diff --git a/samples/boards/nordic/coresight_stm/src/main.c b/samples/boards/nordic/coresight_stm/src/main.c
index 221633d8638..b788d4fc15d 100644
--- a/samples/boards/nordic/coresight_stm/src/main.c
+++ b/samples/boards/nordic/coresight_stm/src/main.c
@@ -103,5 +103,7 @@ int main(void)
 	timing_report(t_tpd, rpt_tp, "tracepoint_d32");
 #endif
 
+	/* Needed in coverage run to separate STM logs from printk() */
+	k_msleep(400);
 	return 0;
 }
diff --git a/tests/boards/nrf/coresight_stm/CMakeLists.txt b/tests/boards/nrf/coresight_stm/CMakeLists.txt
new file mode 100644
index 00000000000..4450feefea0
--- /dev/null
+++ b/tests/boards/nrf/coresight_stm/CMakeLists.txt
@@ -0,0 +1,17 @@
+#
+# Copyright (c) 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+if(NOT (CONFIG_BOARD_NRF54H20DK_NRF54H20_CPUAPP))
+  message(FATAL_ERROR "${BOARD}${BOARD_QUALIFIERS} is not supported for this sample")
+endif()
+
+project(nrf_coresight_stm)
+
+target_sources(app PRIVATE $ENV{ZEPHYR_BASE}/samples/boards/nordic/coresight_stm/src/main.c)
diff --git a/tests/boards/nrf/coresight_stm/Kconfig.sysbuild b/tests/boards/nrf/coresight_stm/Kconfig.sysbuild
new file mode 100644
index 00000000000..3e4ddeaa515
--- /dev/null
+++ b/tests/boards/nrf/coresight_stm/Kconfig.sysbuild
@@ -0,0 +1,11 @@
+# Copyright 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+
+source "share/sysbuild/Kconfig"
+
+config APP_CPUPPR_RUN
+	bool "Use PPR"
+
+config APP_CPUFLPR_RUN
+	bool "Use FLPR"
diff --git a/tests/boards/nrf/coresight_stm/boards/nrf54h20dk_nrf54h20_cpuapp.overlay b/tests/boards/nrf/coresight_stm/boards/nrf54h20dk_nrf54h20_cpuapp.overlay
new file mode 100644
index 00000000000..bf5ba18d204
--- /dev/null
+++ b/tests/boards/nrf/coresight_stm/boards/nrf54h20dk_nrf54h20_cpuapp.overlay
@@ -0,0 +1,16 @@
+/*
+ * Copyright (c) 2024 Nordic Semiconductor
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+&cpuppr_vpr {
+	status = "okay";
+};
+
+&cpuppr_ram3x_region {
+	status = "okay";
+};
+
+&cpuflpr_vpr {
+	status = "okay";
+};
diff --git a/tests/boards/nrf/coresight_stm/prj.conf b/tests/boards/nrf/coresight_stm/prj.conf
new file mode 100644
index 00000000000..1e935e973c7
--- /dev/null
+++ b/tests/boards/nrf/coresight_stm/prj.conf
@@ -0,0 +1 @@
+CONFIG_LOG=y
diff --git a/tests/boards/nrf/coresight_stm/pytest/test_stm.py b/tests/boards/nrf/coresight_stm/pytest/test_stm.py
new file mode 100644
index 00000000000..7131d8f38bb
--- /dev/null
+++ b/tests/boards/nrf/coresight_stm/pytest/test_stm.py
@@ -0,0 +1,347 @@
+#
+# Copyright (c) 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+import logging
+import re
+import subprocess
+from dataclasses import dataclass
+from pathlib import Path
+from time import sleep
+
+import psutil
+from twister_harness import DeviceAdapter
+
+logger = logging.getLogger(__name__)
+
+
+SB_CONFIG_APP_CPUPPR_RUN = None
+SB_CONFIG_APP_CPUFLPR_RUN = None
+
+# See definition of stm_m_id[] and stm_m_name[] in
+# https://github.com/zephyrproject-rtos/zephyr/blob/main/drivers/misc/coresight/nrf_etr.c
+STM_M_ID = {
+    "sec": 33,
+    "app": 34,
+    "rad": 35,
+    "mod": 36,
+    "sys": 44,
+    "flpr": 45,
+    "ppr": 46,
+    "hw": 128,
+}
+
+
+@dataclass
+class STMLimits:
+    log_0_arg: float | None
+    log_1_arg: float | None
+    log_2_arg: float | None
+    log_3_arg: float | None
+    log_str: float | None
+    tracepoint: float | None
+    tracepoint_d32: float | None
+    tolerance: float | None
+
+
+def _analyse_autoconf(filepath: str) -> None:
+    global SB_CONFIG_APP_CPUPPR_RUN
+    global SB_CONFIG_APP_CPUFLPR_RUN
+
+    SB_CONFIG_APP_CPUPPR_RUN = False
+    SB_CONFIG_APP_CPUFLPR_RUN = False
+
+    # Parse contents of {BUILD_DIR}/_sysbuild/autoconf.h
+    with open(f"{filepath}", errors="ignore") as autoconf:
+        for line in autoconf:
+            if "SB_CONFIG_APP_CPUPPR_RUN 1" in line:
+                SB_CONFIG_APP_CPUPPR_RUN = True
+                continue
+            if "SB_CONFIG_APP_CPUFLPR_RUN 1" in line:
+                SB_CONFIG_APP_CPUFLPR_RUN = True
+    logger.debug(f"{SB_CONFIG_APP_CPUPPR_RUN=}")
+    logger.debug(f"{SB_CONFIG_APP_CPUFLPR_RUN=}")
+
+
+def _check_benchmark_results(output: str, core: str, constraints: STMLimits) -> None:
+    """
+    Use regular expressions to parse 'output' string.
+    Search for benchmark results related to 'core' coprocessor.
+    Check that benchamrk results are lower than limits provided in 'constraints'.
+    """
+
+    cfg = {
+        "log message with 0 arguments": {
+            "regex": rf"{core}: Timing for log message with 0 arguments: (.+)us",
+            "expected": constraints.log_0_arg,
+        },
+        "log message with 1 argument": {
+            "regex": rf"{core}: Timing for log message with 1 argument: (.+)us",
+            "expected": constraints.log_1_arg,
+        },
+        "log message with 2 arguments": {
+            "regex": rf"{core}: Timing for log message with 2 arguments: (.+)us",
+            "expected": constraints.log_2_arg,
+        },
+        "log message with 3 arguments": {
+            "regex": rf"{core}: Timing for log message with 3 arguments: (.+)us",
+            "expected": constraints.log_3_arg,
+        },
+        "log message with string": {
+            "regex": rf"{core}: Timing for log_message with string: (.+)us",
+            "expected": constraints.log_str,
+        },
+        "tracepoint": {
+            "regex": rf"{core}: Timing for tracepoint: (.+)us",
+            "expected": constraints.tracepoint,
+        },
+        "tracepoint_d32": {
+            "regex": rf"{core}: Timing for tracepoint_d32: (.+)us",
+            "expected": constraints.tracepoint_d32,
+        },
+    }
+
+    for check in cfg:
+        observed_str = re.search(cfg[check]["regex"], output).group(1)
+        assert observed_str is not None, f"Timing for {check} NOT found"
+        # check value
+        observed = float(observed_str)
+        threshold = cfg[check]["expected"] * (1 + constraints.tolerance)
+        assert (
+            observed < threshold
+        ), f"{core}: Timing for {check} - {observed} us exceeds {threshold} us"
+
+
+# nrfutil starts children processes
+# when subprocess.terminate(nrfutil_process) is executed, only the parent terminates
+# this blocks serial port for other uses
+def _kill(proc):
+    try:
+        for child in psutil.Process(proc.pid).children(recursive=True):
+            child.kill()
+        proc.kill()
+    except Exception as e:
+        logger.exception(f'Could not kill nrfutil - {e}')
+
+
+def _nrfutil_dictionary_from_serial(
+    dut: DeviceAdapter,
+    decoded_file_name: str = "output.txt",
+    collect_time: float = 60.0,
+) -> None:
+    UART_PATH = dut.device_config.serial
+    UART_BAUDRATE = dut.device_config.baud
+    dut.close()
+
+    logger.debug(f"Using serial: {UART_PATH}")
+
+    if Path(f"{decoded_file_name}").exists():
+        logger.warning("Output file already exists!")
+
+    # prepare database config string
+    BUILD_DIR = str(dut.device_config.build_dir)
+    logger.debug(f"{BUILD_DIR=}")
+    config_str = f"{STM_M_ID['app']}:{BUILD_DIR}/coresight_stm/zephyr/log_dictionary.json"
+    config_str += f",{STM_M_ID['rad']}:{BUILD_DIR}/remote_rad/zephyr/log_dictionary.json"
+    if SB_CONFIG_APP_CPUPPR_RUN:
+        config_str += f",{STM_M_ID['ppr']}:{BUILD_DIR}/remote_ppr/zephyr/log_dictionary.json"
+    if SB_CONFIG_APP_CPUFLPR_RUN:
+        config_str += f",{STM_M_ID['flpr']}:{BUILD_DIR}/remote_flpr/zephyr/log_dictionary.json"
+    logger.debug(f"{config_str=}")
+
+    cmd = (
+        "nrfutil trace stm --database-config "
+        f"{config_str} "
+        f"--input-serialport {UART_PATH} --baudrate {UART_BAUDRATE} "
+        f"--output-ascii {decoded_file_name}"
+    )
+    try:
+        # run nrfutil trace in background non-blocking
+        logger.info(f"Executing:\n{cmd}")
+        proc = subprocess.Popen(cmd.split(), stdout=subprocess.DEVNULL)
+    except OSError as exc:
+        logger.error(f"Unable to start nrfutil trace:\n{cmd}\n{exc}")
+    try:
+        proc.wait(collect_time)
+    except subprocess.TimeoutExpired:
+        pass
+    finally:
+        _kill(proc)
+
+
+def test_STM_decoded(dut: DeviceAdapter):
+    """
+    Run sample.boards.nrf.coresight_stm from samples/boards/nrf/coresight_stm sample.
+    Both Application and Radio cores use STM for logging.
+    STM proxy (Application core) decodes logs from all domains.
+    After reset, coprocessors execute code in expected way and Application core
+    outputs STM traces on UART port.
+    """
+    BUILD_DIR = str(dut.device_config.build_dir)
+    autoconf_file = f"{BUILD_DIR}/_sysbuild/autoconf.h"
+
+    app_constraints = STMLimits(
+        # all values in us
+        log_0_arg=1.8,
+        log_1_arg=2.1,
+        log_2_arg=2.0,
+        log_3_arg=2.1,
+        log_str=4.5,
+        tracepoint=0.5,
+        tracepoint_d32=0.5,
+        tolerance=0.5,  # 50 %
+    )
+    rad_constraints = STMLimits(
+        # all values in us
+        log_0_arg=4.6,
+        log_1_arg=5.0,
+        log_2_arg=5.2,
+        log_3_arg=5.6,
+        log_str=6.3,
+        tracepoint=0.5,
+        tracepoint_d32=0.5,
+        tolerance=0.5,
+    )
+    ppr_constraints = STMLimits(
+        # all values in us
+        log_0_arg=25.7,
+        log_1_arg=27.1,
+        log_2_arg=27.3,
+        log_3_arg=30.4,
+        log_str=65.7,
+        tracepoint=0.55,
+        tracepoint_d32=0.25,
+        tolerance=0.5,
+    )
+    flpr_constraints = STMLimits(
+        # all values in us
+        log_0_arg=1.3,
+        log_1_arg=1.6,
+        log_2_arg=1.6,
+        log_3_arg=1.7,
+        log_str=3.0,
+        tracepoint=0.5,
+        tracepoint_d32=0.5,
+        tolerance=0.5,
+    )
+    # nrf54h20 prints immediately after it is flashed.
+    # Wait a bit to skipp logs from previous test.
+    sleep(6)
+
+    # Get output from serial port
+    output = "\n".join(dut.readlines())
+
+    # set SB_CONFIG_APP_CPUPPR_RUN, SB_CONFIG_APP_CPUFLPR_RUN
+    _analyse_autoconf(autoconf_file)
+
+    # check results on Application core
+    _check_benchmark_results(output=output, core='app', constraints=app_constraints)
+
+    # check results on Radio core
+    _check_benchmark_results(output=output, core='rad', constraints=rad_constraints)
+
+    if SB_CONFIG_APP_CPUPPR_RUN:
+        # check results on PPR core
+        _check_benchmark_results(output=output, core='ppr', constraints=ppr_constraints)
+
+    if SB_CONFIG_APP_CPUFLPR_RUN:
+        # check results on FLPR core
+        _check_benchmark_results(output=output, core='flpr', constraints=flpr_constraints)
+
+
+def test_STM_dictionary_mode(dut: DeviceAdapter):
+    """
+    Run sample.boards.nrf.coresight_stm.dict from samples/boards/nrf/coresight_stm sample.
+    Both Application and Radio cores use STM for logging.
+    STM proxy (Application core) prints on serial port raw logs from all domains.
+    Nrfutil trace is used to decode STM logs.
+    After reset, coprocessors execute code in expected way and Application core
+    outputs STM traces on UART port.
+    """
+    BUILD_DIR = str(dut.device_config.build_dir)
+    test_filename = f"{BUILD_DIR}/coresight_stm_dictionary.txt"
+    autoconf_file = f"{BUILD_DIR}/_sysbuild/autoconf.h"
+    COLLECT_TIMEOUT = 10.0
+
+    app_constraints = STMLimits(
+        # all values in us
+        log_0_arg=0.7,
+        log_1_arg=0.8,
+        log_2_arg=0.8,
+        log_3_arg=1.3,
+        log_str=3.2,
+        tracepoint=0.5,
+        tracepoint_d32=0.5,
+        tolerance=0.5,  # 50 %
+    )
+    rad_constraints = STMLimits(
+        # all values in us
+        log_0_arg=0.8,
+        log_1_arg=0.9,
+        log_2_arg=1.0,
+        log_3_arg=1.5,
+        log_str=3.6,
+        tracepoint=0.5,
+        tracepoint_d32=0.5,
+        tolerance=0.5,
+    )
+    ppr_constraints = STMLimits(
+        # all values in us
+        log_0_arg=7.5,
+        log_1_arg=8.5,
+        log_2_arg=8.6,
+        log_3_arg=17.4,
+        log_str=45.2,
+        tracepoint=0.5,
+        tracepoint_d32=0.5,
+        tolerance=0.5,
+    )
+    flpr_constraints = STMLimits(
+        # all values in us
+        log_0_arg=0.3,
+        log_1_arg=0.4,
+        log_2_arg=0.5,
+        log_3_arg=0.8,
+        log_str=2.6,
+        tracepoint=0.5,
+        tracepoint_d32=0.5,
+        tolerance=0.5,  # 50 %
+    )
+
+    # set SB_CONFIG_APP_CPUPPR_RUN, SB_CONFIG_APP_CPUFLPR_RUN
+    # this information is needed to build nrfutil database-config
+    _analyse_autoconf(autoconf_file)
+
+    # use nrfutil trace to decode logs
+    _nrfutil_dictionary_from_serial(
+        dut=dut,
+        decoded_file_name=f"{test_filename}",
+        collect_time=COLLECT_TIMEOUT,
+    )
+
+    # read decoded logs
+    with open(f"{test_filename}", errors="ignore") as decoded_file:
+        decoded_file_content = decoded_file.read()
+
+    # if nothing in decoded_file, stop test
+    assert len(decoded_file_content) > 0, f"File {test_filename} is empty"
+
+    # check results on Application core
+    _check_benchmark_results(output=decoded_file_content, core='app', constraints=app_constraints)
+
+    # check results on Radio core
+    _check_benchmark_results(output=decoded_file_content, core='rad', constraints=rad_constraints)
+
+    if SB_CONFIG_APP_CPUPPR_RUN:
+        # check results on PPR core
+        _check_benchmark_results(
+            output=decoded_file_content, core='ppr', constraints=ppr_constraints
+        )
+
+    if SB_CONFIG_APP_CPUFLPR_RUN:
+        # check results on FLPR core
+        _check_benchmark_results(
+            output=decoded_file_content, core='flpr', constraints=flpr_constraints
+        )
diff --git a/tests/boards/nrf/coresight_stm/remote/CMakeLists.txt b/tests/boards/nrf/coresight_stm/remote/CMakeLists.txt
new file mode 100644
index 00000000000..a59a9afc77e
--- /dev/null
+++ b/tests/boards/nrf/coresight_stm/remote/CMakeLists.txt
@@ -0,0 +1,12 @@
+#
+# Copyright (c) 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(nrf_coresight_stm)
+
+target_sources(app PRIVATE $ENV{ZEPHYR_BASE}/samples/boards/nordic/coresight_stm/src/main.c)
diff --git a/tests/boards/nrf/coresight_stm/remote/prj.conf b/tests/boards/nrf/coresight_stm/remote/prj.conf
new file mode 100644
index 00000000000..5bea9f4760e
--- /dev/null
+++ b/tests/boards/nrf/coresight_stm/remote/prj.conf
@@ -0,0 +1,6 @@
+CONFIG_LOG=y
+CONFIG_CONSOLE=n
+CONFIG_UART_CONSOLE=n
+CONFIG_SERIAL=n
+CONFIG_BOOT_BANNER=n
+CONFIG_PRINTK=n
diff --git a/tests/boards/nrf/coresight_stm/sysbuild.cmake b/tests/boards/nrf/coresight_stm/sysbuild.cmake
new file mode 100644
index 00000000000..89ccbcf1343
--- /dev/null
+++ b/tests/boards/nrf/coresight_stm/sysbuild.cmake
@@ -0,0 +1,28 @@
+# Copyright (c) 2024 Nordic Semiconductor ASA
+# SPDX-License-Identifier: Apache-2.0
+
+set(REMOTE_APP remote)
+
+ExternalZephyrProject_Add(
+	APPLICATION ${REMOTE_APP}_rad
+	SOURCE_DIR  ${APP_DIR}/${REMOTE_APP}
+	BOARD ${SB_CONFIG_BOARD}/${SB_CONFIG_SOC}/cpurad
+)
+
+# There are sample configurations which do not use PPR.
+if(SB_CONFIG_APP_CPUPPR_RUN)
+	ExternalZephyrProject_Add(
+		APPLICATION ${REMOTE_APP}_ppr
+		SOURCE_DIR  ${APP_DIR}/${REMOTE_APP}
+		BOARD ${SB_CONFIG_BOARD}/${SB_CONFIG_SOC}/cpuppr
+	)
+endif()
+
+# There are sample configurations which do not use FLPR.
+if(SB_CONFIG_APP_CPUFLPR_RUN)
+	ExternalZephyrProject_Add(
+		APPLICATION ${REMOTE_APP}_flpr
+		SOURCE_DIR  ${APP_DIR}/${REMOTE_APP}
+		BOARD ${SB_CONFIG_BOARD}/${SB_CONFIG_SOC}/cpuflpr
+	)
+endif()
diff --git a/tests/boards/nrf/coresight_stm/testcase.yaml b/tests/boards/nrf/coresight_stm/testcase.yaml
new file mode 100644
index 00000000000..1b496c9b8c7
--- /dev/null
+++ b/tests/boards/nrf/coresight_stm/testcase.yaml
@@ -0,0 +1,85 @@
+sample:
+  name: Logging using Coresight STM on nrf54h20
+
+common:
+  tags: stm
+  sysbuild: true
+  platform_allow:
+    - nrf54h20dk/nrf54h20/cpuapp
+  integration_platforms:
+    - nrf54h20dk/nrf54h20/cpuapp
+
+tests:
+  boards.nrf.coresight_stm.dict:
+    filter: not CONFIG_COVERAGE
+    harness: pytest
+    harness_config:
+      pytest_dut_scope: session
+      pytest_root:
+        - "pytest/test_stm.py::test_STM_dictionary_mode"
+    required_snippets:
+      - nordic-log-stm-dict
+    extra_args:
+      - SB_CONFIG_APP_CPUPPR_RUN=y
+      - SB_CONFIG_APP_CPUFLPR_RUN=y
+
+  boards.nrf.coresight_stm:
+    filter: not CONFIG_COVERAGE
+    harness: pytest
+    harness_config:
+      pytest_dut_scope: session
+      pytest_root:
+        - "pytest/test_stm.py::test_STM_decoded"
+    required_snippets:
+      - nordic-log-stm
+    extra_args:
+      - SB_CONFIG_APP_CPUPPR_RUN=y
+      - SB_CONFIG_APP_CPUFLPR_RUN=y
+
+  boards.nrf.coresight_stm.dict.coverage:
+    filter: CONFIG_COVERAGE
+    harness: console
+    harness_config:
+      type: one_line
+      regex:
+        - "GCOV_COVERAGE_DUMP_END"
+    required_snippets:
+      - nordic-log-stm-dict
+    extra_args:
+      - SB_CONFIG_APP_CPUPPR_RUN=y
+      - SB_CONFIG_APP_CPUFLPR_RUN=n
+      - coresight_stm_CONFIG_LOG_PRINTK=n
+
+  boards.nrf.coresight_stm.coverage:
+    filter: CONFIG_COVERAGE
+    harness: console
+    harness_config:
+      type: multi_line
+      ordered: true
+      regex:
+        - "Timing for log message with 0 arguments:"
+        - "Timing for log message with 1 argument:"
+        - "Timing for log message with 2 arguments:"
+        - "Timing for log message with 3 arguments:"
+        - "Timing for log_message with string:"
+    required_snippets:
+      - nordic-log-stm
+    extra_args:
+      - SB_CONFIG_APP_CPUPPR_RUN=y
+      - SB_CONFIG_APP_CPUFLPR_RUN=n
+      - coresight_stm_CONFIG_LOG_PRINTK=n
+
+  boards.nrf.coresight_stm.local_uart.coverge:
+    filter: CONFIG_COVERAGE
+    harness: console
+    harness_config:
+      type: multi_line
+      ordered: true
+      regex:
+        - "Timing for log message with 0 arguments:"
+        - "Timing for log message with 1 argument:"
+        - "Timing for log message with 2 arguments:"
+        - "Timing for log message with 3 arguments:"
+        - "Timing for log_message with string:"
+    extra_args:
+      - CONFIG_LOG_MODE_IMMEDIATE=y