diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 04011e83d..02df5454b 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -318,6 +318,7 @@ jobs:
           - soc: esp32h2
             rust-target: riscv32imac-unknown-none-elf
           # Xtensa devices:
+          - soc: esp32s2
           - soc: esp32s3
 
     steps:
@@ -339,4 +340,4 @@ jobs:
           ldproxy: false
 
       - uses: Swatinem/rust-cache@v2
-      - run: cargo xtask build-examples hil-test ${{ matrix.target.soc }}
+      - run: cargo xtask build-tests ${{ matrix.target.soc }}
diff --git a/.github/workflows/hil.yml b/.github/workflows/hil.yml
index ae3f858ef..a445213b1 100644
--- a/.github/workflows/hil.yml
+++ b/.github/workflows/hil.yml
@@ -26,18 +26,21 @@ jobs:
       matrix:
         target:
           # RISC-V devices:
-          # - soc: esp32c3
-          #   rust-target: riscv32imc-unknown-none-elf
+          - soc: esp32c3
+            rust-target: riscv32imc-unknown-none-elf
           - soc: esp32c6
             rust-target: riscv32imac-unknown-none-elf
-          # - soc: esp32h2
-          #   rust-target: riscv32imac-unknown-none-elf
+          - soc: esp32h2
+            rust-target: riscv32imac-unknown-none-elf
           # # Xtensa devices:
-          # - soc: esp32s3
+          - soc: esp32s2
+            rust-target: xtensa-esp32s2-none-elf
+          - soc: esp32s3
+            rust-target: xtensa-esp32s3-none-elf
+
     steps:
       - uses: actions/checkout@v4
         if: github.event_name != 'workflow_dispatch'
-
       - uses: actions/checkout@v4
         if: github.event_name == 'workflow_dispatch'
         with:
@@ -59,7 +62,7 @@ jobs:
           default: true
           ldproxy: false
 
-      - name: Run tests
+      - name: Build tests
         run: cargo xtask build-tests ${{ matrix.target.soc }}
 
       - name: Prepare artifact
@@ -78,12 +81,12 @@ jobs:
             base_name="$(basename "$file" | cut -d'-' -f1)"
             mv "$file" "tests/$base_name"
           done
-
       - uses: actions/upload-artifact@v4
         with:
           name: tests-${{ matrix.target.soc }}
           path: /home/runner/work/esp-hal/esp-hal/tests
           if-no-files-found: error
+          overwrite: true
 
   hil:
     name: HIL Test | ${{ matrix.target.soc }}
@@ -95,24 +98,25 @@ jobs:
       matrix:
         target:
           # RISC-V devices:
-          # - soc: esp32c3
-          #   runner: rustboard
+          - soc: esp32c3
+            runner: esp32c3-usb
           - soc: esp32c6
             runner: esp32c6-usb
-          # - soc: esp32h2
-          #   runner: esp32h2-usb
-          # # Xtensa devices:
-          # - soc: esp32s3
-          #   runner: esp32s3-usb
+          - soc: esp32h2
+            runner: esp32h2-usb
+          # Xtensa devices:
+          - soc: esp32s2
+            runner: esp32s2-jtag
+          - soc: esp32s3
+            runner: esp32s3-usb
     steps:
+      - uses: actions/checkout@v4
       - uses: actions/download-artifact@v4
         with:
           name: tests-${{ matrix.target.soc }}
-          path: tests
-      - name: Run tests
+          path: tests-${{ matrix.target.soc }}
+
+      - name: Run Tests
         run: |
           export PATH=$PATH:/home/espressif/.cargo/bin
-          for file in "tests"/*; do
-            probe-rs run --chip ${{ matrix.target.soc }} "$file"
-          done
-
+          cargo xtask run-elfs ${{ matrix.target.soc }} tests-${{ matrix.target.soc }}
diff --git a/hil-test/README.md b/hil-test/README.md
index 38dadd265..736f32242 100644
--- a/hil-test/README.md
+++ b/hil-test/README.md
@@ -19,11 +19,9 @@ We use [embedded-test] as our testing framework, which relies on [defmt] interna
 We use [probe-rs] for flashing and running the tests on a target device, however, this **MUST** be installed from the correct revision, and with the correct features enabled:
 
 ```text
-cargo install probe-rs \
-  --git=https://github.com/probe-rs/probe-rs \
-  --rev=ddd59fa \
-  --features=cli \
-  --bin=probe-rs
+cargo install probe-rs-tools \
+  --git https://github.com/probe-rs/probe-rs \
+  --rev 4dc1701 --force --locked
 ```
 
 Target device **MUST** connected via its USB-Serial-JTAG port, or if unavailable (eg. ESP32, ESP32-C2, ESP32-S2) then you must connect a compatible debug probe such as an [ESP-Prog].
@@ -61,7 +59,7 @@ Our Virtual Machines have the following setup:
 - ESP32-C3 (`rustboard`):
   - Devkit: `ESP32-C3-DevKit-RUST-1` connected via USB-Serial-JTAG.
     - `GPIO2` and `GPIO4` are connected.
-  - VM: Ubuntu 20.04.5 configured with the following [setup](#vm-setup)
+  - RPi: Raspbian 12 configured with the following [setup](#vm-setup)
 - ESP32-C6 (`esp32c6-usb`):
   - Devkit: `ESP32-C6-DevKitC-1 V1.2` connected via USB-Serial-JTAG (`USB` port).
     - `GPIO2` and `GPIO4` are connected.
@@ -69,11 +67,16 @@ Our Virtual Machines have the following setup:
 - ESP32-H2 (`esp32h2-usb`):
   - Devkit: `ESP32-H2-DevKitM-1` connected via USB-Serial-JTAG (`USB` port).
     - `GPIO2` and `GPIO4` are connected.
-  - VM: Ubuntu 20.04.5 configured with the following [setup](#vm-setup)
+  - RPi: Raspbian 12 configured with the following [setup](#vm-setup)
+- ESP32-S2 (`esp32s2-jtag`):
+  - Devkit: `ESP32-S2-Saola-1` connected via UART.
+    - `GPIO2` and `GPIO4` are connected.
+  - Probe: `ESP-Prog` connected with the [following connections](https://docs.espressif.com/projects/esp-idf/en/stable/esp32s2/api-guides/jtag-debugging/configure-other-jtag.html#configure-hardware)
+  - RPi: Raspbian 12 configured with the following [setup](#vm-setup)
 - ESP32-S3 (`esp32s3-usb`):
   - Devkit: `ESP32-S3-DevKitC-1` connected via USB-Serial-JTAG.
     - `GPIO2` and `GPIO4` are connected.
-  - VM: Ubuntu 22.04.4 configured with the following [setup](#vm-setup)
+  - RPi: Raspbian 12 configured with the following [setup](#vm-setup)
 
 [`hil.yml`]: https://github.com/esp-rs/esp-hal/blob/main/.github/workflows/hil.yml
 
@@ -86,7 +89,7 @@ source "$HOME/.cargo/env"
 # Install dependencies
 sudo apt install -y pkg-config libudev-dev
 # Install probe-rs
-cargo install probe-rs --git=https://github.com/probe-rs/probe-rs --rev=ddd59fa --features=cli --bin=probe-rs --locked --force
+cargo install probe-rs-tools --git https://github.com/probe-rs/probe-rs --rev 4dc1701 --force
 # Add the udev rules
 wget -O - https://probe.rs/files/69-probe-rs.rules | sudo tee /etc/udev/rules.d/69-probe-rs.rules > /dev/null
 # Add the user to plugdev group
diff --git a/hil-test/tests/delay.rs b/hil-test/tests/delay.rs
index 26197ce2e..f9a4c235a 100644
--- a/hil-test/tests/delay.rs
+++ b/hil-test/tests/delay.rs
@@ -1,5 +1,7 @@
 //! Delay Test
 
+//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32s3
+
 #![no_std]
 #![no_main]
 
diff --git a/hil-test/tests/get_time.rs b/hil-test/tests/get_time.rs
index 278295a8a..36181ae37 100644
--- a/hil-test/tests/get_time.rs
+++ b/hil-test/tests/get_time.rs
@@ -1,6 +1,6 @@
 //! current_time Test
 
-//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32s2 esp32s3
 
 #![no_std]
 #![no_main]
diff --git a/hil-test/tests/gpio.rs b/hil-test/tests/gpio.rs
index 497e104e3..cce2b2c17 100644
--- a/hil-test/tests/gpio.rs
+++ b/hil-test/tests/gpio.rs
@@ -4,6 +4,8 @@
 //! GPIO2
 //! GPIO4
 
+//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+
 #![no_std]
 #![no_main]
 
@@ -151,7 +153,6 @@ mod tests {
     }
 
     #[test]
-    // TODO: See https://github.com/esp-rs/esp-hal/issues/1413
     #[cfg(not(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3")))]
     fn test_gpio_interrupt(mut ctx: Context) {
         critical_section::with(|cs| {
diff --git a/hil-test/tests/spi_full_duplex.rs b/hil-test/tests/spi_full_duplex.rs
index fdbcba5a0..e83555d87 100644
--- a/hil-test/tests/spi_full_duplex.rs
+++ b/hil-test/tests/spi_full_duplex.rs
@@ -8,6 +8,8 @@
 //!
 //! Connect MISO (GPIO2) and MOSI (GPIO4) pins.
 
+//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+
 #![no_std]
 #![no_main]
 
diff --git a/hil-test/tests/spi_full_duplex_dma.rs b/hil-test/tests/spi_full_duplex_dma.rs
index 3feef3c8f..826c36be6 100644
--- a/hil-test/tests/spi_full_duplex_dma.rs
+++ b/hil-test/tests/spi_full_duplex_dma.rs
@@ -8,7 +8,7 @@
 //!
 //! Connect MISO (GPIO2) and MOSI (GPIO4) pins.
 
-//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s3
 
 #![no_std]
 #![no_main]
@@ -120,7 +120,7 @@ mod tests {
 
         let transfer = spi.dma_transfer(&mut send, &mut receive).unwrap();
         transfer.wait().unwrap();
-        assert_eq!(send[0], receive[0]);
+        assert_eq!(send[0..1], receive[0..1]);
     }
 
     #[test]
diff --git a/hil-test/tests/uart.rs b/hil-test/tests/uart.rs
index 5ba9cc525..b2418cf71 100644
--- a/hil-test/tests/uart.rs
+++ b/hil-test/tests/uart.rs
@@ -6,6 +6,8 @@
 //!
 //! Connect TX (GPIO2) and RX (GPIO4) pins.
 
+//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+
 #![no_std]
 #![no_main]
 
@@ -106,22 +108,43 @@ mod tests {
         // working as expected. We will also using different clock sources
         // while we're at it.
 
-        // 9600 baud, RC FAST clock source:
-        ctx.uart.change_baud(9600, ClockSource::RcFast, &ctx.clocks);
-        ctx.uart.write(7).ok();
-        let read = block!(ctx.uart.read());
-        assert_eq!(read, Ok(7));
+        #[cfg(not(feature = "esp32s2"))]
+        {
+            #[cfg(not(feature = "esp32c3"))]
+            {
+                // 9600 baud, RC FAST clock source:
+                ctx.uart.change_baud(9600, ClockSource::RcFast, &ctx.clocks);
+                ctx.uart.write(7).ok();
+                let read = block!(ctx.uart.read());
+                assert_eq!(read, Ok(7));
+            }
 
-        // 19,200 baud, XTAL clock source:
-        ctx.uart.change_baud(19_200, ClockSource::Xtal, &ctx.clocks);
-        ctx.uart.write(55).ok();
-        let read = block!(ctx.uart.read());
-        assert_eq!(read, Ok(55));
+            // 19,200 baud, XTAL clock source:
+            ctx.uart.change_baud(19_200, ClockSource::Xtal, &ctx.clocks);
+            ctx.uart.write(55).ok();
+            let read = block!(ctx.uart.read());
+            assert_eq!(read, Ok(55));
 
-        // 921,600 baud, APB clock source:
-        ctx.uart.change_baud(921_600, ClockSource::Apb, &ctx.clocks);
-        ctx.uart.write(253).ok();
-        let read = block!(ctx.uart.read());
-        assert_eq!(read, Ok(253));
+            // 921,600 baud, APB clock source:
+            ctx.uart.change_baud(921_600, ClockSource::Apb, &ctx.clocks);
+            ctx.uart.write(253).ok();
+            let read = block!(ctx.uart.read());
+            assert_eq!(read, Ok(253));
+        }
+        #[cfg(feature = "esp32s2")]
+        {
+            // 9600 baud, REF TICK clock source:
+            ctx.uart
+                .change_baud(9600, ClockSource::RefTick, &ctx.clocks);
+            ctx.uart.write(7).ok();
+            let read = block!(ctx.uart.read());
+            assert_eq!(read, Ok(7));
+
+            // 921,600 baud, APB clock source:
+            ctx.uart.change_baud(921_600, ClockSource::Apb, &ctx.clocks);
+            ctx.uart.write(253).ok();
+            let read = block!(ctx.uart.read());
+            assert_eq!(read, Ok(253));
+        }
     }
 }
diff --git a/hil-test/tests/uart_async.rs b/hil-test/tests/uart_async.rs
index f0f2da4f4..4592de0bf 100644
--- a/hil-test/tests/uart_async.rs
+++ b/hil-test/tests/uart_async.rs
@@ -6,6 +6,8 @@
 //!
 //! Connect TX (GPIO2) and RX (GPIO4) pins.
 
+//% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
+
 #![no_std]
 #![no_main]
 
diff --git a/xtask/src/lib.rs b/xtask/src/lib.rs
index aecc2503c..2f32615d7 100644
--- a/xtask/src/lib.rs
+++ b/xtask/src/lib.rs
@@ -257,14 +257,12 @@ pub fn execute_app(
             format!("--example={}", app.name())
         };
         (bin, "build")
+    } else if package.starts_with("src/bin") {
+        (format!("--bin={}", app.name()), "run")
+    } else if package.starts_with("tests") {
+        (format!("--test={}", app.name()), "test")
     } else {
-        if package.starts_with("src/bin") {
-            (format!("--bin={}", app.name()), "run")
-        } else if package.starts_with("tests") {
-            (format!("--test={}", app.name()), "test")
-        } else {
-            (format!("--example={}", app.name()), "run")
-        }
+        (format!("--example={}", app.name()), "run")
     };
 
     let mut features = app.features().to_vec();
diff --git a/xtask/src/main.rs b/xtask/src/main.rs
index 02ff0c8bd..7aa2f2024 100644
--- a/xtask/src/main.rs
+++ b/xtask/src/main.rs
@@ -1,6 +1,7 @@
 use std::{
     fs,
     path::{Path, PathBuf},
+    process::Command,
 };
 
 use anyhow::{bail, Result};
@@ -29,6 +30,8 @@ enum Cli {
     RunExample(RunExampleArgs),
     /// Run all applicable tests or the specified test for a specified chip.
     RunTests(TestsArgs),
+    /// Run all ELFs in a folder.
+    RunElfs(RunElfArgs),
 }
 
 #[derive(Debug, Args)]
@@ -114,6 +117,15 @@ struct TestsArgs {
     test: Option<String>,
 }
 
+#[derive(Debug, Args)]
+struct RunElfArgs {
+    /// Which chip to run the tests for.
+    #[arg(value_enum)]
+    chip: Chip,
+    /// Path to the ELFs.
+    path: PathBuf,
+}
+
 // ----------------------------------------------------------------------------
 // Application
 
@@ -134,6 +146,7 @@ fn main() -> Result<()> {
         Cli::GenerateEfuseFields(args) => generate_efuse_src(&workspace, args),
         Cli::RunExample(args) => run_example(&workspace, args),
         Cli::RunTests(args) => execute_tests(&workspace, args, CargoAction::Run),
+        Cli::RunElfs(args) => run_elfs(args),
     }
 }
 
@@ -396,6 +409,38 @@ fn execute_tests(
     Ok(())
 }
 
+fn run_elfs(args: RunElfArgs) -> Result<(), anyhow::Error> {
+    let elfs = fs::read_dir(&args.path)?;
+    let mut failed_elfs: Vec<String> = Vec::new();
+    for elf in elfs {
+        let elf = elf?;
+        let elf_path = elf.path();
+        let elf_name = elf_path.file_name().unwrap().to_str().unwrap();
+        let elf_name = elf_name.split('.').next().unwrap();
+        let elf_name = elf_name.to_string();
+        println!("Running '{}' test", elf_name);
+
+        let command = Command::new("probe-rs")
+            .arg("run")
+            .arg("--chip")
+            .arg(args.chip.to_string())
+            .arg(elf_path)
+            .output()
+            .expect("Failed to execute probe-rs run command");
+        let stdout = String::from_utf8_lossy(&command.stdout);
+        let stderr = String::from_utf8_lossy(&command.stderr);
+        println!("{}\n{}", stderr, stdout);
+        if !command.status.success() {
+            failed_elfs.push(elf_name);
+        }
+    }
+
+    if !failed_elfs.is_empty() {
+        bail!("Failed tests: {:?}", failed_elfs);
+    }
+
+    Ok(())
+}
 // ----------------------------------------------------------------------------
 // Helper Functions