diff --git a/components/freertos/tasks.c b/components/freertos/tasks.c
index ff5c46bb4..e95a8b04b 100644
--- a/components/freertos/tasks.c
+++ b/components/freertos/tasks.c
@@ -3643,10 +3643,15 @@ static void prvCheckTasksWaitingTermination( void )
 					/* We only want to kill tasks that ran on this core because e.g. _xt_coproc_release needs to
 					be called on the core the process is pinned on, if any */
 					ListItem_t *target = listGET_HEAD_ENTRY(&xTasksWaitingTermination);
-					for( ; target != listGET_END_MARKER(&xTasksWaitingTermination); target = listGET_NEXT(target) ){
-						int coreid = (( TCB_t * )listGET_LIST_ITEM_OWNER(target))->xCoreID;
-						if(coreid == core || coreid == tskNO_AFFINITY){		//Find first item not pinned to other core
-							pxTCB = ( TCB_t * )listGET_LIST_ITEM_OWNER(target);
+					for( ; target != listGET_END_MARKER(&xTasksWaitingTermination); target = listGET_NEXT(target) ){	//Walk the list
+						TCB_t *tgt_tcb = ( TCB_t * )listGET_LIST_ITEM_OWNER(target);
+						int affinity = tgt_tcb->xCoreID;
+						//Self deleting tasks are added to Termination List before they switch context. Ensure they aren't still currently running
+						if( pxCurrentTCB[core] == tgt_tcb || (portNUM_PROCESSORS > 1 && pxCurrentTCB[!core] == tgt_tcb) ){
+							continue;	//Can't free memory of task that is still running
+						}
+						if(affinity == core || affinity == tskNO_AFFINITY){		//Find first item not pinned to other core
+							pxTCB = tgt_tcb;
 							break;
 						}
 					}
diff --git a/components/freertos/test/test_freertos_task_delete.c b/components/freertos/test/test_freertos_task_delete.c
index 72f5cc85a..7c3394cbe 100644
--- a/components/freertos/test/test_freertos_task_delete.c
+++ b/components/freertos/test/test_freertos_task_delete.c
@@ -17,6 +17,7 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_heap_caps.h"
+#include "rom/ets_sys.h"
 
 #include "unity.h"
 
@@ -24,6 +25,8 @@
 #define DELAY_TICKS 2
 #define HEAP_CAPS   (MALLOC_CAP_INTERNAL|MALLOC_CAP_DEFAULT)
 
+#define DELAY_US_ITERATIONS	1000
+
 
 static void tsk_self_del(void *param)
 {
@@ -35,6 +38,13 @@ static void tsk_extern_del(void *param)
     vTaskDelay(portMAX_DELAY);  //Await external deletion
 }
 
+static void tsk_self_del_us_delay(void *param)
+{
+    uint32_t delay = (uint32_t)param;
+    ets_delay_us(delay);
+    vTaskDelete(NULL);
+}
+
 TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
 {
 /* -------------- Test vTaskDelete() on currently running tasks ----------------*/
@@ -63,4 +73,11 @@ TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
     }
     TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
 
+/* Test self deleting no affinity task is not removed by idle task of other core before context switch */
+    for(int i = 0; i < DELAY_US_ITERATIONS; i+= 10){
+        vTaskDelay(1);                          //Sync to next tick interrupt
+        xTaskCreatePinnedToCore(tsk_self_del_us_delay, "delay", 1024, (void *)i, UNITY_FREERTOS_PRIORITY - 1, NULL, tskNO_AFFINITY);
+        ets_delay_us(10);                       //Busy wait to ensure no affinity task runs on opposite core
+    }
+
 }