diff --git a/tests/components/esp32/test.esp32-idf.yaml b/tests/components/esp32/test.esp32-idf.yaml
index d38cdfe2fd..eb7e79ec1a 100644
--- a/tests/components/esp32/test.esp32-idf.yaml
+++ b/tests/components/esp32/test.esp32-idf.yaml
@@ -8,6 +8,8 @@ esp32:
       enable_lwip_bridge_interface: true
       disable_libc_locks_in_iram: false  # Test explicit opt-out of RAM optimization
       use_full_certificate_bundle: false  # Test CMN bundle (default)
+      include_idf_components:
+        - freertos  # Test escape hatch (freertos is always included anyway)
 
 wifi:
   ssid: MySSID