diff --git a/.github/workflows/esp32-build.yaml b/.github/workflows/esp32-build.yaml
index 09326bc75..c6d55a83c 100644
--- a/.github/workflows/esp32-build.yaml
+++ b/.github/workflows/esp32-build.yaml
@@ -68,25 +68,29 @@ jobs:
             gcc g++ zlib1g-dev
 
     - name: Install qemu binary from espressif/qemu
-      if: matrix.idf-version != '5.1.2'
       run: |
         set -eu
-        QEMU_VER=esp-develop-20220919
-        QEMU_DIST=qemu-${QEMU_VER}.tar.bz2
-        QEMU_SHA256=f6565d3f0d1e463a63a7f81aec94cce62df662bd42fc7606de4b4418ed55f870
-        wget --no-verbose https://github.com/espressif/qemu/releases/download/${QEMU_VER}/${QEMU_DIST}
-        echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict -
-        tar -xf ${QEMU_DIST} -C /opt
+        QEMU_VER=esp-develop-8.2.0-20240122
+        QEMU_RISCV32_DIST=qemu-riscv32-softmmu-esp_develop_8.2.0_20240122-x86_64-linux-gnu.tar.xz
+        QEMU_RISCV32_SHA256=95ac86d7b53bf98b5ff19c33aa926189b849f5a0daf8f41e160bc86c5e31abd4
+        QEMU_XTENSA_DIST=qemu-xtensa-softmmu-esp_develop_8.2.0_20240122-x86_64-linux-gnu.tar.xz
+        QEMU_XTENSA_SHA256=e7c72ef5705ad1444d391711088c8717fc89f42e9bf6d1487f9c2a326b8cfa83
+        wget --no-verbose https://github.com/espressif/qemu/releases/download/${QEMU_VER}/${QEMU_RISCV32_DIST}
+        echo "${QEMU_RISCV32_SHA256} *${QEMU_RISCV32_DIST}" | sha256sum --check --strict -
+        tar -xf ${QEMU_RISCV32_DIST} -C /opt && rm ${QEMU_RISCV32_DIST}
+        wget --no-verbose https://github.com/espressif/qemu/releases/download/${QEMU_VER}/${QEMU_XTENSA_DIST}
+        echo "${QEMU_XTENSA_SHA256} *${QEMU_XTENSA_DIST}" | sha256sum --check --strict -
+        tar -xf ${QEMU_XTENSA_DIST} -C /opt && rm ${QEMU_XTENSA_DIST}
 
     - name: Install pytest and pytest-embedded plugins
       run: |
         set -e
         . $IDF_PATH/export.sh
-        pip install pytest==7.0.1 \
-            pytest-embedded==1.2.5 \
-            pytest-embedded-serial-esp==1.2.5 \
-            pytest-embedded-idf==1.2.5 \
-            pytest-embedded-qemu==1.2.5
+        pip install pytest==7.4.4 \
+            pytest-embedded==1.6.4 \
+            pytest-embedded-serial-esp==1.6.4 \
+            pytest-embedded-idf==1.6.4 \
+            pytest-embedded-qemu==1.6.4
 
     - name: Build ESP32 tests using idf.py
       working-directory: ./src/platforms/esp32/test/