diff --git a/library.properties b/library.properties
index b95287a64..c84bd63dd 100644
--- a/library.properties
+++ b/library.properties
@@ -7,4 +7,4 @@ paragraph=Arduino application for Adafruit.io WipperSnapper
 category=Communication
 url=https://github.com/adafruit/Adafruit_Wippersnapper_Arduino
 architectures=*
-depends=Adafruit NeoPixel, Adafruit SPIFlash, ArduinoJson, Adafruit DotStar, Adafruit INA219, Adafruit LTR329 and LTR303, Adafruit LTR390 Library, Adafruit SleepyDog Library, Adafruit TMP117, Adafruit TinyUSB Library, Adafruit AHTX0, Adafruit BME280 Library, Adafruit BMP280 Library, Adafruit BMP3XX Library, Adafruit DPS310, Adafruit SCD30, Adafruit SGP30 Sensor, Adafruit SGP40 Sensor, Sensirion I2C SCD4x, Sensirion I2C SEN5X, arduino-sht, Adafruit Si7021 Library, Adafruit MQTT Library, Adafruit MS8607, Adafruit MCP9808 Library, Adafruit MCP9600 Library, Adafruit MPL115A2, Adafruit MPRLS Library, Adafruit TSL2591 Library, Adafruit_VL53L0X, Adafruit VL53L1X, Adafruit_VL6180X, Adafruit PM25 AQI Sensor, Adafruit VCNL4020 Library, Adafruit VCNL4040, Adafruit VEML7700 Library, Adafruit LC709203F, Adafruit LPS2X, Adafruit LPS35HW, Adafruit seesaw Library, Adafruit BME680 Library, Adafruit MAX1704X, Adafruit ADT7410 Library, Adafruit HTS221, Adafruit HTU21DF Library, Adafruit HTU31D Library, Adafruit PCT2075, hp_BH1750, ENS160 - Adafruit Fork
+depends=Adafruit NeoPixel, Adafruit SPIFlash, ArduinoJson, Adafruit DotStar, Adafruit INA219, Adafruit LTR329 and LTR303, Adafruit LTR390 Library, Adafruit SleepyDog Library, Adafruit TMP117, Adafruit TinyUSB Library, Adafruit AHTX0, Adafruit BME280 Library, Adafruit BMP280 Library, Adafruit BMP3XX Library, Adafruit DPS310, Adafruit SCD30, Adafruit SGP30 Sensor, Adafruit SGP40 Sensor, Sensirion I2C SCD4x, Sensirion I2C SEN5X, arduino-sht, Adafruit Si7021 Library, Adafruit MQTT Library, Adafruit MS8607, Adafruit MCP9808 Library, Adafruit MCP9600 Library, Adafruit MPL115A2, Adafruit MPRLS Library, Adafruit TSL2591 Library, Adafruit_VL53L0X, Adafruit VL53L1X, STM32duino VL53L4CD, Adafruit_VL6180X, Adafruit PM25 AQI Sensor, Adafruit VCNL4020 Library, Adafruit VCNL4040, Adafruit VEML7700 Library, Adafruit LC709203F, Adafruit LPS2X, Adafruit LPS35HW, Adafruit seesaw Library, Adafruit BME680 Library, Adafruit MAX1704X, Adafruit ADT7410 Library, Adafruit HTS221, Adafruit HTU21DF Library, Adafruit HTU31D Library, Adafruit PCT2075, hp_BH1750, ENS160 - Adafruit Fork
diff --git a/platformio.ini b/platformio.ini
index 2918aad85..8ed0b5ced 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -50,6 +50,7 @@ lib_deps =
     adafruit/Adafruit TSL2591 Library
     adafruit/Adafruit_VL53L0X
     adafruit/Adafruit VL53L1X
+    stm32duino/STM32duino VL53L4CD
     adafruit/Adafruit_VL6180X
     adafruit/Adafruit PM25 AQI Sensor
     adafruit/Adafruit VEML7700 Library
@@ -65,7 +66,7 @@ lib_deps =
     adafruit/Adafruit TouchScreen
     adafruit/Adafruit MQTT Library
     bblanchon/ArduinoJson
-    PaulStoffregen/OneWire
+    https://github.com/PaulStoffregen/OneWire.git
     https://github.com/milesburton/Arduino-Temperature-Control-Library.git
     https://github.com/Sensirion/arduino-sht.git
     https://github.com/Sensirion/arduino-i2c-scd4x.git
@@ -170,6 +171,8 @@ extra_scripts = pre:rename_usb_config.py
 extends = common:esp32
 board = adafruit_feather_esp32s3_tft
 build_flags = -DARDUINO_ADAFRUIT_FEATHER_ESP32S3_TFT
+;set partition to tinyuf2-partitions-4MB.csv as of idf 5.1
+board_build.partitions = tinyuf2-partitions-4MB.csv
 extra_scripts = pre:rename_usb_config.py
 
 ; Adafruit Feather ESP32-S3 Reverse TFT
@@ -177,6 +180,8 @@ extra_scripts = pre:rename_usb_config.py
 extends = common:esp32
 board = adafruit_feather_esp32s3_reversetft
 build_flags = -DARDUINO_ADAFRUIT_FEATHER_ESP32S3_REVTFT
+;set partition to tinyuf2-partitions-4MB.csv as of idf 5.1
+board_build.partitions = tinyuf2-partitions-4MB.csv
 extra_scripts = pre:rename_usb_config.py
 
 ; Adafruit Magtag ESP32-S2
diff --git a/src/components/i2c/WipperSnapper_I2C.cpp b/src/components/i2c/WipperSnapper_I2C.cpp
index 0bf7690d0..9b0d3ffbb 100644
--- a/src/components/i2c/WipperSnapper_I2C.cpp
+++ b/src/components/i2c/WipperSnapper_I2C.cpp
@@ -680,6 +680,17 @@ bool WipperSnapper_Component_I2C::initI2CDevice(
     _vl53l1x->configureDriver(msgDeviceInitReq);
     drivers.push_back(_vl53l1x);
     WS_DEBUG_PRINTLN("VL53L1X Initialized Successfully!");
+  } else if (strcmp("vl53l4cd", msgDeviceInitReq->i2c_device_name) == 0) {
+    _vl53l4cd = new WipperSnapper_I2C_Driver_VL53L4CD(this->_i2c, i2cAddress);
+    if (!_vl53l4cd->begin()) {
+      WS_DEBUG_PRINTLN("ERROR: Failed to initialize VL53L4CD!");
+      _busStatusResponse =
+          wippersnapper_i2c_v1_BusResponse_BUS_RESPONSE_DEVICE_INIT_FAIL;
+      return false;
+    }
+    _vl53l4cd->configureDriver(msgDeviceInitReq);
+    drivers.push_back(_vl53l4cd);
+    WS_DEBUG_PRINTLN("VL53L4CD Initialized Successfully!");
   } else if (strcmp("vl6180x", msgDeviceInitReq->i2c_device_name) == 0) {
     _vl6180x = new WipperSnapper_I2C_Driver_VL6180X(this->_i2c, i2cAddress);
     if (!_vl6180x->begin()) {
diff --git a/src/components/i2c/WipperSnapper_I2C.h b/src/components/i2c/WipperSnapper_I2C.h
index 0c0fc8305..ef0c6c867 100644
--- a/src/components/i2c/WipperSnapper_I2C.h
+++ b/src/components/i2c/WipperSnapper_I2C.h
@@ -63,6 +63,7 @@
 #include "drivers/WipperSnapper_I2C_Driver_VEML7700.h"
 #include "drivers/WipperSnapper_I2C_Driver_VL53L0X.h"
 #include "drivers/WipperSnapper_I2C_Driver_VL53L1X.h"
+#include "drivers/WipperSnapper_I2C_Driver_VL53L4CD.h"
 #include "drivers/WipperSnapper_I2C_Driver_VL6180X.h"
 
 #define I2C_TIMEOUT_MS 50 ///< Default I2C timeout, in milliseconds.
@@ -153,6 +154,7 @@ class WipperSnapper_Component_I2C {
   WipperSnapper_I2C_Driver_STEMMA_Soil_Sensor *_ss = nullptr;
   WipperSnapper_I2C_Driver_VL53L0X *_vl53l0x = nullptr;
   WipperSnapper_I2C_Driver_VL53L1X *_vl53l1x = nullptr;
+  WipperSnapper_I2C_Driver_VL53L4CD *_vl53l4cd = nullptr;
   WipperSnapper_I2C_Driver_VL6180X *_vl6180x = nullptr;
   WipperSnapper_I2C_Driver_MAX17048 *_max17048 = nullptr;
   WipperSnapper_I2C_Driver_ADT7410 *_adt7410 = nullptr;
diff --git a/src/components/i2c/drivers/WipperSnapper_I2C_Driver_VL53L4CD.h b/src/components/i2c/drivers/WipperSnapper_I2C_Driver_VL53L4CD.h
new file mode 100644
index 000000000..d9269b3d7
--- /dev/null
+++ b/src/components/i2c/drivers/WipperSnapper_I2C_Driver_VL53L4CD.h
@@ -0,0 +1,240 @@
+/*!
+ * @file WipperSnapper_I2C_Driver_VL53L4CD.h
+ *
+ * Device driver for the VL53L4CD ToF sensor.
+ *
+ * Adafruit invests time and resources providing this open source code,
+ * please support Adafruit and open-source hardware by purchasing
+ * products from Adafruit!
+ *
+ * Copyright (c) 2022 Tyeth Gundry for Adafruit Industries
+ *
+ * MIT license, all text here must be included in any redistribution.
+ *
+ */
+#ifndef WipperSnapper_I2C_Driver_VL53L4CD_H
+#define WipperSnapper_I2C_Driver_VL53L4CD_H
+
+#include "WipperSnapper_I2C_Driver.h"
+#include <vl53l4cd_class.h>
+
+/**************************************************************************/
+/*!
+    @brief  Class that provides a driver interface for a VL53L4CD sensor.
+*/
+/**************************************************************************/
+class WipperSnapper_I2C_Driver_VL53L4CD : public WipperSnapper_I2C_Driver {
+public:
+  /*******************************************************************************/
+  /*!
+      @brief    Constructor for a VL53L4CD sensor.
+      @param    i2c
+                The I2C interface.
+      @param    sensorAddress
+                7-bit device address.
+  */
+  /*******************************************************************************/
+  WipperSnapper_I2C_Driver_VL53L4CD(TwoWire *i2c, uint16_t sensorAddress)
+      : WipperSnapper_I2C_Driver(i2c, sensorAddress) {
+    _i2c = i2c;
+    _sensorAddress = sensorAddress;
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Destructor for an VL53L4CD sensor.
+  */
+  /*******************************************************************************/
+  ~WipperSnapper_I2C_Driver_VL53L4CD() {
+    // Called when a VL53L4CD component is deleted.
+    delete _VL53L4CD;
+  }
+
+// Status codes for VL53L4CD sensor measurements
+#define VL53L4CD_STATUS_VALID 0 ///< Returned distance is valid
+#define VL53L4CD_STATUS_WARNING_SIGMA_THRESHOLD                                \
+  1 ///< Sigma is above the defined threshold
+#define VL53L4CD_STATUS_WARNING_SIGNAL_LOW                                     \
+  2 ///< Signal is below the defined threshold
+#define VL53L4CD_STATUS_ERROR_DISTANCE_LOW                                     \
+  3 ///< Measured distance is below detection threshold
+#define VL53L4CD_STATUS_ERROR_PHASE_OUT_OF_LIMIT 4 ///< Phase out of valid limit
+#define VL53L4CD_STATUS_ERROR_HARDWARE_FAIL 5      ///< Hardware failure
+#define VL53L4CD_STATUS_WARNING_NO_WRAP_CHECK                                  \
+  6 ///< Phase valid but no wrap around check performed
+#define VL53L4CD_STATUS_ERROR_WRAP_TARGET                                      \
+  7 ///< Wrapped target, phase does not match
+#define VL53L4CD_STATUS_ERROR_PROCESSING_FAIL 8 ///< Processing failure
+#define VL53L4CD_STATUS_ERROR_CROSSTALK_FAIL 9  ///< Crosstalk signal failure
+#define VL53L4CD_STATUS_ERROR_INTERRUPT 10      ///< Interrupt error
+#define VL53L4CD_STATUS_ERROR_MERGED_TARGET 11  ///< Merged target detected
+#define VL53L4CD_STATUS_ERROR_SIGNAL_TOO_LOW                                   \
+  12 ///< Signal is too low for accurate measurement
+#define VL53L4CD_STATUS_ERROR_OTHER 255 ///< Other error (e.g., boot error)
+
+  /**************************************************************************/
+  /*!
+      @brief    Gets a human-readable description of a VL53L4CD status code.
+      @param    statusCode
+                The status code to describe.
+      @returns  A human-readable description of the status code.
+  */
+  const char *getVL53L4CDStatusDescription(int statusCode) {
+    switch (statusCode) {
+    case VL53L4CD_STATUS_VALID:
+      return "Returned distance is valid";
+    case VL53L4CD_STATUS_WARNING_SIGMA_THRESHOLD:
+      return "Sigma is above the defined threshold";
+    case VL53L4CD_STATUS_WARNING_SIGNAL_LOW:
+      return "Signal is below the defined threshold";
+    case VL53L4CD_STATUS_ERROR_DISTANCE_LOW:
+      return "Measured distance is below detection threshold";
+    case VL53L4CD_STATUS_ERROR_PHASE_OUT_OF_LIMIT:
+      return "Phase out of valid limit";
+    case VL53L4CD_STATUS_ERROR_HARDWARE_FAIL:
+      return "Hardware failure";
+    case VL53L4CD_STATUS_WARNING_NO_WRAP_CHECK:
+      return "Phase valid but no wrap around check performed";
+    case VL53L4CD_STATUS_ERROR_WRAP_TARGET:
+      return "Wrapped target, phase does not match";
+    case VL53L4CD_STATUS_ERROR_PROCESSING_FAIL:
+      return "Processing failure";
+    case VL53L4CD_STATUS_ERROR_CROSSTALK_FAIL:
+      return "Crosstalk signal failure";
+    case VL53L4CD_STATUS_ERROR_INTERRUPT:
+      return "Interrupt error";
+    case VL53L4CD_STATUS_ERROR_MERGED_TARGET:
+      return "Merged target detected";
+    case VL53L4CD_STATUS_ERROR_SIGNAL_TOO_LOW:
+      return "Signal is too low for accurate measurement";
+    case VL53L4CD_STATUS_ERROR_OTHER:
+      return "Other error (e.g., boot error)";
+    default:
+      return "Unknown status";
+    }
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Initializes the VL53L4CD sensor and begins I2C.
+      @returns  True if initialized successfully, False otherwise.
+  */
+  /*******************************************************************************/
+  bool begin() {
+    _VL53L4CD = new VL53L4CD(_i2c, -1);
+
+    /*   Reinstate if shutdown pin utilised
+     * // Configure VL53L4CD satellite component.
+     * _VL53L4CD->begin();
+     *
+     * // Switch off VL53L4CD satellite component.
+     * _VL53L4CD->VL53L4CD_Off();
+     */
+
+    if (_VL53L4CD->InitSensor((uint8_t)_sensorAddress) != VL53L4CD_ERROR_NONE) {
+      WS_DEBUG_PRINTLN("Failed to initialize VL53L4CD sensor!");
+      return false;
+    }
+    // Program the highest possible TimingBudget, no interval time
+    if (_VL53L4CD->VL53L4CD_SetRangeTiming(200, 0) != VL53L4CD_ERROR_NONE) {
+      WS_DEBUG_PRINTLN("Failed to set VL53L4CD timing!");
+      return false;
+    }
+
+    uint16_t signalThreshold = -1;
+    if (_VL53L4CD->VL53L4CD_GetSignalThreshold(&signalThreshold) !=
+        VL53L4CD_ERROR_NONE) {
+      WS_DEBUG_PRINTLN("Failed to get VL53L4CD signal threshold!");
+    } else {
+      WS_DEBUG_PRINT("VL53L4CD old signal threshold: ");
+      WS_DEBUG_PRINTLN(signalThreshold);
+    }
+    if (_VL53L4CD->VL53L4CD_SetSignalThreshold(50) != VL53L4CD_ERROR_NONE) {
+      WS_DEBUG_PRINTLN("Failed to set VL53L4CD signal threshold!");
+    } else {
+      WS_DEBUG_PRINT("VL53L4CD new signal threshold: ");
+      WS_DEBUG_PRINTLN(8);
+    }
+
+    uint16_t sigmaThreshold = -1;
+    if (_VL53L4CD->VL53L4CD_GetSigmaThreshold(&sigmaThreshold) !=
+        VL53L4CD_ERROR_NONE) {
+      WS_DEBUG_PRINTLN("Failed to get VL53L4CD sigma threshold!");
+    } else {
+      WS_DEBUG_PRINT("VL53L4CD old sigma threshold: ");
+      WS_DEBUG_PRINTLN(sigmaThreshold);
+    }
+    if (_VL53L4CD->VL53L4CD_SetSigmaThreshold(100) != VL53L4CD_ERROR_NONE) {
+      WS_DEBUG_PRINTLN("Failed to set VL53L4CD sigma threshold!");
+    } else {
+      WS_DEBUG_PRINT("VL53L4CD new sigma threshold: ");
+      WS_DEBUG_PRINTLN(100);
+    }
+
+    if (_VL53L4CD->VL53L4CD_StartRanging() != VL53L4CD_ERROR_NONE) {
+      WS_DEBUG_PRINTLN("Failed to start VL53L4CD ranging!");
+      return false;
+    }
+    return true;
+  }
+
+  /*******************************************************************************/
+  /*!
+      @brief    Gets the VL53L4CD's current proximity.
+      @param    proximityEvent
+                Pointer to an Adafruit_Sensor event.
+      @returns  True if the proximity was obtained successfully, False
+                otherwise.
+  */
+  /*******************************************************************************/
+  bool getEventProximity(sensors_event_t *proximityEvent) {
+    uint8_t NewDataReady = 0;
+    VL53L4CD_Result_t results;
+    uint8_t status;
+    // Start fresh reading, seemed to be accepting stale value
+    _VL53L4CD->VL53L4CD_ClearInterrupt();
+    WS_DEBUG_PRINT("Waiting for VL53L4CD data ready...");
+    delay(250);
+
+    for (uint8_t i = 0;
+         (status = _VL53L4CD->VL53L4CD_CheckForDataReady(&NewDataReady)) &&
+         !NewDataReady && i < 3;
+         i++) {
+      delay(300);
+      WS_DEBUG_PRINT(" .");
+    }
+    WS_DEBUG_PRINTLN();
+    if ((status == VL53L4CD_ERROR_NONE) && (NewDataReady != 0)) {
+      // (Mandatory) Clear HW interrupt to restart measurements
+      _VL53L4CD->VL53L4CD_ClearInterrupt();
+
+      // Read measured distance. RangeStatus = 0 means valid data
+      if (_VL53L4CD->VL53L4CD_GetResult(&results) == VL53L4CD_ERROR_NONE) {
+        if (results.range_status != VL53L4CD_STATUS_VALID) {
+          WS_DEBUG_PRINT("VL53L4CD range status: ");
+          WS_DEBUG_PRINTLN(getVL53L4CDStatusDescription(results.range_status));
+          return false;
+        }
+        proximityEvent->data[0] = (float)results.distance_mm;
+        return true;
+      }
+      // TODO: Once I2C sensors fire all data points during a single call, we
+      // can return the std deviation in MM for the measurements. See
+      // https://github.com/stm32duino/VL53L4CD/blob/066664f983bcf70819133c7fcf43101035b09bab/src/vl53l4cd_api.h#L130-L131
+    } else {
+      if (status == VL53L4CD_ERROR_INVALID_ARGUMENT) {
+        WS_DEBUG_PRINTLN("VL53L4CD: Invalid argument to CheckForDataReady()");
+      } else if (status == VL53L4CD_ERROR_TIMEOUT) {
+        WS_DEBUG_PRINTLN("VL53L4CD: Timeout waiting for data ready");
+      } else {
+        WS_DEBUG_PRINTLN("VL53L4CD: data not ready yet");
+      }
+    }
+    return false;
+  }
+
+protected:
+  VL53L4CD *_VL53L4CD; ///< Pointer to VL53L4CD temperature sensor object
+};
+
+#endif // WipperSnapper_I2C_Driver_VL53L4CD
\ No newline at end of file