Root causes found and fixed: - USB OTG init stole the PHY from USB-Serial-JTAG (the only USB on V4) - executor-thread feature conflicted with esp-hal-embassy's executor - Linker flags needed -Wl, prefix for GCC-to-LD passthrough - Missing exception-handler feature on esp-backtrace - Missing alloc in build-std - Missing LTO and codegen-units=1 in release profile - Vext on V4 is active LOW (datasheet correct, Arduino lib was wrong) Now matches the official esp-hal v0.22.0 examples exactly. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>