diff --git a/.ci/docker/common/install_zephyr.sh b/.ci/docker/common/install_zephyr.sh
index c24bb5aa8f1..7275c7b91f6 100644
--- a/.ci/docker/common/install_zephyr.sh
+++ b/.ci/docker/common/install_zephyr.sh
@@ -2,6 +2,7 @@
 #!/bin/bash
 # Copyright (c) Meta Platforms, Inc. and affiliates.
 # All rights reserved.
+# Copyright 2026 Arm Limited and/or its affiliates.
 #
 # This source code is licensed under the BSD-style license found in the
 # LICENSE file in the root directory of this source tree.
@@ -82,6 +83,13 @@ install_prerequiresites() {
         rm -f kitware-archive.sh
     pip_install --no-cache-dir west
     pip_install pyelftools
+
+    # Zephyr SDK
+    wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.17.4/zephyr-sdk-0.17.4_linux-x86_64.tar.xz
+    tar -xf zephyr-sdk-0.17.4_linux-x86_64.tar.xz
+    rm -f zephyr-sdk-0.17.4_linux-x86_64.tar.xz*
+    # Save setup to later and this get symlinked in to another folder in the test in trunk.yml
+    #./zephyr-sdk-0.17.4/setup.sh -c -t arm-zephyr-eabi
 }
 
 install_prerequiresites
diff --git a/.ci/scripts/setup-arm-baremetal-tools.sh b/.ci/scripts/setup-arm-baremetal-tools.sh
index e27c52f5125..7f6b2d07b95 100755
--- a/.ci/scripts/setup-arm-baremetal-tools.sh
+++ b/.ci/scripts/setup-arm-baremetal-tools.sh
@@ -1,11 +1,16 @@
 #!/bin/bash
-# Copyright 2024 Arm Limited and/or its affiliates.
+# Copyright 2024,2026 Arm Limited and/or its affiliates.
 #
 # This source code is licensed under the BSD-style license found in the
 # LICENSE file in the root directory of this source tree.
 
 # NB: This function could be used to install Arm dependencies
 # Setup arm example environment (including TOSA tools)
-git config --global user.email "github_executorch@arm.com"
-git config --global user.name "Github Executorch"
+# Configure git user only if not already set
+if ! git config --get user.name >/dev/null 2>&1; then
+    git config --global user.name "Github Executorch"
+fi
+if ! git config --get user.email >/dev/null 2>&1; then
+    git config --global user.email "github_executorch@arm.com"
+fi
 bash examples/arm/setup.sh --i-agree-to-the-contained-eula ${@:-}
diff --git a/.ci/scripts/zephyr-utils.sh b/.ci/scripts/zephyr-utils.sh
index c5ea4b3d328..8415a7c29cb 100644
--- a/.ci/scripts/zephyr-utils.sh
+++ b/.ci/scripts/zephyr-utils.sh
@@ -26,8 +26,8 @@
 #
 # The blockheader is 'Install requirements' and the code block is 'pip install something ... \npip install something_else'
 # so if we run
-#   run_command_block_from_zephyr_readme 'Install requirements' '^(pip|pip3)[[:space:]]+install([[:space:]].*)?$'
-# it will make sure each lite start with pip or pip3 and then run them one by one
+#   run_command_block_from_zephyr_readme 'Install requirements'
+# it will run them one by one
 
 
 
@@ -88,8 +88,7 @@ _zephyr_utils_extract_block () {
 
 _zephyr_utils_run_simple_commands () {
   local block="$1"
-  local allowedpattern="$2"
-  local description="$3"
+  local description="$2"
   temp_dir="$(mktemp -d)"
   if [[ ! -d "${temp_dir}" ]]; then
     echo "ERROR: Failed to create temporary directory for west init" >&2
@@ -103,16 +102,6 @@ _zephyr_utils_run_simple_commands () {
     cmd="${cmd%"${cmd##*[![:space:]]}"}"
     [[ -z "${cmd}" ]] && continue
 
-    if [[ ! "${cmd}" =~ ${allowedpattern} ]]; then
-      echo "ERROR: Unexpected command in '${description}' readme block: ${cmd} must match pattern: ${allowedpattern}" >&2
-      return 1
-    fi
-
-    if [[ "${cmd}" == *";"* || "${cmd}" == *"&&"* || "${cmd}" == *"||"* || "${cmd}" == *"|"* ]]; then
-      echo "ERROR: Command chaining is not allowed in '${description}' readme block: ${cmd}" >&2
-      return 1
-    fi
-
     echo "Running: ${cmd}"
     if ! eval "${cmd}"; then
       return 1
@@ -130,7 +119,6 @@ _zephyr_utils_run_simple_commands () {
 
 run_command_block_from_zephyr_readme () {
   local blockheader="$1"
-  local allowedpattern="$2"
 
   echo "Run block '${blockheader}' from zephyr/README.md"
 
@@ -143,7 +131,7 @@ run_command_block_from_zephyr_readme () {
     echo "ERROR: Failed to locate ${blockheader} block in ${readme_path}" >&2
     return 1
   fi
-  _zephyr_utils_run_simple_commands "${block}" "${allowedpattern}" "${blockheader}"
+  _zephyr_utils_run_simple_commands "${block}" "${blockheader}"
 }
 
 # Check that zephyr/executorch.yaml match zephyr/README.md
diff --git a/.github/workflows/trunk.yml b/.github/workflows/trunk.yml
index 4ec1789846f..ff4ba94b8cc 100644
--- a/.github/workflows/trunk.yml
+++ b/.github/workflows/trunk.yml
@@ -59,6 +59,8 @@ jobs:
     name: test-arm-backend-zephyr
     uses: pytorch/test-infra/.github/workflows/linux_job.yml@main
     strategy:
+      matrix:
+        target: [ethos-u55, cortex-m55, ethos-u85]
       fail-fast: false
     with:
       runner: linux.2xlarge
@@ -75,6 +77,13 @@ jobs:
         # Test zephyr backend
         set -e
 
+        # Support comma-separated TARGET_LIST or ${{ matrix.target }} list, e.g., TARGET_LIST="ethos-u55,cortex-m55,ethos-u85"
+        if [ -z "${TARGET_LIST:-}" ]; then
+          IFS=',' read -r -a TARGETS <<< "${{ matrix.target }}"
+        else
+          IFS=',' read -r -a TARGETS <<< "${TARGET_LIST}"
+        fi
+
         export EXECUTORCH_PROJ_ROOT=$(realpath $(pwd))
 
         # Source utility scripts
@@ -86,32 +95,44 @@ jobs:
 
         # Based on instruction in zephyr/README.md
 
-        # Allowed only "pip install ..." commands
-        allowedpattern='^(pip|pip3)[[:space:]]+install([[:space:]].*)?$'
-        run_command_block_from_zephyr_readme 'Install requirements' "${allowedpattern}"
+        run_command_block_from_zephyr_readme "<!-- RUN install_reqs -->"
 
+        # Make sure to backup the zephyr_scratch folder if it exists to allow for local
+        # testing that does not lose code/data
+        if [ -d "zephyr_scratch" ]; then
+          mv "zephyr_scratch" "zephyr_scratch.backup.$(date +%Y%m%d%H%M%S)"
+        fi
         mkdir -p zephyr_scratch/
 
         cd zephyr_scratch
         export ZEPHYR_PROJ_ROOT=$(realpath $(pwd))
 
-        # TODO @Bujji: Should see if this can be moved into the docker image itself
-        wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.17.4/zephyr-sdk-0.17.4_linux-x86_64.tar.xz
-        tar -xf zephyr-sdk-0.17.4_linux-x86_64.tar.xz
-        rm -f zephyr-sdk-0.17.4_linux-x86_64.tar.xz*
+        echo "---- Zephyr SDK ----"
+        # Use ZephyrSDK if on the disk (e.g. setup in the docker)
+        # Check for a zephyr-sdk-0.17.4 directory and make a symlink if found in parent directories
+        if sdk_dir=$(find ../../.. -maxdepth 4 -type d -name 'zephyr-sdk-0.17.4' -print -quit) && [ -n "${sdk_dir}" ]; then
+          echo "---- Found pre downloaded Zephyr SDK in ${sdk_dir} ----"
+          ln -s "${sdk_dir}" .
+        fi
+
+        # Download and setup Zephyr SDK 0.17.4 if not already present
+        if [ ! -d "zephyr-sdk-0.17.4" ]; then
+          echo "---- Downloading Zephyr SDK ----"
+          wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.17.4/zephyr-sdk-0.17.4_linux-x86_64.tar.xz
+          tar -xf zephyr-sdk-0.17.4_linux-x86_64.tar.xz
+          rm -f zephyr-sdk-0.17.4_linux-x86_64.tar.xz*
+        fi
 
         ./zephyr-sdk-0.17.4/setup.sh -c -t arm-zephyr-eabi
         export ZEPHYR_SDK_INSTALL_DIR=$(realpath ./zephyr-sdk-0.17.4)
 
         cd ${ZEPHYR_PROJ_ROOT}
 
-        # Allowed only "west init ..." commands
-        run_command_block_from_zephyr_readme 'Setup zephyr repo' '^west[[:space:]]+init([[:space:]].*)?$'
+        run_command_block_from_zephyr_readme "<!-- RUN west_init -->"
 
         cp ${EXECUTORCH_PROJ_ROOT}/zephyr/executorch.yaml zephyr/submanifests/
 
-        # Allowed only "west ..." commands
-        run_command_block_from_zephyr_readme 'Add ExecuTorch to Zephyr' '^west([[:space:]].*)?$'
+        run_command_block_from_zephyr_readme "<!-- RUN west_config -->"
 
         # Switch to executorch in this PR e.g. replace modules/lib/executorch with the root folder of this repo
         # instead of doing a re-checkout and figure out the correct commit hash etc
@@ -119,55 +140,42 @@ jobs:
         ln -s ${EXECUTORCH_PROJ_ROOT} modules/lib/executorch
 
         # Setup git local user for Executorch git to allows modules/lib/executorch/examples/arm/setup.sh be run inside CI later
-        git config --global user.email "github_executorch@arm.com"
-        git config --global user.name "Github Executorch"
-
-        # Allowed only "cd/git/install_executorch.sh" commands
-        run_command_block_from_zephyr_readme 'Setup ExecuTorch' '^(cd [^;&|]+|git submodule([[:space:]].*)?|\./install_executorch\.sh([[:space:]].*)?)$'
-
-        # As "cd" was an allowed command in the last run_command_block_from_zephyr_readme
-        # lets ensure we are back to the expected folder
-        cd ${ZEPHYR_PROJ_ROOT}
-
-        # Allowed only "examples/arm/setup.sh and source of the generated script" command
-        run_command_block_from_zephyr_readme 'Install TOSA, vela and FVPs' '^(modules/lib/executorch/examples/arm/setup\.sh([[:space:]].*)?|(source|\.) modules/lib/executorch/examples/arm/arm-scratch/setup_path\.sh)$'
-
-        echo "===== Corstone300 FVP setup ===="
-
-        # Allowed only "export" command
-        run_command_block_from_zephyr_readme 'Config Zephyr Corstone300 FVP' '^export([[:space:]].*)$'
-
-        echo "---- Ethos-U55 ----"
-        rm -Rf build
-
-        # Allowed only "aot_arm_compiler" command
-        run_command_block_from_zephyr_readme 'Prepare the Ethos-U55 PTE model' '^python -m modules.lib.executorch.examples.arm.aot_arm_compiler([[:space:]].*)?$'
-
-        # Allowed only "west build" command
-        run_command_block_from_zephyr_readme 'Run the Ethos-U55 PTE model' '^west build([[:space:]].*)?$'
+        # Configure git user only if not already set
+        if ! git config --get user.name >/dev/null 2>&1; then
+          git config --global user.name "Github Executorch"
+        fi
+        if ! git config --get user.email >/dev/null 2>&1; then
+          git config --global user.email "github_executorch@arm.com"
+        fi
 
-        echo "---- Cortex-M55 ----"
-        rm -Rf build
+        run_command_block_from_zephyr_readme "<!-- RUN install_executorch -->"
 
-        # Allowed only "aot_arm_compiler" command
-        run_command_block_from_zephyr_readme 'Prepare the Cortex-M55 PTE model' '^python -m modules.lib.executorch.examples.arm.aot_arm_compiler([[:space:]].*)?$'
+        run_command_block_from_zephyr_readme "<!-- RUN install_arm_tools -->"
 
-        # Allowed only "west build" command
-        run_command_block_from_zephyr_readme 'Run the Cortex-M55 PTE model' '^west build([[:space:]].*)?$'
+        for TARGET in "${TARGETS[@]}"; do
+          TARGET="$(echo "$TARGET" | xargs)" # trim whitespace
 
-        echo "===== Corstone320 FVP setup ===="
+          echo "---- ${TARGET} ----"
+          rm -Rf build
 
-        # Allowed only "export" command
-        run_command_block_from_zephyr_readme 'Config Zephyr Corstone320 FVP' '^export([[:space:]].*)$'
+          if [[ ${TARGET} == "ethos-u55" || ${TARGET} == "cortex-m55" ]]; then
+            BOARD="corstone300"
+          elif [[ ${TARGET} == "ethos-u85" ]]; then
+            BOARD="corstone320"
+          else
+            echo "Fail unsupport target selection ${TARGET}"
+            exit 1
+          fi
 
-        echo "---- Ethos-U85 ----"
-        rm -Rf build
+          echo "---- ${TARGET} Board ${BOARD} FVP setup ----"
+          run_command_block_from_zephyr_readme "<!-- RUN setup_${BOARD}_fvp -->"
 
-        # Allowed only "aot_arm_compiler" command
-        run_command_block_from_zephyr_readme 'Prepare the Ethos-U85 PTE model' '^python -m modules.lib.executorch.examples.arm.aot_arm_compiler([[:space:]].*)?$'
+          echo "---- ${TARGET} Create PTE ----"
+          run_command_block_from_zephyr_readme "<!-- RUN test_${TARGET}_generate_pte -->"
 
-        # Allowed only "west build" command
-        run_command_block_from_zephyr_readme 'Run the Ethos-U85 PTE model' '^west build([[:space:]].*)?$'
+          echo "---- ${TARGET} Build and run ----"
+          run_command_block_from_zephyr_readme "<!-- RUN test_${TARGET}_build_and_run -->"
+        done
 
   test-models-linux-aarch64:
     name: test-models-linux-aarch64
diff --git a/backends/arm/test/test_github_trunk_zephyr.sh b/backends/arm/test/test_github_trunk_zephyr.sh
index d7b7351b16a..36d4e40411c 100755
--- a/backends/arm/test/test_github_trunk_zephyr.sh
+++ b/backends/arm/test/test_github_trunk_zephyr.sh
@@ -8,12 +8,68 @@
 # instructions are correct.by running the tests content of test-arm-backend-zephyr in
 # github/workflows/trunk.yml as a bash script, (ignoring the conda commands)
 # This is mostly useful for testing this before upstreaming or for debugging CI issues.
+# Or a way to setup zephyrOS so you can play with it.
+# Parse optional argument to set TARGET_LIST environment variable
 
-set -eu pipefail
+# Target list (--target-list) adds a comma separated list of targets you want to test
+# matching the zephyr/README.md tags:
+#    <!-- RUN test_XX_generate_pte -->
+#    <!-- RUN test_XX_build_and_run -->
+# e.g. one or more of this: ethos-u55,cortex-m55,ethos-u85
+
+set -euo pipefail
 
 SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 ROOT_DIR="$(cd "${SCRIPT_DIR}" && pwd)"
 
+TARGET_LIST="${TARGET_LIST:-ethos-u55,cortex-m55,ethos-u85}"
+usage() {
+    cat <<EOF
+Usage: $(basename "$0") [OPTIONS]
+
+Options:
+  -t, --target-list LIST      Comma-separated targets (default: ${TARGET_LIST})
+  -h, --help                  Show this help and exit
+
+You can also set TARGET_LIST environment variable.
+Examples:
+  $(basename "$0")
+  $(basename "$0") -t ethos-u55,cortex-m55
+  $(basename "$0") --target-list=ethos-u85
+EOF
+}
+
+# No-arg support: loop simply won't run and defaults are used
+while [[ $# -gt 0 ]]; do
+    case "$1" in
+        -h|--help)
+            usage
+            exit 0
+            ;;
+        -t|--target-list)
+            if [[ -z "${2:-}" || "$2" == -* ]]; then
+                echo "Error: $1 requires a non-empty argument."
+                usage
+                exit 2
+            fi
+            TARGET_LIST="$2"
+            shift 2
+            ;;
+        --target-list=*)
+            TARGET_LIST="${1#*=}"
+            shift
+            ;;
+        *)
+            echo "Error: Unknown option: $1"
+            usage
+            exit 2
+            ;;
+    esac
+done
+export TARGET_LIST
+
+echo "Running .github/workflows/trunk.yml testing ${TARGET_LIST} from zephyr/README.md"
+
 SCRIPT_CONTENT="$(python - <<'PY'
 from ruamel.yaml import YAML
 with open(".github/workflows/trunk.yml") as f:
diff --git a/zephyr/README.md b/zephyr/README.md
index 47b004d4b48..d8e2ae18c27 100644
--- a/zephyr/README.md
+++ b/zephyr/README.md
@@ -15,11 +15,13 @@ source .zephyr_venv/bin/activate
 ```
 
 Install requirements
+<!-- RUN install_reqs -->
 ```
 pip install west cmake==3.29 pyelftools ninja jsonschema
 ```
 
 Setup zephyr repo
+<!-- RUN west_init -->
 ```
 west init --manifest-rev v4.3.0
 ```
@@ -51,6 +53,7 @@ manifest:
 ## Run west config and update:
 
 Add ExecuTorch to Zephyr
+<!-- RUN west_config -->
 ```
 west config manifest.project-filter -- -.*,+zephyr,+executorch,+cmsis,+cmsis_6,+cmsis-nn,+hal_ethos_u
 west update
@@ -59,6 +62,7 @@ west update
 ## Setup and install ExecuTorch
 
 Setup ExecuTorch
+<!-- RUN install_executorch -->
 ```
 cd modules/lib/executorch/
 git submodule sync
@@ -74,6 +78,7 @@ This is needed to convert python models to PTE files for Ethos&trade;-Ux5 and al
 Make sure to read and agree to the Corstone&trade; eula
 
 Install TOSA, vela and FVPs
+<!-- RUN install_arm_tools -->
 ```
 modules/lib/executorch/examples/arm/setup.sh --i-agree-to-the-contained-eula
 . modules/lib/executorch/examples/arm/arm-scratch/setup_path.sh
@@ -91,6 +96,7 @@ To run you need to point of the path to the installed Corstone&trade; FVP and yo
 Set up FVP paths and macs used, this will also set shutdown_on_eot so the FVP auto stops after it has run the example.
 
 Config Zephyr Corstone300 FVP
+<!-- RUN setup_corstone300_fvp -->
 ```
 export FVP_ROOT=$PWD/modules/lib/executorch/examples/arm/arm-scratch/FVP-corstone300
 export ARMFVP_BIN_PATH=${FVP_ROOT}/models/Linux64_GCC-9.3
@@ -102,6 +108,7 @@ export ARMFVP_EXTRA_FLAGS="-C mps3_board.uart0.shutdown_on_eot=1 -C ethosu.num_m
 #### Prepare a PTE model file
 
 Prepare the Ethos-U55 PTE model
+<!-- RUN test_ethos-u55_generate_pte -->
 ```
 python -m modules.lib.executorch.examples.arm.aot_arm_compiler --model_name=modules/lib/executorch/examples/arm/example_modules/add.py --quantize --delegate -t ethos-u55-128 --output=add_u55_128.pte
 ```
@@ -111,6 +118,7 @@ python -m modules.lib.executorch.examples.arm.aot_arm_compiler --model_name=modu
 #### Build and run
 
 Run the Ethos-U55 PTE model
+<!-- RUN test_ethos-u55_build_and_run -->
 ```
 west build -b mps3/corstone300/fvp modules/lib/executorch/examples/arm/zephyr -t run -- -DET_PTE_FILE_PATH=add_u55_128.pte
 ```
@@ -120,6 +128,7 @@ west build -b mps3/corstone300/fvp modules/lib/executorch/examples/arm/zephyr -t
 #### Prepare a PTE model file
 
 Prepare the Cortex-M55 PTE model
+<!-- RUN test_cortex-m55_generate_pte -->
 ```
 python -m modules.lib.executorch.examples.arm.aot_arm_compiler --model_name=modules/lib/executorch/examples/arm/example_modules/add.py --quantize --output=add_m55.pte
 ```
@@ -127,6 +136,7 @@ python -m modules.lib.executorch.examples.arm.aot_arm_compiler --model_name=modu
 #### Build and run
 
 Run the Cortex-M55 PTE model
+<!-- RUN test_cortex-m55_build_and_run -->
 ```
 west build -b mps3/corstone300/fvp modules/lib/executorch/examples/arm/zephyr -t run -- -DET_PTE_FILE_PATH=add_m55.pte
 ```
@@ -138,10 +148,11 @@ west build -b mps3/corstone300/fvp modules/lib/executorch/examples/arm/zephyr -t
 Set up FVP paths, libs and macs used, this will also set shutdown_on_eot so the FVP auto stops after it has run the example.
 
 Config Zephyr Corstone320 FVP
+<!-- RUN setup_corstone320_fvp -->
 ```
 export FVP_ROOT=$PWD/modules/lib/executorch/examples/arm/arm-scratch/FVP-corstone320
-export LD_LIBRARY_PATH=${FVP_ROOT}/python/lib:${ARMFVP_BIN_PATH}:${LD_LIBRARY_PATH}
 export ARMFVP_BIN_PATH=${FVP_ROOT}/models/Linux64_GCC-9.3
+export LD_LIBRARY_PATH=${FVP_ROOT}/python/lib:${ARMFVP_BIN_PATH}:${LD_LIBRARY_PATH}
 export ARMFVP_EXTRA_FLAGS="-C mps4_board.uart0.shutdown_on_eot=1 -C mps4_board.subsystem.ethosu.num_macs=256"
 ```
 
@@ -150,6 +161,7 @@ export ARMFVP_EXTRA_FLAGS="-C mps4_board.uart0.shutdown_on_eot=1 -C mps4_board.s
 #### Prepare a PTE model file
 
 Prepare the Ethos-U85 PTE model
+<!-- RUN test_ethos-u85_generate_pte -->
 ```
 python -m modules.lib.executorch.examples.arm.aot_arm_compiler --model_name=modules/lib/executorch/examples/arm/example_modules/add.py --quantize --delegate -t ethos-u85-256 --output=add_u85_256.pte
 ```
@@ -159,6 +171,7 @@ python -m modules.lib.executorch.examples.arm.aot_arm_compiler --model_name=modu
 #### Build and run
 
 Run the Ethos-U85 PTE model
+<!-- RUN test_ethos-u85_build_and_run -->
 ```
 west build -b mps4/corstone320/fvp modules/lib/executorch/examples/arm/zephyr -t run -- -DET_PTE_FILE_PATH=add_u85_256.pte
 ```