ESP32-P4: Add ECO5 support (Jaroslav Safka - 6c10050, Konstantin Kondrashov - 40f103c)
ESP32-C5: Add support for >16 MB flash sizes (Roland Dobai - 8e2b94e)
espefuse: Add custom key purposes for ESP32-C6/C5/P4 (Konstantin Kondrashov - c6ce0bc)
espefuse: Support burning ECDSA_384 keys (Konstantin Kondrashov - 4a9a3d8)
espefuse: Clean up limitation for BLOCK9 usage (Konstantin Kondrashov - d63e3db)
espefuse: Add support for burning 512-bit keys on ESP32-C5 (Konstantin Kondrashov - 468de5c)

Use correct error codes for ROM errors (Jaroslav Burian - da4346b)
ESP32-C5: Erase during flashing above 16MB (Jaroslav Burian - d65a24e)
write_flash: Make write flash memory-layout-independent (Jaroslav Safka - d19413c)
elf2image: Handle ELF files with zero program header counts (Tormod Volden - d27ce37)
elf2image: Fix --pad-to-size argument parsing (Peter Dragun - 66a1377)
CLI: Handle deprecated options with "=" before value (Peter Dragun - f05fb62)
Prevent exiting immediately when being called programmatically (Fu Hanxi - d8ae230)
espefuse: Update CLI to support rich-click 1.9.0 (Peter Dragun - 2ae5535)
espefuse: Fix re-connection issue in check-error via USB-Serial/JTAG (Konstantin Kondrashov - a160468)
espefuse: Disable programming and usage of XTS-AES-256 eFuse key for ESP32-C5 (harshal.patil - c85a93d)
espsecure: Fix printing key digest in signature info (Radim Karniš - 7e53596)
espsecure: Extract public key version 1 in RAW format (Peter Dragun - 6cfced8)
espsecure: Allow signing multiple files in one go (Peter Dragun - 0177d61)
espsecure: Add support for python-pkcs11 9.0+ (Peter Dragun - 3ea646f)

Thanks to @tormodvolden, and others for contributing to this release!

Results of checking the release against common anti-virus SW

The failures are probably false positives. You can mark esptool as safe in your anti-virus SW, or install esptool from source.

espressif/esptool v5.1.0 Version 5.1.0 on GitHub