diff --git a/CMakeLists.txt b/CMakeLists.txt
index 20ef5b9689..b4dbce1bc2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -251,7 +251,9 @@ if(CMAKE_C_COMPILER_ID MATCHES "GNU")
 endif()
 
 if(CMAKE_C_COMPILER_ID MATCHES "Clang")
-    list(APPEND compile_options "-fno-use-cxa-atexit")
+    list(APPEND compile_options "-fno-use-cxa-atexit")  # TODO IDF-10934
+else()
+    list(APPEND cxx_compile_options "-fuse-cxa-atexit")
 endif()
 
 if(COMPILER_RT_LIB_NAME)
diff --git a/components/cxx/cxx_guards.cpp b/components/cxx/cxx_guards.cpp
index 0a76173769..e4f9f905a6 100644
--- a/components/cxx/cxx_guards.cpp
+++ b/components/cxx/cxx_guards.cpp
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -210,6 +210,12 @@ extern "C" void __cxa_guard_abort(__guard* pg) throw()
     }
 }
 
+/* Originally, this should come with crtbegin.o from the toolchain (if GCC is configured with --enable-__cxa_atexit).
+   Since we do not link with crtbegin.o and have not configured GCC with --enable-__cxa_atexit, it is declared here.
+   Note: It should have a unique value in every shared object; in the main program its value is zero. */
+extern "C" void *__dso_handle __attribute__((__visibility__("hidden")));
+void *__dso_handle = 0;
+
 /**
  * Dummy function used to force linking this file instead of the same one in libstdc++.
  * This works via -u __cxa_guard_dummy flag in component.mk
diff --git a/components/cxx/test_apps/general/main/test_cxx_general.cpp b/components/cxx/test_apps/general/main/test_cxx_general.cpp
index 0e483ab655..858b16bc16 100644
--- a/components/cxx/test_apps/general/main/test_cxx_general.cpp
+++ b/components/cxx/test_apps/general/main/test_cxx_general.cpp
@@ -197,7 +197,7 @@ struct PriorityInitTest {
 
 int PriorityInitTest::order = 0;
 
-// init_priority objects are initialized from the lowest to the heighest priority number
+// init_priority objects are initialized from the lowest to the highest priority number
 // Default init_priority is always the lowest (highest priority number)
 PriorityInitTest g_static_init_priority_test2;
 PriorityInitTest g_static_init_priority_test1 __attribute__((init_priority(1000)));
@@ -243,6 +243,36 @@ TEST_CASE("can use std::vector", "[misc]")
     TEST_ASSERT_EQUAL(51, std::accumulate(std::begin(v), std::end(v), 0));
 }
 
+static volatile bool is_tls_class_destructor_called;
+struct TestTLS {
+    TestTLS() { }
+    ~TestTLS()
+    {
+        is_tls_class_destructor_called = true;
+    }
+    void foo() { }
+};
+
+thread_local TestTLS s_testTLS;
+
+void test_thread_local_destructors(void * arg)
+{
+    s_testTLS.foo();
+    xSemaphoreGive(s_slow_init_sem);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("call destructors for thread_local classes CXX", "[misc]")
+{
+    is_tls_class_destructor_called = false;
+    s_slow_init_sem = xSemaphoreCreateCounting(1, 0);
+    xTaskCreate(test_thread_local_destructors, "test_thread_local_destructors", 2048, NULL, 10, NULL);
+    vTaskDelay(1); /* Triggers IDLE task to call prvCheckTasksWaitingTermination() which cleans task-specific data */
+    TEST_ASSERT_TRUE(xSemaphoreTake(s_slow_init_sem, 500 / portTICK_PERIOD_MS));
+    vSemaphoreDelete(s_slow_init_sem);
+    TEST_ASSERT_TRUE(is_tls_class_destructor_called);
+}
+
 /* These test cases pull a lot of code from libstdc++ and are disabled for now
  */
 #if 0
@@ -291,6 +321,7 @@ TEST_CASE("stack smashing protection CXX", "[stack_smash]")
 
 extern "C" void app_main(void)
 {
+    s_testTLS.foo(); /* allocates memory that will be reused */
     printf("CXX GENERAL TEST\n");
     unity_run_menu();
 }