diff --git a/.github/workflows/esp32-mkimage.yaml b/.github/workflows/esp32-mkimage.yaml
index 8a638c2a5..79ecebe3a 100644
--- a/.github/workflows/esp32-mkimage.yaml
+++ b/.github/workflows/esp32-mkimage.yaml
@@ -123,12 +123,6 @@ jobs:
         idf.py reconfigure
         idf.py build
 
-    - name: "Create a ${{ matrix.soc }} image"
-      working-directory: ./src/platforms/esp32/build
-      run: |
-        ./mkimage.sh
-        ls -l *.img
-
     - name: "Upload ${{ matrix.soc }} artifacts"
       uses: actions/upload-artifact@v3
       with:
diff --git a/CHANGELOG.md b/CHANGELOG.md
index cb3422cca..927e8f7ad 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Fix bug (with code compiled with OTP-21) with binary pattern matching: the fix introduced with
 `02411048` was not completely right, and it was converting match context to bogus binaries.
 
+### Changed
+
+- ESP32 builds now assemble the complet image automatically if `esp32boot.avm` is found from a previous generic_unix build.
+- ESP32 cmake build options are now also exposed in `idf.py menuconfig`.
+
 ## [0.6.2] - 25-05-2024
 
 ### Added
diff --git a/src/platforms/esp32/CMakeLists.txt b/src/platforms/esp32/CMakeLists.txt
index 55407bc33..1fbd77ff7 100644
--- a/src/platforms/esp32/CMakeLists.txt
+++ b/src/platforms/esp32/CMakeLists.txt
@@ -62,3 +62,20 @@ option(AVM_VERBOSE_ABORT "Print module and line number on VM abort" OFF)
 option(AVM_CREATE_STACKTRACES "Create stacktraces" ON)
 
 add_subdirectory(tools)
+
+add_custom_command(
+    OUTPUT atomvm-${IDF_TARGET}.img
+    DEPENDS gen_project_binary bootloader
+    COMMENT "Assembling complete image"
+    COMMAND ${CMAKE_BINARY_DIR}/mkimage.sh
+    COMMAND echo && cmake -E cmake_echo_color --yellow "ATTENTION: Ignore the following output and use: \"./build/flashimage.sh\" to flash the complete AtomVM image, including libraries."
+    VERBATIM
+    USES_TERMINAL)
+
+if (EXISTS ${CMAKE_SOURCE_DIR}/../../../build/libs/esp32boot/esp32boot.avm)
+    add_custom_target(atomvm_image ALL DEPENDS atomvm-${IDF_TARGET}.img)
+endif()
+
+
+set_property(DIRECTORY "${BUILD_DIR}" APPEND PROPERTY
+     ADDITIONAL_CLEAN_FILES atomvm-${IDF_TARGET}.img)
diff --git a/src/platforms/esp32/main/Kconfig.projbuild b/src/platforms/esp32/main/Kconfig.projbuild
index e0cd7bfce..eed640bb4 100755
--- a/src/platforms/esp32/main/Kconfig.projbuild
+++ b/src/platforms/esp32/main/Kconfig.projbuild
@@ -26,4 +26,22 @@ menu "AtomVM configuration"
         help
             Reboot the ESP32 device if the start/0 entrypoint does not return the `ok` atom.
 
+    config AVM_CREATE_STACKTRACES
+        bool  "Create BEAM stack traces."
+        default y
+        help
+            Create stacktraces for AtomVM application debugging, when an application crashes a stacktrace will be emitted.
+
+    config AVM_VERBOSE_ABORT
+        bool  "Verbose error when a VM abort occurs."
+        default n
+        help
+            Print the C module and line number when a VM abort occurs.
+
+    config ENABLE_REALLOC_GC
+        bool  "Enable experimental optimized realloc garbage collection."
+        default n
+        help
+            Enable experimental optimized garbage collection mode that makes use of C realloc instead of copying data.
+
 endmenu