diff --git a/tools/test_apps/system/gdb/pytest_gdb.py b/tools/test_apps/system/gdb/pytest_gdb.py
index 73242b1320..6fd855c362 100644
--- a/tools/test_apps/system/gdb/pytest_gdb.py
+++ b/tools/test_apps/system/gdb/pytest_gdb.py
@@ -1,25 +1,18 @@
 # SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Unlicense OR CC0-1.0
-import logging
 import os
 import re
-import subprocess
-import sys
+import typing
 
 import pexpect
 import pytest
 from pytest_embedded_idf import IdfDut
 
-try:
-    from idf_py_actions.debug_ext import get_openocd_arguments
-except ModuleNotFoundError:
-    sys.path.append(os.path.join(os.path.dirname(__file__), '..', '..', '..'))
-    from idf_py_actions.debug_ext import get_openocd_arguments
+if typing.TYPE_CHECKING:
+    from conftest import OpenOCD
 
 
-@pytest.mark.supported_targets
-@pytest.mark.jtag
-def test_idf_gdb(dut: IdfDut) -> None:
+def _test_idf_gdb(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
     # Need to wait a moment to connect via OpenOCD after the hard reset happened.
     # Along with this check that app runs ok
     dut.expect('Hello world!')
@@ -27,29 +20,34 @@ def test_idf_gdb(dut: IdfDut) -> None:
     # Don't need to have output from UART anymore
     dut.serial.stop_redirect_thread()
 
-    with open(os.path.join(dut.logdir, 'ocd.txt'), 'w') as ocd_log:
-        cmd = ['openocd', *get_openocd_arguments(dut.target).split()]
-        openocd_scripts = os.getenv('OPENOCD_SCRIPTS')
-        if openocd_scripts:
-            cmd.extend(['-s', openocd_scripts])
+    gdb_env = os.environ.copy()
+    gdb_env['ESP_IDF_GDB_TESTING'] = '1'
 
-        logging.info('Running %s', cmd)
-        ocd = subprocess.Popen(cmd, stdout=ocd_log, stderr=ocd_log)
+    with openocd_dut.run(), open(os.path.join(dut.logdir, 'gdb.txt'), 'w') as gdb_log, pexpect.spawn(
+        f'idf.py -B {dut.app.binary_path} gdb --batch',
+        env=gdb_env,
+        timeout=60,
+        logfile=gdb_log,
+        encoding='utf-8',
+        codec_errors='ignore',
+    ) as p:
+        p.expect(re.compile(r'add symbol table from file.*bootloader.elf'))
+        p.expect(re.compile(r'add symbol table from file.*rom.elf'))
+        p.expect_exact('hit Temporary breakpoint 1, app_main ()')
 
-        try:
-            gdb_env = os.environ.copy()
-            gdb_env['ESP_IDF_GDB_TESTING'] = '1'
 
-            with open(os.path.join(dut.logdir, 'gdb.txt'), 'w') as gdb_log, \
-                pexpect.spawn(f'idf.py -B {dut.app.binary_path} gdb --batch',
-                              env=gdb_env,
-                              timeout=60,
-                              logfile=gdb_log,
-                              encoding='utf-8',
-                              codec_errors='ignore') as p:
-                p.expect(re.compile(r'add symbol table from file.*bootloader.elf'))
-                p.expect(re.compile(r'add symbol table from file.*rom.elf'))
-                p.expect_exact('hit Temporary breakpoint 1, app_main ()')
-        finally:
-            ocd.terminate()
-            ocd.kill()
+@pytest.mark.jtag
+@pytest.mark.esp32
+@pytest.mark.esp32s2
+@pytest.mark.esp32c2
+def test_idf_gdb(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_idf_gdb(openocd_dut, dut)
+
+
+@pytest.mark.usb_serial_jtag
+@pytest.mark.esp32c3
+@pytest.mark.esp32s3
+@pytest.mark.esp32c6
+@pytest.mark.esp32h2
+def test_idf_gdb_usj(openocd_dut: 'OpenOCD', dut: IdfDut) -> None:
+    _test_idf_gdb(openocd_dut, dut)