diff --git a/.github/workflows/build_and_run.yml b/.github/workflows/build_and_run.yml
new file mode 100644
index 0000000000000..19adf3784e4c1
--- /dev/null
+++ b/.github/workflows/build_and_run.yml
@@ -0,0 +1,172 @@
+name: Build and Run
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        idf_ver: ["release-v6.0"]
+    container:
+      image: espressif/idf:${{ matrix.idf_ver }}
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          path: ws/zephyr
+          fetch-depth: 0
+
+      - name: Setup ESP-IDF environment
+        shell: bash
+        run: |
+          . ${IDF_PATH}/export.sh
+          cd ${IDF_PATH}
+          python --version
+          which xtensa-esp32s3-elf-gcc || true
+          which riscv32-esp-elf-gcc || true
+
+      - name: Install build tools (cmake, ninja, dtc, etc.)
+        shell: bash
+        run: |
+          apt-get update
+          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+            cmake ninja-build gperf ccache \
+            device-tree-compiler \
+            python3-dev python3-pip python3-venv \
+            git wget xz-utils file \
+            dfu-util
+          rm -rf /var/lib/apt/lists/*
+
+      - name: Setup Zephyr west workspace + Python deps
+        shell: bash
+        run: |
+          cd /__w/${{ github.repository }}/__w/${{ github.repository }} || true
+          # In Actions containers, $GITHUB_WORKSPACE is set; use it reliably:
+          cd "$GITHUB_WORKSPACE"
+
+          cd ws
+          # Create workspace metadata
+          python3 -m venv .venv-zephyr
+          . .venv-zephyr/bin/activate
+          pip install -U pip wheel
+          pip install -r zephyr/scripts/requirements.txt \
+                     -r zephyr/scripts/requirements-build-test.txt
+
+          west init -l zephyr
+          west update hal_espressif zephyr
+          west zephyr-export
+
+      - name: Twister build-only (ESP32S3)
+        shell: bash
+        env:
+          PYTEST_DISABLE_PLUGIN_AUTOLOAD: "1"
+          ZEPHYR_TOOLCHAIN_VARIANT: espressif
+        run: |
+          cd "$GITHUB_WORKSPACE"
+          # Activate IDF env (toolchain + python path)
+          . ${IDF_PATH}/export.sh
+
+          # Activate Zephyr venv (west + python deps)
+          . ws/.venv-zephyr/bin/activate
+
+          cd ws/zephyr
+
+          west twister \
+            -T samples/subsys/testsuite/pytest/shell \
+            -p esp32s3_devkitc/esp32s3/procpu \
+            -s sample.pytest.shell \
+            --build-only \
+            -j 1 -v --outdir ../../twister-out
+
+      - name: Pack twister-out artifact
+        shell: bash
+        run: |
+          cd "$GITHUB_WORKSPACE"
+          tar -czf twister-out.tgz twister-out
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: twister-out
+          path: twister-out.tgz
+          if-no-files-found: error
+
+  run:
+    if: startsWith(github.head_ref, 'pr-add-ci-') || startsWith(github.head_ref, 'pr-add-dwc2-')
+    runs-on: [self-hosted, esp32s3]
+    needs: [build]
+
+    steps:
+      - name: Checkout (workspace layout)
+        uses: actions/checkout@v4
+        with:
+          path: ws/zephyr
+          fetch-depth: 0
+
+      - name: Python venv + requirements (clean)
+        shell: bash
+        run: |
+          python3 -m venv ws/.venv
+          . ws/.venv/bin/activate
+          pip install -U pip wheel
+          pip install -r ws/zephyr/scripts/requirements.txt \
+                      -r ws/zephyr/scripts/requirements-build-test.txt
+
+      - name: West init/update/export (runner)
+        shell: bash
+        run: |
+          . ws/.venv/bin/activate
+          cd ws
+          if [ ! -d .west ]; then
+            west init -l zephyr
+          fi
+          west update hal_espressif
+          west zephyr-export
+
+      - name: Download twister-out artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: twister-out
+          path: .
+
+      - name: Unpack twister-out
+        shell: bash
+        run: |
+          rm -rf twister-out
+          tar -xzf twister-out.tgz
+
+      - name: Run on hardware (test-only)
+        shell: bash
+        env:
+          PYTEST_DISABLE_PLUGIN_AUTOLOAD: "1"
+          ZEPHYR_TOOLCHAIN_VARIANT: espressif
+        run: |
+          . ws/.venv/bin/activate
+          cd ws/zephyr
+
+          west twister \
+            -T samples/subsys/testsuite/pytest/shell \
+            -p esp32s3_devkitc/esp32s3/procpu \
+            -s sample.pytest.shell \
+            --test-only \
+            --device-testing \
+            --hardware-map tests/hil/hw/esp32s3/map-esp32s3.yml \
+            -j 1 -v --outdir ../../twister-out
+
+      - name: Upload Twister reports
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: twister-reports
+          path: |
+            twister-out/twister.xml
+            twister-out/twister_report.xml
+            twister-out/twister.json
diff --git a/tests/hil/hw/esp32s3/map-esp32s3.yml b/tests/hil/hw/esp32s3/map-esp32s3.yml
new file mode 100644
index 0000000000000..9a46a75da8546
--- /dev/null
+++ b/tests/hil/hw/esp32s3/map-esp32s3.yml
@@ -0,0 +1,7 @@
+- connected: true
+  id: /dev/ttyACM0
+  platform: esp32s3_devkitc/esp32s3/procpu
+  product: "ESP32-S3 DevKitC"
+  runner: esp32
+  serial: /dev/ttyACM0
+  flash_before: true