diff --git a/hil-test/.cargo/config.toml b/hil-test/.cargo/config.toml
index e26588c0f40..b4e91a4d0dd 100644
--- a/hil-test/.cargo/config.toml
+++ b/hil-test/.cargo/config.toml
@@ -1,18 +1,22 @@
 [env]
-DEFMT_LOG="debug"
+DEFMT_LOG="info"
+RUST_LOG = "warn"
 
 [target.'cfg(target_arch = "riscv32")']
-runner    = "probe-rs test  --"
+runner    = "probe-rs run"
 rustflags = [
     "-C", "link-arg=-Tlinkall.x",
-    "-C", "link-arg=-Tdefmt.x",
+    "-C", "link-arg=-Tembedded-test.x",
+    "-C", "link-arg=-Tdefmt.x", # Comment this line when using log feature
 ]
 
 [target.'cfg(target_arch = "xtensa")']
 # TODO: Xtensa not yet fully supported by `probe-rs`
-runner    = "probe-rs test --"
+runner    = "probe-rs run"
 rustflags = [
     "-C", "link-arg=-nostartfiles",
     "-C", "link-arg=-Wl,-Tlinkall.x",
     "-C", "link-arg=-Tdefmt.x",
+    "-C", "link-arg=-Tembedded-test.x",
+
 ]
diff --git a/hil-test/Cargo.toml b/hil-test/Cargo.toml
index 9bd3dc0f099..82760b94007 100644
--- a/hil-test/Cargo.toml
+++ b/hil-test/Cargo.toml
@@ -4,10 +4,6 @@ version = "0.0.0"
 edition = "2021"
 publish = false
 
-[lib]
-harness = false
-test = false
-
 [[test]]
 name    = "aes"
 harness = false
@@ -24,23 +20,22 @@ harness = false
 name    = "uart"
 harness = false
 
-
 [dependencies]
-defmt         = "0.3.5"
-defmt-rtt     = "0.4.0"
-embedded-test = "0.3.0"
-panic-probe   = "0.3.1"
-semihosting   = "0.1.6"
-
-# HAL package:
-esp-hal = { path = "../esp-hal", features = ["defmt", "eh1"], optional = true }
-
-# Traits:
+defmt = { version = "0.3.5", optional = true }
+defmt-rtt = { version = "0.4.0", optional = true }
+log = { version = "0.4.20", optional = true }
+esp-hal = { path = "../esp-hal", features = ["eh1"], optional = true }
 embedded-hal       = { version = "0.2.7", features = ["unproven"] }
 embedded-hal-async = { version = "1.0.0", optional = true }
 embedded-hal-1     = { version = "1.0.0", package = "embedded-hal" }
+embassy-executor = { default-features = false, version = "0.5.0", features = ["executor-thread", "arch-riscv32"], optional = true }
+
+[dev-dependencies]
+embedded-test = {git = "https://github.com/probe-rs/embedded-test/", branch = "next"}
 
 [features]
+default = ["defmt"]
+# Device support (required!):
 esp32   = ["esp-hal/esp32"]
 esp32c2 = ["esp-hal/esp32c2"]
 esp32c3 = ["esp-hal/esp32c3"]
@@ -48,18 +43,21 @@ esp32c6 = ["esp-hal/esp32c6"]
 esp32h2 = ["esp-hal/esp32h2"]
 esp32s2 = ["esp-hal/esp32s2"]
 esp32s3 = ["esp-hal/esp32s3"]
-
 # Async & Embassy:
 async = ["dep:embedded-hal-async", "esp-hal?/async"]
-
-embassy = ["esp-hal?/embassy"]
-
+embassy = ["esp-hal?/embassy", "embedded-test/embassy", "dep:embassy-executor"]
 embassy-executor-interrupt = ["esp-hal?/embassy-executor-interrupt"]
 embassy-executor-thread    = ["esp-hal?/embassy-executor-thread"]
-
 embassy-time-systick-16mhz = ["esp-hal?/embassy-time-systick-16mhz"]
 embassy-time-systick-80mhz = ["esp-hal?/embassy-time-systick-80mhz"]
 embassy-time-timg0   = ["esp-hal?/embassy-time-timg0"]
+# Loggging:
+# Adding log feature of embedded test to defmt or log makes the testing more verbose
+# log = ["dep:log", "embedded-test/log", "embedded-test/init-log"]
+# defmt = ["dep:defmt", "dep:defmt-rtt", "embedded-test/defmt"]
+log = ["dep:log", "embedded-test/init-log", "esp-hal?/log"]
+# Using defmt crate requires editting `.cargo/config.toml`rustflags.
+defmt = ["dep:defmt", "dep:defmt-rtt", "esp-hal?/defmt"]
 
 # cargo build/run
 [profile.dev]
@@ -98,9 +96,3 @@ incremental      = false
 lto              = 'fat'
 opt-level        = 3     # <-
 overflow-checks  = false # <-
-
-# TODO: remove when able
-[patch.crates-io]
-# FIXME: defmt patch can be removed since embedded-test already takes care of that?
-defmt       = { git = "https://github.com/t-moe/defmt", branch = "features/defmt_test_riscv" }
-panic-probe = { git = "https://github.com/t-moe/defmt", branch = "features/defmt_test_riscv" }
diff --git a/hil-test/README.md b/hil-test/README.md
index 059e74d2cfc..830bf65f9d7 100644
--- a/hil-test/README.md
+++ b/hil-test/README.md
@@ -59,6 +59,23 @@ The `hil.yml` workflow will build the test suite for all our available targets a
 Currently, here are the Virtual Machines set up for HIL testing:
 - ESP32-C3:
   - Has an `ESP32-C3-DevKit-RUST-1` connected via USB-JTAG-SERIAL.
+    - Pins 2 and 4 are connected for `spi_full_duplex` and `uart` tests.
+    - VM has the following setup:
+      ```
+      # Install Rust:
+      $ curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain stable -y --profile minimal
+      # Source the current shell:
+      $ source "$HOME/.cargo/env"
+      # Install dependencies
+      $ sudo apt install -y pkg-config libudev-dev
+      # Install probe-rs
+      $ cargo install probe-rs --git=https://github.com/probe-rs/probe-rs --branch=feature/testing-rebased --features=cli --bin=probe-rs --locked --force
+      # Add the udev rules
+      $ wget -O - https://probe.rs/files/69-probe-rs.rules | sudo tee /etc/udev/rules.d/69-probe-rs.rules > /dev/null
+      # Add the user to plugdev group
+      $ sudo usermod -a -G plugdev $USER
+      # Reboot the VM
+      ```
 - ESP32-C6:
   - Has an `ESP32-C6-DevKitC-1 V1.2` connected via USB-JTAG-SERIAL.
     - Pins 2 and 4 are connected for `spi_full_duplex` and `uart` tests.
@@ -71,7 +88,7 @@ Currently, here are the Virtual Machines set up for HIL testing:
     # Install dependencies
     $ sudo apt install -y pkg-config libudev-dev
     # Install probe-rs
-    $ cargo install probe-rs --git=https://github.com/SergioGasquez/probe-rs --branch=feature/testing --features=cli --bin=probe-rs --locked --force
+    $ cargo install probe-rs --git=https://github.com/probe-rs/probe-rs --branch=feature/testing-rebased --features=cli --bin=probe-rs --locked --force
     # Add the udev rules
     $ wget -O - https://probe.rs/files/69-probe-rs.rules | sudo tee /etc/udev/rules.d/69-probe-rs.rules > /dev/null
     # Add the user to plugdev group
@@ -90,7 +107,7 @@ Currently, here are the Virtual Machines set up for HIL testing:
     # Install dependencies
     $ sudo apt install -y pkg-config libudev-dev
     # Install probe-rs
-    $ cargo install probe-rs --git=https://github.com/SergioGasquez/probe-rs --branch=feature/testing --features=cli --bin=probe-rs --locked --force
+    $ cargo install probe-rs --git=https://github.com/probe-rs/probe-rs --branch=feature/testing-rebased --features=cli --bin=probe-rs --locked --force
     # Add the udev rules
     $ wget -O - https://probe.rs/files/69-probe-rs.rules | sudo tee /etc/udev/rules.d/69-probe-rs.rules > /dev/null
     # Add the user to plugdev group
diff --git a/hil-test/src/lib.rs b/hil-test/src/lib.rs
deleted file mode 100644
index 387b9783564..00000000000
--- a/hil-test/src/lib.rs
+++ /dev/null
@@ -1,6 +0,0 @@
-#![no_std]
-
-use defmt_rtt as _;
-use panic_probe as _;
-
-pub use esp_hal;
diff --git a/hil-test/tests/aes.rs b/hil-test/tests/aes.rs
index ab840f846d3..4aecf5e1601 100644
--- a/hil-test/tests/aes.rs
+++ b/hil-test/tests/aes.rs
@@ -3,7 +3,9 @@
 #![no_std]
 #![no_main]
 
-use hil_test::esp_hal::{
+#[cfg(feature = "defmt")]
+use defmt_rtt as _;
+use esp_hal::{
     aes::{Aes, Mode},
     peripherals::Peripherals,
 };
@@ -21,8 +23,10 @@ impl Context<'_> {
     }
 }
 
+#[cfg(test)]
 #[embedded_test::tests]
 mod tests {
+    #[cfg(feature = "defmt")]
     use defmt::assert_eq;
 
     use super::*;
diff --git a/hil-test/tests/gpio.rs b/hil-test/tests/gpio.rs
index e4a6665fe21..18ecdf6fad7 100644
--- a/hil-test/tests/gpio.rs
+++ b/hil-test/tests/gpio.rs
@@ -7,8 +7,10 @@
 #![no_std]
 #![no_main]
 
+#[cfg(feature = "defmt")]
+use defmt_rtt as _;
 use embedded_hal_1::digital::{InputPin as _, OutputPin as _, StatefulOutputPin as _};
-use hil_test::esp_hal::{
+use esp_hal::{
     gpio::{GpioPin, Input, Output, PullDown, PushPull, IO},
     peripherals::Peripherals,
 };
@@ -30,9 +32,11 @@ impl Context {
     }
 }
 
+#[cfg(test)]
 #[embedded_test::tests]
 mod tests {
-    use defmt::{assert_eq, unwrap};
+    #[cfg(feature = "defmt")]
+    use defmt::assert_eq;
 
     use super::*;
 
@@ -53,18 +57,18 @@ mod tests {
         // `StatefulOutputPin`:
         assert_eq!(ctx.io1.is_set_low(), Ok(true));
         assert_eq!(ctx.io1.is_set_high(), Ok(false));
-        unwrap!(ctx.io1.set_high());
+        assert!(ctx.io1.set_high().is_ok());
         assert_eq!(ctx.io1.is_set_low(), Ok(false));
         assert_eq!(ctx.io1.is_set_high(), Ok(true));
 
         // `ToggleableOutputPin`:
-        unwrap!(ctx.io1.toggle());
+        assert!(ctx.io1.toggle().is_ok());
         assert_eq!(ctx.io1.is_set_low(), Ok(true));
         assert_eq!(ctx.io1.is_set_high(), Ok(false));
-        unwrap!(ctx.io1.toggle());
+        assert!(ctx.io1.toggle().is_ok());
         assert_eq!(ctx.io1.is_set_low(), Ok(false));
         assert_eq!(ctx.io1.is_set_high(), Ok(true));
         // Leave in initial state for next test
-        unwrap!(ctx.io1.toggle());
+        assert!(ctx.io1.toggle().is_ok());
     }
 }
diff --git a/hil-test/tests/spi_full_duplex.rs b/hil-test/tests/spi_full_duplex.rs
index f936f43a943..88a56bf52e4 100644
--- a/hil-test/tests/spi_full_duplex.rs
+++ b/hil-test/tests/spi_full_duplex.rs
@@ -11,7 +11,9 @@
 #![no_std]
 #![no_main]
 
-use hil_test::esp_hal::{
+#[cfg(feature = "defmt")]
+use defmt_rtt as _;
+use esp_hal::{
     clock::ClockControl,
     gpio::IO,
     peripherals::Peripherals,
@@ -46,8 +48,10 @@ impl Context {
     }
 }
 
+#[cfg(test)]
 #[embedded_test::tests]
 mod tests {
+    #[cfg(feature = "defmt")]
     use defmt::assert_eq;
 
     use super::*;
diff --git a/hil-test/tests/uart.rs b/hil-test/tests/uart.rs
index c350416ab8d..9c7a419ce54 100644
--- a/hil-test/tests/uart.rs
+++ b/hil-test/tests/uart.rs
@@ -9,7 +9,9 @@
 #![no_std]
 #![no_main]
 
-use hil_test::esp_hal::{
+#[cfg(feature = "defmt")]
+use defmt_rtt as _;
+use esp_hal::{
     clock::ClockControl,
     peripherals::{Peripherals, UART0},
     prelude::*,
@@ -48,8 +50,10 @@ impl Context {
     }
 }
 
+#[cfg(test)]
 #[embedded_test::tests]
 mod tests {
+    #[cfg(feature = "defmt")]
     use defmt::assert_eq;
 
     use super::*;