diff --git a/soc/espressif/esp32s3/CMakeLists.txt b/soc/espressif/esp32s3/CMakeLists.txt
index 00d26e14df8..844aee7ebc3 100644
--- a/soc/espressif/esp32s3/CMakeLists.txt
+++ b/soc/espressif/esp32s3/CMakeLists.txt
@@ -66,6 +66,8 @@ if(CONFIG_ESP_SIMPLE_BOOT OR CONFIG_MCUBOOT)
 
 endif()
 
+set_property(TARGET bintools PROPERTY disassembly_flag_inline_source)
+
 # Select the image origin depending on the boot configuration
 if(CONFIG_SOC_ESP32S3_APPCPU)
   dt_nodelabel(dts_partition_path NODELABEL "slot0_appcpu_partition")
@@ -91,10 +93,10 @@ if(CONFIG_MCUBOOT)
         ${PYTHON_EXECUTABLE} ${ESP_IDF_PATH}/tools/ci/check_callgraph.py
       ARGS
         --rtl-dirs ${CMAKE_BINARY_DIR}/zephyr
-	--elf-file ${CMAKE_BINARY_DIR}/zephyr/${CONFIG_KERNEL_BIN_NAME}.elf
+        --elf-file ${CMAKE_BINARY_DIR}/zephyr/${CONFIG_KERNEL_BIN_NAME}.elf
         find-refs
-	--from-section='.iram0.loader_text'
-	--to-section='.iram0.text'
+        --from-section='.iram0.loader_text'
+        --to-section='.iram0.text'
         --exit-code)
 endif()
 
diff --git a/soc/espressif/esp32s3/Kconfig b/soc/espressif/esp32s3/Kconfig
index 3e2886edcf6..99ebadeb440 100644
--- a/soc/espressif/esp32s3/Kconfig
+++ b/soc/espressif/esp32s3/Kconfig
@@ -156,6 +156,4 @@ config MAC_BB_PD
 
 endmenu  # Cache config
 
-rsource "Kconfig.amp"
-
 endif # SOC_SERIES_ESP32S3
diff --git a/soc/espressif/esp32s3/Kconfig.amp b/soc/espressif/esp32s3/Kconfig.amp
deleted file mode 100644
index f6acbbc52a2..00000000000
--- a/soc/espressif/esp32s3/Kconfig.amp
+++ /dev/null
@@ -1,31 +0,0 @@
-# Copyright (c) 2023 Espressif Systems (Shanghai) Co., Ltd.
-# SPDX-License-Identifier: Apache-2.0
-
-if SOC_SERIES_ESP32S3
-
-menu "AMP config"
-
-config ESP32S3_APPCPU_IRAM_SIZE
-	hex "ESP32S3 APPCPU IRAM size"
-	depends on SOC_ESP32S3_PROCPU || SOC_ESP32S3_APPCPU
-	default 0x10000
-	help
-	  Defines APPCPU IRAM area size in bytes.
-
-config ESP32S3_APPCPU_DRAM_SIZE
-	hex "ESP32S3 APPCPU DRAM size"
-	depends on SOC_ESP32S3_PROCPU || SOC_ESP32S3_APPCPU
-	default 0x10000
-	help
-	  Defines APPCPU DRAM area size in bytes.
-
-config SOC_ENABLE_APPCPU
-	bool
-	default y
-	depends on (IPM || MBOX) && SOC_ESP32S3_PROCPU
-	help
-	  This hidden configuration lets PROCPU core to map and start APPCPU whenever IPM is enabled.
-
-endmenu # AMP config
-
-endif # SOC_SERIES_ESP32S3
diff --git a/soc/espressif/esp32s3/default.ld b/soc/espressif/esp32s3/default.ld
index 0f40119015f..a57a18fb386 100644
--- a/soc/espressif/esp32s3/default.ld
+++ b/soc/espressif/esp32s3/default.ld
@@ -11,9 +11,8 @@
 #include "memory.h"
 
 /* User available SRAM memory segments */
-amp_total_size = APPCPU_SRAM_TOTAL_SIZE;
-procpu_iram_end = USER_IRAM_END - APPCPU_SRAM_TOTAL_SIZE;
-procpu_dram_end = USER_DRAM_END - APPCPU_SRAM_TOTAL_SIZE;
+procpu_iram_end = USER_IRAM_END - APPCPU_SRAM_SIZE;
+procpu_dram_end = USER_DRAM_END - APPCPU_SRAM_SIZE;
 
 procpu_iram_org = SRAM_USER_IRAM_START;
 procpu_iram_len = procpu_iram_end - procpu_iram_org;
@@ -237,7 +236,6 @@ SECTIONS
   /* Send .iram0 code to iram */
   .iram0.vectors : ALIGN(4)
   {
-    _iram_start = ABSOLUTE(.);
     /* Vectors go to IRAM */
     _init_start = ABSOLUTE(.);
     /* Vectors according to builds/RF-2015.2-win32/esp108_v1_2_s5_512int_2/config.html */
@@ -271,9 +269,9 @@ SECTIONS
     *(.entry.text)
     *(.init.literal)
     *(.init)
-
     _init_end = ABSOLUTE(.);
 
+    _iram_start = ABSOLUTE(.);
   } GROUP_DATA_LINK_IN(IRAM_REGION, ROMABLE_REGION)
 
   .iram0.text : ALIGN(4)
@@ -745,7 +743,7 @@ SECTIONS
   } GROUP_LINK_IN(RAMABLE_REGION)
 
   /* Provide total SRAM usage, including IRAM and DRAM */
-  _image_ram_start = _iram_start - IRAM_DRAM_OFFSET;
+  _image_ram_start = _init_start - IRAM_DRAM_OFFSET;
   #include <zephyr/linker/ram-end.ld>
 
   ASSERT(((_end - ORIGIN(dram0_0_seg)) <= LENGTH(dram0_0_seg)), "DRAM segment data does not fit.")
diff --git a/soc/espressif/esp32s3/default_appcpu.ld b/soc/espressif/esp32s3/default_appcpu.ld
index 58ec051e389..37b648be039 100644
--- a/soc/espressif/esp32s3/default_appcpu.ld
+++ b/soc/espressif/esp32s3/default_appcpu.ld
@@ -8,6 +8,10 @@
 #include <zephyr/linker/linker-defs.h>
 #include <zephyr/linker/linker-tool.h>
 
+#if !defined(CONFIG_BOOTLOADER_MCUBOOT)
+#error "APPCPU image must use MCUboot image format."
+#endif /* CONFIG_BOOTLOADER_MCUBOOT */
+
 #include "memory.h"
 
 /* User available SRAM memory segments */
@@ -47,15 +51,9 @@ appcpu_dram_len = APPCPU_SRAM_SIZE;
 
 MEMORY
 {
-#ifdef CONFIG_BOOTLOADER_MCUBOOT
   mcuboot_hdr (R):  org = 0x0,  len = 0x20
   metadata (R):     org = 0x20, len = 0x20
   FLASH (R):        org = 0x40, len = FLASH_SIZE - 0x40
-#else
-  /* Make safety margin in the FLASH memory size so the
-   * (esp_img_header + (n*esp_seg_headers)) would fit */
-  FLASH (R):        org = 0x0, len = FLASH_SIZE - 0x100
-#endif /* CONFIG_BOOTLOADER_MCUBOOT */
 
   iram0_1_seg(RX): org = appcpu_iram_org, len = appcpu_iram_len
   dram0_1_seg(RW): org = appcpu_dram_org, len = appcpu_dram_len
@@ -73,7 +71,6 @@ _heap_sentry = DRAM_RESERVED_START;
 
 SECTIONS
 {
-#if defined(CONFIG_BOOTLOADER_MCUBOOT)
   /* Reserve space for MCUboot header in the binary */
   .mcuboot_header :
   {
@@ -109,20 +106,18 @@ SECTIONS
     LONG(LOADADDR(.dram0.data))
     LONG(_data_end - _data_start)
   } > metadata
-#endif /* CONFIG_BOOTLOADER_MCUBOOT */
 
   #include <zephyr/linker/rel-sections.ld>
 
-  #ifdef CONFIG_LLEXT
+#ifdef CONFIG_LLEXT
   #include <zephyr/linker/llext-sections.ld>
-  #endif
+#endif
 
   /* --- START OF IRAM --- */
 
   /* Send .iram0 code to iram */
   .iram0.vectors : ALIGN(4)
   {
-    _iram_start = ABSOLUTE(.);
     /* Vectors go to IRAM */
     _init_start = ABSOLUTE(.);
     /* Vectors according to builds/RF-2015.2-win32/esp108_v1_2_s5_512int_2/config.html */
@@ -156,10 +151,9 @@ SECTIONS
     *(.entry.text)
     *(.init.literal)
     *(.init)
-    . = ALIGN (16);
-
     _init_end = ABSOLUTE(.);
 
+    _iram_start = ABSOLUTE(.);
   } GROUP_DATA_LINK_IN(IRAM_REGION, ROMABLE_REGION)
 
   .iram0.text : ALIGN(4)
@@ -290,7 +284,6 @@ SECTIONS
   #include <zephyr/linker/kobject-data.ld>
   #include <zephyr/linker/common-rom/common-rom-logging.ld>
 
-  /* SECTION_PROLOGUE(_RODATA_SECTION_NAME,,) */
   .dram0.rodata : ALIGN(4)
   {
     _rodata_start = ABSOLUTE(.);
@@ -304,26 +297,26 @@ SECTIONS
 
     . = ALIGN(4);
     *(EXCLUDE_FILE (
-	*libarch__xtensa__core.a:*
-	*libkernel.a:fatal.*
-	*libkernel.a:init.*
-	*libzephyr.a:cbprintf_complete*
-	*libzephyr.a:log_core.*
-	*libzephyr.a:log_backend_uart.*
-	*libzephyr.a:log_output.*
-	*libzephyr.a:loader.*
-	*libdrivers__serial.a:uart_esp32.*) .rodata)
+        *libarch__xtensa__core.a:*
+        *libkernel.a:fatal.*
+        *libkernel.a:init.*
+        *libzephyr.a:cbprintf_complete*
+        *libzephyr.a:log_core.*
+        *libzephyr.a:log_backend_uart.*
+        *libzephyr.a:log_output.*
+        *libzephyr.a:loader.*
+        *libdrivers__serial.a:uart_esp32.*) .rodata)
 
     *(EXCLUDE_FILE (
-	*libarch__xtensa__core.a:*
-	*libkernel.a:fatal.*
-	*libkernel.a:init.*
-	*libzephyr.a:cbprintf_complete*
-	*libzephyr.a:log_core.*
-	*libzephyr.a:log_backend_uart.*
-	*libzephyr.a:log_output.*
-	*libzephyr.a:loader.*
-	*libdrivers__serial.a:uart_esp32.*) .rodata.*)
+        *libarch__xtensa__core.a:*
+        *libkernel.a:fatal.*
+        *libkernel.a:init.*
+        *libzephyr.a:cbprintf_complete*
+        *libzephyr.a:log_core.*
+        *libzephyr.a:log_backend_uart.*
+        *libzephyr.a:log_output.*
+        *libzephyr.a:loader.*
+        *libdrivers__serial.a:uart_esp32.*) .rodata.*)
 
     . = ALIGN(4);
 
@@ -371,10 +364,6 @@ SECTIONS
 
   /* Flash segments (rodata and text) should be mapped in virtual address space by providing VMA.
    * Executing directly from LMA is not possible. */
-  #pragma push_macro("GROUP_ROM_LINK_IN")
-  #undef GROUP_ROM_LINK_IN
-  #define GROUP_ROM_LINK_IN(vregion, lregion) > RAMABLE_REGION AT > lregion
-
   #include <zephyr/linker/cplusplus-rom.ld>
   #include <zephyr/linker/common-rom/common-rom-init.ld>
   #include <zephyr/linker/common-rom/common-rom-kernel-devices.ld>
@@ -386,18 +375,14 @@ SECTIONS
   #include <zephyr/linker/thread-local-storage.ld>
   #include <snippets-sections.ld>
 
-  #pragma pop_macro("GROUP_ROM_LINK_IN")
-
   /* Create an explicit section at the end of all the data that shall be mapped into drom.
    * This is used to calculate the size of the _image_drom_size variable */
-  /* SECTION_PROLOGUE(_RODATA_SECTION_END,,) */
-  .dram0.rodata_end : ALIGN(0x10)
+  .dram0.rodata_end : ALIGN(16)
   {
     . = ALIGN(16);
     _image_rodata_end = ABSOLUTE(.);
   } GROUP_DATA_LINK_IN(RAMABLE_REGION, ROMABLE_REGION)
 
-
   .dram0.end :
   {
     __data_end = ABSOLUTE(.);
@@ -438,19 +423,13 @@ SECTIONS
   } GROUP_LINK_IN(RAMABLE_REGION)
 
   /* Provide total SRAM usage, including IRAM and DRAM */
-  _image_ram_start = _iram_start - IRAM_DRAM_OFFSET;
+  _image_ram_start = _init_start - IRAM_DRAM_OFFSET;
   #include <zephyr/linker/ram-end.ld>
 
   ASSERT(((__bss_end - ORIGIN(dram0_1_seg)) <= LENGTH(dram0_1_seg)), "DRAM segment data does not fit.")
 
   /* --- END OF DRAM --- */
 
-  /* --- START OF IROM --- */
-  /* --- END OF IROM --- */
-
-  /* --- START OF DROM --- */
-  /* --- END OF DROM --- */
-
 #ifdef CONFIG_GEN_ISR_TABLES
 #include <zephyr/linker/intlist.ld>
 #endif
diff --git a/soc/espressif/esp32s3/esp32s3-mp.c b/soc/espressif/esp32s3/esp32s3-mp.c
index 8cae6d5e87c..a174db1e23c 100644
--- a/soc/espressif/esp32s3/esp32s3-mp.c
+++ b/soc/espressif/esp32s3/esp32s3-mp.c
@@ -18,6 +18,7 @@
 #include "esp_mcuboot_image.h"
 #include "esp_memory_utils.h"
 
+/* AMP support */
 #ifdef CONFIG_SOC_ENABLE_APPCPU
 
 #include "bootloader_flash_priv.h"
@@ -66,7 +67,6 @@ int IRAM_ATTR esp_appcpu_image_load(unsigned int hdr_offset, unsigned int *entry
 	const uint32_t img_off = FIXED_PARTITION_OFFSET(slot0_appcpu_partition);
 	const uint32_t fa_size = FIXED_PARTITION_SIZE(slot0_appcpu_partition);
 	const uint8_t fa_id = FIXED_PARTITION_ID(slot0_appcpu_partition);
-	int rc = 0;
 
 	if (entry_addr == NULL) {
 		ets_printf("Can't return the entry address. Aborting!\n");
@@ -74,9 +74,6 @@ int IRAM_ATTR esp_appcpu_image_load(unsigned int hdr_offset, unsigned int *entry
 		return -1;
 	}
 
-	ets_printf("Loading appcpu image, area id: %d, offset: 0x%x, hdr.off: 0x%x, size: %d kB\n",
-		   fa_id, img_off, hdr_offset, fa_size / 1024);
-
 	uint32_t mcuboot_header[8] = {0};
 	esp_image_load_header_t image_header = {0};
 
@@ -89,7 +86,8 @@ int IRAM_ATTR esp_appcpu_image_load(unsigned int hdr_offset, unsigned int *entry
 	sys_munmap(data);
 
 	if (image_header.header_magic == ESP_LOAD_HEADER_MAGIC) {
-		ets_printf("MCUboot image format\n");
+		ets_printf("APPCPU image, area id: %d, offset: 0x%x, hdr.off: 0x%x, size: %d kB\n",
+			   fa_id, img_off, hdr_offset, fa_size / 1024);
 	} else if ((image_header.header_magic & 0xff) == 0xE9) {
 		ets_printf("ESP image format is not supported\n");
 		abort();
@@ -130,13 +128,13 @@ int IRAM_ATTR esp_appcpu_image_load(unsigned int hdr_offset, unsigned int *entry
 	load_segment(img_off + image_header.dram_flash_offset, image_header.dram_size,
 		     image_header.dram_dest_addr);
 
-	ets_printf("Application start=%xh\n", image_header.entry_addr);
+	ets_printf("Application start=%xh\n\n", image_header.entry_addr);
 	esp_rom_uart_tx_wait_idle(0);
 
 	assert(entry_addr != NULL);
 	*entry_addr = image_header.entry_addr;
 
-	return rc;
+	return 0;
 }
 
 void esp_appcpu_image_stop(void)
diff --git a/soc/espressif/esp32s3/memory.h b/soc/espressif/esp32s3/memory.h
index b40f395855e..e435abe95a7 100644
--- a/soc/espressif/esp32s3/memory.h
+++ b/soc/espressif/esp32s3/memory.h
@@ -68,6 +68,7 @@
  * and it should not be overlapped by the user image.
  * When there is no 2nd stage bootloader the bootstrapping is done
  * by the so-called SIMPLE_BOOT.
+ * NOTE: AMP is supported only if MCUboot is enabled.
  */
 #ifdef CONFIG_ESP_SIMPLE_BOOT
 #define USER_DRAM_END BOOTLOADER_USER_DRAM_END
@@ -78,17 +79,19 @@
 
 /* AMP */
 #if defined(CONFIG_SOC_ENABLE_APPCPU) || defined(CONFIG_SOC_ESP32S3_APPCPU)
-#define APPCPU_IRAM_SIZE CONFIG_ESP32S3_APPCPU_IRAM_SIZE
-#define APPCPU_DRAM_SIZE CONFIG_ESP32S3_APPCPU_DRAM_SIZE
-#define AMP_COMM_SIZE    (0x4000 + 0x400)
+#define APPCPU_IRAM_SIZE CONFIG_ESP_APPCPU_IRAM_SIZE
+#define APPCPU_DRAM_SIZE CONFIG_ESP_APPCPU_DRAM_SIZE
+#define AMP_COMM_SIZE DT_REG_SIZE(DT_NODELABEL(ipmmem0)) + DT_REG_SIZE(DT_NODELABEL(shm0)) +       \
+		      DT_REG_SIZE(DT_NODELABEL(ipm0)) + DT_REG_SIZE(DT_NODELABEL(mbox0))
+#undef DRAM_RESERVED_START
+#define DRAM_RESERVED_START 0x3fce5000
 #else
 #define APPCPU_IRAM_SIZE 0
 #define APPCPU_DRAM_SIZE 0
 #define AMP_COMM_SIZE    0
 #endif
 
-#define APPCPU_SRAM_SIZE       (APPCPU_IRAM_SIZE + APPCPU_DRAM_SIZE)
-#define APPCPU_SRAM_TOTAL_SIZE (APPCPU_SRAM_SIZE + AMP_COMM_SIZE)
+#define APPCPU_SRAM_SIZE (APPCPU_IRAM_SIZE + APPCPU_DRAM_SIZE)
 
 /* Flash */
 #ifdef CONFIG_FLASH_SIZE
diff --git a/soc/espressif/esp32s3/soc.c b/soc/espressif/esp32s3/soc.c
index 2449fd90887..1a7d1c04dd9 100644
--- a/soc/espressif/esp32s3/soc.c
+++ b/soc/espressif/esp32s3/soc.c
@@ -176,5 +176,5 @@ void sys_arch_reboot(int type)
 
 #if defined(CONFIG_SOC_ENABLE_APPCPU) && !defined(CONFIG_MCUBOOT)
 extern int esp_appcpu_init(void);
-SYS_INIT(esp_appcpu_init, POST_KERNEL, 50);
+SYS_INIT(esp_appcpu_init, POST_KERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEFAULT);
 #endif