diff --git a/cores/esp32/esp32-hal-tinyusb.c b/cores/esp32/esp32-hal-tinyusb.c
index c6ad7460ac4..69f3b6ebd43 100644
--- a/cores/esp32/esp32-hal-tinyusb.c
+++ b/cores/esp32/esp32-hal-tinyusb.c
@@ -43,7 +43,7 @@
 #elif CONFIG_IDF_TARGET_ESP32S3
 #if defined __has_include && __has_include("hal/usb_phy_ll.h")
 #include "hal/usb_phy_ll.h"
-#else
+#elif defined __has_include && __has_include("hal/usb_fsls_phy_ll.h")
 #include "hal/usb_fsls_phy_ll.h"
 #endif
 #include "hal/usb_serial_jtag_ll.h"
@@ -503,8 +503,18 @@ static void usb_switch_to_cdc_jtag() {
 // Initialize CDC+JTAG ISR to listen for BUS_RESET
 #if defined __has_include && __has_include("hal/usb_phy_ll.h")
   usb_phy_ll_int_jtag_enable(&USB_SERIAL_JTAG);
-#else
+#elif defined __has_include && __has_include("hal/usb_fsls_phy_ll.h")
   usb_fsls_phy_ll_int_jtag_enable(&USB_SERIAL_JTAG);
+#else
+  // usb_serial_jtag_ll_phy_set_defaults();
+  const usb_serial_jtag_pull_override_vals_t pull_conf = {
+      .dp_pu = 1,
+      .dm_pu = 0,
+      .dp_pd = 0,
+      .dm_pd = 0
+  };
+  usb_serial_jtag_ll_phy_enable_pull_override(&pull_conf);
+  usb_serial_jtag_ll_phy_disable_pull_override();
 #endif
   usb_serial_jtag_ll_disable_intr_mask(USB_SERIAL_JTAG_LL_INTR_MASK);
   usb_serial_jtag_ll_clr_intsts_mask(USB_SERIAL_JTAG_LL_INTR_MASK);
diff --git a/package/package_esp32_index.template.json b/package/package_esp32_index.template.json
index a1ba302eab7..3d455b094f3 100644
--- a/package/package_esp32_index.template.json
+++ b/package/package_esp32_index.template.json
@@ -42,7 +42,7 @@
             {
               "packager": "esp32",
               "name": "esp32-arduino-libs",
-              "version": "idf-release_v5.1-442a798083"
+              "version": "idf-release_v5.1-3f9ab2d6a6"
             },
             {
               "packager": "esp32",
@@ -77,7 +77,7 @@
             {
               "packager": "esp32",
               "name": "openocd-esp32",
-              "version": "v0.12.0-esp32-20230921"
+              "version": "v0.12.0-esp32-20240318"
             },
             {
               "packager": "esp32",
@@ -105,63 +105,63 @@
       "tools": [
         {
           "name": "esp32-arduino-libs",
-          "version": "idf-release_v5.1-442a798083",
+          "version": "idf-release_v5.1-3f9ab2d6a6",
           "systems": [
             {
               "host": "i686-mingw32",
-              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/951ade74d7886e1ce931ea46614c4ac47ae3a6c0",
-              "archiveFileName": "esp32-arduino-libs-951ade74d7886e1ce931ea46614c4ac47ae3a6c0.zip",
-              "checksum": "SHA-256:ac9e200eac443655c5661a4a9251032cb08a7d7a4e32c34ebeb8d340f0030aab",
-              "size": "375249835"
+              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d",
+              "archiveFileName": "esp32-arduino-libs-7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d.zip",
+              "checksum": "SHA-256:42e7b8b70b6fcf65bbc9d00ec35d72d3af1781538dd30c0429ba80af252fc863",
+              "size": "297520391"
             },
             {
               "host": "x86_64-mingw32",
-              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/951ade74d7886e1ce931ea46614c4ac47ae3a6c0",
-              "archiveFileName": "esp32-arduino-libs-951ade74d7886e1ce931ea46614c4ac47ae3a6c0.zip",
-              "checksum": "SHA-256:ac9e200eac443655c5661a4a9251032cb08a7d7a4e32c34ebeb8d340f0030aab",
-              "size": "375249835"
+              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d",
+              "archiveFileName": "esp32-arduino-libs-7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d.zip",
+              "checksum": "SHA-256:42e7b8b70b6fcf65bbc9d00ec35d72d3af1781538dd30c0429ba80af252fc863",
+              "size": "297520391"
             },
             {
               "host": "arm64-apple-darwin",
-              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/951ade74d7886e1ce931ea46614c4ac47ae3a6c0",
-              "archiveFileName": "esp32-arduino-libs-951ade74d7886e1ce931ea46614c4ac47ae3a6c0.zip",
-              "checksum": "SHA-256:ac9e200eac443655c5661a4a9251032cb08a7d7a4e32c34ebeb8d340f0030aab",
-              "size": "375249835"
+              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d",
+              "archiveFileName": "esp32-arduino-libs-7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d.zip",
+              "checksum": "SHA-256:42e7b8b70b6fcf65bbc9d00ec35d72d3af1781538dd30c0429ba80af252fc863",
+              "size": "297520391"
             },
             {
               "host": "x86_64-apple-darwin",
-              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/951ade74d7886e1ce931ea46614c4ac47ae3a6c0",
-              "archiveFileName": "esp32-arduino-libs-951ade74d7886e1ce931ea46614c4ac47ae3a6c0.zip",
-              "checksum": "SHA-256:ac9e200eac443655c5661a4a9251032cb08a7d7a4e32c34ebeb8d340f0030aab",
-              "size": "375249835"
+              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d",
+              "archiveFileName": "esp32-arduino-libs-7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d.zip",
+              "checksum": "SHA-256:42e7b8b70b6fcf65bbc9d00ec35d72d3af1781538dd30c0429ba80af252fc863",
+              "size": "297520391"
             },
             {
               "host": "x86_64-pc-linux-gnu",
-              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/951ade74d7886e1ce931ea46614c4ac47ae3a6c0",
-              "archiveFileName": "esp32-arduino-libs-951ade74d7886e1ce931ea46614c4ac47ae3a6c0.zip",
-              "checksum": "SHA-256:ac9e200eac443655c5661a4a9251032cb08a7d7a4e32c34ebeb8d340f0030aab",
-              "size": "375249835"
+              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d",
+              "archiveFileName": "esp32-arduino-libs-7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d.zip",
+              "checksum": "SHA-256:42e7b8b70b6fcf65bbc9d00ec35d72d3af1781538dd30c0429ba80af252fc863",
+              "size": "297520391"
             },
             {
               "host": "i686-pc-linux-gnu",
-              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/951ade74d7886e1ce931ea46614c4ac47ae3a6c0",
-              "archiveFileName": "esp32-arduino-libs-951ade74d7886e1ce931ea46614c4ac47ae3a6c0.zip",
-              "checksum": "SHA-256:ac9e200eac443655c5661a4a9251032cb08a7d7a4e32c34ebeb8d340f0030aab",
-              "size": "375249835"
+              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d",
+              "archiveFileName": "esp32-arduino-libs-7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d.zip",
+              "checksum": "SHA-256:42e7b8b70b6fcf65bbc9d00ec35d72d3af1781538dd30c0429ba80af252fc863",
+              "size": "297520391"
             },
             {
               "host": "aarch64-linux-gnu",
-              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/951ade74d7886e1ce931ea46614c4ac47ae3a6c0",
-              "archiveFileName": "esp32-arduino-libs-951ade74d7886e1ce931ea46614c4ac47ae3a6c0.zip",
-              "checksum": "SHA-256:ac9e200eac443655c5661a4a9251032cb08a7d7a4e32c34ebeb8d340f0030aab",
-              "size": "375249835"
+              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d",
+              "archiveFileName": "esp32-arduino-libs-7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d.zip",
+              "checksum": "SHA-256:42e7b8b70b6fcf65bbc9d00ec35d72d3af1781538dd30c0429ba80af252fc863",
+              "size": "297520391"
             },
             {
               "host": "arm-linux-gnueabihf",
-              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/951ade74d7886e1ce931ea46614c4ac47ae3a6c0",
-              "archiveFileName": "esp32-arduino-libs-951ade74d7886e1ce931ea46614c4ac47ae3a6c0.zip",
-              "checksum": "SHA-256:ac9e200eac443655c5661a4a9251032cb08a7d7a4e32c34ebeb8d340f0030aab",
-              "size": "375249835"
+              "url": "https://codeload.github.com/espressif/esp32-arduino-libs/zip/7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d",
+              "archiveFileName": "esp32-arduino-libs-7649dd7dd99882cf0ec1015b2c2db1d6c4d70f2d.zip",
+              "checksum": "SHA-256:42e7b8b70b6fcf65bbc9d00ec35d72d3af1781538dd30c0429ba80af252fc863",
+              "size": "297520391"
             }
           ]
         },
@@ -539,56 +539,56 @@
         },
         {
           "name": "openocd-esp32",
-          "version": "v0.12.0-esp32-20230921",
+          "version": "v0.12.0-esp32-20240318",
           "systems": [
             {
               "host": "x86_64-pc-linux-gnu",
-              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20230921/openocd-esp32-linux-amd64-0.12.0-esp32-20230921.tar.gz",
-              "archiveFileName": "openocd-esp32-linux-amd64-0.12.0-esp32-20230921.tar.gz",
-              "checksum": "SHA-256:61e38e0a13a5c1664624ec1c397d7f7d6868554b0d345d3fb1f7294cce38cc4b",
-              "size": "2193783"
+              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20240318/openocd-esp32-linux-amd64-0.12.0-esp32-20240318.tar.gz",
+              "archiveFileName": "openocd-esp32-linux-amd64-0.12.0-esp32-20240318.tar.gz",
+              "checksum": "SHA-256:cf26c5cef4f6b04aa23cd2778675604e5a74a4ce4d8d17b854d05fbcb782d52c",
+              "size": "2252682"
             },
             {
               "host": "aarch64-linux-gnu",
-              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20230921/openocd-esp32-linux-arm64-0.12.0-esp32-20230921.tar.gz",
-              "archiveFileName": "openocd-esp32-linux-arm64-0.12.0-esp32-20230921.tar.gz",
-              "checksum": "SHA-256:6430315dc1b926541c93cef63d2b08982543ad3f9fe6e0d7107c8a518ef20432",
-              "size": "2062058"
+              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20240318/openocd-esp32-linux-arm64-0.12.0-esp32-20240318.tar.gz",
+              "archiveFileName": "openocd-esp32-linux-arm64-0.12.0-esp32-20240318.tar.gz",
+              "checksum": "SHA-256:9b97a37aa2cab94424a778c25c0b4aa0f90d6ef9cda764a1d9289d061305f4b7",
+              "size": "2132904"
             },
             {
               "host": "arm-linux-gnueabihf",
-              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20230921/openocd-esp32-linux-armel-0.12.0-esp32-20230921.tar.gz",
-              "archiveFileName": "openocd-esp32-linux-armel-0.12.0-esp32-20230921.tar.gz",
-              "checksum": "SHA-256:5df16d8a91f013a547f6b3b914c655a9d267996a3b6503031b335ac04a4f8d15",
-              "size": "2206666"
+              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20240318/openocd-esp32-linux-armel-0.12.0-esp32-20240318.tar.gz",
+              "archiveFileName": "openocd-esp32-linux-armel-0.12.0-esp32-20240318.tar.gz",
+              "checksum": "SHA-256:b7e82776ec374983807d3389df09c632ad9bc8341f2075690b6b500319dfeaf4",
+              "size": "2271761"
             },
             {
               "host": "x86_64-apple-darwin",
-              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20230921/openocd-esp32-macos-0.12.0-esp32-20230921.tar.gz",
-              "archiveFileName": "openocd-esp32-macos-0.12.0-esp32-20230921.tar.gz",
-              "checksum": "SHA-256:0a4f764934f488af18cdac2a0d152dd36b4870f3bec1a2d4e25b6b3b7a5258a0",
-              "size": "2305832"
+              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20240318/openocd-esp32-macos-0.12.0-esp32-20240318.tar.gz",
+              "archiveFileName": "openocd-esp32-macos-0.12.0-esp32-20240318.tar.gz",
+              "checksum": "SHA-256:b16c3082c94df1079367c44d99f7a8605534cd48aabc18898e46e94a2c8c57e7",
+              "size": "2365588"
             },
             {
               "host": "arm64-apple-darwin",
-              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20230921/openocd-esp32-macos-arm64-0.12.0-esp32-20230921.tar.gz",
-              "archiveFileName": "openocd-esp32-macos-arm64-0.12.0-esp32-20230921.tar.gz",
-              "checksum": "SHA-256:6dce89048f642eb0559a915b6e514f90feb2a95afe21b84f0b0ebf2b27824816",
-              "size": "2341406"
+              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20240318/openocd-esp32-macos-arm64-0.12.0-esp32-20240318.tar.gz",
+              "archiveFileName": "openocd-esp32-macos-arm64-0.12.0-esp32-20240318.tar.gz",
+              "checksum": "SHA-256:534ec925ae6e35e869e4e4e6e4d2c4a1eb081f97ebcc2dd5efdc52d12f4c2f86",
+              "size": "2406377"
             },
             {
               "host": "i686-mingw32",
-              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20230921/openocd-esp32-win32-0.12.0-esp32-20230921.zip",
-              "archiveFileName": "openocd-esp32-win32-0.12.0-esp32-20230921.zip",
-              "checksum": "SHA-256:ac9d522a63b0816f64d921547bd55c031788035ced85c067d8e7c2862cb1bd0d",
-              "size": "2710475"
+              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20240318/openocd-esp32-win32-0.12.0-esp32-20240318.zip",
+              "archiveFileName": "openocd-esp32-win32-0.12.0-esp32-20240318.zip",
+              "checksum": "SHA-256:d379329eba052435173ab0d69c9b15bc164a6ce489e2a67cd11169d2dabff633",
+              "size": "2783915"
             },
             {
               "host": "x86_64-mingw32",
-              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20230921/openocd-esp32-win32-0.12.0-esp32-20230921.zip",
-              "archiveFileName": "openocd-esp32-win32-0.12.0-esp32-20230921.zip",
-              "checksum": "SHA-256:ac9d522a63b0816f64d921547bd55c031788035ced85c067d8e7c2862cb1bd0d",
-              "size": "2710475"
+              "url": "https://github.com/espressif/openocd-esp32/releases/download/v0.12.0-esp32-20240318/openocd-esp32-win32-0.12.0-esp32-20240318.zip",
+              "archiveFileName": "openocd-esp32-win32-0.12.0-esp32-20240318.zip",
+              "checksum": "SHA-256:d379329eba052435173ab0d69c9b15bc164a6ce489e2a67cd11169d2dabff633",
+              "size": "2783915"
             }
           ]
         },