diff --git a/src/idc/zephyr_idc.c b/src/idc/zephyr_idc.c
index 887cff0eb375..88a0ef40c449 100644
--- a/src/idc/zephyr_idc.c
+++ b/src/idc/zephyr_idc.c
@@ -73,8 +73,7 @@ static void idc_handler(struct k_p4wq_work *work)
 	int payload = -1;
 	k_spinlock_key_t key;
 
-	/* A message is received from another core, invalidate local cache */
-	sys_cache_data_invd_range(msg, sizeof(*msg));
+	__ASSERT_NO_MSG(!is_cached(msg));
 
 	if (msg->size == sizeof(int)) {
 		const int idc_handler_memcpy_err __unused =
@@ -121,6 +120,32 @@ int idc_send_msg(struct idc_msg *msg, uint32_t mode)
 	int ret;
 	int idc_send_memcpy_err __unused;
 
+	if (!cpu_is_core_enabled(target_cpu)) {
+		tr_err(&zephyr_idc_tr, "Core %u is down, cannot sent IDC message", target_cpu);
+		return -EACCES;
+	}
+
+	/*
+	 * Handler is NULL when work object has never been submitted.
+	 * In all other cases, we must use k_p4wq_wait() before reuse
+	 * of the object.
+	 */
+	if (work->handler) {
+		/*
+		 * If new request is in blocking mode, we must call
+		 * k_p4wq in blocking mode. This is workaround for
+		 * k_p4wq_wait() interface.
+		 */
+		work->sync = (mode == IDC_BLOCKING);
+
+		ret = k_p4wq_wait(work, K_USEC(IDC_TIMEOUT));
+		if (ret < 0) {
+			tr_err(&zephyr_idc_tr, "idc_send_msg error %d, target core %u",
+			       ret, target_cpu);
+			return ret;
+		}
+	}
+
 	idc_send_memcpy_err = memcpy_s(msg_cp, sizeof(*msg_cp), msg, sizeof(*msg));
 	assert(!idc_send_memcpy_err);
 	/* Same priority as the IPC thread which is an EDF task and under Zephyr */
@@ -129,10 +154,6 @@ int idc_send_msg(struct idc_msg *msg, uint32_t mode)
 	work->handler = idc_handler;
 	work->sync = mode == IDC_BLOCKING;
 
-	if (!cpu_is_core_enabled(target_cpu)) {
-		tr_err(&zephyr_idc_tr, "Core %u is down, cannot sent IDC message", target_cpu);
-		return -EACCES;
-	}
 	if (msg->payload) {
 		idc_send_memcpy_err = memcpy_s(payload->data, sizeof(payload->data),
 					       msg->payload, msg->size);
@@ -145,13 +166,13 @@ int idc_send_msg(struct idc_msg *msg, uint32_t mode)
 	/* Temporarily store sender core ID */
 	msg_cp->core = cpu_get_id();
 
-	/* Sending a message to another core, write back local message cache */
-	sys_cache_data_flush_range(msg_cp, sizeof(*msg_cp));
+	__ASSERT_NO_MSG(!is_cached(msg_cp));
+
 	k_p4wq_submit(q_zephyr_idc + target_cpu, work);
 
 	switch (mode) {
 	case IDC_BLOCKING:
-		ret = k_p4wq_wait(work, K_FOREVER);
+		ret = k_p4wq_wait(work, K_USEC(IDC_TIMEOUT));
 		if (!ret)
 			/* message was sent and executed successfully, get status code */
 			ret = idc_msg_status_get(msg->core);