diff --git a/.circleci/config2.yml b/.circleci/config2.yml
index 278ff0f3b..5e73ab456 100644
--- a/.circleci/config2.yml
+++ b/.circleci/config2.yml
@@ -105,7 +105,7 @@ commands:
           name: Build
           command: |
             if [ << parameters.toolchain >> == esp-idf ]; then
-              docker run --rm -v $PWD:/project -w /project espressif/idf:v5.1.1 python tools/build.py << parameters.family >>
+              docker run --rm -v $PWD:/project -w /project espressif/idf:v5.3.1 python tools/build.py << parameters.family >>
             else
               # Toolchain option default is gcc
               if [ << parameters.toolchain >> == arm-clang ]; then
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 6ca9885f8..70bb3113f 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -85,7 +85,7 @@ jobs:
           - 'msp430-gcc'
           - 'riscv-gcc'
           - 'rx-gcc'
-          - 'esp-idf' # buid-system is ignored
+          - 'esp-idf' # build-system is ignored
     with:
       build-system: 'make'
       toolchain: ${{ matrix.toolchain }}
diff --git a/.github/workflows/build_util.yml b/.github/workflows/build_util.yml
index 294d18140..706ded1c1 100644
--- a/.github/workflows/build_util.yml
+++ b/.github/workflows/build_util.yml
@@ -41,7 +41,7 @@ jobs:
         uses: ./.github/actions/setup_toolchain
         with:
           toolchain: ${{ inputs.toolchain }}
-          toolchain_version: 'v5.1.1'
+          toolchain_version: 'v5.3.1'
 
       - name: Get Dependencies
         uses: ./.github/actions/get_deps
@@ -61,7 +61,7 @@ jobs:
       - name: Build
         run: |
           if [ "${{ inputs.toolchain }}" == "esp-idf" ]; then
-            docker run --rm -v $PWD:/project -w /project espressif/idf:v5.1.1 python tools/build.py ${{ matrix.arg }}
+            docker run --rm -v $PWD:/project -w /project espressif/idf:v5.3.1 python tools/build.py ${{ matrix.arg }}
           else
             python tools/build.py -s ${{ inputs.build-system }} ${{ steps.setup-toolchain.outputs.build_option }} ${{ steps.set-one-per-family.outputs.build_option }} ${{ matrix.arg }}
           fi
diff --git a/.github/workflows/ci_set_matrix.py b/.github/workflows/ci_set_matrix.py
index 4da26bfea..8974037e4 100644
--- a/.github/workflows/ci_set_matrix.py
+++ b/.github/workflows/ci_set_matrix.py
@@ -45,6 +45,7 @@ family_list = {
     "xmc4000": ["arm-gcc"],
     "-bespressif_kaluga_1": ["esp-idf"],
     "-bespressif_s3_devkitm": ["esp-idf"],
+    "-bespressif_p4_function_ev": ["esp-idf"],
 }