(uint8_t *data, size_t length) {
  * @param [in] Set the value of the characteristic.
  * @return N/A.
  */
-void BLECharacteristic::setValue(String value) {
-  setValue((uint8_t *)(value.c_str()), value.length());
+void BLECharacteristic::setValue(const String &value) {
+  setValue(reinterpret_cast<const uint8_t *>(value.c_str()), value.length());
 }  // setValue
 
-void BLECharacteristic::setValue(uint16_t &data16) {
-  uint8_t temp[2];
-  temp[0] = data16;
-  temp[1] = data16 >> 8;
-  setValue(temp, 2);
+void BLECharacteristic::setValue(uint16_t data16) {
+  setValue(reinterpret_cast<const uint8_t *>(&data16), sizeof(data16));
 }  // setValue
 
-void BLECharacteristic::setValue(uint32_t &data32) {
-  uint8_t temp[4];
-  temp[0] = data32;
-  temp[1] = data32 >> 8;
-  temp[2] = data32 >> 16;
-  temp[3] = data32 >> 24;
-  setValue(temp, 4);
+void BLECharacteristic::setValue(uint32_t data32) {
+  setValue(reinterpret_cast<const uint8_t *>(&data32), sizeof(data32));
 }  // setValue
 
-void BLECharacteristic::setValue(int &data32) {
-  uint8_t temp[4];
-  temp[0] = data32;
-  temp[1] = data32 >> 8;
-  temp[2] = data32 >> 16;
-  temp[3] = data32 >> 24;
-  setValue(temp, 4);
+void BLECharacteristic::setValue(int data32) {
+  setValue(reinterpret_cast<const uint8_t *>(&data32), sizeof(data32));
 }  // setValue
 
-void BLECharacteristic::setValue(float &data32) {
-  float temp = data32;
-  setValue((uint8_t *)&temp, 4);
+void BLECharacteristic::setValue(float data32) {
+  setValue(reinterpret_cast<const uint8_t *>(&data32), sizeof(data32));
 }  // setValue
 
-void BLECharacteristic::setValue(double &data64) {
-  double temp = data64;
-  setValue((uint8_t *)&temp, 8);
+void BLECharacteristic::setValue(double data64) {
+  setValue(reinterpret_cast<const uint8_t *>(&data64), sizeof(data64));
 }  // setValue
 
 /**
diff --git a/libraries/BLE/src/BLECharacteristic.h b/libraries/BLE/src/BLECharacteristic.h
index 27df5a30c3e..dc87177644f 100644
--- a/libraries/BLE/src/BLECharacteristic.h
+++ b/libraries/BLE/src/BLECharacteristic.h
@@ -184,13 +184,13 @@ class BLECharacteristic {
   void indicate();
   void notify(bool is_notification = true);
   void setCallbacks(BLECharacteristicCallbacks *pCallbacks);
-  void setValue(uint8_t *data, size_t size);
-  void setValue(String value);
-  void setValue(uint16_t &data16);
-  void setValue(uint32_t &data32);
-  void setValue(int &data32);
-  void setValue(float &data32);
-  void setValue(double &data64);
+  void setValue(const uint8_t *data, size_t size);
+  void setValue(const String &value);
+  void setValue(uint16_t data16);
+  void setValue(uint32_t data32);
+  void setValue(int data32);
+  void setValue(float data32);
+  void setValue(double data64);
   String toString();
   uint16_t getHandle();
   void setAccessPermissions(uint8_t perm);
diff --git a/libraries/BLE/src/BLEDescriptor.cpp b/libraries/BLE/src/BLEDescriptor.cpp
index 51c77bb9b49..2452f3cd45b 100644
--- a/libraries/BLE/src/BLEDescriptor.cpp
+++ b/libraries/BLE/src/BLEDescriptor.cpp
@@ -181,7 +181,7 @@ void BLEDescriptor::setHandle(uint16_t handle) {
  * @param [in] data The data to set for the descriptor.
  * @param [in] length The length of the data in bytes.
  */
-void BLEDescriptor::setValue(uint8_t *data, size_t length) {
+void BLEDescriptor::setValue(const uint8_t *data, size_t length) {
   if (length > m_value.attr_max_len) {
     log_e("Size %d too large, must be no bigger than %d", length, m_value.attr_max_len);
     return;
@@ -203,8 +203,8 @@ void BLEDescriptor::setValue(uint8_t *data, size_t length) {
  * @brief Set the value of the descriptor.
  * @param [in] value The value of the descriptor in string form.
  */
-void BLEDescriptor::setValue(String value) {
-  setValue((uint8_t *)value.c_str(), value.length());
+void BLEDescriptor::setValue(const String &value) {
+  setValue(reinterpret_cast<const uint8_t *>(value.c_str()), value.length());
 }  // setValue
 
 void BLEDescriptor::setAccessPermissions(uint8_t perm) {
diff --git a/libraries/BLE/src/BLEDescriptor.h b/libraries/BLE/src/BLEDescriptor.h
index d0d34b24388..83008743ae5 100644
--- a/libraries/BLE/src/BLEDescriptor.h
+++ b/libraries/BLE/src/BLEDescriptor.h
@@ -94,8 +94,8 @@ class BLEDescriptor {
 
   void setAccessPermissions(uint8_t perm);                // Set the permissions of the descriptor.
   void setCallbacks(BLEDescriptorCallbacks *pCallbacks);  // Set callbacks to be invoked for the descriptor.
-  void setValue(uint8_t *data, size_t size);              // Set the value of the descriptor as a pointer to data.
-  void setValue(String value);                            // Set the value of the descriptor as a data buffer.
+  void setValue(const uint8_t *data, size_t size);        // Set the value of the descriptor as a pointer to data.
+  void setValue(const String &value);                     // Set the value of the descriptor as a data buffer.
 
   String toString();  // Convert the descriptor to a string representation.
 
diff --git a/libraries/BLE/src/BLEValue.cpp b/libraries/BLE/src/BLEValue.cpp
index efc97697baa..6559766cfea 100644
--- a/libraries/BLE/src/BLEValue.cpp
+++ b/libraries/BLE/src/BLEValue.cpp
@@ -37,7 +37,7 @@ BLEValue::BLEValue() {
  * The accumulation is a growing set of data that is added to until a commit or cancel.
  * @param [in] part A message part being added.
  */
-void BLEValue::addPart(String part) {
+void BLEValue::addPart(const String &part) {
   log_v(">> addPart: length=%d", part.length());
   m_accumulation += part;
 }  // addPart
@@ -48,7 +48,7 @@ void BLEValue::addPart(String part) {
  * @param [in] pData A message part being added.
  * @param [in] length The number of bytes being added.
  */
-void BLEValue::addPart(uint8_t *pData, size_t length) {
+void BLEValue::addPart(const uint8_t *pData, size_t length) {
   log_v(">> addPart: length=%d", length);
   m_accumulation += String((char *)pData, length);
 }  // addPart
@@ -121,7 +121,7 @@ void BLEValue::setReadOffset(uint16_t readOffset) {
 /**
  * @brief Set the current value.
  */
-void BLEValue::setValue(String value) {
+void BLEValue::setValue(const String &value) {
   m_value = value;
 }  // setValue
 
@@ -130,7 +130,7 @@ void BLEValue::setValue(String value) {
  * @param [in] pData The data for the current value.
  * @param [in] The length of the new current value.
  */
-void BLEValue::setValue(uint8_t *pData, size_t length) {
+void BLEValue::setValue(const uint8_t *pData, size_t length) {
   m_value = String((char *)pData, length);
 }  // setValue
 
diff --git a/libraries/BLE/src/BLEValue.h b/libraries/BLE/src/BLEValue.h
index 56a7a5bc4ec..6a1b7cfd7e4 100644
--- a/libraries/BLE/src/BLEValue.h
+++ b/libraries/BLE/src/BLEValue.h
@@ -34,8 +34,8 @@ class BLEValue {
    ***************************************************************************/
 
   BLEValue();
-  void addPart(String part);
-  void addPart(uint8_t *pData, size_t length);
+  void addPart(const String &part);
+  void addPart(const uint8_t *pData, size_t length);
   void cancel();
   void commit();
   uint8_t *getData();
@@ -43,8 +43,8 @@ class BLEValue {
   uint16_t getReadOffset();
   String getValue();
   void setReadOffset(uint16_t readOffset);
-  void setValue(String value);
-  void setValue(uint8_t *pData, size_t length);
+  void setValue(const String &value);
+  void setValue(const uint8_t *pData, size_t length);
 
 private:
   /***************************************************************************
diff --git a/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino b/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino
index 43f3bc36592..ac2b641be40 100644
--- a/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino
+++ b/libraries/ESP32/examples/Touch/TouchButton/TouchButton.ino
@@ -3,44 +3,53 @@
 This is an example how to use Touch Intrrerupts
 The sketch will tell when it is touched and then released as like a push-button
 
-This method based on touchInterruptSetThresholdDirection() is only available for ESP32
+This method based on touchInterruptGetLastStatus()
 */
 
 #include "Arduino.h"
 
-int threshold = 40;
-bool touchActive = false;
-bool lastTouchActive = false;
-bool testingLower = true;
-
-void gotTouchEvent() {
-  if (lastTouchActive != testingLower) {
-    touchActive = !touchActive;
-    testingLower = !testingLower;
-    // Touch ISR will be inverted: Lower <--> Higher than the Threshold after ISR event is noticed
-    touchInterruptSetThresholdDirection(testingLower);
-  }
+int threshold = 0;  // if 0 is used, benchmark value is used. Its by default 1,5% change, can be changed by touchSetDefaultThreshold(float percentage)
+bool touch1detected = false;
+bool touch2detected = false;
+
+void gotTouch1() {
+  touch1detected = true;
+}
+
+void gotTouch2() {
+  touch2detected = true;
 }
 
 void setup() {
   Serial.begin(115200);
   delay(1000);  // give me time to bring up serial monitor
-  Serial.println("ESP32 Touch Interrupt Test");
-  touchAttachInterrupt(T2, gotTouchEvent, threshold);
 
-  // Touch ISR will be activated when touchRead is lower than the Threshold
-  touchInterruptSetThresholdDirection(testingLower);
+  //Optional: Set the threshold to 5% of the benchmark value. Only effective if threshold = 0.
+  touchSetDefaultThreshold(5);
+
+  //Set the touch pads
+  Serial.println("\n ESP32 Touch Interrupt Test\n");
+  touchAttachInterrupt(T1, gotTouch1, threshold);
+  touchAttachInterrupt(T2, gotTouch2, threshold);
 }
 
 void loop() {
-  if (lastTouchActive != touchActive) {
-    lastTouchActive = touchActive;
-    if (touchActive) {
-      Serial.println("  ---- Touch was Pressed");
+  if (touch1detected) {
+    touch1detected = false;
+    if (touchInterruptGetLastStatus(T1)) {
+      Serial.println(" --- T1 Touched");
     } else {
-      Serial.println("  ---- Touch was Released");
+      Serial.println(" --- T1 Released");
     }
   }
-  Serial.printf("T2 pin2 = %d \n", touchRead(T2));
-  delay(125);
+  if (touch2detected) {
+    touch2detected = false;
+    if (touchInterruptGetLastStatus(T2)) {
+      Serial.println(" --- T2 Touched");
+    } else {
+      Serial.println(" --- T2 Released");
+    }
+  }
+
+  delay(80);
 }
diff --git a/libraries/ESP32/examples/Touch/TouchButton/ci.json b/libraries/ESP32/examples/Touch/TouchButton/ci.json
index cec76a84f9d..c0ecf9fc0a5 100644
--- a/libraries/ESP32/examples/Touch/TouchButton/ci.json
+++ b/libraries/ESP32/examples/Touch/TouchButton/ci.json
@@ -1,5 +1,5 @@
 {
   "requires": [
-    "CONFIG_SOC_TOUCH_VERSION_1=y"
+    "CONFIG_SOC_TOUCH_SENSOR_SUPPORTED=y"
   ]
 }
diff --git a/libraries/ESP32/examples/Touch/TouchButtonV2/TouchButtonV2.ino b/libraries/ESP32/examples/Touch/TouchButtonV2/TouchButtonV2.ino
deleted file mode 100644
index df9b3f41149..00000000000
--- a/libraries/ESP32/examples/Touch/TouchButtonV2/TouchButtonV2.ino
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
-
-This is an example how to use Touch Intrrerupts
-The sketch will tell when it is touched and then released as like a push-button
-
-This method based on touchInterruptGetLastStatus() is only available for ESP32 S2 and S3
-*/
-
-#include "Arduino.h"
-
-int threshold = 1500;  // ESP32S2
-bool touch1detected = false;
-bool touch2detected = false;
-
-void gotTouch1() {
-  touch1detected = true;
-}
-
-void gotTouch2() {
-  touch2detected = true;
-}
-
-void setup() {
-  Serial.begin(115200);
-  delay(1000);  // give me time to bring up serial monitor
-
-  Serial.println("\n ESP32 Touch Interrupt Test\n");
-  touchAttachInterrupt(T1, gotTouch1, threshold);
-  touchAttachInterrupt(T2, gotTouch2, threshold);
-}
-
-void loop() {
-  if (touch1detected) {
-    touch1detected = false;
-    if (touchInterruptGetLastStatus(T1)) {
-      Serial.println(" --- T1 Touched");
-    } else {
-      Serial.println(" --- T1 Released");
-    }
-  }
-  if (touch2detected) {
-    touch2detected = false;
-    if (touchInterruptGetLastStatus(T2)) {
-      Serial.println(" --- T2 Touched");
-    } else {
-      Serial.println(" --- T2 Released");
-    }
-  }
-
-  delay(80);
-}
diff --git a/libraries/ESP32/examples/Touch/TouchButtonV2/ci.json b/libraries/ESP32/examples/Touch/TouchButtonV2/ci.json
deleted file mode 100644
index 2710fa7940e..00000000000
--- a/libraries/ESP32/examples/Touch/TouchButtonV2/ci.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "requires": [
-    "CONFIG_SOC_TOUCH_VERSION_2=y"
-  ]
-}
diff --git a/libraries/ESP32/examples/Touch/TouchInterrupt/TouchInterrupt.ino b/libraries/ESP32/examples/Touch/TouchInterrupt/TouchInterrupt.ino
index 3b4e5f0b9e9..130026d1ad7 100644
--- a/libraries/ESP32/examples/Touch/TouchInterrupt/TouchInterrupt.ino
+++ b/libraries/ESP32/examples/Touch/TouchInterrupt/TouchInterrupt.ino
@@ -3,11 +3,7 @@ This is an example how to use Touch Intrrerupts
 The bigger the threshold, the more sensible is the touch
 */
 
-#if CONFIG_IDF_TARGET_ESP32P4
-int threshold = 0;  // when 0 is used, the benchmarked value will be used
-#else
-int threshold = 40;
-#endif
+int threshold = 0;  // if 0 is used, benchmark value is used. Its by default 1,5% change, can be changed by touchSetDefaultThreshold(float percentage)
 
 bool touch1detected = false;
 bool touch2detected = false;
@@ -23,6 +19,10 @@ void gotTouch2() {
 void setup() {
   Serial.begin(115200);
   delay(1000);  // give me time to bring up serial monitor
+
+  //Optional: Set the threshold to 5% of the benchmark value. Only effective if threshold = 0.
+  touchSetDefaultThreshold(5);
+
   Serial.println("ESP32 Touch Interrupt Test");
   touchAttachInterrupt(T2, gotTouch1, threshold);
   touchAttachInterrupt(T3, gotTouch2, threshold);
diff --git a/libraries/ESP32/examples/Touch/TouchRead/TouchRead.ino b/libraries/ESP32/examples/Touch/TouchRead/TouchRead.ino
index 8e93ba44691..ba221f3048f 100644
--- a/libraries/ESP32/examples/Touch/TouchRead/TouchRead.ino
+++ b/libraries/ESP32/examples/Touch/TouchRead/TouchRead.ino
@@ -1,5 +1,5 @@
 // ESP32 Touch Test
-// Just test touch pin - Touch0 is T0 which is on GPIO 4.
+// Just test touch pin - Touch2 is T2 which is on GPIO 2.
 
 void setup() {
   Serial.begin(115200);
@@ -8,6 +8,6 @@ void setup() {
 }
 
 void loop() {
-  Serial.println(touchRead(T1));  // get value using T0
+  Serial.println(touchRead(T2));  // get value using T2
   delay(1000);
 }
diff --git a/libraries/HTTPClient/examples/CustomHeaders/CustomHeaders.ino b/libraries/HTTPClient/examples/CustomHeaders/CustomHeaders.ino
new file mode 100644
index 00000000000..a73af191fcf
--- /dev/null
+++ b/libraries/HTTPClient/examples/CustomHeaders/CustomHeaders.ino
@@ -0,0 +1,83 @@
+#include <Arduino.h>
+
+#include <WiFi.h>
+#include <HTTPClient.h>
+
+// Enable or disable collecting all headers
+#define COLLECT_ALL_HEADERS true
+
+void setup() {
+
+  Serial.begin(115200);
+
+  Serial.println();
+  Serial.println();
+  Serial.println();
+
+  for (uint8_t t = 4; t > 0; t--) {
+    Serial.printf("[SETUP] WAIT %d...\n", t);
+    Serial.flush();
+    delay(1000);
+  }
+
+  WiFi.begin("SSID", "PASSWORD");
+
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    Serial.print(".");
+  }
+  Serial.println();
+  Serial.println("Connected to WiFi: " + WiFi.SSID());
+}
+
+void loop() {
+
+  HTTPClient http;
+
+  Serial.print("[HTTP] Preparing HTTP request...\n");
+  // This page will return the headers we want to test + some others
+  http.begin("https://httpbingo.org/response-headers?x-custom-header=value:42");
+
+#if COLLECT_ALL_HEADERS
+  // Collect all headers
+  http.collectAllHeaders();
+#else
+  // Collect specific headers, only that one will be stored
+  const char *headerKeys[] = {"x-custom-header"};
+  const size_t headerKeysCount = sizeof(headerKeys) / sizeof(headerKeys[0]);
+  http.collectHeaders(headerKeys, headerKeysCount);
+#endif
+
+  Serial.print("[HTTP] Sending HTTP GET request...\n");
+  // start connection and send HTTP header
+  int httpCode = http.GET();
+
+  // httpCode will be negative on error
+  if (httpCode > 0) {
+    // HTTP header has been send and Server response header has been handled
+    Serial.printf("[HTTP] GET response code: %d\n", httpCode);
+
+    Serial.println("[HTTP] Headers collected:");
+    for (size_t i = 0; i < http.headers(); i++) {
+      Serial.printf("[HTTP] - '%s': '%s'\n", http.headerName(i).c_str(), http.header(i).c_str());
+    }
+
+    Serial.println("[HTTP] Has header 'x-custom-header'? " + String(http.hasHeader("x-custom-header")) + " (expected true)");
+    Serial.printf("[HTTP] x-custom-header: '%s' (expected 'value:42')\n", http.header("x-custom-header").c_str());
+    Serial.printf("[HTTP] non-existing-header: '%s' (expected empty string)\n", http.header("non-existing-header").c_str());
+
+#if COLLECT_ALL_HEADERS
+    // Server response with multiple headers, one of them is 'server'
+    Serial.println("[HTTP] Has header 'server'? " + String(http.hasHeader("server")) + " (expected true)");
+    Serial.printf("[HTTP] server: '%s'\n", http.header("server").c_str());
+#endif
+
+  } else {
+    Serial.printf("[HTTP] GET... failed, error: %s\n", http.errorToString(httpCode).c_str());
+  }
+
+  http.end();
+
+  Serial.println("[HTTP] end connection\n\n");
+  delay(5000);
+}
diff --git a/libraries/HTTPClient/examples/CustomHeaders/ci.json b/libraries/HTTPClient/examples/CustomHeaders/ci.json
new file mode 100644
index 00000000000..618e46bd244
--- /dev/null
+++ b/libraries/HTTPClient/examples/CustomHeaders/ci.json
@@ -0,0 +1,6 @@
+{
+  "requires_any": [
+    "CONFIG_SOC_WIFI_SUPPORTED=y",
+    "CONFIG_ESP_WIFI_REMOTE_ENABLED=y"
+  ]
+}
diff --git a/libraries/HTTPClient/src/HTTPClient.cpp b/libraries/HTTPClient/src/HTTPClient.cpp
index 03d9a6204d5..8061042bd3f 100644
--- a/libraries/HTTPClient/src/HTTPClient.cpp
+++ b/libraries/HTTPClient/src/HTTPClient.cpp
@@ -90,9 +90,6 @@ HTTPClient::~HTTPClient() {
   if (_client) {
     _client->stop();
   }
-  if (_currentHeaders) {
-    delete[] _currentHeaders;
-  }
   if (_tcpDeprecated) {
     _tcpDeprecated.reset(nullptr);
   }
@@ -564,9 +561,12 @@ int HTTPClient::sendRequest(const char *type, uint8_t *payload, size_t size) {
   bool redirect = false;
   uint16_t redirectCount = 0;
   do {
-    // wipe out any existing headers from previous request
-    for (size_t i = 0; i < _headerKeysCount; i++) {
-      if (_currentHeaders[i].value.length() > 0) {
+    // wipe out any existing headers from previous request, but preserve the keys if collecting specific headers
+    if (_collectAllHeaders) {
+      _currentHeaders.clear();
+    } else {
+      // Only clear values, keep the keys for specific header collection
+      for (size_t i = 0; i < _currentHeaders.size(); ++i) {
         _currentHeaders[i].value.clear();
       }
     }
@@ -1015,19 +1015,24 @@ void HTTPClient::addHeader(const String &name, const String &value, bool first,
   }
 }
 
+void HTTPClient::collectAllHeaders(bool collectAll) {
+  _collectAllHeaders = collectAll;
+}
+
 void HTTPClient::collectHeaders(const char *headerKeys[], const size_t headerKeysCount) {
-  _headerKeysCount = headerKeysCount;
-  if (_currentHeaders) {
-    delete[] _currentHeaders;
+  if (_collectAllHeaders) {
+    log_w("collectHeaders is ignored when collectAllHeaders is set");
+    return;
   }
-  _currentHeaders = new RequestArgument[_headerKeysCount];
-  for (size_t i = 0; i < _headerKeysCount; i++) {
+  _currentHeaders.clear();
+  _currentHeaders.resize(headerKeysCount);
+  for (size_t i = 0; i < headerKeysCount; i++) {
     _currentHeaders[i].key = headerKeys[i];
   }
 }
 
 String HTTPClient::header(const char *name) {
-  for (size_t i = 0; i < _headerKeysCount; ++i) {
+  for (size_t i = 0; i < _currentHeaders.size(); ++i) {
     if (_currentHeaders[i].key.equalsIgnoreCase(name)) {
       return _currentHeaders[i].value;
     }
@@ -1036,25 +1041,25 @@ String HTTPClient::header(const char *name) {
 }
 
 String HTTPClient::header(size_t i) {
-  if (i < _headerKeysCount) {
+  if (i < _currentHeaders.size()) {
     return _currentHeaders[i].value;
   }
   return String();
 }
 
 String HTTPClient::headerName(size_t i) {
-  if (i < _headerKeysCount) {
+  if (i < _currentHeaders.size()) {
     return _currentHeaders[i].key;
   }
   return String();
 }
 
 int HTTPClient::headers() {
-  return _headerKeysCount;
+  return _currentHeaders.size();
 }
 
 bool HTTPClient::hasHeader(const char *name) {
-  for (size_t i = 0; i < _headerKeysCount; ++i) {
+  for (size_t i = 0; i < _currentHeaders.size(); ++i) {
     if ((_currentHeaders[i].key.equalsIgnoreCase(name)) && (_currentHeaders[i].value.length() > 0)) {
       return true;
     }
@@ -1238,17 +1243,14 @@ int HTTPClient::handleHeaderResponse() {
           setCookie(date, headerValue);
         }
 
-        for (size_t i = 0; i < _headerKeysCount; i++) {
-          if (_currentHeaders[i].key.equalsIgnoreCase(headerName)) {
-            // Uncomment the following lines if you need to add support for multiple headers with the same key:
-            // if (!_currentHeaders[i].value.isEmpty()) {
-            //     // Existing value, append this one with a comma
-            //     _currentHeaders[i].value += ',';
-            //     _currentHeaders[i].value += headerValue;
-            // } else {
-            _currentHeaders[i].value = headerValue;
-            // }
-            break;  // We found a match, stop looking
+        if (_collectAllHeaders && headerName.length() > 0) {
+          _currentHeaders.emplace_back(headerName, headerValue);
+        } else {
+          for (size_t i = 0; i < _currentHeaders.size(); ++i) {
+            if (_currentHeaders[i].key.equalsIgnoreCase(headerName)) {
+              _currentHeaders[i].value = headerValue;
+              break;  // We found a match, stop looking
+            }
           }
         }
       }
diff --git a/libraries/HTTPClient/src/HTTPClient.h b/libraries/HTTPClient/src/HTTPClient.h
index 80f6da28599..e07cd937d06 100644
--- a/libraries/HTTPClient/src/HTTPClient.h
+++ b/libraries/HTTPClient/src/HTTPClient.h
@@ -38,7 +38,7 @@
 #include <NetworkClientSecure.h>
 #endif  // HTTPCLIENT_NOSECURE
 
-/// Cookie jar support
+/// Cookie jar and header support
 #include <vector>
 
 #define HTTPCLIENT_DEFAULT_TCP_TIMEOUT (5000)
@@ -238,6 +238,7 @@ class HTTPClient {
   void addHeader(const String &name, const String &value, bool first = false, bool replace = true);
 
   /// Response handling
+  void collectAllHeaders(bool collectAll = true);
   void collectHeaders(const char *headerKeys[], const size_t headerKeysCount);
   String header(const char *name);   // get request header value by name
   String header(size_t i);           // get request header value by number
@@ -294,6 +295,7 @@ class HTTPClient {
   uint16_t _tcpTimeout = HTTPCLIENT_DEFAULT_TCP_TIMEOUT;
   bool _useHTTP10 = false;
   bool _secure = false;
+  bool _collectAllHeaders = false;
 
   String _uri;
   String _protocol;
@@ -304,8 +306,7 @@ class HTTPClient {
   String _acceptEncoding = "identity;q=1,chunked;q=0.1,*;q=0";
 
   /// Response handling
-  RequestArgument *_currentHeaders = nullptr;
-  size_t _headerKeysCount = 0;
+  std::vector<RequestArgument> _currentHeaders;
 
   int _returnCode = 0;
   int _size = -1;
diff --git a/tests/validation/touch/ci.json b/tests/validation/touch/ci.json
index 855e9bd964d..3ccb5dfabe8 100644
--- a/tests/validation/touch/ci.json
+++ b/tests/validation/touch/ci.json
@@ -1,4 +1,5 @@
 {
+  "fqbn_append": "DebugLevel=verbose",
   "platforms": {
     "qemu": false,
     "wokwi": false
diff --git a/tests/validation/touch/touch.ino b/tests/validation/touch/touch.ino
index 97aac8a65e6..21ed6119c02 100644
--- a/tests/validation/touch/touch.ino
+++ b/tests/validation/touch/touch.ino
@@ -1,35 +1,30 @@
 #include <unity.h>
 #include "soc/soc_caps.h"
-#include "driver/touch_pad.h"
-
-#if SOC_TOUCH_SENSOR_VERSION == 3
 #include "hal/touch_sensor_ll.h"
-#endif
 
 #if CONFIG_IDF_TARGET_ESP32
 
-#define TEST_TOUCH_CHANNEL (9)
+#define TEST_TOUCH_CHANNEL (7)
 static touch_pad_t touch_list[TEST_TOUCH_CHANNEL] = {
   TOUCH_PAD_NUM0,
   //TOUCH_PAD_NUM1 is GPIO0, for download.
-  TOUCH_PAD_NUM2, TOUCH_PAD_NUM3, TOUCH_PAD_NUM4, TOUCH_PAD_NUM5, TOUCH_PAD_NUM6, TOUCH_PAD_NUM7, TOUCH_PAD_NUM8, TOUCH_PAD_NUM9
+  TOUCH_PAD_NUM2, TOUCH_PAD_NUM3, TOUCH_PAD_NUM4, TOUCH_PAD_NUM5, TOUCH_PAD_NUM6, TOUCH_PAD_NUM7 /*,TOUCH_PAD_NUM8, TOUCH_PAD_NUM9*/
 };
 
-uint8_t TOUCH_GPIOS[] = {4, 2, 15, 13, 12, 14, 27, 33, 32};
+uint8_t TOUCH_GPIOS[] = {4, /* 0,*/ 2, 15, 13, 12, 14, 27 /*, 33, 32*/};
 
 #define NO_TOUCH_GPIO 25
 
 #elif (CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3)
 
-#define TEST_TOUCH_CHANNEL (12)  //14
+#define TEST_TOUCH_CHANNEL (8)  //14
 static touch_pad_t touch_list[TEST_TOUCH_CHANNEL] = {
-  TOUCH_PAD_NUM1, TOUCH_PAD_NUM2, TOUCH_PAD_NUM3,  TOUCH_PAD_NUM4,  TOUCH_PAD_NUM5, TOUCH_PAD_NUM6, TOUCH_PAD_NUM7,
-  TOUCH_PAD_NUM8, TOUCH_PAD_NUM9, TOUCH_PAD_NUM10, TOUCH_PAD_NUM11, TOUCH_PAD_NUM12
-  //TOUCH_PAD_NUM13, //Wrong reading
-  //TOUCH_PAD_NUM14
+  TOUCH_PAD_NUM1, TOUCH_PAD_NUM2, TOUCH_PAD_NUM3, TOUCH_PAD_NUM4, TOUCH_PAD_NUM5,
+  TOUCH_PAD_NUM6, TOUCH_PAD_NUM7, TOUCH_PAD_NUM8
+  /*TOUCH_PAD_NUM9, TOUCH_PAD_NUM10, TOUCH_PAD_NUM11, TOUCH_PAD_NUM12, TOUCH_PAD_NUM13, TOUCH_PAD_NUM14*/
 };
 
-uint8_t TOUCH_GPIOS[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 /*,13,14*/};
+uint8_t TOUCH_GPIOS[] = {1, 2, 3, 4, 5, 6, 7, 8 /*, 9, 10, 11, 12, 13, 14*/};
 
 #define NO_TOUCH_GPIO 17
 
@@ -47,21 +42,12 @@ uint8_t TOUCH_GPIOS[] = {2, 3, 4, 5, 6 /*, 7, 8, 9, 10, 11, 12 ,13, 14, 15*/};
 #define NO_TOUCH_GPIO 17
 #endif
 
-#if CONFIG_IDF_TARGET_ESP32
-#define RELEASED_VALUE      75  //75+ read value to pass test
-#define PRESSED_VALUE       20  //20- read value to pass test
-#define INTERRUPT_THRESHOLD 40
-#elif CONFIG_IDF_TARGET_ESP32S2
-#define RELEASED_VALUE      10000  //10000- read value to pass test
-#define PRESSED_VALUE       42000  //40000+ read value to pass test
-#define INTERRUPT_THRESHOLD 30000
-#elif CONFIG_IDF_TARGET_ESP32S3
-#define RELEASED_VALUE      25000  //25000- read value to pass test
-#define PRESSED_VALUE       90000  //90000+ read value to pass test
-#define INTERRUPT_THRESHOLD 80000
-#elif CONFIG_IDF_TARGET_ESP32P4
-#define PRESSED_VALUE_DIFFERENCE 200  //200+ read value difference against the unpressed value
-#define INTERRUPT_THRESHOLD      0    // Use benchmarked threshold
+#define INTERRUPT_THRESHOLD 0  // Use benchmarked threshold
+
+#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32P4
+#define PRESSED_VALUE_DIFFERENCE 200  //-200 for ESP32 and +200 for ESP32P4 read value difference against the unpressed value
+#elif CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32S2
+#define PRESSED_VALUE_DIFFERENCE 2000  //2000+ read value difference against the unpressed value
 #else
 #error Test not currently supported on this chip. Please adjust and try again!
 #endif
@@ -82,7 +68,7 @@ void gotTouch2() {
  */
 static void test_press_fake(touch_pad_t pad_num) {
 #if SOC_TOUCH_SENSOR_VERSION <= 2
-  touch_pad_set_cnt_mode(pad_num, TOUCH_PAD_SLOPE_1, TOUCH_PAD_TIE_OPT_DEFAULT);
+  touch_ll_set_charge_speed(pad_num, TOUCH_CHARGE_SPEED_4);
 #else
   touch_ll_set_internal_capacitor(0x7f);
 #endif
@@ -93,7 +79,7 @@ static void test_press_fake(touch_pad_t pad_num) {
  */
 static void test_release_fake(touch_pad_t pad_num) {
 #if SOC_TOUCH_SENSOR_VERSION <= 2
-  touch_pad_set_cnt_mode(pad_num, TOUCH_PAD_SLOPE_7, TOUCH_PAD_TIE_OPT_DEFAULT);
+  touch_ll_set_charge_speed(pad_num, TOUCH_CHARGE_SPEED_7);
 #else
   touch_ll_set_internal_capacitor(0);
 #endif
@@ -113,31 +99,6 @@ void tearDown(void) {
  * Test Touch read on all available channels - compare values if reading is right
  */
 void test_touch_read(void) {
-
-#if SOC_TOUCH_SENSOR_VERSION <= 2
-  //TEST RELEASE STATE
-  for (int i = 0; i < sizeof(TOUCH_GPIOS); i++) {
-#ifdef CONFIG_IDF_TARGET_ESP32
-    TEST_ASSERT_GREATER_THAN(RELEASED_VALUE, touchRead(TOUCH_GPIOS[i]));
-#else
-    TEST_ASSERT_LESS_THAN(RELEASED_VALUE, touchRead(TOUCH_GPIOS[i]));
-#endif
-  }
-
-  // TEST PRESS STATE
-  for (int j = 0; j < TEST_TOUCH_CHANNEL; j++) {
-    test_press_fake(touch_list[j]);
-  }
-  delay(100);
-
-  for (int k = 0; k < sizeof(TOUCH_GPIOS); k++) {
-#ifdef CONFIG_IDF_TARGET_ESP32
-    TEST_ASSERT_LESS_THAN(PRESSED_VALUE, touchRead(TOUCH_GPIOS[k]));
-#else
-    TEST_ASSERT_GREATER_THAN(PRESSED_VALUE, touchRead(TOUCH_GPIOS[k]));
-#endif
-  }
-#else  //TOUCH V3
   //TEST RELEASE STATE
   touch_value_t touch_unpressed[sizeof(TOUCH_GPIOS)];
   for (int i = 0; i < sizeof(TOUCH_GPIOS); i++) {
@@ -155,11 +116,18 @@ void test_touch_read(void) {
     touch_pressed[k] = touchRead(TOUCH_GPIOS[k]);
   }
 
-  // COMPARE PRESSED > UNPRESSED
+  // COMPARE PRESSED <-> UNPRESSED
   for (int l = 0; l < sizeof(TOUCH_GPIOS); l++) {
-    TEST_ASSERT_GREATER_THAN((touch_unpressed[l] + PRESSED_VALUE_DIFFERENCE), touch_pressed[l]);
+    //log_i("Touch %d: %d -> %d", TOUCH_GPIOS[l], touch_unpressed[l], touch_pressed[l]);
+    Serial.printf("Touch %d: %lu -> %lu\n", TOUCH_GPIOS[l], touch_unpressed[l], touch_pressed[l]);
   }
+  for (int l = 0; l < sizeof(TOUCH_GPIOS); l++) {
+#if CONFIG_IDF_TARGET_ESP32
+    TEST_ASSERT_LESS_THAN((touch_unpressed[l] - PRESSED_VALUE_DIFFERENCE), touch_pressed[l]);
+#else
+    TEST_ASSERT_GREATER_THAN((touch_unpressed[l] + PRESSED_VALUE_DIFFERENCE), touch_pressed[l]);
 #endif
+  }
 }
 
 void test_touch_interrtupt(void) {
@@ -170,7 +138,7 @@ void test_touch_interrtupt(void) {
   test_press_fake(touch_list[0]);
   test_press_fake(touch_list[1]);
 
-  delay(300);
+  delay(100);
 
   touchDetachInterrupt(TOUCH_GPIOS[0]);
   touchDetachInterrupt(TOUCH_GPIOS[1]);
@@ -190,6 +158,10 @@ void setup() {
     ;
   }
 
+#if SOC_TOUCH_SENSOR_VERSION == 3
+  touch_ll_enable_internal_capacitor(true);
+#endif
+
   UNITY_BEGIN();
   RUN_TEST(test_touch_read);
   RUN_TEST(test_touch_interrtupt);