zephyr: SMP not working on ESP32

Describe the bug A simple Symmetric Multiprocessing example is not working on ESP32 even though SMP seems supported

To Reproduce Simple snippet to reproduce the issue: main.c

#include <zephyr/kernel.h>
#include <zephyr/device.h>

#define THREADS_NUM	2

#define STACK_SIZE	1024
static K_THREAD_STACK_ARRAY_DEFINE(tstack, THREADS_NUM, STACK_SIZE);
static struct k_thread tthread[THREADS_NUM];

static int curr_cpu(void)
{
	unsigned int k = arch_irq_lock();
	int ret = arch_curr_cpu()->id;
	arch_irq_unlock(k);
	return ret;
}

void test_thread(void *arg1, void *arg2, void *arg3)
{
    const uint32_t counter = *(uint32_t*)arg1;
    printk("Staring thread number %d\n", counter);
    while(1)
    {
        uint32_t proc_id = curr_cpu();
        printk("Thread number %d running on cpu %d\n", counter, proc_id);
        k_sleep(K_SECONDS(1));
    }
}

int main() {
    uint32_t proc_id = curr_cpu();
    printk("Main running on cpu %d\n", proc_id);
    for (uint32_t i = 0; i < THREADS_NUM; i++) {
        
	             k_thread_create(&tthread[i], tstack[i], STACK_SIZE,
			       (k_thread_entry_t)test_thread,
			       (void *)&i, NULL, NULL,
			       K_PRIO_COOP(11) , 0, K_NO_WAIT);
	}
    
    while(1)
    {
        k_yield();
    }
    return 0;
}

prj.conf

CONFIG_SMP=y
CONFIG_MP_MAX_NUM_CPUS=2

Expected behavior One of the possible output on UART console:

Main running on cpu 0
Staring thread number 0
Thread number 0 running on cpu 1
Staring thread number 1
Thread number 1 running on cpu 0
Thread number 0 running on cpu 1
Thread number 1 running on cpu 0

Impact SMP not working

Logs and console output No output in UART. However if I disable SMP, I get the following output as expected:

Main running on cpu 0
Staring thread number 0
Thread number 0 running on cpu 0
Staring thread number 1
Thread number 1 running on cpu 0
Thread number 0 running on cpu 0
Thread number 1 running on cpu 0

Environment (please complete the following information):

• OS: Linux
• Toolchain Zephyr
• Commit SHA or Version used: latest main branch d4ed0d7a2d