diff --git a/esphome/components/rp2040/__init__.py b/esphome/components/rp2040/__init__.py
index f98cde7968..18a77d5b08 100644
--- a/esphome/components/rp2040/__init__.py
+++ b/esphome/components/rp2040/__init__.py
@@ -194,7 +194,7 @@ def _parse_platform_version(value):
 # The default/recommended arduino framework version
 #  - https://github.com/earlephilhower/arduino-pico/releases
 #  - https://api.registry.platformio.org/v3/packages/earlephilhower/tool/framework-arduinopico
-RECOMMENDED_ARDUINO_FRAMEWORK_VERSION = cv.Version(5, 6, 0)
+RECOMMENDED_ARDUINO_FRAMEWORK_VERSION = cv.Version(5, 6, 1)
 
 # The raspberrypi platform version to use for arduino frameworks
 #  - https://github.com/maxgerhardt/platform-raspberrypi/tags
@@ -204,8 +204,8 @@ RECOMMENDED_ARDUINO_PLATFORM_VERSION = "v1.4.0-gcc14-arduinopico460"
 def _arduino_check_versions(value):
     value = value.copy()
     lookups = {
-        "dev": (cv.Version(5, 6, 0), "https://github.com/earlephilhower/arduino-pico"),
-        "latest": (cv.Version(5, 6, 0), None),
+        "dev": (cv.Version(5, 6, 1), "https://github.com/earlephilhower/arduino-pico"),
+        "latest": (cv.Version(5, 6, 1), None),
         "recommended": (RECOMMENDED_ARDUINO_FRAMEWORK_VERSION, None),
     }
 
diff --git a/esphome/components/rp2040/boards.py b/esphome/components/rp2040/boards.py
index 1f2b3a93f4..0bc5c48d03 100644
--- a/esphome/components/rp2040/boards.py
+++ b/esphome/components/rp2040/boards.py
@@ -865,6 +865,30 @@ RP2040_BOARD_PINS = {
         "SS": 17,
         "TX": 0,
     },
+    "pcbcupid_glyph_2040": {
+        "LED": 0,
+        "MISO": 8,
+        "MOSI": 7,
+        "RX": 13,
+        "SCK": 6,
+        "SCL": 21,
+        "SDA": 20,
+        "SS": 5,
+        "TX": 12,
+    },
+    "pcbcupid_glyph_mini_2040": {
+        "LED": 16,
+        "MISO": 4,
+        "MOSI": 3,
+        "RX": 1,
+        "SCK": 2,
+        "SCL": 9,
+        "SCL1": 27,
+        "SDA": 8,
+        "SDA1": 26,
+        "SS": 5,
+        "TX": 0,
+    },
     "picolume": {
         "LED": 25,
         "MISO": 16,
@@ -1079,6 +1103,18 @@ RP2040_BOARD_PINS = {
         "SDA": 6,
         "TX": 0,
     },
+    "seeed_xiao_rp2040_plus": {
+        "LED": 25,
+        "MISO": 4,
+        "MOSI": 3,
+        "RX": 1,
+        "SCK": 2,
+        "SCL": 7,
+        "SCL1": 21,
+        "SDA": 6,
+        "SDA1": 20,
+        "TX": 0,
+    },
     "seeed_xiao_rp2350": {
         "LED": 25,
         "MISO": 4,
@@ -1102,6 +1138,18 @@ RP2040_BOARD_PINS = {
         "SS": 21,
         "TX": 0,
     },
+    "soldered_nula_ethernet_w55rp20": {
+        "MISO": 4,
+        "MOSI": 7,
+        "RX": 1,
+        "SCK": 6,
+        "SCL": 3,
+        "SCL1": 29,
+        "SDA": 2,
+        "SDA1": 28,
+        "SS": 5,
+        "TX": 0,
+    },
     "soldered_nula_rp2350": {
         "MISO": 2,
         "MOSI": 3,
@@ -1899,6 +1947,16 @@ BOARDS = {
         "mcu": "rp2040",
         "max_pin": 29,
     },
+    "pcbcupid_glyph_2040": {
+        "name": "PCBCupid Glyph 2040",
+        "mcu": "rp2040",
+        "max_pin": 29,
+    },
+    "pcbcupid_glyph_mini_2040": {
+        "name": "PCBCupid Glyph Mini 2040",
+        "mcu": "rp2040",
+        "max_pin": 29,
+    },
     "picolume": {
         "name": "PicoLume Transceiver",
         "mcu": "rp2040",
@@ -2021,6 +2079,11 @@ BOARDS = {
         "mcu": "rp2040",
         "max_pin": 29,
     },
+    "seeed_xiao_rp2040_plus": {
+        "name": "Seeed XIAO RP2040 Plus",
+        "mcu": "rp2040",
+        "max_pin": 29,
+    },
     "seeed_xiao_rp2350": {
         "name": "Seeed XIAO RP2350",
         "mcu": "rp2350",
@@ -2031,6 +2094,11 @@ BOARDS = {
         "mcu": "rp2040",
         "max_pin": 29,
     },
+    "soldered_nula_ethernet_w55rp20": {
+        "name": "Soldered Electronics NULA Ethernet W55RP20",
+        "mcu": "rp2040",
+        "max_pin": 29,
+    },
     "soldered_nula_rp2350": {
         "name": "Soldered Electronics NULA RP2350",
         "mcu": "rp2350",
diff --git a/platformio.ini b/platformio.ini
index 862b7a7dbe..1b43fbb3d1 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -206,7 +206,7 @@ board_build.filesystem_size = 0.5m
 platform = https://github.com/maxgerhardt/platform-raspberrypi.git#v1.4.0-gcc14-arduinopico460
 platform_packages =
     ; earlephilhower/framework-arduinopico@~1.20602.0 ; Cannot use the platformio package until old releases stop getting deleted
-    earlephilhower/framework-arduinopico@https://github.com/earlephilhower/arduino-pico/releases/download/5.6.0/rp2040-5.6.0.zip
+    earlephilhower/framework-arduinopico@https://github.com/earlephilhower/arduino-pico/releases/download/5.6.1/rp2040-5.6.1.zip
 
 framework = arduino
 lib_deps =