diff --git a/bootloaders/riotboot_dfu/Makefile b/bootloaders/riotboot_dfu/Makefile
index 615e7dd09cb3..308cb8b489a1 100644
--- a/bootloaders/riotboot_dfu/Makefile
+++ b/bootloaders/riotboot_dfu/Makefile
@@ -4,10 +4,6 @@ APPLICATION = riotboot_dfu
 # Add RIOTBOOT USB DFU integration
 USEMODULE += riotboot_usb_dfu
 
-# Use xtimer for scheduled reboot
-USEMODULE += ztimer
-USEMODULE += ztimer_init
-
 # USB device vendor and product ID
 # pid.codes test VID/PID, not globally unique
 
diff --git a/bootloaders/riotboot_dfu/main.c b/bootloaders/riotboot_dfu/main.c
index 275213c4b6c7..49b695bab313 100644
--- a/bootloaders/riotboot_dfu/main.c
+++ b/bootloaders/riotboot_dfu/main.c
@@ -26,9 +26,8 @@
 #include "panic.h"
 #include "riotboot/slot.h"
 #include "riotboot/usb_dfu.h"
-#include "ztimer.h"
-
 #include "riotboot/bootloader_selection.h"
+#include "ztimer.h"
 
 #ifdef BTN_BOOTLOADER_PIN
 #include "periph/gpio.h"
@@ -74,9 +73,9 @@ void kernel_init(void)
         }
     }
 
-    /* Init ztimer before starting DFU mode */
-    ztimer_init();
-
+    if (IS_USED(MODULE_ZTIMER)) {
+        ztimer_init();
+    }
     /* Flash the unused slot if magic word is set */
     riotboot_usb_dfu_init(0);
 
diff --git a/sys/Makefile.dep b/sys/Makefile.dep
index 5cb8f3994500..7935777e0d6f 100644
--- a/sys/Makefile.dep
+++ b/sys/Makefile.dep
@@ -893,7 +893,6 @@ endif
 ifneq (,$(filter riotboot_usb_dfu, $(USEMODULE)))
   USEMODULE += usbus_dfu
   USEMODULE += riotboot_flashwrite
-  USEMODULE += ztimer_sec
   FEATURES_REQUIRED += no_idle_thread
   FEATURES_REQUIRED += periph_pm
 endif
diff --git a/sys/include/usb/usbus.h b/sys/include/usb/usbus.h
index ad0bb06b81aa..106e66b9990e 100644
--- a/sys/include/usb/usbus.h
+++ b/sys/include/usb/usbus.h
@@ -141,6 +141,7 @@ extern "C" {
  */
 #define USBUS_HANDLER_FLAG_TR_FAIL  (0x0010)
 #define USBUS_HANDLER_FLAG_TR_STALL (0x0020)    /**< Report transfer stall complete */
+#define USBUS_HANDLER_FLAG_TR_EP0_FWD   (0x0100)    /**< Forward transfer complete */
 /** @} */
 
 /**
diff --git a/sys/usb/usbus/dfu/dfu.c b/sys/usb/usbus/dfu/dfu.c
index 288e39e7b838..f78e61a52c44 100644
--- a/sys/usb/usbus/dfu/dfu.c
+++ b/sys/usb/usbus/dfu/dfu.c
@@ -25,9 +25,6 @@
 #include "usb/usbus/dfu.h"
 #include "riotboot/magic.h"
 #include "riotboot/usb_dfu.h"
-#ifdef MODULE_RIOTBOOT_USB_DFU
-#include "ztimer.h"
-#endif
 #include "periph/pm.h"
 
 #include "riotboot/slot.h"
@@ -46,12 +43,6 @@ static void _transfer_handler(usbus_t *usbus, usbus_handler_t *handler,
                               usbdev_ep_t *ep, usbus_event_transfer_t event);
 static void _init(usbus_t *usbus, usbus_handler_t *handler);
 
-#ifdef MODULE_RIOTBOOT_USB_DFU
-static void _reboot(void *arg);
-static ztimer_t scheduled_reboot = { .callback=_reboot };
-#define REBOOT_DELAY 2
-#endif
-
 #define DEFAULT_XFER_SIZE 64
 
 static size_t _gen_dfu_descriptor(usbus_t *usbus, void *arg)
@@ -88,14 +79,6 @@ static const usbus_descr_gen_funcs_t _dfu_descriptor = {
     .len_type = USBUS_DESCR_LEN_FIXED,
 };
 
-#ifdef MODULE_RIOTBOOT_USB_DFU
-static void _reboot(void *arg)
-{
-    (void)arg;
-    pm_reboot();
-}
-#endif
-
 void usbus_dfu_init(usbus_t *usbus, usbus_dfu_device_t *handler, unsigned mode)
 {
     DEBUG("DFU: initialization\n");
@@ -228,13 +211,13 @@ static int _dfu_class_control_req(usbus_t *usbus, usbus_dfu_device_t *dfu, usb_s
 
             if (dfu->dfu_state == USB_DFU_STATE_DFU_DL_SYNC) {
                 dfu->dfu_state = USB_DFU_STATE_DFU_DL_IDLE;
-                DEBUG("GET STATUS GO TO IDLE\n");
             }
             else if (dfu->dfu_state == USB_DFU_STATE_DFU_MANIFEST_SYNC) {
                 /* Scheduled reboot, so we can answer back dfu-util before rebooting */
                 dfu->dfu_state = USB_DFU_STATE_DFU_DL_IDLE;
 #ifdef MODULE_RIOTBOOT_USB_DFU
-                ztimer_set(ZTIMER_SEC, &scheduled_reboot, 1);
+                /* Set specific flag to forward TRANSFER_COMPLETE event to this interface */
+                usbus_handler_set_flag(&dfu->handler_ctrl, USBUS_HANDLER_FLAG_TR_EP0_FWD);
 #endif
             }
             memset(&buf, 0, sizeof(buf));
@@ -243,7 +226,6 @@ static int _dfu_class_control_req(usbus_t *usbus, usbus_dfu_device_t *dfu, usb_s
             buf.state = dfu->dfu_state;
             /* Send answer to host */
             usbus_control_slicer_put_bytes(usbus, (uint8_t*)&buf, sizeof(buf));
-            DEBUG("send answer\n");
             break;
         }
         case DFU_CLR_STATUS:
@@ -294,10 +276,17 @@ static int _control_handler(usbus_t *usbus, usbus_handler_t *handler,
 static void _transfer_handler(usbus_t *usbus, usbus_handler_t *handler,
                              usbdev_ep_t *ep, usbus_event_transfer_t event)
 {
-    (void)event;
-    (void)usbus;
     (void)handler;
-    (void)ep;
+    usbus_control_handler_t *ep0_handler = (usbus_control_handler_t *)usbus->control;
+
+    /* Ensure we did transmit the status packet before rebooting to application */
+    if (ep->dir == USB_EP_DIR_OUT && event == USBUS_EVENT_TRANSFER_COMPLETE) {
+
+        /* Wait to receive OUTACK event on EP0 before rebooting */
+        if (ep0_handler->control_request_state == USBUS_CONTROL_REQUEST_STATE_READY) {
+            pm_reboot();
+        }
+    }
 }
 
 static void _event_handler(usbus_t *usbus, usbus_handler_t *handler,
diff --git a/sys/usb/usbus/usbus_control.c b/sys/usb/usbus/usbus_control.c
index 4f669b67d691..1ddd78445446 100644
--- a/sys/usb/usbus/usbus_control.c
+++ b/sys/usb/usbus/usbus_control.c
@@ -496,6 +496,13 @@ static void _handler_ep0_transfer(usbus_t *usbus, usbus_handler_t *handler,
     switch (event) {
         case USBUS_EVENT_TRANSFER_COMPLETE:
             _handle_tr_complete(usbus, ep0_handler, ep);
+            /* Forward to every handler, EP0 transfer event, except the first
+             * handler as this is the current handler used for this event */
+            for (usbus_handler_t *hdl = handler->next; hdl; hdl = hdl->next) {
+                if(usbus_handler_isset_flag(hdl, USBUS_HANDLER_FLAG_TR_EP0_FWD)) {
+                    hdl->driver->transfer_handler(usbus, hdl, ep, USBUS_EVENT_TRANSFER_COMPLETE);
+                }
+            }
             break;
         default:
             break;