diff --git a/src/BUILD.gn b/src/BUILD.gn
index ba05860d6a110e..d290cf04cf2737 100644
--- a/src/BUILD.gn
+++ b/src/BUILD.gn
@@ -120,7 +120,7 @@ if (chip_build_tests) {
       tests += [ "${chip_root}/src/lib/dnssd/minimal_mdns/tests" ]
     }
 
-    if (chip_device_platform != "esp32" && chip_device_platform != "ameba") {
+    if (chip_device_platform != "ameba") {
       tests += [ "${chip_root}/src/platform/tests" ]
     }
 
diff --git a/src/platform/tests/BUILD.gn b/src/platform/tests/BUILD.gn
index ba092e2f7ee5dd..8ea985de6bc2e2 100644
--- a/src/platform/tests/BUILD.gn
+++ b/src/platform/tests/BUILD.gn
@@ -60,6 +60,12 @@ if (chip_device_platform != "none" && chip_device_platform != "fake") {
         "TestConfigurationMgr.cpp",
         "TestPlatformTime.cpp",
       ]
+
+      defines = []
+      if (chip_device_platform == "esp32") {
+        # SleepMillis can undersleep by as much as 10ms on esp32-qemu.
+        defines += [ "CONFIG_WIDER_SLEEP_MARGIN" ]
+      }
     }
 
     if (chip_enable_openthread) {
diff --git a/src/platform/tests/TestPlatformMgr.cpp b/src/platform/tests/TestPlatformMgr.cpp
index 51ec10bf8766dc..6592ad91ed2d89 100644
--- a/src/platform/tests/TestPlatformMgr.cpp
+++ b/src/platform/tests/TestPlatformMgr.cpp
@@ -207,9 +207,15 @@ TEST_F(TestPlatformMgr, RunEventLoopStopBeforeSleep)
 
 TEST_F(TestPlatformMgr, TryLockChipStack)
 {
+    EXPECT_EQ(PlatformMgr().InitChipStack(), CHIP_NO_ERROR);
+
     bool locked = PlatformMgr().TryLockChipStack();
+    EXPECT_EQ(locked, !CHIP_SYSTEM_CONFIG_NO_LOCKING);
+
     if (locked)
         PlatformMgr().UnlockChipStack();
+
+    PlatformMgr().Shutdown();
 }
 
 static int sEventRecieved = 0;
diff --git a/src/platform/tests/TestPlatformTime.cpp b/src/platform/tests/TestPlatformTime.cpp
index ad7a59052b21f4..e9e15b8ac66510 100644
--- a/src/platform/tests/TestPlatformTime.cpp
+++ b/src/platform/tests/TestPlatformTime.cpp
@@ -42,7 +42,12 @@ using namespace chip::Logging;
 using namespace chip::System;
 using namespace chip::System::Clock::Literals;
 
+#ifdef CONFIG_WIDER_SLEEP_MARGIN
+// SleepMillis can undersleep by as much as 10ms on esp32-qemu.
+constexpr Clock::Milliseconds64 kTestTimeMarginMs = 10_ms64;
+#else
 constexpr Clock::Milliseconds64 kTestTimeMarginMs = 2_ms64;
+#endif
 constexpr Clock::Microseconds64 kTestTimeMarginUs = 500_us64;
 
 // =================================
diff --git a/src/test_driver/esp32/CMakeLists.txt b/src/test_driver/esp32/CMakeLists.txt
index c1707cf082f555..1dea06ff1c6c77 100644
--- a/src/test_driver/esp32/CMakeLists.txt
+++ b/src/test_driver/esp32/CMakeLists.txt
@@ -53,6 +53,7 @@ esp32_unit_test(NAME testMinimalMdnsCore LIBRARY MinimalMdnsCoreTests)
 esp32_unit_test(NAME testMinimalMdnsRecords LIBRARY MinimalMdnsRecordsTests)
 esp32_unit_test(NAME testMinimalMdnsResponders LIBRARY MinimalMdnsRespondersTests)
 esp32_unit_test(NAME testMdns LIBRARY MdnsTests)
+esp32_unit_test(NAME testPlatform LIBRARY PlatformTests)
 esp32_unit_test(NAME testRetransmit LIBRARY RetransmitTests)
 esp32_unit_test(NAME testSetupPayload LIBRARY SetupPayloadTests)
 esp32_unit_test(NAME testSystemLayer LIBRARY SystemLayerTests)