diff --git a/.github/actions/setup-pyenv-venv/action.yml b/.github/actions/setup-pyenv-venv/action.yml
new file mode 100644
index 0000000000..9d79eb3302
--- /dev/null
+++ b/.github/actions/setup-pyenv-venv/action.yml
@@ -0,0 +1,59 @@
+name: Setup pyenv virtualenv
+description: Ensure a specific Python version and virtualenv via pyenv, optionally installing dependencies.
+inputs:
+  python-version:
+    description: Python version to install via pyenv.
+    default: "3.12.6"
+  venv-name:
+    description: Name of the pyenv virtualenv to create/use.
+    default: "pytest-embedded"
+  requirements:
+    description: |
+      New-line separated argument lists passed to `pip install`. Each non-empty line
+      is appended to `python -m pip install <line>`.
+    default: ""
+  requirements-file:
+    description: |
+      New-line separated list of requirement file paths to pass with `-r`.
+    default: ""
+  pip-extra-args:
+    description: Additional arguments passed to every `pip install` invocation.
+    default: ""
+  pip-extra-index-url:
+    description: Value exported as PIP_EXTRA_INDEX_URL and appended as --extra-index-url.
+    default: ""
+  pyenv-root:
+    description: Override path to pyenv root (defaults to $HOME/.pyenv).
+    default: ""
+runs:
+  using: composite
+  steps:
+    - name: Prepare pyenv virtualenv
+      shell: bash
+      env:
+        PYENV_PYTHON_VERSION: ${{ inputs.python-version }}
+        PYENV_VENV_NAME: ${{ inputs.venv-name }}
+        PYENV_REQUIREMENTS: ${{ inputs.requirements }}
+        PYENV_REQUIREMENTS_FILE: ${{ inputs.requirements-file }}
+        PYENV_PIP_EXTRA_ARGS: ${{ inputs.pip-extra-args }}
+        PYENV_PIP_EXTRA_INDEX_URL: ${{ inputs.pip-extra-index-url }}
+        PYENV_ROOT_OVERRIDE: ${{ inputs.pyenv-root }}
+      run: |
+        bash "${{ github.workspace }}/ci/scripts/setup_pyenv.sh"
+    - name: Export pyenv environment
+      shell: bash
+      env:
+        PYENV_VENV_NAME: ${{ inputs.venv-name }}
+        PYENV_ROOT_INPUT: ${{ inputs.pyenv-root }}
+        PIP_EXTRA_INDEX_URL_INPUT: ${{ inputs.pip-extra-index-url }}
+      run: |
+        PYENV_ROOT_VALUE="${PYENV_ROOT_INPUT:-$HOME/.pyenv}"
+        {
+          echo "PYENV_ROOT=${PYENV_ROOT_VALUE}"
+          echo "PYENV_VERSION=${PYENV_VENV_NAME}"
+        } >> "$GITHUB_ENV"
+        if [[ -n "${PIP_EXTRA_INDEX_URL_INPUT}" ]]; then
+          echo "PIP_EXTRA_INDEX_URL=${PIP_EXTRA_INDEX_URL_INPUT}" >> "$GITHUB_ENV"
+        fi
+        echo "${PYENV_ROOT_VALUE}/bin" >> "$GITHUB_PATH"
+        echo "${PYENV_ROOT_VALUE}/shims" >> "$GITHUB_PATH"
diff --git a/.github/workflows/asio__build-target-test.yml b/.github/workflows/asio__build-target-test.yml
index b7d0e1556a..c7331ca735 100644
--- a/.github/workflows/asio__build-target-test.yml
+++ b/.github/workflows/asio__build-target-test.yml
@@ -81,18 +81,22 @@ jobs:
         with:
           name: examples_app_bin_${{ matrix.idf_target }}_${{ matrix.idf_ver }}_${{ matrix.example }}
           path: ${{ env.TEST_DIR }}/${{ matrix.example }}/build
-      - name: Install Python packages
-        env:
-          PIP_EXTRA_INDEX_URL: "https://www.piwheels.org/simple"
-        run: |
-            sudo apt-get install -y dnsutils
-      - name: Download Example Test to target ${{ matrix.config }}
-        run: |
-            python -m esptool --chip ${{ matrix.idf_target }} write_flash 0x0 ${{ env.TEST_DIR }}/${{ matrix.example }}/build/flash_image.bin
+      - name: Prepare Python environment
+        uses: ./.github/actions/setup-pyenv-venv
+        with:
+          python-version: "3.12.6"
+          venv-name: "target-pytest"
+          pip-extra-index-url: "https://www.piwheels.org/simple"
+          pip-extra-args: "--prefer-binary --extra-index-url https://dl.espressif.com/pypi/"
+          requirements: |
+            cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-idf pytest-custom_exit_code esptool
+          requirements-file: |
+            $GITHUB_WORKSPACE/ci/requirements.txt
       - name: Run Example Test ${{ matrix.example }} on target
         working-directory: ${{ env.TEST_DIR }}/${{ matrix.example }}
         run: |
-            python -m pytest --log-cli-level DEBUG --junit-xml=./examples_results_${{ matrix.idf_target }}_${{ matrix.idf_ver }}_${{ matrix.config }}.xml --target=${{ matrix.idf_target }}
+          python --version
+          python -m pytest --log-cli-level DEBUG --junit-xml=./examples_results_${{ matrix.idf_target }}_${{ matrix.idf_ver }}_${{ matrix.config }}.xml --target=${{ matrix.idf_target }}
       - uses: actions/upload-artifact@v4
         if: always()
         with:
diff --git a/.github/workflows/lws_build.yml b/.github/workflows/lws_build.yml
index a0aac2815f..c3b615e1e0 100644
--- a/.github/workflows/lws_build.yml
+++ b/.github/workflows/lws_build.yml
@@ -65,24 +65,19 @@ jobs:
         with:
           name: lws_target_esp32_${{ matrix.idf_ver }}_${{ matrix.test.app }}
           path: ${{ env.TEST_DIR }}/ci/
+      - name: Prepare Python environment
+        uses: ./.github/actions/setup-pyenv-venv
+        with:
+          python-version: "3.12.6"
+          venv-name: "target-pytest"
+          pip-extra-index-url: "https://www.piwheels.org/simple"
+      - name: Install Python packages
+        run: |
+          python -m pip install --only-binary cryptography --extra-index-url https://dl.espressif.com/pypi/ -r $GITHUB_WORKSPACE/ci/requirements.txt
       - name: Run Example Test on target
         working-directory: ${{ env.TEST_DIR }}
         run: |
-          export PYENV_ROOT="$HOME/.pyenv"
-          export PATH="$PYENV_ROOT/bin:$PATH"
-          eval "$(pyenv init --path)"
-          eval "$(pyenv init -)"
-          if ! pyenv versions --bare | grep -q '^3\.12\.6$'; then
-            echo "Installing Python 3.12.6..."
-            pyenv install -s 3.12.6
-          fi
-          if ! pyenv virtualenvs --bare | grep -q '^myenv$'; then
-            echo "Creating pyenv virtualenv 'myenv'..."
-            pyenv virtualenv 3.12.6 myenv
-          fi
-          pyenv activate myenv
           python --version
-          pip install --only-binary cryptography --extra-index-url https://dl.espressif.com/pypi/ -r $GITHUB_WORKSPACE/ci/requirements.txt
           unzip ci/artifacts.zip -d ci
           for dir in `ls -d ci/build_*`; do
           rm -rf build sdkconfig.defaults
diff --git a/.github/workflows/mdns__build-target-test.yml b/.github/workflows/mdns__build-target-test.yml
index e6da77ec9b..717f51850b 100644
--- a/.github/workflows/mdns__build-target-test.yml
+++ b/.github/workflows/mdns__build-target-test.yml
@@ -73,25 +73,21 @@ jobs:
           PIP_EXTRA_INDEX_URL: "https://www.piwheels.org/simple"
         run: |
             sudo apt-get install -y dnsutils
+      - name: Prepare Python environment
+        uses: ./.github/actions/setup-pyenv-venv
+        with:
+          python-version: "3.12.6"
+          venv-name: "target-pytest"
+          pip-extra-index-url: "https://www.piwheels.org/simple"
+          pip-extra-args: "--prefer-binary --extra-index-url https://dl.espressif.com/pypi/"
+          requirements: |
+            cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-idf pytest-custom_exit_code esptool
+          requirements-file: |
+            $GITHUB_WORKSPACE/ci/requirements.txt
       - name: Run ${{ matrix.test.app }} application on ${{ matrix.idf_target }}
         working-directory: components/mdns/${{ matrix.test.path }}
         run: |
-            export PYENV_ROOT="$HOME/.pyenv"
-            export PATH="$PYENV_ROOT/bin:$PATH"
-            eval "$(pyenv init --path)"
-            eval "$(pyenv init -)"
-            if ! pyenv versions --bare | grep -q '^3\.12\.6$'; then
-              echo "Installing Python 3.12.6..."
-              pyenv install -s 3.12.6
-            fi
-            if ! pyenv virtualenvs --bare | grep -q '^myenv$'; then
-              echo "Creating pyenv virtualenv 'myenv'..."
-              pyenv virtualenv 3.12.6 myenv
-            fi
-            pyenv activate myenv
             python --version
-            pip install --prefer-binary cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-idf pytest-custom_exit_code esptool
-            pip install --extra-index-url https://dl.espressif.com/pypi/ -r $GITHUB_WORKSPACE/ci/requirements.txt
             unzip ci/artifacts.zip -d ci
             for dir in `ls -d ci/build_*`; do
             rm -rf build sdkconfig.defaults
diff --git a/.github/workflows/modem__target-test.yml b/.github/workflows/modem__target-test.yml
index e2f8783a6c..30d1284a72 100644
--- a/.github/workflows/modem__target-test.yml
+++ b/.github/workflows/modem__target-test.yml
@@ -77,13 +77,19 @@ jobs:
         with:
           name: modem_target_bin_${{ matrix.idf_target }}_${{ matrix.idf_ver }}_${{ matrix.test.app }}
           path: ${{ env.TEST_DIR }}/build
+      - name: Prepare Python environment
+        uses: ./.github/actions/setup-pyenv-venv
+        with:
+          python-version: "3.12.6"
+          venv-name: "target-pytest"
+          pip-extra-index-url: "https://dl.espressif.com/pypi/"
+          pip-extra-args: "--prefer-binary"
+          requirements: |
+            cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-idf pytest-custom_exit_code esptool
+          requirements-file: |
+            $GITHUB_WORKSPACE/ci/requirements.txt
       - name: Run Example Test on target
-        env:
-          PIP_EXTRA_INDEX_URL: "https://dl.espressif.com/pypi/"
         run: |
-            python -m venv .venv
-            source .venv/bin/activate
-            pip install --prefer-binary cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-idf pytest-custom_exit_code esptool
-            pip install -r $GITHUB_WORKSPACE/ci/requirements.txt
+            python --version
             cd ${{ env.TEST_DIR }}
             python -m pytest --log-cli-level DEBUG --target=${{ matrix.idf_target }}
diff --git a/.github/workflows/websocket__build-target-test.yml b/.github/workflows/websocket__build-target-test.yml
index 292597d3bc..3a963180dd 100644
--- a/.github/workflows/websocket__build-target-test.yml
+++ b/.github/workflows/websocket__build-target-test.yml
@@ -65,27 +65,23 @@ jobs:
         with:
           name: websocket_bin_esp32_${{ matrix.idf_ver }}_${{ matrix.test.app }}
           path: ${{ env.TEST_DIR }}/ci/
+      - name: Prepare Python environment
+        uses: ./.github/actions/setup-pyenv-venv
+        with:
+          python-version: "3.12.6"
+          venv-name: "target-pytest"
+          pip-extra-index-url: "https://www.piwheels.org/simple"
+          pip-extra-args: "--prefer-binary --extra-index-url https://dl.espressif.com/pypi/"
+          requirements: |
+            cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-idf pytest-custom_exit_code esptool
+          requirements-file: |
+            $GITHUB_WORKSPACE/ci/requirements.txt
       - name: Run Example Test on target
         working-directory: ${{ env.TEST_DIR }}
         env:
           PIP_EXTRA_INDEX_URL: "https://www.piwheels.org/simple"
         run: |
-          export PYENV_ROOT="$HOME/.pyenv"
-          export PATH="$PYENV_ROOT/bin:$PATH"
-          eval "$(pyenv init --path)"
-          eval "$(pyenv init -)"
-          if ! pyenv versions --bare | grep -q '^3\.12\.6$'; then
-            echo "Installing Python 3.12.6..."
-            pyenv install -s 3.12.6
-          fi
-          if ! pyenv virtualenvs --bare | grep -q '^myenv$'; then
-            echo "Creating pyenv virtualenv 'myenv'..."
-            pyenv virtualenv 3.12.6 myenv
-          fi
-          pyenv activate myenv
           python --version
-          pip install --prefer-binary cryptography pytest-embedded pytest-embedded-serial-esp pytest-embedded-idf pytest-custom_exit_code esptool
-          pip install --extra-index-url https://dl.espressif.com/pypi/ -r $GITHUB_WORKSPACE/ci/requirements.txt
           unzip ci/artifacts.zip -d ci
           for dir in `ls -d ci/build_*`; do
           rm -rf build sdkconfig.defaults
diff --git a/ci/scripts/setup_pyenv.sh b/ci/scripts/setup_pyenv.sh
new file mode 100755
index 0000000000..a0ad3dbed4
--- /dev/null
+++ b/ci/scripts/setup_pyenv.sh
@@ -0,0 +1,107 @@
+#!/usr/bin/env bash
+# shellcheck shell=bash
+
+set -euo pipefail
+
+log() {
+  echo "[setup-pyenv] $*"
+}
+
+abort() {
+  log "ERROR: $*"
+  if [[ "${BASH_SOURCE[0]}" != "${0}" ]]; then
+    return 1
+  else
+    exit 1
+  fi
+}
+
+PYENV_PYTHON_VERSION="${PYENV_PYTHON_VERSION:-3.12.6}"
+PYENV_VENV_NAME="${PYENV_VENV_NAME:-pyenv-venv}"
+PYENV_ROOT_OVERRIDE="${PYENV_ROOT_OVERRIDE:-}"
+PYENV_REQUIREMENTS="${PYENV_REQUIREMENTS:-}"
+PYENV_REQUIREMENTS_FILE="${PYENV_REQUIREMENTS_FILE:-}"
+PYENV_PIP_EXTRA_ARGS="${PYENV_PIP_EXTRA_ARGS:-}"
+PYENV_PIP_EXTRA_INDEX_URL="${PYENV_PIP_EXTRA_INDEX_URL:-}"
+
+PYENV_ROOT="${PYENV_ROOT_OVERRIDE:-${PYENV_ROOT:-$HOME/.pyenv}}"
+export PYENV_ROOT
+export PATH="${PYENV_ROOT}/bin:${PATH}"
+
+if ! command -v pyenv >/dev/null 2>&1; then
+  abort "pyenv command not found. Ensure pyenv is installed on the runner."
+fi
+
+# Initialize pyenv environments
+eval "$(pyenv init --path)"
+eval "$(pyenv init -)"
+if pyenv commands | grep -q "virtualenv"; then
+  eval "$(pyenv virtualenv-init -)"
+else
+  abort "pyenv-virtualenv plugin is required but not available."
+fi
+
+if ! pyenv versions --bare | grep -Fxq "${PYENV_PYTHON_VERSION}"; then
+  log "Installing Python ${PYENV_PYTHON_VERSION} via pyenv..."
+  pyenv install -s "${PYENV_PYTHON_VERSION}"
+else
+  log "Python ${PYENV_PYTHON_VERSION} already installed."
+fi
+
+if ! pyenv virtualenvs --bare | grep -Fxq "${PYENV_VENV_NAME}"; then
+  log "Creating virtualenv ${PYENV_VENV_NAME}..."
+  pyenv virtualenv "${PYENV_PYTHON_VERSION}" "${PYENV_VENV_NAME}"
+else
+  log "Virtualenv ${PYENV_VENV_NAME} already exists."
+fi
+
+export PYENV_VERSION="${PYENV_VENV_NAME}"
+pyenv shell "${PYENV_VENV_NAME}" >/dev/null
+
+python --version
+
+pip_args=()
+if [[ -n "${PYENV_PIP_EXTRA_ARGS}" ]]; then
+  # shellcheck disable=SC2206
+  pip_args+=(${PYENV_PIP_EXTRA_ARGS})
+fi
+if [[ -n "${PYENV_PIP_EXTRA_INDEX_URL}" ]]; then
+  pip_args+=(--extra-index-url "${PYENV_PIP_EXTRA_INDEX_URL}")
+fi
+
+run_pip_install() {
+  local line="$1"
+  line="${line%%\#*}" # strip inline comments
+  line="$(echo -E "${line}" | xargs || true)"
+  if [[ -z "${line}" ]]; then
+    return
+  fi
+  # shellcheck disable=SC2086
+  python -m pip install "${pip_args[@]}" ${line}
+}
+
+if [[ -n "${PYENV_REQUIREMENTS}" ]]; then
+  while IFS=$'\n' read -r req_line || [[ -n "${req_line}" ]]; do
+    run_pip_install "${req_line}"
+  done <<< "${PYENV_REQUIREMENTS}"
+fi
+
+if [[ -n "${PYENV_REQUIREMENTS_FILE}" ]]; then
+  while IFS=$'\n' read -r req_file || [[ -n "${req_file}" ]]; do
+    req_file="$(echo -E "${req_file}" | xargs || true)"
+    [[ -z "${req_file}" ]] && continue
+    if [[ ! -f "${req_file}" ]]; then
+      abort "requirements file '${req_file}' not found."
+    fi
+    # shellcheck disable=SC2086
+    python -m pip install "${pip_args[@]}" -r "${req_file}"
+  done <<< "${PYENV_REQUIREMENTS_FILE}"
+fi
+
+log "pyenv environment '${PYENV_VENV_NAME}' is ready."
+
+if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then
+  exit 0
+else
+  return 0
+fi