diff --git a/components/esp_wifi/test/test_wifi_init.c b/components/esp_wifi/test/test_wifi_init.c
index 8195f9c8d..9932551af 100644
--- a/components/esp_wifi/test/test_wifi_init.c
+++ b/components/esp_wifi/test/test_wifi_init.c
@@ -96,24 +96,27 @@ static void wifi_driver_can_start_on_APP_CPU_task(void* arg)
     TEST_ESP_OK(event_deinit());
     ESP_LOGI(TAG, EMPH_STR("nvs_flash_deinit..."));
     TEST_ESP_OK(nvs_flash_deinit());
-    xSemaphoreGive(*sema);
     ESP_LOGI(TAG, "exit task...");
-    vTaskDelete(NULL);
+    xSemaphoreGive(*sema);
+    vTaskSuspend(NULL);
 }
 
 TEST_CASE("wifi driver can start on APP CPU", "[wifi_init]")
 {
-    TaskHandle_t th;
+    TaskHandle_t th = NULL;
     SemaphoreHandle_t sema = xSemaphoreCreateBinary();
+    TEST_ASSERT_NOT_NULL(sema);
     printf("Creating tasks\n");
 #ifndef CONFIG_FREERTOS_UNICORE
     xTaskCreatePinnedToCore(wifi_driver_can_start_on_APP_CPU_task, "wifi_driver_can_start_on_APP_CPU_task", 2048*2, &sema, 3, &th, 1);
 #else
     xTaskCreate(wifi_driver_can_start_on_APP_CPU_task, "wifi_driver_can_start_on_APP_CPU_task", 2048*2, &sema, 3, &th);
 #endif
+    TEST_ASSERT_NOT_NULL(th);
     xSemaphoreTake(sema, portMAX_DELAY);
     vSemaphoreDelete(sema);
     sema = NULL;
+    test_utils_task_delete(th);
 }
 
 static void wifi_start_stop_task(void* arg)
@@ -148,22 +151,25 @@ static void wifi_start_stop_task(void* arg)
     nvs_flash_deinit();
     ESP_LOGI(TAG, "test passed...");
     xSemaphoreGive(*sema);
-    vTaskDelete(NULL);
+    vTaskSuspend(NULL);
 }
 
 TEST_CASE("Calling esp_wifi_stop() with start", "[wifi_init]")
 {
-    TaskHandle_t th;
+    TaskHandle_t th = NULL;
     SemaphoreHandle_t sema = xSemaphoreCreateBinary();
+    TEST_ASSERT_NOT_NULL(sema);
     printf("Creating tasks\n");
 #ifndef CONFIG_FREERTOS_UNICORE
     xTaskCreatePinnedToCore(wifi_start_stop_task, "wifi_start_stop_task", 2048*2, &sema, 3, &th, 0);
 #else
     xTaskCreate(wifi_start_stop_task, "wifi_start_stop_task", 2048*2, &sema, 3, &th);
 #endif
+    TEST_ASSERT_NOT_NULL(th);
     xSemaphoreTake(sema, portMAX_DELAY);
     vSemaphoreDelete(sema);
     sema = NULL;
+    test_utils_task_delete(th);
 }
 
 static void wifi_stop_task(void* arg)
@@ -194,20 +200,23 @@ static void wifi_stop_task(void* arg)
     nvs_flash_deinit();
     ESP_LOGI(TAG, "test passed...");
     xSemaphoreGive(*sema);
-    vTaskDelete(NULL);
+    vTaskSuspend(NULL);
 }
 
 TEST_CASE("Calling esp_wifi_stop() without start", "[wifi_init]")
 {
-    TaskHandle_t th;
+    TaskHandle_t th = NULL;
     SemaphoreHandle_t sema = xSemaphoreCreateBinary();
+    TEST_ASSERT_NOT_NULL(sema);
     printf("Creating tasks\n");
 #ifndef CONFIG_FREERTOS_UNICORE
     xTaskCreatePinnedToCore(wifi_stop_task, "wifi_stop_task", 2048*2, &sema, 3, &th, 0);
 #else
     xTaskCreate(wifi_stop_task, "wifi_stop_task", 2048*2, &sema, 3, &th);
 #endif
+    TEST_ASSERT_NOT_NULL(th);
     xSemaphoreTake(sema, portMAX_DELAY);
     vSemaphoreDelete(sema);
     sema = NULL;
+    test_utils_task_delete(th);
 }
diff --git a/tools/unit-test-app/components/test_utils/include/test_utils.h b/tools/unit-test-app/components/test_utils/include/test_utils.h
index d2d7f0538..aa809972c 100644
--- a/tools/unit-test-app/components/test_utils/include/test_utils.h
+++ b/tools/unit-test-app/components/test_utils/include/test_utils.h
@@ -18,6 +18,8 @@
 #include <stdint.h>
 #include <esp_partition.h>
 #include "sdkconfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
 
 /* include performance pass standards header file */
 #include "idf_performance.h"
@@ -259,7 +261,6 @@ esp_err_t test_utils_set_leak_level(size_t leak_level, esp_type_leak_t type, esp
 size_t test_utils_get_leak_level(esp_type_leak_t type, esp_comp_leak_t component);
 
 
-
 typedef struct test_utils_exhaust_memory_record_s *test_utils_exhaust_memory_rec;
 
 /**
@@ -285,3 +286,9 @@ test_utils_exhaust_memory_rec test_utils_exhaust_memory(uint32_t caps, size_t li
 void test_utils_free_exhausted_memory(test_utils_exhaust_memory_rec rec);
 
 
+/**
+ * @brief Delete task ensuring dynamic memory (for stack, tcb etc.) gets freed up immediately
+ *
+ * @param[in] thandle    Handle of task to be deleted (should not be NULL or self handle)
+ */
+void test_utils_task_delete(TaskHandle_t thandle);
diff --git a/tools/unit-test-app/components/test_utils/test_utils.c b/tools/unit-test-app/components/test_utils/test_utils.c
index 7745f19c0..0bbce43fa 100644
--- a/tools/unit-test-app/components/test_utils/test_utils.c
+++ b/tools/unit-test-app/components/test_utils/test_utils.c
@@ -19,6 +19,11 @@
 #include "freertos/task.h"
 #include "esp_netif.h"
 #include "lwip/sockets.h"
+#include "sdkconfig.h"
+#if !CONFIG_FREERTOS_UNICORE
+#include "esp_ipc.h"
+#include "esp_freertos_hooks.h"
+#endif
 
 const esp_partition_t *get_test_data_partition(void)
 {
@@ -142,7 +147,6 @@ size_t test_utils_get_leak_level(esp_type_leak_t type_of_leak, esp_comp_leak_t c
     return leak_level;
 }
 
-
 #define EXHAUST_MEMORY_ENTRIES 100
 
 struct test_utils_exhaust_memory_record_s {
@@ -179,3 +183,56 @@ void test_utils_free_exhausted_memory(test_utils_exhaust_memory_rec rec)
     free(rec);
 }
 
+#if !CONFIG_FREERTOS_UNICORE
+static SemaphoreHandle_t test_sem;
+
+static bool test_idle_hook_func(void)
+{
+    if (test_sem) {
+        xSemaphoreGive(test_sem);
+    }
+    return true;
+}
+
+static void test_task_delete_func(void *arg)
+{
+    vTaskDelete(arg);
+}
+#endif // !CONFIG_FREERTOS_UNICORE
+
+void test_utils_task_delete(TaskHandle_t thandle)
+{
+    /* Self deletion can not free up associated task dynamic memory immediately,
+     * hence not recommended for test scenarios */
+    TEST_ASSERT_NOT_NULL_MESSAGE(thandle, "test_utils_task_delete: handle is NULL");
+    TEST_ASSERT_NOT_EQUAL_MESSAGE(thandle, xTaskGetCurrentTaskHandle(), "test_utils_task_delete: handle is of currently executing task");
+
+#if CONFIG_FREERTOS_UNICORE
+    vTaskDelete(thandle);
+#else // CONFIG_FREERTOS_UNICORE
+    const BaseType_t tsk_affinity = xTaskGetAffinity(thandle);
+    const uint32_t core_id = xPortGetCoreID();
+
+    printf("Task_affinity: 0x%x, current_core: %d\n", tsk_affinity, core_id);
+
+    if (tsk_affinity == tskNO_AFFINITY) {
+        /* For no affinity case, we wait for idle hook to trigger on different core */
+        esp_err_t ret = esp_register_freertos_idle_hook_for_cpu(test_idle_hook_func, !core_id);
+        TEST_ASSERT_EQUAL_MESSAGE(ret, ESP_OK, "test_utils_task_delete: failed to register idle hook");
+        vTaskDelete(thandle);
+        test_sem = xSemaphoreCreateBinary();
+        TEST_ASSERT_NOT_NULL_MESSAGE(test_sem, "test_utils_task_delete: failed to create semaphore");
+        xSemaphoreTake(test_sem, portMAX_DELAY);
+        esp_deregister_freertos_idle_hook_for_cpu(test_idle_hook_func, !core_id);
+        vSemaphoreDelete(test_sem);
+        test_sem = NULL;
+    } else if (tsk_affinity != core_id) {
+        /* Task affinity and current core are differnt, schedule IPC call (to delete task)
+         * on core where task is pinned to */
+        esp_ipc_call_blocking(tsk_affinity, test_task_delete_func, thandle);
+    } else {
+        /* Task affinity and current core are same, so we can safely proceed for deletion */
+        vTaskDelete(thandle);
+    }
+#endif // !CONFIG_FREERTOS_UNICORE
+}