diff --git a/hal/tests/TESTS/mbed_hal/sleep/main.cpp b/hal/tests/TESTS/mbed_hal/sleep/main.cpp
index c0a21d8985..6e745f3e94 100644
--- a/hal/tests/TESTS/mbed_hal/sleep/main.cpp
+++ b/hal/tests/TESTS/mbed_hal/sleep/main.cpp
@@ -227,6 +227,12 @@ utest::v1::status_t greentea_test_setup(const size_t number_of_cases)
 #endif
     ticker_suspend(get_us_ticker_data());
 
+#ifdef DEVICE_SEMIHOST
+	// Disconnect semihosting now, because otherwise it will get disconnected on the first sleep call and
+	// cause said call to take several milliseconds, leading to a test failure.
+	mbed_interface_disconnect();
+#endif
+
     us_ticker_init();
 #if DEVICE_LPTICKER
     lp_ticker_init();
diff --git a/rtos/tests/TESTS/mbed_rtos/MemoryPool/main.cpp b/rtos/tests/TESTS/mbed_rtos/MemoryPool/main.cpp
index 58fdf1dbb8..aef54dc9f7 100644
--- a/rtos/tests/TESTS/mbed_rtos/MemoryPool/main.cpp
+++ b/rtos/tests/TESTS/mbed_rtos/MemoryPool/main.cpp
@@ -675,6 +675,13 @@ Case cases[] = {
 utest::v1::status_t greentea_test_setup(const size_t number_of_cases)
 {
     GREENTEA_SETUP(20, "default_auto");
+
+#ifdef DEVICE_SEMIHOST
+	// Disconnect semihosting now, because otherwise it will get disconnected on the first sleep call and
+	// cause said call to take several milliseconds, leading to a test failure.
+	mbed_interface_disconnect();
+#endif
+
     return greentea_test_setup_handler(number_of_cases);
 }
 
diff --git a/rtos/tests/TESTS/mbed_rtos/mail/main.cpp b/rtos/tests/TESTS/mbed_rtos/mail/main.cpp
index 1c22f61ba5..d7ba68f3df 100644
--- a/rtos/tests/TESTS/mbed_rtos/mail/main.cpp
+++ b/rtos/tests/TESTS/mbed_rtos/mail/main.cpp
@@ -478,6 +478,13 @@ void test_mail_full()
 utest::v1::status_t test_setup(const size_t number_of_cases)
 {
     GREENTEA_SETUP(10, "default_auto");
+
+#ifdef DEVICE_SEMIHOST
+	// Disconnect semihosting now, because otherwise it will get disconnected on the first sleep call and
+	// cause said call to take several milliseconds, leading to a test failure.
+	mbed_interface_disconnect();
+#endif
+
     return verbose_test_setup_handler(number_of_cases);
 }
 
diff --git a/rtos/tests/TESTS/mbed_rtos/queue/main.cpp b/rtos/tests/TESTS/mbed_rtos/queue/main.cpp
index 822fa48a73..6be21e1880 100644
--- a/rtos/tests/TESTS/mbed_rtos/queue/main.cpp
+++ b/rtos/tests/TESTS/mbed_rtos/queue/main.cpp
@@ -318,6 +318,13 @@ void test_queue_full()
 utest::v1::status_t test_setup(const size_t number_of_cases)
 {
     GREENTEA_SETUP(5, "default_auto");
+
+#ifdef DEVICE_SEMIHOST
+	// Disconnect semihosting now, because otherwise it will get disconnected on the first sleep call and
+	// cause said call to take several milliseconds, leading to a test failure.
+	mbed_interface_disconnect();
+#endif
+
     return verbose_test_setup_handler(number_of_cases);
 }
 
diff --git a/targets/upload_method_cfg/LPC1768.cmake b/targets/upload_method_cfg/LPC1768.cmake
index 5e96e9a60f..aa675ce264 100644
--- a/targets/upload_method_cfg/LPC1768.cmake
+++ b/targets/upload_method_cfg/LPC1768.cmake
@@ -26,8 +26,13 @@ set(MBED_RESET_BAUDRATE 115200)
 # Config options for OPENOCD
 # -------------------------------------------------------------
 
+# One note about OpenOCD for LPC1768:
+# If you issue a "monitor reset" command, GDB will think that the program is halted, but it actually will have
+# resumed.  So, issue a "c" command after "monitor reset" to get things synchronized again.
+
 set(OPENOCD_UPLOAD_ENABLED TRUE)
 set(OPENOCD_CHIP_CONFIG_COMMANDS
     -f ${CMAKE_CURRENT_LIST_DIR}/openocd_cfgs/lpc1768.cfg
     -c "gdb_memory_map disable" # prevents OpenOCD crash on GDB connect
+	-c "gdb_breakpoint_override hard" # Make sure GDB uses HW breakpoints
     )