diff --git a/arch/arm/src/nrf52/nrf52_tickless_rtc.c b/arch/arm/src/nrf52/nrf52_tickless_rtc.c
index 9d05a70322954..08e6e8e2418c7 100644
--- a/arch/arm/src/nrf52/nrf52_tickless_rtc.c
+++ b/arch/arm/src/nrf52/nrf52_tickless_rtc.c
@@ -202,8 +202,6 @@ static void rtc_cancel_ack(void)
   g_tickless_dev.alarm_set = false;
 
   leave_critical_section(flags);
-
-  return OK;
 }
 
 /****************************************************************************
diff --git a/arch/arm/src/nrf53/nrf53_tickless_rtc.c b/arch/arm/src/nrf53/nrf53_tickless_rtc.c
index 8fa6e0df3386a..d9035ab0a24c4 100644
--- a/arch/arm/src/nrf53/nrf53_tickless_rtc.c
+++ b/arch/arm/src/nrf53/nrf53_tickless_rtc.c
@@ -200,8 +200,6 @@ static void rtc_cancel_ack(void)
   g_tickless_dev.alarm_set = false;
 
   leave_critical_section(flags);
-
-  return OK;
 }
 
 /****************************************************************************
diff --git a/arch/arm/src/nrf91/nrf91_tickless_rtc.c b/arch/arm/src/nrf91/nrf91_tickless_rtc.c
index b3065a546206d..788c3d9188398 100644
--- a/arch/arm/src/nrf91/nrf91_tickless_rtc.c
+++ b/arch/arm/src/nrf91/nrf91_tickless_rtc.c
@@ -196,8 +196,6 @@ static void rtc_cancel_ack(void)
   g_tickless_dev.alarm_set = false;
 
   leave_critical_section(flags);
-
-  return OK;
 }
 
 /****************************************************************************
diff --git a/boards/arm/nrf91/nrf9160-dk/src/Make.defs b/boards/arm/nrf91/nrf9160-dk/src/Make.defs
index 24deac0e54ea0..acf42fe70bc0e 100644
--- a/boards/arm/nrf91/nrf9160-dk/src/Make.defs
+++ b/boards/arm/nrf91/nrf9160-dk/src/Make.defs
@@ -40,6 +40,11 @@ endif
 
 ifeq ($(CONFIG_NRF91_MODEM),y)
 CSRCS += nrf91_modem.c
+
+# The modem glue pulls in headers from the proprietary NRFXlib drop, so make
+# sure the board objects see the same include path the arch build relies on.
+NRFXLIB_DIR = $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)chip$(DELIM)sdk-nrfxlib
+CFLAGS += ${INCDIR_PREFIX}$(NRFXLIB_DIR)$(DELIM)nrf_modem$(DELIM)include
 endif
 
 DEPPATH += --dep-path board
diff --git a/boards/arm/nrf91/thingy91/src/Make.defs b/boards/arm/nrf91/thingy91/src/Make.defs
index 3d3ff590d9616..543ad98dc8b8c 100644
--- a/boards/arm/nrf91/thingy91/src/Make.defs
+++ b/boards/arm/nrf91/thingy91/src/Make.defs
@@ -34,6 +34,12 @@ endif
 
 ifeq ($(CONFIG_NRF91_MODEM),y)
 CSRCS += nrf91_modem.c
+
+# Give the board objects access to the NRFXlib headers required by the modem
+# glue.  The archive is downloaded into the chip directory when the feature
+# is enabled, so reuse that location here as well.
+NRFXLIB_DIR = $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)chip$(DELIM)sdk-nrfxlib
+CFLAGS += ${INCDIR_PREFIX}$(NRFXLIB_DIR)$(DELIM)nrf_modem$(DELIM)include
 endif
 
 DEPPATH += --dep-path board
diff --git a/boards/arm/sama5/giant-board/include/board_sdram.h b/boards/arm/sama5/giant-board/include/board_sdram.h
index 2986293fdc70b..4a41a3c94a2a3 100644
--- a/boards/arm/sama5/giant-board/include/board_sdram.h
+++ b/boards/arm/sama5/giant-board/include/board_sdram.h
@@ -29,6 +29,26 @@
 
 #include <nuttx/config.h>
 
+#ifndef __ASSEMBLY__
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+uint32_t sam_pllack_frequency(uint32_t mainclk);
+uint32_t sam_plladiv2_frequency(uint32_t mainclk);
+uint32_t sam_pck_frequency(uint32_t mainclk);
+uint32_t sam_mck_frequency(uint32_t mainclk);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
diff --git a/boards/arm/sama5/jupiter-nano/include/board_sdram.h b/boards/arm/sama5/jupiter-nano/include/board_sdram.h
index dcf7efc89e1d9..815a1f1b4ddef 100644
--- a/boards/arm/sama5/jupiter-nano/include/board_sdram.h
+++ b/boards/arm/sama5/jupiter-nano/include/board_sdram.h
@@ -29,6 +29,26 @@
 
 #include <nuttx/config.h>
 
+#ifndef __ASSEMBLY__
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+uint32_t sam_pllack_frequency(uint32_t mainclk);
+uint32_t sam_plladiv2_frequency(uint32_t mainclk);
+uint32_t sam_pck_frequency(uint32_t mainclk);
+uint32_t sam_mck_frequency(uint32_t mainclk);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
diff --git a/boards/arm/sama5/sama5d2-xult/include/board_sdram.h b/boards/arm/sama5/sama5d2-xult/include/board_sdram.h
index 30465ee21be26..6c553a914a849 100644
--- a/boards/arm/sama5/sama5d2-xult/include/board_sdram.h
+++ b/boards/arm/sama5/sama5d2-xult/include/board_sdram.h
@@ -29,6 +29,25 @@
 
 #include <nuttx/config.h>
 
+#ifndef __ASSEMBLY__
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+uint32_t sam_pllack_frequency(uint32_t mainclk);
+uint32_t sam_plladiv2_frequency(uint32_t mainclk);
+uint32_t sam_pck_frequency(uint32_t mainclk);
+uint32_t sam_mck_frequency(uint32_t mainclk);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
@@ -47,22 +66,23 @@
  * crystal.
  */
 
-#define BOARD_MAINCK_FREQUENCY     BOARD_MAINOSC_FREQUENCY
-#define BOARD_PLLA_FREQUENCY       (sam_pllack_frequency(BOARD_MAINOSC_FREQUENCY))
-#define BOARD_PLLADIV2_FREQUENCY   (sam_plladiv2_frequency(BOARD_MAINOSC_FREQUENCY))
-#define BOARD_PCK_FREQUENCY        (sam_pck_frequency(BOARD_MAINOSC_FREQUENCY))
-#define BOARD_MCK_FREQUENCY        (sam_mck_frequency(BOARD_MAINOSC_FREQUENCY))
+#define BOARD_MAINCK_FREQUENCY BOARD_MAINOSC_FREQUENCY
+#define BOARD_PLLA_FREQUENCY (sam_pllack_frequency(BOARD_MAINOSC_FREQUENCY))
+#define BOARD_PLLADIV2_FREQUENCY                                               \
+  (sam_plladiv2_frequency(BOARD_MAINOSC_FREQUENCY))
+#define BOARD_PCK_FREQUENCY (sam_pck_frequency(BOARD_MAINOSC_FREQUENCY))
+#define BOARD_MCK_FREQUENCY (sam_mck_frequency(BOARD_MAINOSC_FREQUENCY))
 
 /* Clocking to certain peripherals may be MCK/2.
  *
  * REVISIT:  I am not sure why this is.  Perhaps because of H32MXDIV?
  */
 
-#define BOARD_PIT_FREQUENCY        (BOARD_MCK_FREQUENCY >> 1)
-#define BOARD_USART_FREQUENCY      (BOARD_MCK_FREQUENCY >> 1)
-#define BOARD_FLEXCOM_FREQUENCY    (BOARD_MCK_FREQUENCY >> 1)
+#define BOARD_PIT_FREQUENCY (BOARD_MCK_FREQUENCY >> 1)
+#define BOARD_USART_FREQUENCY (BOARD_MCK_FREQUENCY >> 1)
+#define BOARD_FLEXCOM_FREQUENCY (BOARD_MCK_FREQUENCY >> 1)
 
-#if defined(CONFIG_SAMA5_EHCI) || defined(CONFIG_SAMA5_OHCI) || \
+#if defined(CONFIG_SAMA5_EHCI) || defined(CONFIG_SAMA5_OHCI) ||                \
     defined(CONFIG_SAMA5_UDPHS)
 
 /* The USB Host High Speed requires a 480 MHz clock (UPLLCK) for the embedded
@@ -90,10 +110,10 @@
  * driver is initialized.
  */
 
-#  define BOARD_USE_UPLL             1     /* Use UPLL for clock source */
-#  define BOARD_CKGR_UCKR_UPLLCOUNT  (15)  /* Maximum value */
-#  define BOARD_CKGR_UCKR_BIASCOUNT  (15)  /* Maximum value */
-#  define BOARD_UPLL_OHCI_DIV        (10)  /* Divide by 10 */
+#define BOARD_USE_UPLL 1               /* Use UPLL for clock source */
+#define BOARD_CKGR_UCKR_UPLLCOUNT (15) /* Maximum value */
+#define BOARD_CKGR_UCKR_BIASCOUNT (15) /* Maximum value */
+#define BOARD_UPLL_OHCI_DIV (10)       /* Divide by 10 */
 #endif
 
 /* ADC Configuration
@@ -102,14 +122,15 @@
  * PRESCAL  = (MCK / (2 * ADCClock) - 1)
  */
 
-#define BOARD_ADCCLK_FREQUENCY     (8000000)   /* ADCCLK:  MCK / ((7+1)*2) */
-#define BOARD_ADCCLK_FREQUENCY \
-  ((BOARD_PLLADIV2_FREQUENCY / (2 *BOARD_PLLADIV2_FREQUENCY)) - 1)
+#define BOARD_ADCCLK_FREQUENCY (8000000) /* ADCCLK:  MCK / ((7+1)*2) */
+#define BOARD_ADCCLK_FREQUENCY                                                 \
+  ((BOARD_PLLADIV2_FREQUENCY / (2 * BOARD_PLLADIV2_FREQUENCY)) - 1)
 
-#define BOARD_ADC_PRESCAL          (7)
-#define BOARD_TSD_STARTUP          (40)        /* 40 nanoseconds */
-#define BOARD_TSD_TRACKTIM         (2000)      /* Min 1µs at 8MHz */
-#define BOARD_TSD_DEBOUNCE         (10000000)  /* 10 milliseconds (units nanoseconds) */
+#define BOARD_ADC_PRESCAL (7)
+#define BOARD_TSD_STARTUP (40)        /* 40 nanoseconds */
+#define BOARD_TSD_TRACKTIM (2000)     /* Min 1µs at 8MHz */
+#define BOARD_TSD_DEBOUNCE (10000000) /* 10 milliseconds (units nanoseconds)   \
+                                       */
 
 /* HSMCI clocking
  *
@@ -128,17 +149,17 @@
 
 /* Initial clock: 400 KHz (target) */
 
-#define HSMCI_INIT_CLKDIV          sam_hsmci_clkdiv(400000)
+#define HSMCI_INIT_CLKDIV sam_hsmci_clkdiv(400000)
 
 /* MMC transfer clock: 20 MHz (target) */
 
-#define HSMCI_MMCXFR_CLKDIV        sam_hsmci_clkdiv(20000000)
+#define HSMCI_MMCXFR_CLKDIV sam_hsmci_clkdiv(20000000)
 
 /* SD transfer clock: 25 MHz (target) */
 
-#define HSMCI_SDXFR_CLKDIV         sam_hsmci_clkdiv(25000000)
+#define HSMCI_SDXFR_CLKDIV sam_hsmci_clkdiv(25000000)
 
-#define HSMCI_SDWIDEXFR_CLKDIV     HSMCI_SDXFR_CLKDIV
+#define HSMCI_SDWIDEXFR_CLKDIV HSMCI_SDXFR_CLKDIV
 
 /****************************************************************************
  * Public Data
@@ -149,8 +170,7 @@
 #undef EXTERN
 #if defined(__cplusplus)
 #define EXTERN extern "C"
-extern "C"
-{
+extern "C" {
 #else
 #define EXTERN extern
 #endif
diff --git a/boards/arm/sama5/sama5d3-xplained/include/board_sdram.h b/boards/arm/sama5/sama5d3-xplained/include/board_sdram.h
index c1f8578186a30..133a7d22a182f 100644
--- a/boards/arm/sama5/sama5d3-xplained/include/board_sdram.h
+++ b/boards/arm/sama5/sama5d3-xplained/include/board_sdram.h
@@ -29,6 +29,26 @@
 
 #include <nuttx/config.h>
 
+#ifndef __ASSEMBLY__
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+uint32_t sam_pllack_frequency(uint32_t mainclk);
+uint32_t sam_plladiv2_frequency(uint32_t mainclk);
+uint32_t sam_pck_frequency(uint32_t mainclk);
+uint32_t sam_mck_frequency(uint32_t mainclk);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
diff --git a/boards/arm/sama5/sama5d3x-ek/include/board_sdram.h b/boards/arm/sama5/sama5d3x-ek/include/board_sdram.h
index 329603a529416..cfe5ea2f52fbc 100644
--- a/boards/arm/sama5/sama5d3x-ek/include/board_sdram.h
+++ b/boards/arm/sama5/sama5d3x-ek/include/board_sdram.h
@@ -29,6 +29,26 @@
 
 #include <nuttx/config.h>
 
+#ifndef __ASSEMBLY__
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+uint32_t sam_pllack_frequency(uint32_t mainclk);
+uint32_t sam_plladiv2_frequency(uint32_t mainclk);
+uint32_t sam_pck_frequency(uint32_t mainclk);
+uint32_t sam_mck_frequency(uint32_t mainclk);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
diff --git a/boards/arm/sama5/sama5d4-ek/include/board_sdram.h b/boards/arm/sama5/sama5d4-ek/include/board_sdram.h
index b337e858d2f31..98045aaa31a0b 100644
--- a/boards/arm/sama5/sama5d4-ek/include/board_sdram.h
+++ b/boards/arm/sama5/sama5d4-ek/include/board_sdram.h
@@ -29,6 +29,26 @@
 
 #include <nuttx/config.h>
 
+#ifndef __ASSEMBLY__
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+uint32_t sam_pllack_frequency(uint32_t mainclk);
+uint32_t sam_plladiv2_frequency(uint32_t mainclk);
+uint32_t sam_pck_frequency(uint32_t mainclk);
+uint32_t sam_mck_frequency(uint32_t mainclk);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
diff --git a/boards/sim/sim/sim/src/sim_gpio.c b/boards/sim/sim/sim/src/sim_gpio.c
index 44e5051bd6b03..bb6fce820ddc9 100644
--- a/boards/sim/sim/sim/src/sim_gpio.c
+++ b/boards/sim/sim/sim/src/sim_gpio.c
@@ -131,7 +131,7 @@ static struct simgpint_dev_s g_gpint =
  * Private Functions
  ****************************************************************************/
 
-static int sim_interrupt(wdparm_t arg)
+static void sim_interrupt(wdparm_t arg)
 {
   struct simgpint_dev_s *simgpint = (struct simgpint_dev_s *)arg;
 
@@ -139,7 +139,6 @@ static int sim_interrupt(wdparm_t arg)
   gpioinfo("Interrupt! callback=%p\n", simgpint->callback);
 
   simgpint->callback(&simgpint->simgpio.gpio, simgpint->simgpio.id);
-  return OK;
 }
 
 static int gpin_read(struct gpio_dev_s *dev, bool *value)
diff --git a/drivers/video/isx019.c b/drivers/video/isx019.c
index c02ce3e8f7a13..a531490e3c8fe 100644
--- a/drivers/video/isx019.c
+++ b/drivers/video/isx019.c
@@ -2593,18 +2593,18 @@ static int calc_spot_position_regval(uint16_t val,
 static int set_spot_position(FAR isx019_dev_t *priv,
                              imgsensor_value_t val)
 {
-  uint8_t regval;
-  uint8_t reg_x;
-  uint8_t reg_y;
-  uint16_t w;
-  uint16_t h;
-  uint16_t clip_w;
-  uint16_t clip_h;
-  uint16_t offset_x;
-  uint16_t offset_y;
+  uint8_t regval = 0;
+  uint8_t reg_x = 0;
+  uint8_t reg_y = 0;
+  uint16_t w = 0;
+  uint16_t h = 0;
+  uint16_t clip_w = 0;
+  uint16_t clip_h = 0;
+  uint16_t offset_x = 0;
+  uint16_t offset_y = 0;
   uint16_t x = (uint16_t)(val.value32 >> 16);
   uint16_t y = (uint16_t)(val.value32 & 0xffff);
-  int split;
+  int split = 0;
 
   /* Spot position of ISX019 is divided into 9x7 sections.
    * - Horizontal direction is divided into 9 sections.
@@ -3319,18 +3319,18 @@ static uint32_t restore_spot_position(uint16_t regval,
 static int get_spot_position(FAR isx019_dev_t *priv,
                              FAR imgsensor_value_t *val)
 {
-  uint8_t regval;
-  uint8_t regx;
-  uint8_t regy;
-  uint16_t w;
-  uint16_t h;
-  uint32_t x;
-  uint32_t y;
-  uint16_t clip_w;
-  uint16_t clip_h;
-  uint16_t offset_x;
-  uint16_t offset_y;
-  int split;
+  uint8_t regval = 0;
+  uint8_t regx = 0;
+  uint8_t regy = 0;
+  uint16_t w = 0;
+  uint16_t h = 0;
+  uint32_t x = 0;
+  uint32_t y = 0;
+  uint16_t clip_w = 0;
+  uint16_t clip_h = 0;
+  uint16_t offset_x = 0;
+  uint16_t offset_y = 0;
+  int split = 0;
 
   isx019_i2c_read(priv, CAT_CATAE, SPOT_FRM_NUM, &regval, 1);
 
diff --git a/drivers/wireless/lpwan/sx127x/sx127x.c b/drivers/wireless/lpwan/sx127x/sx127x.c
index 8d4e1181bda7d..06126c0996007 100644
--- a/drivers/wireless/lpwan/sx127x/sx127x.c
+++ b/drivers/wireless/lpwan/sx127x/sx127x.c
@@ -1286,7 +1286,8 @@ static int sx127x_poll(FAR struct file *filep, FAR struct pollfd *fds,
  *
  ****************************************************************************/
 
-#ifdef CONFIG_LPWAN_SX127X_RXSUPPORT
+#if defined(CONFIG_LPWAN_SX127X_RXSUPPORT) && \
+    CONFIG_LPWAN_SX127X_RX_TIMEOUT > 0
 static void sx127x_rx_watchdog(FAR void *arg)
 {
   FAR struct sx127x_dev_s *dev = (FAR struct sx127x_dev_s *)arg;
@@ -1320,7 +1321,7 @@ static void sx127x_rx_watchdog(FAR void *arg)
              sx127x_rx_watchdog, dev,
              MSEC2TICK(dev->rx_timeout));
 }
-#endif
+#endif /* CONFIG_LPWAN_SX127X_RXSUPPORT && CONFIG_LPWAN_SX127X_RX_TIMEOUT > 0 */
 
 /****************************************************************************
  * Name: sx127x_lora_isr0_process
@@ -1519,6 +1520,7 @@ static int sx127x_fskook_isr0_process(FAR struct sx127x_dev_s *dev)
                 {
                   /* Should we take care of RX timeout? */
 
+#if CONFIG_LPWAN_SX127X_RX_TIMEOUT > 0
                   if (dev->rx_timeout > 0)
                     {
                       /* Keep a track of last RX time to detect timeout */
@@ -1531,6 +1533,7 @@ static int sx127x_fskook_isr0_process(FAR struct sx127x_dev_s *dev)
                                  sx127x_rx_watchdog, dev,
                                  MSEC2TICK(dev->rx_timeout));
                     }
+#endif
 
                   if (dev->pfd)
                     {
@@ -4268,7 +4271,9 @@ static int sx127x_deinit(FAR struct sx127x_dev_s *dev)
 #ifdef CONFIG_LPWAN_SX127X_RXSUPPORT
   /* Cancel any running watchdog */
 
+#  if CONFIG_LPWAN_SX127X_RX_TIMEOUT > 0
   work_cancel(LPWORK, &dev->rx_watchdog);
+#  endif
 #endif
 
   /* Enter SLEEP mode */
@@ -4626,7 +4631,9 @@ static int sx127x_unregister(FAR struct sx127x_dev_s *dev)
   nxsem_destroy(&dev->tx_sem);
 #endif
 #ifdef CONFIG_LPWAN_SX127X_RXSUPPORT
+#  if CONFIG_LPWAN_SX127X_RX_TIMEOUT > 0
   work_cancel(LPWORK, &dev->rx_watchdog);
+#  endif
   nxsem_destroy(&dev->rx_sem);
   nxmutex_destroy(&dev->rx_buffer_lock);
 #endif
diff --git a/include/nuttx/video/imgdata.h b/include/nuttx/video/imgdata.h
index 99a80338d3712..eb4130af51be9 100644
--- a/include/nuttx/video/imgdata.h
+++ b/include/nuttx/video/imgdata.h
@@ -56,7 +56,7 @@
 #define IMGDATA_UNINIT(d) \
   ((d)->ops->uninit ? (d)->ops->uninit(d) : -ENOTTY)
 #define IMGDATA_SET_BUF(d, n, f, a, s) \
-  ((d)->ops->set_buf ? (d)->ops->set_buf(d, n, f, a, s) : NULL)
+  ((d)->ops->set_buf ? (d)->ops->set_buf(d, n, f, a, s) : -ENOTTY)
 #define IMGDATA_VALIDATE_FRAME_SETTING(d, n, f, i) \
   ((d)->ops->validate_frame_setting ? \
    (d)->ops->validate_frame_setting(d, n, f, i) : -ENOTTY)
diff --git a/net/pkt/pkt_recvmsg.c b/net/pkt/pkt_recvmsg.c
index 57cf3471de1ab..633978c1a5158 100644
--- a/net/pkt/pkt_recvmsg.c
+++ b/net/pkt/pkt_recvmsg.c
@@ -154,7 +154,7 @@ static inline void pkt_add_recvlen(FAR struct pkt_recvfrom_s *pstate,
 static void pkt_recvfrom_newdata(FAR struct net_driver_s *dev,
                                  FAR struct pkt_recvfrom_s *pstate)
 {
-  unsigned int offset = 0;
+  int offset = 0;
   size_t recvlen;
 
 #ifdef CONFIG_NET_TIMESTAMP
diff --git a/tools/ci/docker/linux/Dockerfile b/tools/ci/docker/linux/Dockerfile
index f91681bbbd522..e2587bb060134 100644
--- a/tools/ci/docker/linux/Dockerfile
+++ b/tools/ci/docker/linux/Dockerfile
@@ -15,56 +15,66 @@
 # License for the specific language governing permissions and limitations
 # under the License.
 
-FROM ubuntu:22.04 AS builder-base
+FROM ubuntu:24.04 AS builder-base
 # NOTE WE ARE NOT REMOVING APT CACHE.
 # This should only be used for temp build images that artifacts will be copied from
+ENV DEBIAN_FRONTEND="noninteractive"
 RUN apt-get update -qq && apt-get install -y -qq \
   curl \
   patch \
-  xz-utils
+  xz-utils \
+  bzip2 \
+  git \
+  build-essential
 
 ###############################################################################
 # Base image that should be used to prepare tools from nuttx-tools
 ###############################################################################
 FROM builder-base AS nuttx-tools
 
-RUN apt-get update -qq && DEBIAN_FRONTEND="noninteractive" apt-get install -y -qq \
+RUN apt-get update -qq && apt-get install -y -qq \
   bison \
   clang \
   cmake \
   flex \
   g++ \
   gawk \
-  git \
   gperf \
-  libncurses5-dev \
+  libncurses-dev \
   make \
   ninja-build \
   nodejs \
   npm \
   unzip \
   zip \
-  python3
+  python3 \
+  python3-pip \
+  python3-venv
 
 RUN mkdir -p /tools
 WORKDIR /tools
 
+# NuttX Tools
 RUN mkdir -p /tools/nuttx-tools
 RUN curl -s -L https://bitbucket.org/nuttx/tools/get/9ad3e1ee75c7.tar.gz \
   | tar -C nuttx-tools --strip-components=1 -xz
 
+# Bloaty
 RUN mkdir -p /tools/bloaty \
-  && git clone --depth 1 --branch v1.1 https://github.com/google/bloaty bloaty-src \
+  && git clone --depth 1 https://github.com/google/bloaty bloaty-src \
   && cd bloaty-src \
   && cmake -B build -DCMAKE_INSTALL_PREFIX=/tools/bloaty \
   && cmake --build build \
   && cmake --build build --target install \
   && cd /tools && rm -rf bloaty-src
 
+# Kconfig Frontends
+# Note: kconfig-frontends is sensitive to gperf versions, but generally works on 24.04
 RUN cd nuttx-tools/kconfig-frontends \
   && ./configure --enable-mconf --disable-gconf --disable-qconf --enable-static --prefix=/tools/kconfig-frontends \
   && make install && cd /tools && rm -rf nuttx-tools
 
+# GN
 RUN mkdir -p /tools/gn \
   && cd /tools/gn \
   && git clone https://gn.googlesource.com/gn gn \
@@ -73,22 +83,23 @@ RUN mkdir -p /tools/gn \
   && python3 build/gen.py \
   && ninja -C out
 
-# Upgrade nodejs to the stable version we need before install zap
-RUN npm install -g n && n 20.10.0 node && hash -r
+# Install Zap
+# 24.04 has a recent node, but we ensure specific version management
+RUN npm install -g n && n 24.13.0 node && hash -r
 
 ENV ZAP_INSTALL_PATH=/tools/zap_release
 RUN mkdir -p $ZAP_INSTALL_PATH \
   && cd $ZAP_INSTALL_PATH \
-  && curl -s -O -L https://github.com/project-chip/zap/releases/download/v2023.10.09-nightly/zap-linux-x64.zip \
+  && curl -s -O -L https://github.com/project-chip/zap/releases/download/v2025.12.02/zap-linux-x64.zip \
   && unzip zap-linux-x64.zip \
   && rm zap-linux-x64.zip
 
 ENV ZAP_DEVELOPMENT_PATH=/tools/zap
 RUN cd /tools \
-  && curl -s -O -L https://github.com/project-chip/zap/archive/refs/tags/v2023.10.09-nightly.zip \
-  && unzip v2023.10.09-nightly.zip \
-  && mv zap-2023.10.09-nightly zap \
-  && rm v2023.10.09-nightly.zip \
+  && curl -s -O -L https://github.com/project-chip/zap/archive/refs/tags/v2025.12.02.zip \
+  && unzip v2025.12.02.zip \
+  && mv zap-2025.12.02 zap \
+  && rm v2025.12.02.zip \
   && cd zap && npm install cross-spawn folder-hash
 
 #########################
@@ -105,27 +116,19 @@ RUN mkdir -p $CARGO_HOME \
   && $CARGO_HOME/bin/rustup target add thumbv7m-none-eabi \
   && $CARGO_HOME/bin/rustup target add riscv64gc-unknown-none-elf
 
-# Install Swift
-# ENV SWIFT_VERSION=6.0-DEVELOPMENT-SNAPSHOT-2024-08-22-a
-# ENV SWIFT_HOME=/tools/swift
-# RUN mkdir -p ${SWIFT_HOME} \
-#  && curl -s -O -L https://download.swift.org/swift-6.0-branch/ubuntu2204/swift-${SWIFT_VERSION}/swift-${SWIFT_VERSION}-ubuntu22.04.tar.gz \
-#  && tar xzf swift-${SWIFT_VERSION}-ubuntu22.04.tar.gz -C ${SWIFT_HOME} \
-#  && rm swift-${SWIFT_VERSION}-ubuntu22.04.tar.gz
-
-# Install Zig latest release
-ENV ZIG_VERSION=0.13.0
+# Install Zig latest release (0.14.0)
+ENV ZIG_VERSION=0.14.0
 ENV ZIG_HOME=/tools/zig
 RUN mkdir -p ${ZIG_HOME} \
-  && curl -s -O -L https://github.com/marler8997/zigup/releases/download/v2024_05_05/zigup-x86_64-linux.tar.gz \
+  && curl -s -O -L https://github.com/marler8997/zigup/releases/download/v2025_05_24/zigup-x86_64-linux.tar.gz \
   && tar xzf zigup-x86_64-linux.tar.gz -C ${ZIG_HOME} \
   && rm zigup-x86_64-linux.tar.gz \
   && chmod +x ${ZIG_HOME}/zigup \
   && ${ZIG_HOME}/zigup fetch --install-dir ${ZIG_HOME} ${ZIG_VERSION} \
   && chmod +x ${ZIG_HOME}/${ZIG_VERSION}/files/zig
 
-# Install LDC2 latest release
-ENV LDC_VERSION=1.39.0
+# Install LDC2 latest release (1.41.0)
+ENV LDC_VERSION=1.41.0
 ENV D_HOME=/tools/ldc2
 RUN mkdir -p ${D_HOME} \
   && curl -s -O -L https://github.com/ldc-developers/ldc/releases/download/v${LDC_VERSION}/ldc2-${LDC_VERSION}-linux-x86_64.tar.xz \
@@ -138,7 +141,6 @@ CMD [ "/bin/bash" ]
 # Base image that should be used to prepare arch build images
 ###############################################################################
 FROM builder-base AS nuttx-toolchain-base
-
 RUN mkdir -p /tools
 WORKDIR /tools
 
@@ -146,33 +148,29 @@ WORKDIR /tools
 # Build image for tool required by ARM builds
 ###############################################################################
 FROM nuttx-toolchain-base AS nuttx-toolchain-arm
-# Download the latest ARM clang toolchain prebuilt by ARM
+# ARM Clang 19.1.5
 RUN mkdir -p clang-arm-none-eabi && \
-  curl -s -L  "https://github.com/ARM-software/LLVM-embedded-toolchain-for-Arm/releases/download/release-17.0.1/LLVMEmbeddedToolchainForArm-17.0.1-Linux-x86_64.tar.xz" \
+  curl -s -L  "https://github.com/ARM-software/LLVM-embedded-toolchain-for-Arm/releases/download/release-19.1.5/LLVM-ET-Arm-19.1.5-Linux-x86_64.tar.xz" \
   | tar -C clang-arm-none-eabi --strip-components 1 -xJ
 
-# Download the latest ARM GCC toolchain prebuilt by ARM
+# ARM GCC 14.3
 RUN mkdir -p gcc-arm-none-eabi && \
-  curl -s -L  "https://developer.arm.com/-/media/Files/downloads/gnu/13.2.Rel1/binrel/arm-gnu-toolchain-13.2.Rel1-x86_64-arm-none-eabi.tar.xz" \
+  curl -s -L  "https://developer.arm.com/-/media/Files/downloads/gnu/14.3.Rel1/binrel/arm-gnu-toolchain-14.3.Rel1-x86_64-arm-none-eabi.tar.xz" \
   | tar -C gcc-arm-none-eabi --strip-components 1 -xJ
 
 ###############################################################################
 # Build image for tool required by ARM64 builds
 ###############################################################################
 FROM nuttx-toolchain-base AS nuttx-toolchain-arm64
-# Download the latest ARM64 GCC toolchain prebuilt by ARM
+# ARM64 GCC 14.3
 RUN mkdir gcc-aarch64-none-elf && \
-  curl -s -L  "https://developer.arm.com/-/media/Files/downloads/gnu/13.2.Rel1/binrel/arm-gnu-toolchain-13.2.Rel1-x86_64-aarch64-none-elf.tar.xz" \
+  curl -s -L  "https://developer.arm.com/-/media/Files/downloads/gnu/14.3.Rel1/binrel/arm-gnu-toolchain-14.3.Rel1-x86_64-aarch64-none-elf.tar.xz" \
   | tar -C gcc-aarch64-none-elf --strip-components 1 -xJ
 
 ###############################################################################
 # Build image for tool required by AVR32 builds
 ###############################################################################
 FROM nuttx-toolchain-base AS nuttx-toolchain-avr32
-# Download the prebuilt AVR32 GCC toolchain
-RUN apt-get update -qq && DEBIAN_FRONTEND="noninteractive" apt-get install -y -qq \
-  git
-# Clone Main Repository
 RUN mkdir -p gcc-avr32-gnu && \
   git clone --depth 1 https://github.com/ramangopalan/avr32-gnu-toolchain-linux_x86 gcc-avr32-gnu
 
@@ -180,17 +178,17 @@ RUN mkdir -p gcc-avr32-gnu && \
 # Build image for tool required by Pinguino builds
 ###############################################################################
 FROM nuttx-toolchain-base AS nuttx-toolchain-pinguino
-# Download the pinguino compilers. Note this includes both 8bit and 32bit
-# toolchains and builds for multiple host systems. Only copy what is needed.
 RUN mkdir -p pinguino-compilers && \
   curl -s -L "https://github.com/PinguinoIDE/pinguino-compilers/archive/62db5158d7f6d41c6fadb05de81cc31dd81a1958.tar.gz" \
   | tar -C pinguino-compilers --strip-components=2 --wildcards -xz */linux64
 
 ###############################################################################
 # Build image for tool required by Renesas builds
+# CRITICAL: We use ubuntu:22.04 here because compiling GCC 8.3 sources
+# fails on Ubuntu 24.04 due to newer system compiler and texinfo versions.
 ###############################################################################
-FROM nuttx-toolchain-base AS nuttx-toolchain-renesas
-# Build Renesas RX GCC toolchain
+FROM ubuntu:22.04 AS nuttx-toolchain-renesas
+
 RUN apt-get update -qq && DEBIAN_FRONTEND="noninteractive" apt-get install -y -qq \
   bison \
   flex \
@@ -201,21 +199,21 @@ RUN apt-get update -qq && DEBIAN_FRONTEND="noninteractive" apt-get install -y -q
   make \
   texinfo \
   wget \
-  bzip2
+  bzip2 \
+  curl
 
-# Download toolchain source code
 RUN mkdir -p /tools/renesas-tools/source/binutils && \
   curl -s -L "https://llvm-gcc-renesas.com/downloads/d.php?f=rx/binutils/8.3.0.202305-gnurx/binutils-2.36.1.tar.gz" \
-  | tar -C renesas-tools/source/binutils --strip-components=1 -xz
+  | tar -C /tools/renesas-tools/source/binutils --strip-components=1 -xz
 RUN mkdir -p /tools/renesas-tools/source/gcc && \
   curl -s -L "https://llvm-gcc-renesas.com/downloads/d.php?f=rx/gcc/8.3.0.202305-gnurx/gcc-8.3.0.tar.gz" \
-  | tar -C renesas-tools/source/gcc --strip-components=1 -xz
+  | tar -C /tools/renesas-tools/source/gcc --strip-components=1 -xz
 RUN mkdir -p /tools/renesas-tools/source/newlib && \
   curl -s -L "https://llvm-gcc-renesas.com/downloads/d.php?f=rx/newlib/8.3.0.202305-gnurx/newlib-4.1.0.tar.gz" \
-  | tar -C renesas-tools/source/newlib --strip-components=1 -xz
+  | tar -C /tools/renesas-tools/source/newlib --strip-components=1 -xz
 
 # Install binutils
-RUN cd renesas-tools/source/binutils && \
+RUN cd /tools/renesas-tools/source/binutils && \
   chmod +x ./configure ./mkinstalldirs && \
   mkdir -p /tools/renesas-tools/build/binutils && cd /tools/renesas-tools/build/binutils && \
   /tools/renesas-tools/source/binutils/configure --target=rx-elf --prefix=/tools/renesas-toolchain/rx-elf-gcc --disable-werror &&\
@@ -223,7 +221,7 @@ RUN cd renesas-tools/source/binutils && \
 ENV PATH="/tools/renesas-toolchain/rx-elf-gcc/bin:$PATH"
 
 # Install gcc
-RUN cd renesas-tools/source/gcc && \
+RUN cd /tools/renesas-tools/source/gcc && \
   chmod +x ./contrib/download_prerequisites ./configure ./move-if-change ./libgcc/mkheader.sh && \
   ./contrib/download_prerequisites && \
   sed -i '1s/^/@documentencoding ISO-8859-1\n/' ./gcc/doc/gcc.texi && \
@@ -236,7 +234,7 @@ RUN cd renesas-tools/source/gcc && \
 ENV PATH="/tools/renesas-toolchain/rx-elf-gcc/bin:$PATH"
 
 # Install newlib
-RUN cd renesas-tools/source/newlib && \
+RUN cd /tools/renesas-tools/source/newlib && \
   chmod +x ./configure && \
   mkdir -p /tools/renesas-tools/build/newlib && cd /tools/renesas-tools/build/newlib && \
   /tools/renesas-tools/source/newlib/configure --target=rx-elf --prefix=/tools/renesas-toolchain/rx-elf-gcc && \
@@ -248,27 +246,26 @@ RUN cd /tools/renesas-tools/build/gcc && \
 # Build image for tool required by RISCV builds
 ###############################################################################
 FROM nuttx-toolchain-base AS nuttx-toolchain-riscv
-# Download the latest RISCV GCC toolchain prebuilt by xPack
+# RISCV GCC 14.3.0-1
 RUN mkdir -p riscv-none-elf-gcc && \
-  curl -s -L "https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases/download/v14.2.0-3/xpack-riscv-none-elf-gcc-14.2.0-3-linux-x64.tar.gz" \
+  curl -s -L "https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases/download/v14.3.0-1/xpack-riscv-none-elf-gcc-14.3.0-1-linux-x64.tar.gz" \
   | tar -C riscv-none-elf-gcc --strip-components 1 -xz
 
 ###############################################################################
 # Build image for tool required by SPARC builds
 ###############################################################################
 FROM nuttx-toolchain-base AS nuttx-toolchain-sparc
-# Download the SPARC GCC toolchain prebuilt by Gaisler
 RUN mkdir -p sparc-gaisler-elf-gcc && \
-  curl -s -L "https://www.gaisler.com/anonftp/bcc2/bin/bcc-2.1.0-gcc-linux64.tar.xz" \
+  curl -s -L "https://www.gaisler.com/anonftp/bcc2/bin/bcc-2.2.4-gcc-linux64.tar.xz" \
   | tar -C sparc-gaisler-elf-gcc --strip-components 1 -xJ
 
 ###############################################################################
 # Build image for tool required by ESP32 builds
 ###############################################################################
 FROM nuttx-toolchain-base AS nuttx-toolchain-esp32
-# Download the latest ESP32, ESP32-S2 and ESP32-S3 GCC toolchain prebuilt by Espressif
+# ESP 14.2.0
 RUN mkdir -p xtensa-esp-elf-gcc && \
-  curl -s -L "https://github.com/espressif/crosstool-NG/releases/download/esp-14.2.0_20241119/xtensa-esp-elf-14.2.0_20241119-x86_64-linux-gnu.tar.xz" \
+  curl -s -L "https://github.com/espressif/crosstool-NG/releases/download/esp-14.2.0_20251219/xtensa-esp-elf-14.2.0_20251219-x86_64-linux-gnu.tar.xz" \
   | tar -C xtensa-esp-elf-gcc --strip-components 1 -xJ
 
 RUN echo "ESP Binaries: 2022/01/26"
@@ -286,21 +283,20 @@ RUN mkdir -p /tools/blobs && cd /tools/blobs \
 # Build image for tool required by WASM builds
 ###############################################################################
 FROM nuttx-toolchain-base AS nuttx-toolchain-wasm
-# Download the latest WASI-enabled WebAssembly C/C++ toolchain prebuilt by WASM
+# Upgrade to WASI SDK 29.0
 RUN mkdir -p wasi-sdk && \
-  curl -s -L  "https://github.com/WebAssembly/wasi-sdk/releases/download/wasi-sdk-19/wasi-sdk-19.0-linux.tar.gz" \
+  curl -s -L  "https://github.com/WebAssembly/wasi-sdk/releases/download/wasi-sdk-29/wasi-sdk-29.0-x86_64-linux.tar.gz" \
   | tar -C wasi-sdk --strip-components 1 -xz
 
-# Download the latest "wamrc" AOT compiler prebuilt by WAMR
+# WAMR 2.4.4
 RUN mkdir -p wamrc && \
-  curl -s -L  "https://github.com/bytecodealliance/wasm-micro-runtime/releases/download/WAMR-1.1.2/wamrc-1.1.2-x86_64-ubuntu-20.04.tar.gz" \
+  curl -s -L  "https://github.com/bytecodealliance/wasm-micro-runtime/releases/download/WAMR-2.4.4/wamrc-2.4.4-x86_64-ubuntu-22.04.tar.gz" \
   | tar -C wamrc -xz
 
 ###############################################################################
 # Build image for tool required by Raspberry Pi pico-sdk builds
 ###############################################################################
 FROM nuttx-toolchain-base AS nuttx-toolchain-raspberrypi-pico-sdk
-# Download the latest pico-sdk source archive
 RUN mkdir -p pico-sdk && \
   curl -s -L "https://github.com/raspberrypi/pico-sdk/releases/download/2.2.0/pico-sdk-2.2.0.tar.gz" \
   | tar -C pico-sdk --strip-components 1 -xz
@@ -309,67 +305,62 @@ RUN mkdir -p pico-sdk && \
 # Build image for tool required by Raspberry Pi picotool builds
 ###############################################################################
 FROM nuttx-toolchain-base AS nuttx-toolchain-raspberrypi-picotool
-# Download the prebuilt Raspberry Pi picotool
 RUN mkdir -p picotool && \
-  curl -s -L "https://github.com/raspberrypi/pico-sdk-tools/releases/download/v2.2.0-0/picotool-2.2.0-x86_64-lin.tar.gz" \
+  curl -s -L "https://github.com/raspberrypi/pico-sdk-tools/releases/download/v2.2.0-3/picotool-2.2.0-a4-x86_64-lin.tar.gz" \
   | tar -C picotool --strip-components 1 -xz
 
 ###############################################################################
-# Final Docker image used for running CI system.  This includes all toolchains
-# supported by the CI system.
+# Final Docker image used for running CI system.
 ###############################################################################
-FROM ubuntu:22.04
+FROM ubuntu:24.04
 LABEL maintainer="dev@nuttx.apache.org"
 
-RUN apt-get update -qq && DEBIAN_FRONTEND="noninteractive" apt-get install -y -qq \
-  build-essential \
-  curl \
-  gcc \
-  libssl-dev
-
-RUN mkdir -p cmake && \
-  curl -s -L https://cmake.org/files/v3.26/cmake-3.26.0.tar.gz \
-  | tar -C cmake --strip-components=1 -xz \
-  && cd cmake && ./bootstrap && make && make install && rm -rf cmake
-
+# Enable i386 architecture
 RUN dpkg --add-architecture i386
-# This is used for the final images so make sure to not store apt cache
-# Note: xtensa-esp32-elf-gdb is linked to libpython2.7
+
+# Install dependencies
+# Note: libncurses5-dev replaced by libncurses-dev
+# Note: python2 libraries removed
+# Note: cmake is installed via apt (version in noble is > 3.26)
 RUN apt-get update -qq && DEBIAN_FRONTEND="noninteractive" TZ=Etc/UTC apt-get install -y -qq --no-install-recommends \
   -o APT::Immediate-Configure=0 \
   avr-libc \
+  build-essential \
   ccache \
-  clang \
-  clang-tidy \
-  g++-12-multilib \
+  cmake \
+  curl \
   gcc-avr \
-  gcc-12-multilib \
+  gcc-multilib \
+  g++-multilib \
   genromfs \
   gettext \
   git \
+  gnupg \
   lib32z1-dev \
   libasound2-dev libasound2-dev:i386 \
   libc6-dev-i386 \
   libcurl4-openssl-dev \
   libmp3lame-dev:i386 \
   libmad0-dev:i386 \
-  libncurses5-dev \
+  libncurses-dev \
   libpulse-dev libpulse-dev:i386 \
-  libpython2.7 \
-  libtinfo5 \
+  libtinfo6 \
   libusb-1.0-0-dev libusb-1.0-0-dev:i386 \
   libv4l-dev libv4l-dev:i386 \
   libx11-dev libx11-dev:i386 \
   libxext-dev libxext-dev:i386 \
   linux-headers-generic \
   linux-libc-dev:i386 \
+  lsb-release \
   ninja-build \
   npm \
   qemu-system-arm \
   qemu-system-misc \
   python3 \
   python3-pip \
+  python3-venv \
   python-is-python3 \
+  software-properties-common \
   u-boot-tools \
   unzip \
   wget \
@@ -380,30 +371,64 @@ RUN apt-get update -qq && DEBIAN_FRONTEND="noninteractive" TZ=Etc/UTC apt-get in
   zip \
   && rm -rf /var/lib/apt/lists/*
 
-# Set GCC-12 as Default compiler
-RUN update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-12 20 && \
-  update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-12 20 && \
-  update-alternatives --install /usr/bin/cc cc /usr/bin/gcc 30 && \
-  update-alternatives --set cc /usr/bin/gcc && \
-  update-alternatives --install /usr/bin/c++ c++ /usr/bin/g++ 30 && \
-  update-alternatives --set c++ /usr/bin/g++
+# Add LLVM repository for clang-21 (Targeting Noble)
+# Note: Clang-21 is a snapshot, ensured repo is noble
+RUN wget -qO- https://apt.llvm.org/llvm-snapshot.gpg.key | tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc
+RUN echo "deb http://apt.llvm.org/noble/ llvm-toolchain-noble-21 main" | tee /etc/apt/sources.list.d/llvm.list
+RUN apt-get update -qq && DEBIAN_FRONTEND="noninteractive" apt-get install -y -qq \
+  clang-21 \
+  clang++-21 \
+  clang-tidy-21 \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set Clang-21 as Default clang compiler
+RUN update-alternatives --install /usr/bin/clang clang /usr/bin/clang-21 50 && \
+  update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-21 50 && \
+  update-alternatives --install /usr/bin/clang-tidy clang-tidy /usr/bin/clang-tidy-21 50
 
-# Configure out base setup for adding python packages
+# Install GCC 14 from Ubuntu packages
+RUN apt-get update -qq && DEBIAN_FRONTEND="noninteractive" apt-get install -y -qq \
+  gcc-14 \
+  g++-14 \
+  && rm -rf /var/lib/apt/lists/*
+
+# Remove existing cpp symlinks to avoid circular reference
+RUN rm -f /lib/cpp /usr/bin/cpp /etc/alternatives/cpp
+
+# Set up update-alternatives for GCC 14 and system GCC 13
+RUN update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 100 && \
+  update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-13 50 && \
+  update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 100 && \
+  update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-13 50 && \
+  update-alternatives --install /usr/bin/cpp cpp /usr/bin/cpp-14 100 && \
+  update-alternatives --install /usr/bin/cpp cpp /usr/bin/cpp-13 50 && \
+  update-alternatives --install /usr/bin/gcc-ar gcc-ar /usr/bin/gcc-ar-14 100 && \
+  update-alternatives --install /usr/bin/gcc-ar gcc-ar /usr/bin/gcc-ar-13 50 && \
+  update-alternatives --install /usr/bin/gcc-nm gcc-nm /usr/bin/gcc-nm-14 100 && \
+  update-alternatives --install /usr/bin/gcc-nm gcc-nm /usr/bin/gcc-nm-13 50 && \
+  update-alternatives --install /usr/bin/gcc-ranlib gcc-ranlib /usr/bin/gcc-ranlib-14 100 && \
+  update-alternatives --install /usr/bin/gcc-ranlib gcc-ranlib /usr/bin/gcc-ranlib-13 50 && \
+  update-alternatives --install /usr/bin/gcov gcov /usr/bin/gcov-14 100 && \
+  update-alternatives --install /usr/bin/gcov gcov /usr/bin/gcov-13 50 && \
+  update-alternatives --install /usr/bin/gcov-tool gcov-tool /usr/bin/gcov-tool-14 100 && \
+  update-alternatives --install /usr/bin/gcov-tool gcov-tool /usr/bin/gcov-tool-13 50 && \
+  update-alternatives --install /usr/bin/gcov-dump gcov-dump /usr/bin/gcov-dump-14 100 && \
+  update-alternatives --install /usr/bin/gcov-dump gcov-dump /usr/bin/gcov-dump-13 50 && \
+  update-alternatives --install /usr/bin/lto-dump lto-dump /usr/bin/lto-dump-14 100 && \
+  update-alternatives --install /usr/bin/lto-dump lto-dump /usr/bin/lto-dump-13 50
+
+# Configure Python Environment
+# PEP 668 in Ubuntu 24.04 prevents global pip install.
+# We explicitly allow breaking system packages for this CI container.
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
 ENV PIP_DISABLE_PIP_VERSION_CHECK=true
-# This disables the cache with value 0. We do not want caching as it
-# increases the images size.
 ENV PIP_NO_CACHE_DIR=0
-# We are using the minimal python installation from the system so include
-# setuptools and also wheel so we can use the binary releases of packages
-# instead of requiring them to be compiled.
-RUN pip3 install setuptools
-RUN pip3 install wheel
+
+RUN pip3 install --upgrade --ignore-installed pip setuptools wheel
+
+# Install Python Tools
 RUN pip3 install cmake-format
-# Install CodeChecker and use it to statically analyze the code.
-# RUN pip3 install CodeChecker
-# Install cvt2utf to check for non-UTF characters.
 RUN pip3 install cvt2utf
-# Install pytest
 RUN pip3 install cxxfilt
 RUN pip3 install construct
 RUN pip3 install esptool==4.8.dev4
@@ -416,112 +441,87 @@ RUN pip3 install pytest==6.2.5
 RUN pip3 install pytest-json==0.4.0
 RUN pip3 install pytest-ordering==0.6
 RUN pip3 install pytest-repeat==0.9.1
-# Install lark stringcase jinja2 and coloredlogs for matter build
 RUN pip3 install lark
 RUN pip3 install stringcase
 RUN pip3 install jinja2
 RUN pip3 install coloredlogs
 
-# Upgrade nodejs to the stable version we need
-RUN npm install -g n && n 20.10.0 node && hash -r
-
-# Used to generate symbol table files
+# Upgrade nodejs
+RUN npm install -g n && n 24.13.0 node && hash -r
 
+# Prepare Tools Directory
 RUN mkdir -p /tools
 WORKDIR /tools
 
-# Pull in the tools we just built for nuttx
+# COPY Tools from stages
 COPY --from=nuttx-tools /tools/bloaty/ bloaty/
 ENV PATH="/tools/bloaty/bin:$PATH"
 
 COPY --from=nuttx-tools /tools/kconfig-frontends/ kconfig-frontends/
 ENV PATH="/tools/kconfig-frontends/bin:$PATH"
 
-# Pull in the Rust toolchain including supported targets
 COPY --from=nuttx-tools /tools/rust/ /tools/rust/
 ENV CARGO_HOME=/tools/rust/cargo
 ENV RUSTUP_HOME=/tools/rust/rustup
 ENV PATH="/tools/rust/cargo/bin:$PATH"
 
-# Pull in the Zig v0.13.0 toolchain
 COPY --from=nuttx-tools /tools/zig/ /tools/zig/
 ENV PATH="/tools/zig/0.13.0/files:$PATH"
 
-# Pull in the ldc2 1.39.0 toolchain
 COPY --from=nuttx-tools /tools/ldc2/ /tools/ldc2/
 ENV PATH="/tools/ldc2/ldc2-1.39.0-linux-x86_64/bin:$PATH"
 
-# Pull in the swift 6.0 toolchain
-# COPY --from=nuttx-tools /tools/swift/ /tools/swift/
-# ENV PATH="/tools/swift/swift-6.0-DEVELOPMENT-SNAPSHOT-2024-08-22-a/usr/bin:$PATH"
-
-# ARM clang toolchain
+# ARM Toolchains
 COPY --from=nuttx-toolchain-arm /tools/clang-arm-none-eabi/ clang-arm-none-eabi/
-# RUN cp /usr/bin/clang-extdef-mapping-10 clang-arm-none-eabi/bin/clang-extdef-mapping
 ENV PATH="/tools/clang-arm-none-eabi/bin:$PATH"
 
-# ARM GCC toolchain
 COPY --from=nuttx-toolchain-arm /tools/gcc-arm-none-eabi/ gcc-arm-none-eabi/
 ENV PATH="/tools/gcc-arm-none-eabi/bin:$PATH"
 
-# ARM64 toolchain
 COPY --from=nuttx-toolchain-arm64 /tools/gcc-aarch64-none-elf/ gcc-aarch64-none-elf/
 ENV PATH="/tools/gcc-aarch64-none-elf/bin:$PATH"
 
-# AVR32 toolchain
+# Other Toolchains
 COPY --from=nuttx-toolchain-avr32 /tools/gcc-avr32-gnu/ gcc-avr32-gnu/
 ENV PATH="/tools/gcc-avr32-gnu/bin:$PATH"
 
-# MIPS toolchain
 COPY --from=nuttx-toolchain-pinguino /tools/pinguino-compilers/p32/ pinguino-compilers/p32/
 ENV PATH="/tools/pinguino-compilers/p32/bin:$PATH"
 
-# Renesas toolchain
 COPY --from=nuttx-toolchain-renesas /tools/renesas-toolchain/rx-elf-gcc/ renesas-toolchain/rx-elf-gcc/
 ENV PATH="/tools/renesas-toolchain/rx-elf-gcc/bin:$PATH"
 
-# RISCV toolchain
 COPY --from=nuttx-toolchain-riscv /tools/riscv-none-elf-gcc/ riscv-none-elf-gcc/
 ENV PATH="/tools/riscv-none-elf-gcc/bin:$PATH"
 
-# SPARC toolchain
 COPY --from=nuttx-toolchain-sparc /tools/sparc-gaisler-elf-gcc/ sparc-gaisler-elf-gcc/
 ENV PATH="/tools/sparc-gaisler-elf-gcc/bin:$PATH"
 
-# ESP32, ESP32-S2, ESP32-S3 toolchain
 COPY --from=nuttx-toolchain-esp32 /tools/xtensa-esp-elf-gcc/ xtensa-esp-elf-gcc/
 ENV PATH="/tools/xtensa-esp-elf-gcc/bin:$PATH"
 
 RUN mkdir -p /tools/blobs/esp-bins
 COPY --from=nuttx-toolchain-esp32 /tools/blobs/* /tools/blobs/esp-bins/
 
-# WASI-enabled WebAssembly C/C++ toolchain
 COPY --from=nuttx-toolchain-wasm /tools/wasi-sdk/ wasi-sdk/
 ENV WASI_SDK_PATH="/tools/wasi-sdk"
 ENV PATH="/tools/wamr:$PATH"
-COPY --from=nuttx-toolchain-esp32 /tools/blobs/* /tools/blobs/esp-bins/
 
-# Raspberry Pi pico-sdk source
 COPY --from=nuttx-toolchain-raspberrypi-pico-sdk /tools/pico-sdk/ pico-sdk/
 ENV PICO_SDK_PATH="/tools/pico-sdk"
 
-# Raspberry Pi picotool
 COPY --from=nuttx-toolchain-raspberrypi-picotool /tools/picotool/ picotool/
 ENV PATH="/tools/picotool:$PATH"
 
-# gn tool
-RUN mkdir -p /tools/gn
 COPY --from=nuttx-tools /tools/gn/gn/out/gn /tools/gn
 ENV PATH="/tools/gn:$PATH"
 
-# ZAP tool and nodejs packet
 COPY --from=nuttx-tools /tools/zap/ /tools/zap/
 COPY --from=nuttx-tools /tools/zap_release/ /tools/zap_release/
 ENV ZAP_INSTALL_PATH=/tools/zap_release
 ENV ZAP_DEVELOPMENT_PATH=/tools/zap
 
-# Configure ccache
-# use `/ccache` as cachedir for all users
+# Configure Ccache
 RUN mkdir -p /ccache && \
   chmod 666 /ccache && \
   mkdir -p /tools/ccache/bin && \