diff --git a/tools/testing/selftests/net/udpgso_bench_tx.c b/tools/testing/selftests/net/udpgso_bench_tx.c
index 4074538b5df5..8506c7c2c354 100644
--- a/tools/testing/selftests/net/udpgso_bench_tx.c
+++ b/tools/testing/selftests/net/udpgso_bench_tx.c
@@ -5,6 +5,8 @@
 #include <arpa/inet.h>
 #include <errno.h>
 #include <error.h>
+#include <linux/errqueue.h>
+#include <linux/net_tstamp.h>
 #include <netinet/if_ether.h>
 #include <netinet/in.h>
 #include <netinet/ip.h>
@@ -19,6 +21,7 @@
 #include <string.h>
 #include <sys/socket.h>
 #include <sys/time.h>
+#include <sys/poll.h>
 #include <sys/types.h>
 #include <unistd.h>
 
@@ -34,6 +37,10 @@
 #define SO_ZEROCOPY	60
 #endif
 
+#ifndef SO_EE_ORIGIN_ZEROCOPY
+#define SO_EE_ORIGIN_ZEROCOPY 5
+#endif
+
 #ifndef MSG_ZEROCOPY
 #define MSG_ZEROCOPY	0x4000000
 #endif
@@ -48,12 +55,25 @@ static uint16_t	cfg_mss;
 static int	cfg_payload_len	= (1472 * 42);
 static int	cfg_port	= 8000;
 static int	cfg_runtime_ms	= -1;
+static bool	cfg_poll;
 static bool	cfg_segment;
 static bool	cfg_sendmmsg;
 static bool	cfg_tcp;
+static uint32_t	cfg_tx_ts = SOF_TIMESTAMPING_TX_SOFTWARE;
+static bool	cfg_tx_tstamp;
+static bool	cfg_audit;
+static bool	cfg_verbose;
 static bool	cfg_zerocopy;
 static int	cfg_msg_nr;
 static uint16_t	cfg_gso_size;
+static unsigned long total_num_msgs;
+static unsigned long total_num_sends;
+static unsigned long stat_tx_ts;
+static unsigned long stat_tx_ts_errors;
+static unsigned long tstart;
+static unsigned long tend;
+static unsigned long stat_zcopies;
+static unsigned long stat_zcopy_errors;
 
 static socklen_t cfg_alen;
 static struct sockaddr_storage cfg_dst_addr;
@@ -110,23 +130,149 @@ static void setup_sockaddr(int domain, const char *str_addr, void *sockaddr)
 	}
 }
 
-static void flush_zerocopy(int fd)
+static void flush_cmsg(struct cmsghdr *cmsg)
 {
-	struct msghdr msg = {0};	/* flush */
+	switch (cmsg->cmsg_level) {
+	case SOL_SOCKET:
+		if (cmsg->cmsg_type == SO_TIMESTAMPING) {
+			int i;
+
+			i = (cfg_tx_ts == SOF_TIMESTAMPING_TX_HARDWARE) ? 2 : 0;
+			struct scm_timestamping *tss;
+
+			tss = (struct scm_timestamping *)CMSG_DATA(cmsg);
+			if (tss->ts[i].tv_sec == 0)
+				stat_tx_ts_errors++;
+		} else {
+			error(1, 0,
+			      "unknown SOL_SOCKET cmsg type=%u level=%u\n",
+			      cmsg->cmsg_type, cmsg->cmsg_level);
+		}
+		break;
+	case SOL_IP:
+	case SOL_IPV6:
+		switch (cmsg->cmsg_type) {
+		case IP_RECVERR:
+		case IPV6_RECVERR:
+		{
+			struct sock_extended_err *err;
+
+			err = (struct sock_extended_err *)CMSG_DATA(cmsg);
+			switch (err->ee_origin) {
+			case SO_EE_ORIGIN_TIMESTAMPING:
+				// Got a TX timestamp from error queue
+				stat_tx_ts++;
+				break;
+			case SO_EE_ORIGIN_ICMP:
+			case SO_EE_ORIGIN_ICMP6:
+				if (cfg_verbose)
+					fprintf(stderr,
+						"received ICMP error: type=%u, code=%u\n",
+						err->ee_type, err->ee_code);
+				break;
+			case SO_EE_ORIGIN_ZEROCOPY:
+			{
+				__u32 lo = err->ee_info;
+				__u32 hi = err->ee_data;
+
+				if (hi == lo - 1) {
+					// TX was aborted
+					stat_zcopy_errors++;
+					if (cfg_verbose)
+						fprintf(stderr,
+							"Zerocopy TX aborted: lo=%u hi=%u\n",
+							lo, hi);
+				} else if (hi == lo) {
+					// single ID acknowledged
+					stat_zcopies++;
+				} else {
+					// range of IDs acknowledged
+					stat_zcopies += hi - lo + 1;
+				}
+				break;
+			}
+			case SO_EE_ORIGIN_LOCAL:
+				if (cfg_verbose)
+					fprintf(stderr,
+						"received packet with local origin: %u\n",
+						err->ee_origin);
+				break;
+			default:
+				error(0, 1,
+				      "received packet with origin: %u",
+				      err->ee_origin);
+			}
+
+			break;
+		}
+		default:
+			error(0, 1, "unknown IP msg type=%u level=%u\n",
+			      cmsg->cmsg_type, cmsg->cmsg_level);
+			break;
+		}
+		break;
+	default:
+		error(0, 1, "unknown cmsg type=%u level=%u\n",
+		      cmsg->cmsg_type, cmsg->cmsg_level);
+	}
+}
+
+static void flush_errqueue_recv(int fd)
+{
+	char control[CMSG_SPACE(sizeof(struct scm_timestamping)) +
+		     CMSG_SPACE(sizeof(struct sock_extended_err)) +
+		     CMSG_SPACE(sizeof(struct sockaddr_in6))] = {0};
+	char buf[cfg_payload_len];
+	struct msghdr msg = {0};
+	struct cmsghdr *cmsg;
+	struct iovec entry;
 	int ret;
 
+	/* add a buffer to the message to avoid MSG_TRUNC msg_flag */
+	entry.iov_base = buf;
+	entry.iov_len = sizeof(buf);
+	msg.msg_iovlen = 1;
+	msg.msg_iov = &entry;
+
 	while (1) {
+		msg.msg_control = control;
+		msg.msg_controllen = sizeof(control);
 		ret = recvmsg(fd, &msg, MSG_ERRQUEUE);
 		if (ret == -1 && errno == EAGAIN)
 			break;
 		if (ret == -1)
 			error(1, errno, "errqueue");
-		if (msg.msg_flags != (MSG_ERRQUEUE | MSG_CTRUNC))
+		if (msg.msg_flags != MSG_ERRQUEUE)
 			error(1, 0, "errqueue: flags 0x%x\n", msg.msg_flags);
+		if (cfg_audit) {
+			for (cmsg = CMSG_FIRSTHDR(&msg);
+					cmsg;
+					cmsg = CMSG_NXTHDR(&msg, cmsg))
+				flush_cmsg(cmsg);
+		}
 		msg.msg_flags = 0;
 	}
 }
 
+static void flush_errqueue(int fd, const bool do_poll)
+{
+	if (do_poll) {
+		struct pollfd fds = {0};
+		int ret;
+
+		fds.fd = fd;
+		ret = poll(&fds, 1, 500);
+		if (ret == 0) {
+			if (cfg_verbose)
+				fprintf(stderr, "poll timeout\n");
+		} else if (ret < 0) {
+			error(1, errno, "poll");
+		}
+	}
+
+	flush_errqueue_recv(fd);
+}
+
 static int send_tcp(int fd, char *data)
 {
 	int ret, done = 0, count = 0;
@@ -168,16 +314,40 @@ static int send_udp(int fd, char *data)
 	return count;
 }
 
+static void send_ts_cmsg(struct cmsghdr *cm)
+{
+	uint32_t *valp;
+
+	cm->cmsg_level = SOL_SOCKET;
+	cm->cmsg_type = SO_TIMESTAMPING;
+	cm->cmsg_len = CMSG_LEN(sizeof(cfg_tx_ts));
+	valp = (void *)CMSG_DATA(cm);
+	*valp = cfg_tx_ts;
+}
+
 static int send_udp_sendmmsg(int fd, char *data)
 {
+	char control[CMSG_SPACE(sizeof(cfg_tx_ts))] = {0};
 	const int max_nr_msg = ETH_MAX_MTU / ETH_DATA_LEN;
 	struct mmsghdr mmsgs[max_nr_msg];
 	struct iovec iov[max_nr_msg];
 	unsigned int off = 0, left;
+	size_t msg_controllen = 0;
 	int i = 0, ret;
 
 	memset(mmsgs, 0, sizeof(mmsgs));
 
+	if (cfg_tx_tstamp) {
+		struct msghdr msg = {0};
+		struct cmsghdr *cmsg;
+
+		msg.msg_control = control;
+		msg.msg_controllen = sizeof(control);
+		cmsg = CMSG_FIRSTHDR(&msg);
+		send_ts_cmsg(cmsg);
+		msg_controllen += CMSG_SPACE(sizeof(cfg_tx_ts));
+	}
+
 	left = cfg_payload_len;
 	while (left) {
 		if (i == max_nr_msg)
@@ -188,6 +358,12 @@ static int send_udp_sendmmsg(int fd, char *data)
 
 		mmsgs[i].msg_hdr.msg_iov = iov + i;
 		mmsgs[i].msg_hdr.msg_iovlen = 1;
+		mmsgs[i].msg_hdr.msg_name = (void *)&cfg_dst_addr;
+		mmsgs[i].msg_hdr.msg_namelen = cfg_alen;
+		if (msg_controllen) {
+			mmsgs[i].msg_hdr.msg_control = control;
+			mmsgs[i].msg_hdr.msg_controllen = msg_controllen;
+		}
 
 		off += iov[i].iov_len;
 		left -= iov[i].iov_len;
@@ -214,9 +390,12 @@ static void send_udp_segment_cmsg(struct cmsghdr *cm)
 
 static int send_udp_segment(int fd, char *data)
 {
-	char control[CMSG_SPACE(sizeof(cfg_gso_size))] = {0};
+	char control[CMSG_SPACE(sizeof(cfg_gso_size)) +
+		     CMSG_SPACE(sizeof(cfg_tx_ts))] = {0};
 	struct msghdr msg = {0};
 	struct iovec iov = {0};
+	size_t msg_controllen;
+	struct cmsghdr *cmsg;
 	int ret;
 
 	iov.iov_base = data;
@@ -227,8 +406,16 @@ static int send_udp_segment(int fd, char *data)
 
 	msg.msg_control = control;
 	msg.msg_controllen = sizeof(control);
-	send_udp_segment_cmsg(CMSG_FIRSTHDR(&msg));
+	cmsg = CMSG_FIRSTHDR(&msg);
+	send_udp_segment_cmsg(cmsg);
+	msg_controllen = CMSG_SPACE(sizeof(cfg_mss));
+	if (cfg_tx_tstamp) {
+		cmsg = CMSG_NXTHDR(&msg, cmsg);
+		send_ts_cmsg(cmsg);
+		msg_controllen += CMSG_SPACE(sizeof(cfg_tx_ts));
+	}
 
+	msg.msg_controllen = msg_controllen;
 	msg.msg_name = (void *)&cfg_dst_addr;
 	msg.msg_namelen = cfg_alen;
 
@@ -236,15 +423,16 @@ static int send_udp_segment(int fd, char *data)
 	if (ret == -1)
 		error(1, errno, "sendmsg");
 	if (ret != iov.iov_len)
-		error(1, 0, "sendmsg: %u != %lu\n", ret, iov.iov_len);
+		error(1, 0, "sendmsg: %u != %lu", ret, iov.iov_len);
 
 	return 1;
 }
 
 static void usage(const char *filepath)
 {
-	error(1, 0, "Usage: %s [-46cmtuz] [-C cpu] [-D dst ip] [-l secs] [-m messagenr] [-p port] [-s sendsize] [-S gsosize]",
-		    filepath);
+	error(1, 0,
+	      "Usage: %s [-46acmHPtTuvz] [-C cpu] [-D dst ip] [-l secs] [-M messagenr] [-p port] [-s sendsize] [-S gsosize]",
+	      filepath);
 }
 
 static void parse_opts(int argc, char **argv)
@@ -252,7 +440,7 @@ static void parse_opts(int argc, char **argv)
 	int max_len, hdrlen;
 	int c;
 
-	while ((c = getopt(argc, argv, "46cC:D:l:mM:p:s:S:tuz")) != -1) {
+	while ((c = getopt(argc, argv, "46acC:D:Hl:mM:p:s:PS:tTuvz")) != -1) {
 		switch (c) {
 		case '4':
 			if (cfg_family != PF_UNSPEC)
@@ -266,6 +454,9 @@ static void parse_opts(int argc, char **argv)
 			cfg_family = PF_INET6;
 			cfg_alen = sizeof(struct sockaddr_in6);
 			break;
+		case 'a':
+			cfg_audit = true;
+			break;
 		case 'c':
 			cfg_cache_trash = true;
 			break;
@@ -287,6 +478,9 @@ static void parse_opts(int argc, char **argv)
 		case 'p':
 			cfg_port = strtoul(optarg, NULL, 0);
 			break;
+		case 'P':
+			cfg_poll = true;
+			break;
 		case 's':
 			cfg_payload_len = strtoul(optarg, NULL, 0);
 			break;
@@ -294,12 +488,22 @@ static void parse_opts(int argc, char **argv)
 			cfg_gso_size = strtoul(optarg, NULL, 0);
 			cfg_segment = true;
 			break;
+		case 'H':
+			cfg_tx_ts = SOF_TIMESTAMPING_TX_HARDWARE;
+			cfg_tx_tstamp = true;
+			break;
 		case 't':
 			cfg_tcp = true;
 			break;
+		case 'T':
+			cfg_tx_tstamp = true;
+			break;
 		case 'u':
 			cfg_connected = false;
 			break;
+		case 'v':
+			cfg_verbose = true;
+			break;
 		case 'z':
 			cfg_zerocopy = true;
 			break;
@@ -315,6 +519,8 @@ static void parse_opts(int argc, char **argv)
 		error(1, 0, "connectionless tcp makes no sense");
 	if (cfg_segment && cfg_sendmmsg)
 		error(1, 0, "cannot combine segment offload and sendmmsg");
+	if (cfg_tx_tstamp && !(cfg_segment || cfg_sendmmsg))
+		error(1, 0, "Options -T and -H require either -S or -m option");
 
 	if (cfg_family == PF_INET)
 		hdrlen = sizeof(struct iphdr) + sizeof(struct udphdr);
@@ -349,6 +555,79 @@ static void set_pmtu_discover(int fd, bool is_ipv4)
 		error(1, errno, "setsockopt path mtu");
 }
 
+static void set_tx_timestamping(int fd)
+{
+	int val = SOF_TIMESTAMPING_OPT_CMSG | SOF_TIMESTAMPING_OPT_ID;
+
+	if (cfg_tx_ts == SOF_TIMESTAMPING_TX_SOFTWARE)
+		val |= SOF_TIMESTAMPING_SOFTWARE;
+	else
+		val |= SOF_TIMESTAMPING_RAW_HARDWARE;
+
+	if (setsockopt(fd, SOL_SOCKET, SO_TIMESTAMPING, &val, sizeof(val)))
+		error(1, errno, "setsockopt tx timestamping");
+}
+
+static void print_audit_report(unsigned long num_msgs, unsigned long num_sends)
+{
+	unsigned long tdelta;
+
+	tdelta = tend - tstart;
+	if (!tdelta)
+		return;
+
+	fprintf(stderr, "Summary over %lu.%03lu seconds...\n",
+			tdelta / 1000, tdelta % 1000);
+	fprintf(stderr,
+		"sum %s tx: %6lu MB/s %10lu calls (%lu/s) %10lu msgs (%lu/s)\n",
+		cfg_tcp ? "tcp" : "udp",
+		((num_msgs * cfg_payload_len) >> 10) / tdelta,
+		num_sends, num_sends * 1000 / tdelta,
+		num_msgs, num_msgs * 1000 / tdelta);
+
+	if (cfg_tx_tstamp) {
+		if (stat_tx_ts_errors)
+			error(1, 0,
+			      "Expected clean TX Timestamps: %9lu msgs received %6lu errors",
+			      stat_tx_ts, stat_tx_ts_errors);
+		if (stat_tx_ts != num_sends)
+			error(1, 0,
+			      "Unexpected number of TX Timestamps: %9lu expected %9lu received",
+			      num_sends, stat_tx_ts);
+		fprintf(stderr,
+			"Tx Timestamps: %19lu received %17lu errors\n",
+			stat_tx_ts, stat_tx_ts_errors);
+	}
+
+	if (cfg_zerocopy) {
+		if (stat_zcopy_errors)
+			error(1, 0,
+			      "Expected clean Zerocopies: %9lu msgs received %6lu errors",
+			      stat_zcopies, stat_zcopy_errors);
+		if (stat_zcopies != num_sends)
+			error(1, 0,
+			      "Unexpected number of Zerocopy completions: %9lu expected %9lu received",
+			      num_sends, stat_zcopies);
+		fprintf(stderr,
+			"Zerocopy acks: %19lu received %17lu errors\n",
+			stat_zcopies, stat_zcopy_errors);
+	}
+}
+
+static void print_report(unsigned long num_msgs, unsigned long num_sends)
+{
+	fprintf(stderr,
+		"%s tx: %6lu MB/s %8lu calls/s %6lu msg/s\n",
+		cfg_tcp ? "tcp" : "udp",
+		(num_msgs * cfg_payload_len) >> 20,
+		num_sends, num_msgs);
+
+	if (cfg_audit) {
+		total_num_msgs += num_msgs;
+		total_num_sends += num_sends;
+	}
+}
+
 int main(int argc, char **argv)
 {
 	unsigned long num_msgs, num_sends;
@@ -384,8 +663,13 @@ int main(int argc, char **argv)
 	if (cfg_segment)
 		set_pmtu_discover(fd, cfg_family == PF_INET);
 
+	if (cfg_tx_tstamp)
+		set_tx_timestamping(fd);
+
 	num_msgs = num_sends = 0;
 	tnow = gettimeofday_ms();
+	tstart = tnow;
+	tend = tnow;
 	tstop = tnow + cfg_runtime_ms;
 	treport = tnow + 1000;
 
@@ -400,19 +684,15 @@ int main(int argc, char **argv)
 		else
 			num_sends += send_udp(fd, buf[i]);
 		num_msgs++;
-		if (cfg_zerocopy && ((num_msgs & 0xF) == 0))
-			flush_zerocopy(fd);
+		if ((cfg_zerocopy && ((num_msgs & 0xF) == 0)) || cfg_tx_tstamp)
+			flush_errqueue(fd, cfg_poll);
 
 		if (cfg_msg_nr && num_msgs >= cfg_msg_nr)
 			break;
 
 		tnow = gettimeofday_ms();
-		if (tnow > treport) {
-			fprintf(stderr,
-				"%s tx: %6lu MB/s %8lu calls/s %6lu msg/s\n",
-				cfg_tcp ? "tcp" : "udp",
-				(num_msgs * cfg_payload_len) >> 20,
-				num_sends, num_msgs);
+		if (tnow >= treport) {
+			print_report(num_msgs, num_sends);
 			num_msgs = num_sends = 0;
 			treport = tnow + 1000;
 		}
@@ -423,8 +703,18 @@ int main(int argc, char **argv)
 
 	} while (!interrupted && (cfg_runtime_ms == -1 || tnow < tstop));
 
+	if (cfg_zerocopy || cfg_tx_tstamp)
+		flush_errqueue(fd, true);
+
 	if (close(fd))
 		error(1, errno, "close");
 
+	if (cfg_audit) {
+		tend = tnow;
+		total_num_msgs += num_msgs;
+		total_num_sends += num_sends;
+		print_audit_report(total_num_msgs, total_num_sends);
+	}
+
 	return 0;
 }
