diff --git a/.github/workflows/test_child.yml b/.github/workflows/test_child.yml
index 6e1a8a4e88..c5db6b82b2 100644
--- a/.github/workflows/test_child.yml
+++ b/.github/workflows/test_child.yml
@@ -56,7 +56,7 @@ jobs:
         export RESERVATION_NAME="https://github.com/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID#rvc2-${{ inputs.flavor }}"
         exec hil_runner --capabilities depthai-core-hil --platforms 'rvc2 and rvc2' --reservation-name $RESERVATION_NAME --wait --docker-image ${{ secrets.CONTAINER_REGISTRY }}/depthai-core-hil:${{ needs.build_docker_container.outputs.tag }} --commands "./tests/run_tests_entrypoint.sh rvc2"
 
-  # Testing
+  #  Testing
  linux_rvc4_test:
       needs: [build_docker_container]
       strategy:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7aa5654e8d..d4ef7e6856 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,12 @@
 cmake_minimum_required(VERSION 3.20)
 
 include(cmake/depthaiOptions.cmake)
+if(CMAKE_TOOLCHAIN_FILE)
+    message(STATUS "Including toolchain file: ${CMAKE_TOOLCHAIN_FILE}")
+    include("${CMAKE_TOOLCHAIN_FILE}")
+else()
+    message(STATUS "No toolchain file specified, skipping include.")
+endif()
 
 if(WIN32)
     add_compile_options(/MP)
@@ -64,7 +70,6 @@ else()
     message(STATUS "Using toolchain file: ${CMAKE_TOOLCHAIN_FILE}")
 endif()
 
-
 # Create depthai project
 project(depthai VERSION "3.1.0" LANGUAGES CXX C)
 set(DEPTHAI_PRE_RELEASE_TYPE "") # Valid options are "alpha", "beta", "rc", ""
@@ -1106,8 +1111,6 @@ endif()
 # Sanitizers
 ########################
 if(DEPTHAI_SANITIZE)
-    set(SANITIZE_ADDRESS ON CACHE BOOL "Enable AddressSanitizer for sanitized targets.")
-    set(SANITIZE_UNDEFINED ON CACHE BOOL "Enable UndefinedBehaviorSanitizer for sanitized targets.")
     find_package(Sanitizers)
     add_sanitizers(${TARGET_CORE_NAME})
     if(DEPTHAI_HAVE_OPENCV_SUPPORT AND NOT DEPTHAI_MERGED_TARGET)
diff --git a/cmake/sanitizers/FindASan.cmake b/cmake/sanitizers/FindASan.cmake
index 98ea7cb311..6aad8295c5 100644
--- a/cmake/sanitizers/FindASan.cmake
+++ b/cmake/sanitizers/FindASan.cmake
@@ -35,6 +35,8 @@ set(FLAG_CANDIDATES
 
 
 if (SANITIZE_ADDRESS AND (SANITIZE_THREAD OR SANITIZE_MEMORY))
+    message(STATUS "SANITIZE_THREAD  = ${SANITIZE_THREAD}")
+    message(STATUS "SANITIZE_ADDRESS  = ${SANITIZE_ADDRESS}")
     message(FATAL_ERROR "AddressSanitizer is not compatible with "
         "ThreadSanitizer or MemorySanitizer.")
 endif ()
diff --git a/cmake/sanitizers/FindTSan.cmake b/cmake/sanitizers/FindTSan.cmake
index 3cba3c03b6..57e54a8a1c 100644
--- a/cmake/sanitizers/FindTSan.cmake
+++ b/cmake/sanitizers/FindTSan.cmake
@@ -28,7 +28,6 @@ set(FLAG_CANDIDATES
     "-g -fsanitize=thread"
 )
 
-
 # ThreadSanitizer is not compatible with MemorySanitizer.
 if (SANITIZE_THREAD AND SANITIZE_MEMORY)
     message(FATAL_ERROR "ThreadSanitizer is not compatible with "
diff --git a/cmake/toolchain/asan-ubsan.cmake b/cmake/toolchain/asan-ubsan.cmake
index 309ca69ce9..41cbad1b9b 100644
--- a/cmake/toolchain/asan-ubsan.cmake
+++ b/cmake/toolchain/asan-ubsan.cmake
@@ -9,4 +9,8 @@ set(CMAKE_SHARED_LINKER_FLAGS ${_internal_flags_sanitizer})
 set(CMAKE_SHARED_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
 set(CMAKE_MODULE_LINKER_FLAGS ${_internal_flags_sanitizer})
 set(CMAKE_MODULE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(DEPTHAI_SANITIZE ON)
+set(SANITIZE_ADDRESS ON)
+set(SANITIZE_UNDEFINED ON)
+set(SANITIZE_THREAD OFF)
 set(_internal_flags_sanitizer)
diff --git a/cmake/toolchain/tsan.cmake b/cmake/toolchain/tsan.cmake
index 7af0a18f7a..5847d43dbd 100644
--- a/cmake/toolchain/tsan.cmake
+++ b/cmake/toolchain/tsan.cmake
@@ -1,3 +1,4 @@
+message(STATUS ">>> Toolchain loaded: ${CMAKE_CURRENT_LIST_FILE}")
 set(_internal_flags_sanitizer "-fno-omit-frame-pointer -fsanitize=thread")
 set(CMAKE_C_FLAGS ${_internal_flags_sanitizer})
 set(CMAKE_CXX_FLAGS ${_internal_flags_sanitizer})
@@ -9,4 +10,8 @@ set(CMAKE_SHARED_LINKER_FLAGS ${_internal_flags_sanitizer})
 set(CMAKE_SHARED_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
 set(CMAKE_MODULE_LINKER_FLAGS ${_internal_flags_sanitizer})
 set(CMAKE_MODULE_LINKER_FLAGS_INIT ${_internal_flags_sanitizer})
+set(DEPTHAI_SANITIZE ON)
+set(SANITIZE_ADDRESS OFF)
+set(SANITIZE_UNDEFINED OFF)
+set(SANITIZE_THREAD ON)
 set(_internal_flags_sanitizer)
\ No newline at end of file
diff --git a/tests/Dockerfile b/tests/Dockerfile
index c7aed0276d..6eba35b133 100644
--- a/tests/Dockerfile
+++ b/tests/Dockerfile
@@ -101,10 +101,9 @@ RUN python3 -m venv venv && \
 
 ENV PATH="/workspace/venv/bin:$PATH"
 
-# Set toolchain path only if flavor != vanilla
 RUN if [ "$FLAVOR" != "vanilla" ]; then \
-        export CMAKE_TOOLCHAIN_PATH=/workspace/cmake/toolchain/${FLAVOR}.cmake && \
-        echo "Using toolchain: $CMAKE_TOOLCHAIN_PATH"; \
+        export CMAKE_TOOLCHAIN_FILE=/workspace/cmake/toolchain/${FLAVOR}.cmake && \
+        echo "Using toolchain: $CMAKE_TOOLCHAIN_FILE"; \
     else \
         echo "Using vanilla flavor (no toolchain)"; \
     fi && \