diff --git a/src/modules/zenoh/CMakeLists.txt b/src/modules/zenoh/CMakeLists.txt
index 9fc0ba0cb1..6765ce7ae4 100644
--- a/src/modules/zenoh/CMakeLists.txt
+++ b/src/modules/zenoh/CMakeLists.txt
@@ -42,12 +42,11 @@ set(BUILD_SHARED_LIBS OFF)
 set(BUILD_TESTING OFF)
 set(CHECK_THREADS NO)
 set(MESSAGE_QUIET ON)
-set(ZENOH_DEBUG ${CONFIG_ZENOH_DEBUG})
+set(ZENOH_DEBUG ${CONFIG_ZENOH_DEBUG} CACHE STRING "Debug print level" FORCE)
 set(PICO_STATIC ON)
-set(Z_FEATURE_TCP_NODELAY 0)
-set(Z_FEATURE_MATCHING 0)
-#set(Z_FEATURE_BATCHING 0)
-#set(Z_FEATURE_INTEREST 0)
+if(NOT DEFINED CONFIG_NET_TCPPROTO_OPTIONS AND CONFIG_PLATFORM_NUTTX)
+    set(Z_FEATURE_TCP_NODELAY 0 CACHE STRING "Toggle TCP_NODELAY")
+endif()
 
 px4_add_git_submodule(TARGET git_zenoh-pico PATH "zenoh-pico")
 add_subdirectory(zenoh-pico)
diff --git a/src/modules/zenoh/zenoh.cpp b/src/modules/zenoh/zenoh.cpp
index 46fe490d4f..0e78b6a1a3 100644
--- a/src/modules/zenoh/zenoh.cpp
+++ b/src/modules/zenoh/zenoh.cpp
@@ -207,6 +207,13 @@ int ZENOH::setupSession()
 		return ret;
 	}
 
+	// Start read and lease tasks for zenoh-pico
+	if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) {
+		PX4_ERR("Unable to start read and lease tasks");
+		z_drop(z_move(s));
+		ret = -EINVAL;
+	}
+
 	return ret;
 }
 
@@ -225,13 +232,6 @@ int ZENOH::setupTopics(px4_pollfd_struct_t *pfds)
 	px4_guid[2] = 0xCC;
 #endif
 
-	// Start read and lease tasks for zenoh-pico
-	if (zp_start_read_task(z_loan_mut(s), NULL) < 0 || zp_start_lease_task(z_loan_mut(s), NULL) < 0) {
-		PX4_ERR("Unable to start read and lease tasks");
-		z_drop(z_move(s));
-		return -EINVAL;
-	}
-
 #ifdef CONFIG_ZENOH_RMW_LIVELINESS
 	z_id_t self_id = z_info_zid(z_loan(s));