diff --git a/.gitignore b/.gitignore
index 7226130ec..08953d5ab 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,6 +15,7 @@ compile_commands.json
 *_mock.go
 tedi_test.go
 /third_party/benchmarks/java/*.class
+wifi.json
 
 **/node_modules/
 /tools/lsp/client/npm-debug.log
diff --git a/README.md b/README.md
index d636ae386..008e6c41e 100644
--- a/README.md
+++ b/README.md
@@ -314,18 +314,18 @@ in `build/esp32/firmware.envelope`:
 make esp32
 ```
 
+For other chip variants use the corresponding make target. For example, for the ESP32-C6 which would generate in `build/esp32c6/firmware.envelope`:
+
+``` sh
+make esp32c6
+```
+
 If you want to flash the generated firmware on your device, you can use the `firmware`
-too. Internally, the `firmware` tool calls out to
-[esptool](https://github.com/espressif/esptool)
-so you need to install that one first.
-You can also set the environment variable `ESPTOOL_PATH` to point
-to a valid esptool (for example the one in the shipped esp-idf:
-`export ESPTOOL_PATH=$PWD/third_party/esp-idf/components/esptool_py/esptool/esptool.py`).
-Assuming your device is connected through `/dev/ttyUSB0`
-you can then flash a device as follows:
+tool. Internally it calls the bundled esptool from the esp-idf submodule.
+You can override this with the `ESPTOOL_PATH` environment variable if you want to use a different version of esptool.
 
 ``` sh
-build/host/sdk/lib/toit/tool firmware -e build/esp32/firmware.envelope \
+build/host/sdk/bin/toit tool firmware -e build/esp32/firmware.envelope \
     flash --port /dev/ttyUSB0 --baud 921600
 ```
 
@@ -340,6 +340,39 @@ build/host/sdk/bin/toit tool firmware -e build/esp32/firmware.envelope \
     flash --port /dev/ttyUSB0 --baud 921600
 ```
 
+### Flashing with Jaguar (live reloading)
+
+To run Jaguar on your locally built firmware, compile the Jaguar service snapshot
+using your SDK (so the versions match) and install it as a container before flashing.
+The Jaguar source lives in [toitlang/jaguar](https://github.com/toitlang/jaguar).
+Set `JAG_PATH` to its location, or leave it unset to default to `../jaguar`
+(i.e. checked out alongside this repo):
+
+``` sh
+JAG_PATH=${JAG_PATH:-../jaguar}
+
+# Install jaguar's dependencies and compile its service snapshot
+build/host/sdk/bin/toit pkg --project-root="$JAG_PATH" install
+build/host/sdk/bin/toit compile -O2 --snapshot \
+    -o /tmp/jaguar.snapshot "$JAG_PATH/src/jaguar.toit"
+
+# Add jaguar to the firmware envelope
+build/host/sdk/bin/toit tool firmware \
+    -e build/esp32c6/firmware.envelope \
+    container install -o /tmp/firmware-jaguar.envelope \
+    jaguar /tmp/jaguar.snapshot
+
+# Flash with WiFi credentials
+# echo '{ "wifi": { "wifi.ssid": "YourSSID", "wifi.password": "YourPassword" } }' > wifi.json
+build/host/sdk/bin/toit tool firmware \
+    -e /tmp/firmware-jaguar.envelope \
+    flash --config wifi.json --port /dev/ttyACM0 --baud 921600
+```
+
+> **Note:** The jaguar snapshot must be compiled with the same SDK version as the
+> firmware envelope. `jag flash` alone uses jag's pre-built snapshot which is pinned
+> to a release tag and will not match a local dev build's version suffix.
+
 ### Adding multiple containers
 
 You can add more containers before you flash, so you firmware
diff --git a/tools/firmware.toit b/tools/firmware.toit
index 91635bb5c..f78a48b5e 100644
--- a/tools/firmware.toit
+++ b/tools/firmware.toit
@@ -1116,21 +1116,9 @@ flash invocation/cli.Invocation -> none:
 
           esptool := find-esptool_
 
-          // The new esptool has deprecated underscores in some arguments.
-          // TODO(floitsch): remove these replacements when the esp-idf has been updated
-          //   to a version that uses the new arguments.
           before-args := flashing["extra_esptool_args"]["before"]
           after-args := flashing["extra_esptool_args"]["after"]
           write-flash-args := flashing["write_flash_args"]
-          before-args = before-args.replace --all "default_reset" "default-reset"
-          before-args = before-args.replace --all "no_reset" "no-reset"
-          after-args = after-args.replace --all "hard_reset" "hard-reset"
-          after-args = after-args.replace --all "no_reset" "no-reset"
-          write-flash-args.map --in-place:
-            if it == "--flash_mode": "--flash-mode"
-            else if it == "--flash_size": "--flash-size"
-            else if it == "--flash_freq": "--flash-freq"
-            else: it
 
           code := pipe.run-program esptool + [
             "--port", port,
@@ -1138,7 +1126,7 @@ flash invocation/cli.Invocation -> none:
             "--chip", chip,
             "--before", before-args,
             "--after", after-args
-          ] + [ "write-flash" ] + write-flash-args + partition-args
+          ] + [ "write_flash" ] + write-flash-args + partition-args
           if code != 0: exit 1
         finally:
           directory.rmdir --recursive tmp