diff --git a/scripts/all-core.sh b/scripts/all-core.sh
index 36776a24c..a9070a8e2 100644
--- a/scripts/all-core.sh
+++ b/scripts/all-core.sh
@@ -188,7 +188,10 @@ pre_initialize_variables () {
     files_to_back_up="$config_files"
     if in_mbedtls_repo; then
         # Files clobbered by in-tree cmake
-        files_to_back_up="$files_to_back_up Makefile library/Makefile programs/Makefile tests/Makefile programs/fuzz/Makefile"
+        if [ -e Makefile ]; then
+            files_to_back_up="$files_to_back_up Makefile"
+        fi
+        files_to_back_up="$files_to_back_up library/Makefile programs/Makefile tests/Makefile programs/fuzz/Makefile"
     fi
 
     append_outcome=0
@@ -228,6 +231,12 @@ pre_initialize_variables () {
     : ${CLANG_EARLIEST:="clang-earliest"}
     : ${GCC_LATEST:="gcc-latest"}
     : ${GCC_EARLIEST:="gcc-earliest"}
+    : ${MAKE_COMMAND:="make"}
+
+    if [ -e "scripts/legacy.make" ]; then
+        MAKE_COMMAND="${MAKE_COMMAND} -f ./scripts/legacy.make"
+    fi
+
     # if MAKEFLAGS is not set add the -j option to speed up invocations of make
     if [ -z "${MAKEFLAGS+set}" ]; then
         export MAKEFLAGS="-j$(all_sh_nproc)"
@@ -366,7 +375,7 @@ EOF
 cleanup()
 {
     if in_mbedtls_repo; then
-        command make clean
+        command $MAKE_COMMAND clean
     fi
 
     # Remove CMake artefacts
@@ -877,11 +886,11 @@ pre_check_tools () {
 pre_generate_files() {
     # since make doesn't have proper dependencies, remove any possibly outdate
     # file that might be around before generating fresh ones
-    make neat
+    $MAKE_COMMAND neat
     if [ $QUIET -eq 1 ]; then
-        make generated_files >/dev/null
+        $MAKE_COMMAND generated_files >/dev/null
     else
-        make generated_files
+        $MAKE_COMMAND generated_files
     fi
 }
 
@@ -920,7 +929,7 @@ pseudo_component_error_test () {
     # Expected error: '! grep -q . tests/scripts/all.sh -> 1'
     not grep -q . "$0"
     # Expected error: 'make unknown_target -> 2'
-    make unknown_target
+    $MAKE_COMMAND unknown_target
     false "this should not be executed"
 }
 
diff --git a/scripts/all-helpers.sh b/scripts/all-helpers.sh
index c1421f0d2..cf903c152 100644
--- a/scripts/all-helpers.sh
+++ b/scripts/all-helpers.sh
@@ -122,7 +122,7 @@ helper_libtestdriver1_make_main() {
     # we need flags both with and without the LIBTESTDRIVER1_ prefix
     loc_accel_flags=$( echo "$loc_accel_list" | sed 's/[^ ]* */-DLIBTESTDRIVER1_MBEDTLS_PSA_ACCEL_&/g' )
     loc_accel_flags="$loc_accel_flags $( echo "$loc_accel_list" | sed 's/[^ ]* */-DMBEDTLS_PSA_ACCEL_&/g' )"
-    make CC=$ASAN_CC CFLAGS="$ASAN_CFLAGS -I../tests/include -I../framework/tests/include -I../tests -I../../tests -DPSA_CRYPTO_DRIVER_TEST -DMBEDTLS_TEST_LIBTESTDRIVER1 $loc_accel_flags" LDFLAGS="-ltestdriver1 $ASAN_CFLAGS" "$@"
+    $MAKE_COMMAND CC=$ASAN_CC CFLAGS="$ASAN_CFLAGS -I../tests/include -I../framework/tests/include -I../tests -I../../tests -DPSA_CRYPTO_DRIVER_TEST -DMBEDTLS_TEST_LIBTESTDRIVER1 $loc_accel_flags" LDFLAGS="-ltestdriver1 $ASAN_CFLAGS" "$@"
 }
 
 ################################################################
@@ -265,9 +265,9 @@ helper_armc6_build_test()
 
     msg "build: ARM Compiler 6 ($FLAGS)"
 
-    make clean
+    $MAKE_COMMAND clean
     ARM_TOOL_VARIANT="ult" CC="$ARMC6_CC" AR="$ARMC6_AR" CFLAGS="$FLAGS" \
-                        WARNING_CFLAGS='-Werror -xc -std=c99' make lib
+                        WARNING_CFLAGS='-Werror -xc -std=c99' $MAKE_COMMAND lib
 
     msg "size: ARM Compiler 6 ($FLAGS)"
     "$ARMC6_FROMELF" -z library/*.o
diff --git a/scripts/apidoc_full.sh b/scripts/apidoc_full.sh
index 902a515c6..d16f55c7b 100755
--- a/scripts/apidoc_full.sh
+++ b/scripts/apidoc_full.sh
@@ -22,6 +22,8 @@ if in_mbedtls_repo; then
     if ! in_3_6_branch; then
         CRYPTO_CONFIG_H='tf-psa-crypto/include/psa/crypto_config.h'
     fi
+    CONFIG_BAK=${CONFIG_H}.bak
+    cp -p $CONFIG_H $CONFIG_BAK
 fi
 
 if in_tf_psa_crypto_repo; then
@@ -37,21 +39,29 @@ if in_tf_psa_crypto_repo || (in_mbedtls_repo && ! in_3_6_branch); then
     cp -p $CRYPTO_CONFIG_H $CRYPTO_CONFIG_BAK
 fi
 
-if in_mbedtls_repo; then
-    CONFIG_BAK=${CONFIG_H}.bak
-    cp -p $CONFIG_H $CONFIG_BAK
+if in_mbedtls_repo && in_3_6_branch; then
     scripts/config.py realfull
     make apidoc
-    mv $CONFIG_BAK $CONFIG_H
-elif in_tf_psa_crypto_repo; then
+else
     scripts/config.py realfull
-    TF_PSA_CRYPTO_ROOT_DIR=$PWD
+    ROOT_DIR=$PWD
     rm -rf doxygen/build-apidoc-full
     mkdir doxygen/build-apidoc-full
     cd doxygen/build-apidoc-full
-    cmake -DCMAKE_BUILD_TYPE:String=Check -DGEN_FILES=ON $TF_PSA_CRYPTO_ROOT_DIR
-    make tfpsacrypto-apidoc
-    cd $TF_PSA_CRYPTO_ROOT_DIR
+    cmake -DCMAKE_BUILD_TYPE:String=Check -DGEN_FILES=ON $ROOT_DIR
+    if in_mbedtls_repo; then
+        cmake --build . --target mbedtls-apidoc
+    else
+        cmake --build . --target tfpsacrypto-apidoc
+    fi
+    cd $ROOT_DIR
+    # The documentation is built in the source tree thus we can delete the
+    # build tree.
+    rm -rf doxygen/build-apidoc-full
+fi
+
+if in_mbedtls_repo; then
+    mv $CONFIG_BAK $CONFIG_H
 fi
 
 if in_tf_psa_crypto_repo || (in_mbedtls_repo && ! in_3_6_branch); then
diff --git a/scripts/check_names.py b/scripts/check_names.py
index e2b6b8a73..d8605f689 100755
--- a/scripts/check_names.py
+++ b/scripts/check_names.py
@@ -810,7 +810,7 @@ class TFPSACryptoCodeParser(CodeParser):
                 check=True
             )
             subprocess.run(
-                ["make"],
+                ["cmake", "--build", "."],
                 env=my_environment,
                 universal_newlines=True,
                 stdout=subprocess.PIPE,
@@ -971,15 +971,17 @@ class MBEDTLSCodeParser(CodeParser):
             )
             my_environment = os.environ.copy()
             my_environment["CFLAGS"] = "-fno-asynchronous-unwind-tables"
-            # Run make clean separately to lib to prevent unwanted behavior when
-            # make is invoked with parallelism.
+
+            source_dir = os.getcwd()
+            build_dir = tempfile.mkdtemp()
+            os.chdir(build_dir)
             subprocess.run(
-                ["make", "clean"],
+                ["cmake", "-DGEN_FILES=ON", source_dir],
                 universal_newlines=True,
                 check=True
             )
             subprocess.run(
-                ["make", "lib"],
+                ["cmake", "--build", "."],
                 env=my_environment,
                 universal_newlines=True,
                 stdout=subprocess.PIPE,
@@ -988,17 +990,21 @@ class MBEDTLSCodeParser(CodeParser):
             )
 
             # Perform object file analysis using nm
-            symbols = self.parse_symbols_from_nm([
-                "library/libmbedcrypto.a",
-                "library/libmbedtls.a",
-                "library/libmbedx509.a"
-            ])
+            if build_tree.is_mbedtls_3_6():
+                symbols = self.parse_symbols_from_nm([
+                    "library/libmbedcrypto.a",
+                    "library/libmbedtls.a",
+                    "library/libmbedx509.a"
+                ])
+            else:
+                symbols = self.parse_symbols_from_nm([
+                    "library/libtfpsacrypto.a",
+                    "library/libmbedtls.a",
+                    "library/libmbedx509.a"
+                ])
 
-            subprocess.run(
-                ["make", "clean"],
-                universal_newlines=True,
-                check=True
-            )
+            os.chdir(source_dir)
+            shutil.rmtree(build_dir)
         except subprocess.CalledProcessError as error:
             self.log.debug(error.output)
             raise error
diff --git a/scripts/doxygen.sh b/scripts/doxygen.sh
index 7d051ed1e..c7c465c99 100755
--- a/scripts/doxygen.sh
+++ b/scripts/doxygen.sh
@@ -30,7 +30,7 @@ if grep -E "(warning|error):" doc.filtered; then
     exit 1;
 fi
 
-if in_mbedtls_repo; then
+if in_mbedtls_repo && in_3_6_branch; then
     make apidoc_clean
 fi