diff --git a/.github/workflows/build_at.yml b/.github/workflows/build_at.yml
index 2c08c8d..4de3c00 100644
--- a/.github/workflows/build_at.yml
+++ b/.github/workflows/build_at.yml
@@ -49,3 +49,102 @@ jobs:
             grep esp_wifi_remote_init ${dir}sample.map | grep libwifi_remote_over_at.a || exit 1
             echo -e "esp_wifi_remote_init linked from libwifi_remote_over_at"
           done
+
+
+  build_wrmt_over_at_slave:
+    if: contains(github.event.pull_request.labels.*.name, 'at') || github.event_name == 'push'
+    name: Build WRMT-AT Slave
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+      - name: Checkout esp-protocols
+        uses: actions/checkout@v3
+        with:
+          repository: espressif/esp-protocols
+          ref: mqtt_cxx-v0.5.0
+          path: protocols
+      - name: Checkout idf
+        uses: actions/checkout@v3
+        with:
+          repository: espressif/esp-idf
+          ref: 8ad0d3d8f2faab752635bee36070313c47c07a13
+          path: idf
+      - name: Build modem_sim from esp-protocols
+        shell: bash
+        run: |
+          export IDF_PATH=$GITHUB_WORKSPACE/idf
+          ${IDF_PATH}/install.sh
+          cd $GITHUB_WORKSPACE/protocols/common_components/modem_sim
+          ./install.sh PLATFORM_ESP32C6 ESP32C6-4MB 22 23
+          source export.sh
+          idf.py build
+          ${GITHUB_WORKSPACE}/ci/clean_build_artifacts.sh build
+          zip -qur artifacts.zip build
+          mv artifacts.zip ${GITHUB_WORKSPACE}/
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wrmt_over_at_slave
+          path: artifacts.zip
+          if-no-files-found: error
+
+  build_wrmt_over_at_host:
+    name: Build WRMT-AT Host
+    strategy:
+      matrix:
+        idf_ver: ["latest"]
+    runs-on: ubuntu-latest
+    container: espressif/idf:${{ matrix.idf_ver }}
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+      - name: Build with IDF-${{ matrix.idf_ver }}
+        shell: bash
+        run: |
+          ${IDF_PATH}/install.sh --enable-ci
+          . ${IDF_PATH}/export.sh
+          cd ./components/esp_wifi_remote/examples/mqtt
+          # Add wifi_remote_over_at dependency to idf_component.yml (manually with override_path)
+          echo -e "  wifi_remote_over_at:\n    version: '*'\n    override_path: ../../../../wifi_remote_over_at" >> main/idf_component.yml
+          idf.py build -D SDKCONFIG_DEFAULTS=custom.sdkconfig.at
+          ${GITHUB_WORKSPACE}/ci/clean_build_artifacts.sh build
+          zip -qur artifacts.zip build
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wrmt_over_at_host
+          path: ./components/esp_wifi_remote/examples/mqtt/artifacts.zip
+          if-no-files-found: error
+
+  run_example:
+    # Skip running on forks since it won't have access to secrets
+    if: github.repository == 'espressif/esp-wifi-remote'
+    name: AT target test
+    needs:
+      - build_wrmt_over_at_slave
+      - build_wrmt_over_at_host
+    strategy:
+      matrix:
+        idf_ver: ["latest"]
+    runs-on: [self-hosted, wifi-remote]
+    container:
+      image: python:3.11-bookworm
+      options: --privileged # Privileged mode has access to serial ports
+    env:
+      TEST_DIR: components/esp_wifi_remote/examples
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/download-artifact@v4
+        with:
+          name: wrmt_over_at_host
+          path: ${{ env.TEST_DIR }}/mqtt/
+      - uses: actions/download-artifact@v4
+        with:
+          name: wrmt_over_at_slave
+          path: ${{ env.TEST_DIR }}/server/
+      - name: Run Test
+        working-directory: ${{ env.TEST_DIR }}
+        run: |
+          python -m pip install pytest-embedded-serial-esp pytest-embedded-idf pytest-rerunfailures pytest-timeout pytest-ignore-test-results
+          unzip server/artifacts.zip -d server/
+          unzip mqtt/artifacts.zip -d mqtt/
+          python -m pytest --log-cli-level DEBUG --target esp32c6,esp32p4
diff --git a/ci/clean_build_artifacts.sh b/ci/clean_build_artifacts.sh
new file mode 100755
index 0000000..b3d139c
--- /dev/null
+++ b/ci/clean_build_artifacts.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+shopt -s extglob  # enable extended globs for selective cleanup
+BUILD_DIR=$1
+rm -rf $BUILD_DIR/!(*.bin|*.elf|*.map|bootloader|config|partition_table|customized_partitions|flasher_args.json|download.config|factory)
+if [ -d $BUILD_DIR/bootloader ]; then rm -rf $BUILD_DIR/bootloader/!(*.bin); fi
+if [ -d $BUILD_DIR/partition_table ]; then rm -rf $BUILD_DIR/partition_table/!(*.bin); fi
+shopt -u extglob  # disable extended globs
diff --git a/components/esp_wifi_remote/examples/mqtt/custom.sdkconfig.at b/components/esp_wifi_remote/examples/mqtt/custom.sdkconfig.at
new file mode 100644
index 0000000..caa62eb
--- /dev/null
+++ b/components/esp_wifi_remote/examples/mqtt/custom.sdkconfig.at
@@ -0,0 +1,8 @@
+CONFIG_IDF_TARGET="esp32p4"
+CONFIG_ESP_WIFI_REMOTE_LIBRARY_CUSTOM=y
+CONFIG_ESP_WIFI_SSID="local_mosquitto"
+CONFIG_ESP_WIFI_PASSWORD="local_mosquitto_password"
+CONFIG_WIFI_RMT_AT_UART_TX_PIN=47
+CONFIG_WIFI_RMT_AT_UART_RX_PIN=48
+CONFIG_ESP32P4_SELECTS_REV_LESS_V3=y
+CONFIG_BROKER_URL="mqtt://192.168.4.1"
diff --git a/components/esp_wifi_remote/examples/pytest_eppp.py b/components/esp_wifi_remote/examples/pytest_eppp.py
index d6c19bc..1d477b8 100644
--- a/components/esp_wifi_remote/examples/pytest_eppp.py
+++ b/components/esp_wifi_remote/examples/pytest_eppp.py
@@ -21,6 +21,8 @@ def test_wifi_remote_eppp(dut: Tuple[IdfDut, IdfDut]) -> None:
     # Check for wifi station connected event (different for hosted and eppp)
     if dut[1].app.sdkconfig.get('ESP_WIFI_REMOTE_LIBRARY_HOSTED') is True:
         server.expect('slave_rpc: Sta mode connected', timeout=100)
+    elif dut[1].app.sdkconfig.get('ESP_WIFI_REMOTE_LIBRARY_CUSTOM') is True:
+        server.expect('Got IPv4 event: Interface', timeout=100)
     else:
         server.expect('rpc_server: Received WIFI event 4', timeout=100)
     client.expect('MQTT_EVENT_CONNECTED', timeout=100)
diff --git a/components/wifi_remote_over_at/.cz.yaml b/components/wifi_remote_over_at/.cz.yaml
index ae51f1e..d7666f7 100644
--- a/components/wifi_remote_over_at/.cz.yaml
+++ b/components/wifi_remote_over_at/.cz.yaml
@@ -3,6 +3,6 @@ commitizen:
   bump_message: 'bump(at): $current_version -> $new_version'
   pre_bump_hooks: python ../../ci/changelog.py wifi_remote_over_at
   tag_format: wifi_rmt_at-v$version
-  version: 0.1.0
+  version: 0.2.0
   version_files:
   - idf_component.yml
diff --git a/components/wifi_remote_over_at/CHANGELOG.md b/components/wifi_remote_over_at/CHANGELOG.md
index bac13f1..0c3e7c2 100644
--- a/components/wifi_remote_over_at/CHANGELOG.md
+++ b/components/wifi_remote_over_at/CHANGELOG.md
@@ -1,5 +1,11 @@
 # Changelog
 
+## [0.2.0](https://github.com/espressif/esp-wifi-remote/commits/wifi_rmt_at-v0.2.0)
+
+### Features
+
+- Add target test for wrmt-over-at ([44b9830](https://github.com/espressif/esp-wifi-remote/commit/44b9830))
+
 ## [0.1.0](https://github.com/espressif/esp-wifi-remote/commits/wifi_rmt_at-v0.1.0)
 
 ### Features
diff --git a/components/wifi_remote_over_at/README.md b/components/wifi_remote_over_at/README.md
index 5bc5f7a..f20f349 100644
--- a/components/wifi_remote_over_at/README.md
+++ b/components/wifi_remote_over_at/README.md
@@ -5,3 +5,26 @@
 This component has no public API, it only provides definitions of `esp_wifi_remote` functions.
 
 It uses `esp_modem` as a host implementation, and `esp-at` at the communication coprocessor side.
+
+## Build the host side
+
+`esp_wifi_remote` does not provide a backend selection for `wifi_remote_over_at` directly. You need to choose "custom implementation" and add this component to the project dependencies.
+- set  `CONFIG_ESP_WIFI_REMOTE_LIBRARY_CUSTOM=y`
+- run `idf.py add-dependency wifi_remote_over_at`
+
+## Build the slave side
+
+The slave side uses `modem_sim` component from https://github.com/espressif/esp-protocols repository.
+To build it, download:
+- ESP-IDF v5.4@8ad0d3d8
+- esp-protocols mqtt_cxx-v0.5.0
+
+### Configure ESP-AT
+- `cd common_components/modem_sim`
+- `./install.sh [platform] [module] [tx-pin] [rx-pin]`
+    - for example `./install.sh PLATFORM_ESP32C6 ESP32C6-4MB 22 23` for esp32c6 on the P4-C6 board
+- `source export.sh`
+
+### Build, flash, monitor
+
+- `idf.py build flash monitor`
diff --git a/components/wifi_remote_over_at/idf_component.yml b/components/wifi_remote_over_at/idf_component.yml
index 7834727..b98e7fa 100644
--- a/components/wifi_remote_over_at/idf_component.yml
+++ b/components/wifi_remote_over_at/idf_component.yml
@@ -1,4 +1,4 @@
-version: 0.1.0
+version: 0.2.0
 url: https://github.com/espressif/esp-wifi-remote/tree/master/components/wifi_remote_over_at
 description: AT based implementation of wifi_remote APIs
 license: Apache-2.0