diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 7825ffb2f..28b67b3b4 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -307,21 +307,41 @@ jobs:
       - name: rustfmt (examples)
         run: cargo fmt --all --manifest-path=examples/Cargo.toml -- --check
 
-  riscv-hil:
-    name: HIL Test | ${{ matrix.soc }}
+  hil:
+    name: HIL Test | ${{ matrix.target.soc }}
     runs-on: ubuntu-latest
 
     strategy:
       fail-fast: false
       matrix:
-        soc: [esp32c3, esp32c6, esp32h2]
+        target:
+          # RISC-V devices:
+          - soc: esp32c3
+            rust-target: riscv32imc-unknown-none-elf
+          - soc: esp32c6
+            rust-target: riscv32imac-unknown-none-elf
+          - soc: esp32h2
+            rust-target: riscv32imac-unknown-none-elf
+          # Xtensa devices:
+          - soc: esp32s3
 
     steps:
       - uses: actions/checkout@v4
-      - uses: dtolnay/rust-toolchain@v1
+        # Install the Rust toolchain for RISC-V devices:
+
+      - if: ${{ !contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.target.soc) }}
+        uses: dtolnay/rust-toolchain@v1
         with:
-          target: riscv32imc-unknown-none-elf,riscv32imac-unknown-none-elf,riscv32imafc-unknown-none-elf
+          target: ${{ matrix.target.rust-target }}
           toolchain: nightly
           components: rust-src
+      # Install the Rust toolchain for Xtensa devices:
+      - if: contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.target.soc)
+        uses: esp-rs/xtensa-toolchain@v1.5
+        with:
+          buildtargets: ${{ matrix.target.soc }}
+          default: true
+          ldproxy: false
+
       - uses: Swatinem/rust-cache@v2
-      - run: cargo xtask build-examples hil-test ${{ matrix.soc }}
+      - run: cargo xtask build-examples hil-test ${{ matrix.target.soc }}
diff --git a/.github/workflows/hil.yml b/.github/workflows/hil.yml
index c4665f313..01e7ab8ca 100644
--- a/.github/workflows/hil.yml
+++ b/.github/workflows/hil.yml
@@ -17,8 +17,7 @@ env:
   CARGO_TERM_COLOR: always
 
 jobs:
-  # Test RISC-V targets:
-  riscv-hil:
+  hil:
     name: HIL Test | ${{ matrix.target.soc }}
     runs-on:
       labels: [self-hosted, "${{ matrix.target.runner }}"]
@@ -26,6 +25,7 @@ jobs:
       fail-fast: false
       matrix:
         target:
+          # RISC-V devices:
           - soc: esp32c3
             runner: rustboard
             rust-target: riscv32imc-unknown-none-elf
@@ -35,6 +35,9 @@ jobs:
           - soc: esp32h2
             runner: esp32h2-usb
             rust-target: riscv32imac-unknown-none-elf
+          # Xtensa devices:
+          - soc: esp32s3
+            runner: esp32s3-usb
     steps:
       - uses: actions/checkout@v4
         if: github.event_name != 'workflow_dispatch'
@@ -45,14 +48,20 @@ jobs:
           repository: ${{ github.event.inputs.repository }}
           ref: ${{ github.event.inputs.branch }}
 
-      - uses: dtolnay/rust-toolchain@v1
+      # Install the Rust toolchain for RISC-V devices:
+      - if: ${{ !contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.target.soc) }}
+        uses: dtolnay/rust-toolchain@v1
         with:
           target: ${{ matrix.target.rust-target }}
           toolchain: nightly
           components: rust-src
+      # Install the Rust toolchain for Xtensa devices:
+      - if: contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.target.soc)
+        uses: esp-rs/xtensa-toolchain@v1.5
+        with:
+          buildtargets: ${{ matrix.target.soc }}
+          default: true
+          ldproxy: false
 
       - name: Run tests
         run: cargo xtask run-tests ${{ matrix.target.soc }}
-
-  # Test Xtensa targets:
-  # TODO: Add jobs for Xtensa once supported by `probe-rs`
diff --git a/hil-test/README.md b/hil-test/README.md
index f194076d5..994c04308 100644
--- a/hil-test/README.md
+++ b/hil-test/README.md
@@ -70,6 +70,10 @@ Our Virtual Machines have the following setup:
   - Devkit: `ESP32-H2-DevKitM-1` connected via USB-Serial-JTAG (`USB` port).
     - `GPIO2` and `GPIO4` are connected.
   - VM: Ubuntu 20.04.5 configured with the following [setup](#vm-setup)
+- ESP32-S3 (`esp32s3-usb`):
+  - Devkit: `ESP32-S3-DevKitC-1` connected via USB-Serial-JTAG.
+    - `GPIO2` and `GPIO4` are connected.
+  - VM: Ubuntu 22.04.4 configured with the following [setup](#vm-setup)
 
 [`hil.yml`]: https://github.com/esp-rs/esp-hal/blob/main/.github/workflows/hil.yml
 
@@ -87,7 +91,7 @@ cargo install probe-rs --git=https://github.com/probe-rs/probe-rs --rev=ddd59fa
 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
+# Reboot the VM
 sudo reboot
 ```
 
diff --git a/hil-test/tests/gpio.rs b/hil-test/tests/gpio.rs
index 8e70dc1c5..80d1641be 100644
--- a/hil-test/tests/gpio.rs
+++ b/hil-test/tests/gpio.rs
@@ -151,6 +151,8 @@ mod tests {
     }
 
     #[test]
+    // TODO: See https://github.com/esp-rs/esp-hal/issues/1413
+    #[cfg(not(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3")))]
     fn test_gpio_interrupt(mut ctx: Context) {
         critical_section::with(|cs| {
             *COUNTER.borrow_ref_mut(cs) = 0;