diff --git a/.github/workflows/examples-esp32.yaml b/.github/workflows/examples-esp32.yaml
index 3d3112d2972ecd..cd6a5f1225e9da 100644
--- a/.github/workflows/examples-esp32.yaml
+++ b/.github/workflows/examples-esp32.yaml
@@ -83,7 +83,6 @@ jobs:
                      "./scripts/build/build_examples.py \
                         --enable-flashbundle \
                         --target esp32-m5stack-all-clusters-minimal \
-                        --target esp32-m5stack-all-clusters-rpc-ipv6only \
                         --pregen-dir ./zzz_pregenerated \
                         build \
                         --copy-artifacts-to out/artifacts \
@@ -95,6 +94,15 @@ jobs:
                   mv scripts/tools/zap/generate.py.renamed scripts/tools/zap/generate.py
             - name: Build example All Clusters App(Target:ESP32C3)
               run: scripts/examples/esp_example.sh all-clusters-app sdkconfig.defaults.esp32c3 esp32c3
+            - name: Build example All Clusters App(Target:ESP32)
+              run: |
+                  ./scripts/run_in_build_env.sh \
+                     "./scripts/build/build_examples.py \
+                        --enable-flashbundle \
+                        --target esp32-devkitc-all-clusters-rpc-ipv6only \
+                        build \
+                        --copy-artifacts-to out/artifacts \
+                     "
             - name: Copy aside build products
               run: |
                   mkdir -p example_binaries/esp32-build
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index a0ae1b95fe4730..0a2b379ccb0f01 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -579,8 +579,6 @@
                 "esp32-devkitc-temperature-measurement",
                 "esp32-m5stack-all-clusters",
                 "esp32-m5stack-all-clusters-ipv6only",
-                "esp32-m5stack-all-clusters-rpc",
-                "esp32-m5stack-all-clusters-rpc-ipv6only",
                 "infineon-psoc6-all-clusters",
                 "infineon-psoc6-lock",
                 "infineon-psoc6-light",
diff --git a/examples/all-clusters-app/esp32/sdkconfig_rpc.defaults b/examples/all-clusters-app/esp32/sdkconfig_rpc.defaults
new file mode 100644
index 00000000000000..3faf5754c82a99
--- /dev/null
+++ b/examples/all-clusters-app/esp32/sdkconfig_rpc.defaults
@@ -0,0 +1,92 @@
+#
+#    Copyright (c) 2024 Project CHIP Authors
+#    Copyright (c) 2024 Nest Labs, Inc.
+#    All rights reserved.
+#
+#    Licensed under the Apache License, Version 2.0 (the "License");
+#    you may not use this file except in compliance with the License.
+#    You may obtain a copy of the License at
+#
+#        http://www.apache.org/licenses/LICENSE-2.0
+#
+#    Unless required by applicable law or agreed to in writing, software
+#    distributed under the License is distributed on an "AS IS" BASIS,
+#    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#    See the License for the specific language governing permissions and
+#    limitations under the License.
+#
+#    Description:
+#      CI uses this to select the ESP32.
+#
+CONFIG_IDF_TARGET="esp32"
+CONFIG_IDF_TARGET_ESP32=y
+
+# Default to 921600 baud when flashing and monitoring device
+CONFIG_ESPTOOLPY_BAUD_921600B=y
+CONFIG_ESPTOOLPY_BAUD=921600
+CONFIG_ESPTOOLPY_COMPRESSED=y
+CONFIG_ESPTOOLPY_MONITOR_BAUD_115200B=y
+CONFIG_ESPTOOLPY_MONITOR_BAUD=115200
+
+#enable BT
+CONFIG_BT_ENABLED=y
+CONFIG_BT_NIMBLE_ENABLED=y
+
+#enable lwip ipv6 autoconfig
+CONFIG_LWIP_IPV6_AUTOCONFIG=y
+
+# Use a custom partition table
+CONFIG_PARTITION_TABLE_CUSTOM=y
+CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
+
+# Vendor and product id
+CONFIG_DEVICE_VENDOR_ID=0xFFF1
+CONFIG_DEVICE_PRODUCT_ID=0x8001
+
+# Main task needs a bit more stack than the default
+# default is 3584, bump this up to 5k.
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=5120
+
+# PW RPC Debug channel
+CONFIG_EXAMPLE_UART_PORT_NUM=0
+CONFIG_EXAMPLE_UART_BAUD_RATE=115200
+CONFIG_EXAMPLE_UART_RXD=3
+CONFIG_EXAMPLE_UART_TXD=1
+CONFIG_ENABLE_PW_RPC=y
+
+# Disable shell
+CONFIG_ENABLE_CHIP_SHELL=n
+
+# Serial Flasher config
+CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
+CONFIG_ESPTOOLPY_FLASHSIZE="4MB"
+
+
+#disable Bluetooth modem sleep
+#enable it may cause GPIO ISR triggers continuously
+CONFIG_BTDM_CTRL_MODEM_SLEEP=n
+CONFIG_BTDM_CTRL_MODEM_SLEEP_MODE_ORIG=n
+CONFIG_BTDM_CTRL_LPCLK_SEL_MAIN_XTAL=n
+
+# Enable HKDF in mbedtls
+CONFIG_MBEDTLS_HKDF_C=y
+
+# Build chip tests
+CONFIG_BUILD_CHIP_TESTS=y
+
+# Move functions from IRAM to flash
+CONFIG_FREERTOS_PLACE_FUNCTIONS_INTO_FLASH=y
+
+CONFIG_DIAG_USE_EXTERNAL_LOG_WRAP=y
+
+# Memory Optimizations
+CONFIG_NIMBLE_MAX_CONNECTIONS=1
+CONFIG_BTDM_CTRL_BLE_MAX_CONN=1
+CONFIG_BT_NIMBLE_ROLE_CENTRAL=n
+CONFIG_BT_NIMBLE_ROLE_OBSERVER=n
+
+# Reduce the event logging buffer to reduce the DRAM overflow
+# TODO: [ESP32] Fix the DRAM overflow in esp32 apps #34717
+CONFIG_EVENT_LOGGING_CRIT_BUFFER_SIZE=512
+CONFIG_EVENT_LOGGING_INFO_BUFFER_SIZE=512
+CONFIG_EVENT_LOGGING_DEBUG_BUFFER_SIZE=512
diff --git a/integrations/cloudbuild/smoke-test.yaml b/integrations/cloudbuild/smoke-test.yaml
index 9a48c18494406d..7725253af6c9f7 100644
--- a/integrations/cloudbuild/smoke-test.yaml
+++ b/integrations/cloudbuild/smoke-test.yaml
@@ -34,7 +34,6 @@ steps:
               ./scripts/build/build_examples.py --enable-flashbundle --target
               esp32-devkitc-light-rpc --target
               esp32-m5stack-all-clusters-ipv6only --target
-              esp32-m5stack-all-clusters-rpc-ipv6only --target
               esp32-m5stack-light --target
               esp32-m5stack-light-ipv6only --target
               esp32-m5stack-ota-requestor build --create-archives
diff --git a/scripts/build/BUILD.gn b/scripts/build/BUILD.gn
index 36b8209285576e..f5995db875efe2 100644
--- a/scripts/build/BUILD.gn
+++ b/scripts/build/BUILD.gn
@@ -26,7 +26,6 @@ pw_python_package("build_examples") {
     "testdata/dry_run_android-arm64-chip-tool.txt",
     "testdata/dry_run_efr32-brd4187c-light-rpc-no-version.txt",
     "testdata/dry_run_esp32-devkitc-light-rpc.txt",
-    "testdata/dry_run_esp32-m5stack-all-clusters-minimal-rpc-ipv6only.txt",
     "testdata/dry_run_linux-arm64-chip-tool-ipv6only-clang.txt",
     "testdata/dry_run_linux-arm64-ota-requestor-nodeps-ipv6only.txt",
     "testdata/dry_run_linux-x64-all-clusters-coverage.txt",
diff --git a/scripts/build/test.py b/scripts/build/test.py
index 48a7e4fe53bafc..f1488ba17b870a 100644
--- a/scripts/build/test.py
+++ b/scripts/build/test.py
@@ -108,7 +108,6 @@ def test_general_dry_runs(self):
         # build options do not change too much
         TARGETS = [
             'esp32-devkitc-light-rpc',
-            'esp32-m5stack-all-clusters-minimal-rpc-ipv6only',
             'android-arm64-chip-tool',
             'nrf-nrf52840dk-pump',
             'efr32-brd4187c-light-rpc-no-version',
diff --git a/scripts/build/testdata/dry_run_esp32-m5stack-all-clusters-minimal-rpc-ipv6only.txt b/scripts/build/testdata/dry_run_esp32-m5stack-all-clusters-minimal-rpc-ipv6only.txt
deleted file mode 100644
index 7d6977d6fc05cc..00000000000000
--- a/scripts/build/testdata/dry_run_esp32-m5stack-all-clusters-minimal-rpc-ipv6only.txt
+++ /dev/null
@@ -1,26 +0,0 @@
-# Commands will be run in CHIP project root.
-cd "{root}"
-
-# Generating esp32-m5stack-all-clusters-minimal-rpc-ipv6only
-mkdir -p {out}/esp32-m5stack-all-clusters-minimal-rpc-ipv6only
-
-cp examples/all-clusters-minimal-app/esp32/sdkconfig_m5stack_rpc.defaults {out}/esp32-m5stack-all-clusters-minimal-rpc-ipv6only/sdkconfig.defaults
-
-rm -f examples/all-clusters-minimal-app/esp32/sdkconfig
-
-bash -c 'echo -e "\nCONFIG_DISABLE_IPV4=y\n" >>{out}/esp32-m5stack-all-clusters-minimal-rpc-ipv6only/sdkconfig.defaults'
-
-bash -c 'echo -e "\nCONFIG_LWIP_IPV4=n\n" >>{out}/esp32-m5stack-all-clusters-minimal-rpc-ipv6only/sdkconfig.defaults'
-
-bash -c 'echo -e "\nCONFIG_ESP_INSIGHTS_ENABLED=n\nCONFIG_ENABLE_ESP_INSIGHTS_TRACE=n\n" >>{out}/esp32-m5stack-all-clusters-minimal-rpc-ipv6only/sdkconfig.defaults'
-
-bash -c 'source $IDF_PATH/export.sh; source scripts/activate.sh; 
-export SDKCONFIG_DEFAULTS={out}/esp32-m5stack-all-clusters-minimal-rpc-ipv6only/sdkconfig.defaults
-idf.py -C examples/all-clusters-minimal-app/esp32 -B {out}/esp32-m5stack-all-clusters-minimal-rpc-ipv6only reconfigure'
-
-rm -f examples/all-clusters-minimal-app/esp32/sdkconfig
-
-# Building esp32-m5stack-all-clusters-minimal-rpc-ipv6only
-bash -c 'source $IDF_PATH/export.sh; source scripts/activate.sh; 
-export SDKCONFIG_DEFAULTS={out}/esp32-m5stack-all-clusters-minimal-rpc-ipv6only/sdkconfig.defaults
-idf.py -C examples/all-clusters-minimal-app/esp32 -B {out}/esp32-m5stack-all-clusters-minimal-rpc-ipv6only build'