diff --git a/boards/risc-v/esp32p4/common/src/Make.defs b/boards/risc-v/esp32p4/common/src/Make.defs
index f321ba528b6..e1c806c2cfe 100644
--- a/boards/risc-v/esp32p4/common/src/Make.defs
+++ b/boards/risc-v/esp32p4/common/src/Make.defs
@@ -86,6 +86,9 @@ endif
 
 ifeq ($(CONFIG_ETC_ROMFS),y)
   RCSRCS  = etc/init.d/rc.sysinit etc/init.d/rcS
+ifeq ($(CONFIG_SYSTEM_NXINIT),y)
+  RCSRCS += etc/init.d/init.rc
+endif
 endif
 
 DEPPATH += --dep-path src
diff --git a/boards/risc-v/esp32p4/common/src/etc/init.d/init.rc b/boards/risc-v/esp32p4/common/src/etc/init.d/init.rc
new file mode 100644
index 00000000000..91f90547253
--- /dev/null
+++ b/boards/risc-v/esp32p4/common/src/etc/init.d/init.rc
@@ -0,0 +1,47 @@
+/****************************************************************************
+ * boards/risc-v/esp32p4/common/src/etc/init.d/init.rc
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifdef CONFIG_SYSTEM_NSH
+service console sh
+   restart_period 1000
+#endif
+
+#ifdef CONFIG_SYSTEM_ADBD
+service adbd adbd
+#endif
+
+#ifdef CONFIG_SYSTEM_FASTBOOTD
+service fastbootd fastbootd
+#endif
+
+on init
+#ifdef CONFIG_SYSTEM_NSH
+   start console
+#endif
+#ifdef CONFIG_SYSTEM_ADBD
+   start adbd
+#endif
+#ifdef CONFIG_SYSTEM_FASTBOOTD
+   start fastbootd
+#endif
diff --git a/boards/risc-v/esp32p4/esp32p4-function-ev-board/configs/nsh/defconfig b/boards/risc-v/esp32p4/esp32p4-function-ev-board/configs/nsh/defconfig
index 8d18527fe06..f74b041738b 100644
--- a/boards/risc-v/esp32p4/esp32p4-function-ev-board/configs/nsh/defconfig
+++ b/boards/risc-v/esp32p4/esp32p4-function-ev-board/configs/nsh/defconfig
@@ -21,11 +21,15 @@ CONFIG_ARCH_RISCV=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=15000
 CONFIG_BUILTIN=y
+CONFIG_ETC_ROMFS=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FS_PROCFS=y
+CONFIG_FS_ROMFS=y
 CONFIG_IDLETHREAD_STACKSIZE=2048
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_ENTRYPOINT="init_main"
+CONFIG_INIT_STACKSIZE=8192
 CONFIG_INTELHEX_BINARY=y
+CONFIG_LIBC_EXECFUNCS=y
 CONFIG_LIBC_PERROR_STDOUT=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_NFILE_DESCRIPTORS_PER_BLOCK=6
@@ -36,12 +40,16 @@ CONFIG_NSH_STRERROR=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_RR_INTERVAL=200
 CONFIG_SCHED_BACKTRACE=y
+CONFIG_SCHED_CHILD_STATUS=y
+CONFIG_SCHED_HAVE_PARENT=y
 CONFIG_SCHED_WAITPID=y
 CONFIG_START_DAY=29
 CONFIG_START_MONTH=11
 CONFIG_START_YEAR=2019
 CONFIG_SYSTEM_DUMPSTACK=y
 CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_NSH_STACKSIZE=8192
+CONFIG_SYSTEM_NXINIT=y
 CONFIG_TESTING_GETPRIME=y
 CONFIG_TESTING_OSTEST=y
 CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/risc-v/esp32p4/esp32p4-pico-wifi-wareshare/configs/nsh/defconfig b/boards/risc-v/esp32p4/esp32p4-pico-wifi-wareshare/configs/nsh/defconfig
index 155b54607ce..2a837505df4 100644
--- a/boards/risc-v/esp32p4/esp32p4-pico-wifi-wareshare/configs/nsh/defconfig
+++ b/boards/risc-v/esp32p4/esp32p4-pico-wifi-wareshare/configs/nsh/defconfig
@@ -24,11 +24,15 @@ CONFIG_BUILTIN=y
 CONFIG_ESP32P4_REV_MIN_100=y
 CONFIG_ESP32P4_SELECTS_REV_LESS_V3=y
 CONFIG_ESPRESSIF_FLASH_32M=y
+CONFIG_ETC_ROMFS=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FS_PROCFS=y
+CONFIG_FS_ROMFS=y
 CONFIG_IDLETHREAD_STACKSIZE=2048
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_ENTRYPOINT="init_main"
+CONFIG_INIT_STACKSIZE=8192
 CONFIG_INTELHEX_BINARY=y
+CONFIG_LIBC_EXECFUNCS=y
 CONFIG_LIBC_PERROR_STDOUT=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MM_REGIONS=2
@@ -40,12 +44,16 @@ CONFIG_NSH_STRERROR=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_RR_INTERVAL=200
 CONFIG_SCHED_BACKTRACE=y
+CONFIG_SCHED_CHILD_STATUS=y
+CONFIG_SCHED_HAVE_PARENT=y
 CONFIG_SCHED_WAITPID=y
 CONFIG_START_DAY=18
 CONFIG_START_MONTH=3
 CONFIG_START_YEAR=2026
 CONFIG_SYSTEM_DUMPSTACK=y
 CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_NSH_STACKSIZE=8192
+CONFIG_SYSTEM_NXINIT=y
 CONFIG_TESTING_GETPRIME=y
 CONFIG_TESTING_OSTEST=y
 CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/risc-v/esp32p4/esp32p4-tab5/configs/nsh/defconfig b/boards/risc-v/esp32p4/esp32p4-tab5/configs/nsh/defconfig
index 6905a5e4f4c..5036bf0f1f7 100644
--- a/boards/risc-v/esp32p4/esp32p4-tab5/configs/nsh/defconfig
+++ b/boards/risc-v/esp32p4/esp32p4-tab5/configs/nsh/defconfig
@@ -32,11 +32,15 @@ CONFIG_ESPRESSIF_I2C0_SCLPIN=32
 CONFIG_ESPRESSIF_I2C0_SDAPIN=31
 CONFIG_ESPRESSIF_SPIRAM=y
 CONFIG_ESPRESSIF_USBSERIAL=y
+CONFIG_ETC_ROMFS=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FS_PROCFS=y
+CONFIG_FS_ROMFS=y
 CONFIG_IDLETHREAD_STACKSIZE=2048
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_ENTRYPOINT="init_main"
+CONFIG_INIT_STACKSIZE=8192
 CONFIG_INTELHEX_BINARY=y
+CONFIG_LIBC_EXECFUNCS=y
 CONFIG_LIBC_PERROR_STDOUT=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MM_REGIONS=3
@@ -48,6 +52,8 @@ CONFIG_NSH_STRERROR=y
 CONFIG_PREALLOC_TIMERS=0
 CONFIG_RR_INTERVAL=200
 CONFIG_SCHED_BACKTRACE=y
+CONFIG_SCHED_CHILD_STATUS=y
+CONFIG_SCHED_HAVE_PARENT=y
 CONFIG_SCHED_WAITPID=y
 CONFIG_START_DAY=29
 CONFIG_START_MONTH=11
@@ -55,3 +61,5 @@ CONFIG_START_YEAR=2019
 CONFIG_SYSTEM_DUMPSTACK=y
 CONFIG_SYSTEM_I2CTOOL=y
 CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_NSH_STACKSIZE=8192
+CONFIG_SYSTEM_NXINIT=y