diff --git a/config/esp32/components/chip/CMakeLists.txt b/config/esp32/components/chip/CMakeLists.txt
index ae7e2818adedcb..c153d355d00307 100644
--- a/config/esp32/components/chip/CMakeLists.txt
+++ b/config/esp32/components/chip/CMakeLists.txt
@@ -334,20 +334,15 @@ target_include_directories(${COMPONENT_LIB} INTERFACE
 
 idf_component_get_property(mbedtls_lib mbedtls COMPONENT_LIB)
 
+idf_build_get_property(idf_target IDF_TARGET)
+set(target_name "${idf_target}")
+
 if(CONFIG_BT_ENABLED)
     idf_component_get_property(bt_lib bt COMPONENT_LIB)
-    if("${CONFIG_IDF_TARGET}" STREQUAL "esp32h2")
-        idf_component_get_property(bt_dir bt COMPONENT_DIR)
-        list(APPEND chip_libraries $<TARGET_FILE:${bt_lib}>)
-        list(APPEND chip_libraries ${bt_dir}/controller/lib_esp32h2/esp32h2-bt-lib/libble_app.a)
-    elseif("${CONFIG_IDF_TARGET}" STREQUAL "esp32c2")
+    if((target_name STREQUAL "esp32h2") OR (target_name STREQUAL "esp32c2") OR (target_name STREQUAL "esp32c6"))
         idf_component_get_property(bt_dir bt COMPONENT_DIR)
         list(APPEND chip_libraries $<TARGET_FILE:${bt_lib}>)
-        list(APPEND chip_libraries ${bt_dir}/controller/lib_esp32c2/esp32c2-bt-lib/libble_app.a)
-    elseif("${CONFIG_IDF_TARGET}" STREQUAL "esp32c6")
-        idf_component_get_property(bt_dir bt COMPONENT_DIR)
-        list(APPEND chip_libraries $<TARGET_FILE:${bt_lib}>)
-        list(APPEND chip_libraries ${bt_dir}/controller/lib_esp32c6/esp32c6-bt-lib/libble_app.a)
+        list(APPEND chip_libraries "${bt_dir}/controller/lib_${target_name}/${target_name}-bt-lib/libble_app.a")
     else()
         list(APPEND chip_libraries $<TARGET_FILE:${bt_lib}> -lbtdm_app)
     endif()
@@ -383,6 +378,61 @@ if (CONFIG_SEC_CERT_DAC_PROVIDER)
     list(APPEND chip_libraries $<TARGET_FILE:${esp32_secure_cert_mgr_lib}>)
 endif()
 
+idf_component_get_property(lwip_lib lwip COMPONENT_LIB)
+list(APPEND chip_libraries $<TARGET_FILE:${lwip_lib}>)
+
+
+if (CONFIG_ESP_WIFI_ENABLED)
+    idf_component_get_property(esp_wifi_lib esp_wifi COMPONENT_LIB)
+    idf_component_get_property(esp_wifi_dir esp_wifi COMPONENT_DIR)
+    list(APPEND chip_libraries $<TARGET_FILE:${esp_wifi_lib}>)
+    if (CONFIG_IDF_TARGET_ESP32C2)
+        set(blobs core net80211 pp)
+    else()
+        set(blobs core mesh net80211 pp)
+    endif()
+
+    foreach(blob ${blobs})
+    list(APPEND chip_libraries "${esp_wifi_dir}/lib/${target_name}/lib${blob}.a")
+    endforeach()
+endif()
+
+idf_component_get_property(esp_netif_lib esp_netif COMPONENT_LIB)
+list(APPEND chip_libraries $<TARGET_FILE:${esp_netif_lib}>)
+
+idf_component_get_property(esp_hw_support_lib esp_hw_support COMPONENT_LIB)
+list(APPEND chip_libraries $<TARGET_FILE:${esp_hw_support_lib}>)
+
+idf_component_get_property(esp_phy_lib esp_phy COMPONENT_LIB)
+idf_component_get_property(esp_phy_dir esp_phy COMPONENT_DIR)
+list(APPEND chip_libraries $<TARGET_FILE:${esp_phy_lib}>)
+
+if (CONFIG_IDF_TARGET_ESP32)
+    set(phy_blobs phy rtc)
+elseif (CONFIG_IDF_TARGET_ESP32S2)
+    set(phy_blobs phy)
+else()
+    set(phy_blobs phy btbb)
+endif()
+foreach(phy_blob ${phy_blobs})
+    list(APPEND chip_libraries "${esp_phy_dir}/lib/${target_name}/lib${phy_blob}.a")
+endforeach()
+
+idf_component_get_property(esp_event_lib esp_event COMPONENT_LIB)
+list(APPEND chip_libraries $<TARGET_FILE:${esp_event_lib}>)
+
+idf_component_get_property(hal_lib hal COMPONENT_LIB)
+list(APPEND chip_libraries $<TARGET_FILE:${hal_lib}>)
+
+idf_component_get_property(esp_system_lib esp_system COMPONENT_LIB)
+list(APPEND chip_libraries $<TARGET_FILE:${esp_system_lib}>)
+
+idf_component_get_property(soc_lib soc COMPONENT_LIB)
+list(APPEND chip_libraries $<TARGET_FILE:${soc_lib}>)
+
+idf_component_get_property(efuse_lib efuse COMPONENT_LIB)
+list(APPEND chip_libraries $<TARGET_FILE:${efuse_lib}>)
+
 target_link_libraries(${COMPONENT_LIB} INTERFACE -Wl,--start-group
                                                 ${chip_libraries}
                                                 $<TARGET_FILE:mbedcrypto> $<TARGET_FILE:${mbedtls_lib}>
diff --git a/config/esp32/components/esp32_mbedtls/CMakeLists.txt b/config/esp32/components/esp32_mbedtls/CMakeLists.txt
deleted file mode 100644
index 03c0d2bd207398..00000000000000
--- a/config/esp32/components/esp32_mbedtls/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-idf_component_register(SRCS empty_file.c
-                       INCLUDE_DIRS .
-                       PRIV_REQUIRES mbedtls)
diff --git a/config/esp32/components/esp32_mbedtls/empty_file.c b/config/esp32/components/esp32_mbedtls/empty_file.c
deleted file mode 100644
index 33e1402e03e6ca..00000000000000
--- a/config/esp32/components/esp32_mbedtls/empty_file.c
+++ /dev/null
@@ -1,3 +0,0 @@
-// Empty file
-// Add this component to avoid CI failures on shell example building and QEMU
-// TODO: remove the esp32_mbedtls component
diff --git a/src/test_driver/esp32/main/CMakeLists.txt b/src/test_driver/esp32/main/CMakeLists.txt
index 29752922847125..91686b72f71b69 100644
--- a/src/test_driver/esp32/main/CMakeLists.txt
+++ b/src/test_driver/esp32/main/CMakeLists.txt
@@ -30,6 +30,8 @@ set(EXTRA_COMPONENT_DIRS
     "${IDF_PATH}/examples/common_components"
 )
 
+set(PRIV_REQUIRES_LIST mbedtls)
+
 if (CONFIG_OPENTHREAD_ENABLED)
     list(APPEND PRIV_REQUIRES_LIST openthread)
 endif()