diff --git a/doc/openocd.texi b/doc/openocd.texi
index 66cad5eec5..f1ec1697cf 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -11835,10 +11835,6 @@ which uses TDI pin for selecting SPI flash voltage.
 @end itemize
 @end deffn
 
-@deffn {Command} {esp gdb_detach_handler}
-Handles @code{gdb-detach} event and makes necessary cleanups. Currently, this is required to remove flash breakpoints when gdb disconnects unexpectedly.
-@end deffn
-
 @anchor{softwaredebugmessagesandtracing}
 @section Software Debug Messages and Tracing
 @cindex Linux-ARM DCC support
diff --git a/src/target/espressif/esp.c b/src/target/espressif/esp.c
index c1014cd904..9dbc5586aa 100644
--- a/src/target/espressif/esp.c
+++ b/src/target/espressif/esp.c
@@ -20,6 +20,8 @@
 #define ESP_FLASH_BREAKPOINTS_MAX_NUM  32
 #define ESP_ASSIST_DEBUG_INVALID_VALUE 0xFFFFFFFF
 
+static int esp_callback_event_handler(struct target *target, enum target_event event, void *priv);
+
 struct esp_common *target_to_esp_common(struct target *target)
 {
 	struct xtensa *xtensa = target->arch_info;
@@ -31,7 +33,7 @@ struct esp_common *target_to_esp_common(struct target *target)
 	return NULL;
 }
 
-int esp_common_init(struct esp_common *esp,
+int esp_common_init(struct target *target, struct esp_common *esp,
 	const struct esp_flash_breakpoint_ops *flash_brps_ops,
 	const struct esp_algorithm_hw *algo_hw)
 {
@@ -41,6 +43,9 @@ int esp_common_init(struct esp_common *esp,
 	if (!esp->flash_brps.brps)
 		return ERROR_FAIL;
 
+	if (target->coreid == 0)
+		target_register_event_callback(esp_callback_event_handler, esp);
+
 	return ERROR_OK;
 }
 
@@ -474,12 +479,9 @@ int esp_common_read_pseudo_ex_reason(struct target *target)
 }
 
 /* Generic commands for xtensa and riscv */
-int esp_common_gdb_detach_command(struct command_invocation *cmd)
-{
-	if (CMD_ARGC != 0)
-		return ERROR_COMMAND_SYNTAX_ERROR;
 
-	struct target *target = get_current_target(CMD_CTX);
+int esp_common_gdb_detach_handler(struct target *target)
+{
 	if (target->smp) {
 		struct target_list *head;
 		foreach_smp_target(head, target->smp_targets) {
@@ -492,12 +494,8 @@ int esp_common_gdb_detach_command(struct command_invocation *cmd)
 	return esp_common_handle_gdb_detach(target);
 }
 
-int esp_common_process_flash_breakpoints_command(struct command_invocation *cmd)
+int esp_common_process_flash_breakpoints_handler(struct target *target)
 {
-	if (CMD_ARGC != 0)
-		return ERROR_COMMAND_SYNTAX_ERROR;
-
-	struct target *target = get_current_target(CMD_CTX);
 	if (target->smp) {
 		struct target_list *head;
 		foreach_smp_target(head, target->smp_targets) {
@@ -509,3 +507,34 @@ int esp_common_process_flash_breakpoints_command(struct command_invocation *cmd)
 	}
 	return esp_common_handle_flash_breakpoints(target);
 }
+
+int esp_common_process_flash_breakpoints_command(struct command_invocation *cmd)
+{
+	if (CMD_ARGC != 0)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	struct target *target = get_current_target(CMD_CTX);
+
+	return esp_common_process_flash_breakpoints_handler(target);
+}
+
+static int esp_callback_event_handler(struct target *target, enum target_event event, void *priv)
+{
+	switch (event) {
+		case TARGET_EVENT_STEP_START:
+		case TARGET_EVENT_RESUME_START:
+		case TARGET_EVENT_QXFER_THREAD_READ_END:
+			return esp_common_process_flash_breakpoints_handler(target);
+		case TARGET_EVENT_GDB_DETACH:
+			return esp_common_gdb_detach_handler(target);
+#if IS_ESPIDF
+		case TARGET_EVENT_EXAMINE_FAIL:
+			extern int examine_failed_ui_handler(struct command_invocation *cmd);
+			return examine_failed_ui_handler;
+#endif
+		default:
+			break;
+	}
+
+	return ERROR_OK;
+}
diff --git a/src/target/espressif/esp.h b/src/target/espressif/esp.h
index 5987685ec7..cf16701f31 100644
--- a/src/target/espressif/esp.h
+++ b/src/target/espressif/esp.h
@@ -138,7 +138,7 @@ struct esp_ops {
 };
 
 struct esp_common *target_to_esp_common(struct target *target);
-int esp_common_init(struct esp_common *esp,
+int esp_common_init(struct target *target, struct esp_common *esp,
 	const struct esp_flash_breakpoint_ops *flash_brps_ops,
 	const struct esp_algorithm_hw *algo_hw);
 int esp_common_flash_breakpoint_add(struct target *target,
@@ -149,11 +149,8 @@ int esp_common_flash_breakpoint_remove(struct target *target,
 	struct breakpoint *breakpoint);
 bool esp_common_flash_breakpoint_exists(struct esp_common *esp,
 	struct breakpoint *breakpoint);
-int esp_common_set_flash_breakpoints(struct command_invocation *cmd);
 int esp_common_handle_gdb_detach(struct target *target);
-int esp_common_gdb_detach_command(struct command_invocation *cmd);
 int esp_common_process_flash_breakpoints_command(struct command_invocation *cmd);
-
 int esp_dbgstubs_table_read(struct target *target, struct esp_dbg_stubs *dbg_stubs);
 
 void esp_common_assist_debug_monitor_disable(struct target *target, uint32_t address, uint32_t *value);
diff --git a/src/target/espressif/esp32c2.c b/src/target/espressif/esp32c2.c
index 218b0c07f8..ad9a26cd63 100644
--- a/src/target/espressif/esp32c2.c
+++ b/src/target/espressif/esp32c2.c
@@ -162,8 +162,7 @@ static int esp32c2_init_target(struct command_context *cmd_ctx,
 
 	struct esp_riscv_common *esp_riscv = target_to_esp_riscv(target);
 
-	ret = esp_riscv_init_arch_info(cmd_ctx,
-		target,
+	ret = esp_riscv_init_arch_info(target,
 		esp_riscv,
 		&esp32c2_flash_brp_ops,
 		&esp32c2_semihost_ops);
diff --git a/src/target/espressif/esp32c3.c b/src/target/espressif/esp32c3.c
index 7887a3bfa3..4262da0666 100644
--- a/src/target/espressif/esp32c3.c
+++ b/src/target/espressif/esp32c3.c
@@ -178,8 +178,7 @@ static int esp32c3_init_target(struct command_context *cmd_ctx,
 
 	struct esp_riscv_common *esp_riscv = target_to_esp_riscv(target);
 
-	ret = esp_riscv_init_arch_info(cmd_ctx,
-		target,
+	ret = esp_riscv_init_arch_info(target,
 		esp_riscv,
 		&esp32c3_flash_brp_ops,
 		&esp32c3_semihost_ops);
diff --git a/src/target/espressif/esp32c5.c b/src/target/espressif/esp32c5.c
index b9fc64ff99..e7b88043a1 100644
--- a/src/target/espressif/esp32c5.c
+++ b/src/target/espressif/esp32c5.c
@@ -81,8 +81,7 @@ static int esp32c5_init_target(struct command_context *cmd_ctx,
 
 	struct esp_riscv_common *esp_riscv = target_to_esp_riscv(target);
 
-	ret = esp_riscv_init_arch_info(cmd_ctx,
-		target,
+	ret = esp_riscv_init_arch_info(target,
 		esp_riscv,
 		&esp32c5_flash_brp_ops,
 		&esp32c5_semihost_ops);
diff --git a/src/target/espressif/esp32c6.c b/src/target/espressif/esp32c6.c
index 263368d4b5..1b6a96e4f3 100644
--- a/src/target/espressif/esp32c6.c
+++ b/src/target/espressif/esp32c6.c
@@ -180,8 +180,7 @@ static int esp32c6_init_target(struct command_context *cmd_ctx,
 
 	struct esp_riscv_common *esp_riscv = target_to_esp_riscv(target);
 
-	ret = esp_riscv_init_arch_info(cmd_ctx,
-		target,
+	ret = esp_riscv_init_arch_info(target,
 		esp_riscv,
 		&esp32c6_flash_brp_ops,
 		&esp32c6_semihost_ops);
diff --git a/src/target/espressif/esp32h2.c b/src/target/espressif/esp32h2.c
index e85f5790fc..bc326b570d 100644
--- a/src/target/espressif/esp32h2.c
+++ b/src/target/espressif/esp32h2.c
@@ -184,8 +184,7 @@ static int esp32h2_init_target(struct command_context *cmd_ctx,
 
 	struct esp_riscv_common *esp_riscv = target_to_esp_riscv(target);
 
-	ret = esp_riscv_init_arch_info(cmd_ctx,
-		target,
+	ret = esp_riscv_init_arch_info(target,
 		esp_riscv,
 		&esp32h2_flash_brp_ops,
 		&esp32h2_semihost_ops);
diff --git a/src/target/espressif/esp32p4.c b/src/target/espressif/esp32p4.c
index 06c3aba133..f7ea993da7 100644
--- a/src/target/espressif/esp32p4.c
+++ b/src/target/espressif/esp32p4.c
@@ -227,8 +227,7 @@ static int esp32p4_init_target(struct command_context *cmd_ctx,
 
 	struct esp_riscv_common *esp_riscv = target_to_esp_riscv(target);
 
-	ret = esp_riscv_init_arch_info(cmd_ctx,
-		target,
+	ret = esp_riscv_init_arch_info(target,
 		esp_riscv,
 		&esp32p4_flash_brp_ops,
 		&esp32p4_semihost_ops);
diff --git a/src/target/espressif/esp_riscv.c b/src/target/espressif/esp_riscv.c
index 93b744c476..24a07b5e84 100644
--- a/src/target/espressif/esp_riscv.c
+++ b/src/target/espressif/esp_riscv.c
@@ -24,10 +24,6 @@
 #include "esp_riscv.h"
 #include "esp_semihosting.h"
 
-#if IS_ESPIDF
-extern int examine_failed_ui_handler(struct command_invocation *cmd);
-#endif
-
 /* Argument indexes for ESP_SEMIHOSTING_SYS_BREAKPOINT_SET */
 enum {
 	ESP_RISCV_SET_BREAKPOINT_ARG_SET,
@@ -941,13 +937,6 @@ COMMAND_HANDLER(esp_riscv_halted_command)
 }
 
 const struct command_registration esp_riscv_command_handlers[] = {
-	{
-		.name = "gdb_detach_handler",
-		.handler = esp_common_gdb_detach_command,
-		.mode = COMMAND_ANY,
-		.help = "Handles gdb-detach events and makes necessary cleanups such as removing flash breakpoints",
-		.usage = "",
-	},
 	{
 		.name = "process_lazy_breakpoints",
 		.handler = esp_common_process_flash_breakpoints_command,
@@ -962,13 +951,5 @@ const struct command_registration esp_riscv_command_handlers[] = {
 		.help = "Handles halted event and prints exception reason",
 		.usage = "",
 	},
-#if IS_ESPIDF
-	{
-		.name = "examine_failed_handler",
-		.handler = examine_failed_ui_handler,
-		.mode = COMMAND_EXEC,
-		.usage = "",
-	},
-#endif
 	COMMAND_REGISTRATION_DONE
 };
diff --git a/src/target/espressif/esp_riscv.h b/src/target/espressif/esp_riscv.h
index 8fdc09bd30..bc1f2a3a17 100644
--- a/src/target/espressif/esp_riscv.h
+++ b/src/target/espressif/esp_riscv.h
@@ -53,7 +53,7 @@ static inline int esp_riscv_on_reset(struct target *target)
 	return ERROR_OK;
 }
 
-static inline int esp_riscv_init_arch_info(struct command_context *cmd_ctx, struct target *target,
+static inline int esp_riscv_init_arch_info(struct target *target,
 	struct esp_riscv_common *esp_riscv,
 	const struct esp_flash_breakpoint_ops *flash_brps_ops,
 	const struct esp_semihost_ops *semi_ops)
@@ -62,7 +62,7 @@ static inline int esp_riscv_init_arch_info(struct command_context *cmd_ctx, stru
 
 	INIT_LIST_HEAD(&esp_riscv->semihost.dir_map_list);
 
-	int ret = esp_common_init(&esp_riscv->esp, flash_brps_ops, &riscv_algo_hw);
+	int ret = esp_common_init(target, &esp_riscv->esp, flash_brps_ops, &riscv_algo_hw);
 	if (ret != ERROR_OK)
 		return ret;
 
diff --git a/src/target/espressif/esp_xtensa.c b/src/target/espressif/esp_xtensa.c
index efd1cac24c..3dbd25c867 100644
--- a/src/target/espressif/esp_xtensa.c
+++ b/src/target/espressif/esp_xtensa.c
@@ -19,10 +19,6 @@
 #include "esp_xtensa_apptrace.h"
 #include "esp_xtensa_semihosting.h"
 
-#if IS_ESPIDF
-extern int examine_failed_ui_handler(struct command_invocation *cmd);
-#endif
-
 #define XTENSA_EXCCAUSE(reg_val)         ((reg_val) & 0x3F)
 
 static const char *xtensa_get_exception_reason(struct target *target, enum esp_xtensa_exception_cause exccause_code)
@@ -172,7 +168,7 @@ int esp_xtensa_init_arch_info(struct target *target,
 	int ret = xtensa_init_arch_info(target, &esp_xtensa->xtensa, dm_cfg);
 	if (ret != ERROR_OK)
 		return ret;
-	ret = esp_common_init(&esp_xtensa->esp, esp_ops->flash_brps_ops, &xtensa_algo_hw);
+	ret = esp_common_init(target, &esp_xtensa->esp, esp_ops->flash_brps_ops, &xtensa_algo_hw);
 	if (ret != ERROR_OK)
 		return ret;
 
@@ -389,13 +385,6 @@ int esp_xtensa_breakpoint_remove(struct target *target, struct breakpoint *break
 }
 
 const struct command_registration esp_command_handlers[] = {
-	{
-		.name = "gdb_detach_handler",
-		.handler = esp_common_gdb_detach_command,
-		.mode = COMMAND_ANY,
-		.help = "Handles gdb-detach events and makes necessary cleanups such as removing flash breakpoints",
-		.usage = "",
-	},
 	{
 		.name = "process_lazy_breakpoints",
 		.handler = esp_common_process_flash_breakpoints_command,
@@ -403,13 +392,5 @@ const struct command_registration esp_command_handlers[] = {
 		.help = "Handles resum-start and step-start events to set/clear all waiting flash breakpoints",
 		.usage = "",
 	},
-#if IS_ESPIDF
-	{
-		.name = "examine_failed_handler",
-		.handler = examine_failed_ui_handler,
-		.mode = COMMAND_ANY,
-		.usage = "",
-	},
-#endif
 	COMMAND_REGISTRATION_DONE
 };
diff --git a/src/target/espressif/esp_xtensa_smp.c b/src/target/espressif/esp_xtensa_smp.c
index c95530cf65..e9c765219e 100644
--- a/src/target/espressif/esp_xtensa_smp.c
+++ b/src/target/espressif/esp_xtensa_smp.c
@@ -20,10 +20,6 @@
 #include "esp_xtensa_semihosting.h"
 #include "esp_algorithm.h"
 
-#if IS_ESPIDF
-extern int examine_failed_ui_handler(struct command_invocation *cmd);
-#endif
-
 /*
 Multiprocessor stuff common:
 
@@ -1097,13 +1093,6 @@ const struct command_registration esp_xtensa_smp_xtensa_command_handlers[] = {
 };
 
 const struct command_registration esp_xtensa_smp_esp_command_handlers[] = {
-	{
-		.name = "gdb_detach_handler",
-		.handler = esp_common_gdb_detach_command,
-		.mode = COMMAND_ANY,
-		.help = "Handles gdb-detach events and makes necessary cleanups such as removing flash breakpoints",
-		.usage = "",
-	},
 	{
 		.name = "process_lazy_breakpoints",
 		.handler = esp_common_process_flash_breakpoints_command,
@@ -1111,14 +1100,6 @@ const struct command_registration esp_xtensa_smp_esp_command_handlers[] = {
 		.help = "Handles resum-start and step-start events to set/clear all waiting flash breakpoints",
 		.usage = "",
 	},
-#if IS_ESPIDF
-	{
-		.name = "examine_failed_handler",
-		.handler = examine_failed_ui_handler,
-		.mode = COMMAND_ANY,
-		.usage = "",
-	},
-#endif
 	COMMAND_REGISTRATION_DONE
 };
 
diff --git a/tcl/target/esp_common.cfg b/tcl/target/esp_common.cfg
index 5fddad309f..1d97a7318e 100644
--- a/tcl/target/esp_common.cfg
+++ b/tcl/target/esp_common.cfg
@@ -110,23 +110,6 @@ proc create_esp_target { ARCH } {
 
 #################### Set event handlers and default settings  ####################
 
-proc configure_event_examine_fail { } {
-	global _ESP_IDF_HOST _TARGETNAME_0 _TARGETNAME_1 _ONLYCPU
-
-	if { $_ESP_IDF_HOST == 1 } {
-		if {$_ONLYCPU & 1} {
-			$_TARGETNAME_0 configure -event examine-fail {
-				esp examine_failed_handler
-			}
-		}
-		if {$_ONLYCPU & 2} {
-			$_TARGETNAME_1 configure -event examine-fail {
-				esp examine_failed_handler
-			}
-		}
-	}
-}
-
 proc configure_event_examine_end { } {
 	global _TARGETNAME_0 _TARGETNAME_1 _ONLYCPU
 
@@ -175,22 +158,6 @@ proc configure_event_reset_assert_post { } {
 	}
 }
 
-proc configure_event_gdb_detach { } {
-	global _TARGETNAME_0 _TARGETNAME_1 _ONLYCPU
-
-	if {$_ONLYCPU & 1} {
-		$_TARGETNAME_0 configure -event gdb-detach {
-			$_TARGETNAME_0 esp gdb_detach_handler
-		}
-	}
-
-	if {$_ONLYCPU & 2} {
-		$_TARGETNAME_1 configure -event gdb-detach {
-			$_TARGETNAME_1 esp gdb_detach_handler
-		}
-	}
-}
-
 proc configure_event_halted { } {
 	global _TARGETNAME_0 _TARGETNAME_1 _ONLYCPU
 
@@ -206,32 +173,6 @@ proc configure_event_halted { } {
 	}
 }
 
-proc configure_event_process_flash_breakpoints { } {
-	global _TARGETNAME_0 _TARGETNAME_1 _ONLYCPU
-
-	$_TARGETNAME_0 configure -event resume-start {
-		esp process_lazy_breakpoints
-	}
-	$_TARGETNAME_0 configure -event step-start {
-		esp process_lazy_breakpoints
-	}
-	$_TARGETNAME_0 configure -event qxfer-thread-read-end {
-		esp process_lazy_breakpoints
-	}
-
-	if { $_ONLYCPU != 1 } {
-		$_TARGETNAME_1 configure -event resume-start {
-			esp process_lazy_breakpoints
-		}
-		$_TARGETNAME_1 configure -event step-start {
-			esp process_lazy_breakpoints
-		}
-		$_TARGETNAME_1 configure -event qxfer-thread-read-end {
-			esp process_lazy_breakpoints
-		}
-	}
-}
-
 proc configure_event_gdb_attach { } {
 	global _TARGETNAME_0 _TARGETNAME_1 _ONLYCPU _ESP_ARCH
 
@@ -281,12 +222,9 @@ proc configure_openocd_events { ARCH } {
 		configure_event_halted
 		configure_shutdown_command
 	}
-	configure_event_process_flash_breakpoints
-	configure_event_examine_fail
 	configure_event_examine_end
 	configure_event_reset_assert_post
 	configure_event_gdb_attach
-	configure_event_gdb_detach
 }
 
 proc configure_esp_riscv_default_settings { } {