diff --git a/source/devices/AM62AX/linux/RT_Linux_Performance_Guide.rst b/source/devices/AM62AX/linux/RT_Linux_Performance_Guide.rst
index 798f6c233..1bffcca3b 100644
--- a/source/devices/AM62AX/linux/RT_Linux_Performance_Guide.rst
+++ b/source/devices/AM62AX/linux/RT_Linux_Performance_Guide.rst
@@ -77,8 +77,8 @@ default SDK image:
 .. csv-table::
    :header: "Latencies","CPU 0","CPU 1","CPU 2","CPU 3"
 
-   "Minimum (us)","5","5","5","5"
-   "Average (us)","6","6","6","6"
-   "Maximum (us)","31","29","30","30"
+   "Minimum (us)","4","4","4","5"
+   "Average (us)","5","5","5","5"
+   "Maximum (us)","35","45","34","38"
 
 .. image:: img/rt-cpu-method-all-latency-histogram.png
diff --git a/source/devices/AM62AX/linux/img/rt-cpu-method-all-latency-histogram.png b/source/devices/AM62AX/linux/img/rt-cpu-method-all-latency-histogram.png
index 35c25420f..09fa14da5 100644
Binary files a/source/devices/AM62AX/linux/img/rt-cpu-method-all-latency-histogram.png and b/source/devices/AM62AX/linux/img/rt-cpu-method-all-latency-histogram.png differ
diff --git a/source/devices/AM62LX/linux/RT_Linux_Performance_Guide.rst b/source/devices/AM62LX/linux/RT_Linux_Performance_Guide.rst
index 5f8a17a88..90d2f3884 100644
--- a/source/devices/AM62LX/linux/RT_Linux_Performance_Guide.rst
+++ b/source/devices/AM62LX/linux/RT_Linux_Performance_Guide.rst
@@ -36,4 +36,49 @@ https://e2e.ti.com/ or https://support.ti.com/
 System Benchmarks
 *****************
 
-|
+Stress-ng and Cyclic Test
+=========================
+
+.. _RT-linux-performance:
+
+stress-ng (next-generation) will stress test a embedded platform in
+various selectable ways. It was designed to exercise various physical
+subsystems as well as the various operating system kernel interfaces.
+stress-ng can also measure test throughput rates; this can be useful to
+observe performance changes across different operating system or types
+of hardware.
+
+Cyclictest is most commonly used for benchmarking RT systems. It is one
+of the most frequently used tools for evaluating the relative
+performance of real-time systems. Some performance tests which use
+Cyclictest are System benchmarking, Latency debugging with tracing and
+-approximating application performance.
+
+Test commands used for running stress-ng and cyclictest together
+
+.. code:: console
+
+   stress-ng --cpu-method=all -c 4 &
+   cyclictest -m -Sp80 -D6h -h400 -i200 -M -q
+
+The following summarizes the latencies observed using the yocto based
+default SDK image:
+
+.. note::
+
+   A known issue in this SDK release is affecting this benchmark.
+   Using OP-TEE's PRNG drivers rather than the hardware accelerated TRNG
+   drivers restores the context switch latencies to the values you see
+   here.
+
+   More information on switching to the PRNG drivers can be found in the
+   Foundational Components section, here :ref:`building-optee-with-prng`
+
+.. csv-table::
+   :header: "Latencies","CPU 0","CPU 1"
+
+   "Minimum (usec)","4","4"
+   "Average (usec)","7","6"
+   "Maximum (usec)","68","72"
+
+.. image:: img/rt-cpu-method-all-latency-histogram.png
diff --git a/source/devices/AM62LX/linux/img/rt-cpu-method-all-latency-histogram.png b/source/devices/AM62LX/linux/img/rt-cpu-method-all-latency-histogram.png
index 682ff7a06..100aa3c9f 100644
Binary files a/source/devices/AM62LX/linux/img/rt-cpu-method-all-latency-histogram.png and b/source/devices/AM62LX/linux/img/rt-cpu-method-all-latency-histogram.png differ
diff --git a/source/devices/AM62PX/linux/RT_Linux_Performance_Guide.rst b/source/devices/AM62PX/linux/RT_Linux_Performance_Guide.rst
index 60b522d39..c22cce316 100644
--- a/source/devices/AM62PX/linux/RT_Linux_Performance_Guide.rst
+++ b/source/devices/AM62PX/linux/RT_Linux_Performance_Guide.rst
@@ -36,4 +36,49 @@ https://e2e.ti.com/ or https://support.ti.com/
 System Benchmarks
 *****************
 
-|
+Stress-ng and Cyclic Test
+
+.. _RT-linux-performance:
+
+stress-ng (next-generation) will stress test a embedded platform in various selectable ways.
+It was designed to exercise various physical subsystems as well as the various
+operating system kernel interfaces. stress-ng can also measure test throughput rates;
+this can be useful to observe performance changes across different operating system or types of hardware.
+
+Cyclictest is most commonly used for benchmarking RT systems.
+It is one of the most frequently used tools for evaluating the relative performance of real-time systems.
+Some performance tests which use Cyclictest are System benchmarking, Latency debugging with tracing and
+approximating application performance.
+
+Test commands used for running stress-ng and cyclictest together
+
+.. code:: console
+
+   stress-ng --cpu-method=all -c 4 &
+   cyclictest -m -Sp80 -D6h -h400 -i200 -M -q
+
+The following summarizes the latencies observed using the yocto based
+default SDK image
+
+.. note::
+
+   Using the OP-TEE TRNG driver can impact this benchmark's performance due to
+   frequent context switching between Normal World (Linux) and Secure World (OP-TEE),
+   that occurs when the kernel's hardware random number generator interface
+   (hwrng) requests entropy from the secure TRNG to replenish the Linux entropy
+   pool.
+
+   The Linux TRNG driver can mitigate these latency spikes. This involves
+   enabling the Pseudo RNG driver in OP-TEE as documented in the Foundational
+   Components section: :ref:`building-optee-with-prng`, and enabling the RNG
+   node in the Linux kernel device tree. This way the HW TRNG is accessed from
+   the kernel itself.
+
+.. csv-table::
+   :header: "Latencies","CPU 0","CPU 1","CPU 2","CPU 3"
+
+   "Minimum (usec)","4","4","4","4"
+   "Average (usec)","5","5","5","5"
+   "Maximum (usec)","39","42","44","47"
+
+.. image:: img/rt-cpu-method-all-latency-histogram.png
diff --git a/source/devices/AM62PX/linux/img/rt-cpu-method-all-latency-histogram.png b/source/devices/AM62PX/linux/img/rt-cpu-method-all-latency-histogram.png
index 1fb208be9..279786835 100644
Binary files a/source/devices/AM62PX/linux/img/rt-cpu-method-all-latency-histogram.png and b/source/devices/AM62PX/linux/img/rt-cpu-method-all-latency-histogram.png differ
diff --git a/source/devices/AM64X/linux/RT_Linux_Performance_Guide.rst b/source/devices/AM64X/linux/RT_Linux_Performance_Guide.rst
index 001241a97..fa654195a 100644
--- a/source/devices/AM64X/linux/RT_Linux_Performance_Guide.rst
+++ b/source/devices/AM64X/linux/RT_Linux_Performance_Guide.rst
@@ -36,7 +36,52 @@ https://e2e.ti.com/ or https://support.ti.com/
 System Benchmarks
 *****************
 
-|
+Stress-ng and Cyclic Test
+=========================
+
+.. _RT-linux-performance:
+
+stress-ng (next-generation) will stress test a embedded platform in
+various selectable ways. It was designed to exercise various physical
+subsystems as well as the various operating system kernel interfaces.
+stress-ng can also measure test throughput rates; this can be useful to
+observe performance changes across different operating system or types
+of hardware.
+
+Cyclictest is most commonly used for benchmarking RT systems. It is one
+of the most frequently used tools for evaluating the relative
+performance of real-time systems. Some performance tests which use
+Cyclictest are System benchmarking, Latency debugging with tracing and
+-approximating application performance.
+
+Test commands used for running stress-ng and cyclictest together
+
+.. code:: console
+
+   stress-ng --cpu-method=all -c 4 &
+   cyclictest -m -Sp80 -D6h -h400 -i200 -M -q
+
+The following summarizes the latencies observed using the yocto based
+default SDK image:
+
+.. note::
+
+   A known issue in this SDK release is affecting this benchmark.
+   Using OP-TEE's PRNG drivers rather than the hardware accelerated TRNG
+   drivers restores the context switch latencies to the values you see
+   here.
+
+   More information on switching to the PRNG drivers can be found in the
+   Foundational Components section, here :ref:`building-optee-with-prng`
+
+.. csv-table::
+   :header: "Latencies","CPU 0","CPU 1"
+
+   "Minimum (usec)","5","5"
+   "Average (usec)","7","8"
+   "Maximum (usec)","69","77"
+
+.. image:: img/rt-cpu-method-all-latency-histogram.png
 
 LMBench
 =======
diff --git a/source/devices/AM64X/linux/img/rt-cpu-method-all-latency-histogram.png b/source/devices/AM64X/linux/img/rt-cpu-method-all-latency-histogram.png
index 9e4ec1a16..b2e18b191 100644
Binary files a/source/devices/AM64X/linux/img/rt-cpu-method-all-latency-histogram.png and b/source/devices/AM64X/linux/img/rt-cpu-method-all-latency-histogram.png differ