diff --git a/libs/bsp/bspInputManager/include/inputManager/DigitalInput.h b/libs/bsp/bspInputManager/include/inputManager/DigitalInput.h
index 9c2fe005d8e..ade442e5602 100644
--- a/libs/bsp/bspInputManager/include/inputManager/DigitalInput.h
+++ b/libs/bsp/bspInputManager/include/inputManager/DigitalInput.h
@@ -8,8 +8,6 @@
 
 #include <etl/uncopyable.h>
 
-#include <cassert>
-
 namespace bios
 {
 class DigitalInput : public ::etl::uncopyable
diff --git a/libs/bsw/io/include/io/VariantQueue.h b/libs/bsw/io/include/io/VariantQueue.h
index eac6151e97a..060122b7a2c 100644
--- a/libs/bsw/io/include/io/VariantQueue.h
+++ b/libs/bsw/io/include/io/VariantQueue.h
@@ -2,6 +2,7 @@
 
 #pragma once
 
+#include <etl/error_handler.h>
 #include <etl/memory.h>
 #include <etl/span.h>
 #include <etl/type_list.h>
@@ -9,7 +10,6 @@
 #include <etl/variant.h>
 #include <io/MemoryQueue.h>
 
-#include <cassert>
 #include <type_traits>
 
 /**
@@ -192,7 +192,7 @@ struct variant_q
     template<typename Visitor>
     static void read(Visitor& visitor, ::etl::span<uint8_t const> const data)
     {
-        assert(data.size() != 0);
+        ETL_ASSERT(data.size() != 0, ETL_ERROR_GENERIC("Buffer empty"));
         return variant_T_do<TypeList>::template call<Visitor, void>(
             data[0], data.subspan(1).data(), visitor);
     }
@@ -200,7 +200,7 @@ struct variant_q
     template<typename Visitor>
     static void read_with_payload(Visitor& visitor, ::etl::span<uint8_t const> const data)
     {
-        assert(data.size() != 0);
+        ETL_ASSERT(data.size() != 0, ETL_ERROR_GENERIC("Buffer empty"));
         return variant_do<TypeList>::template call<Visitor, void>(
             data[0], data.subspan(1), visitor);
     }
diff --git a/platforms/posix/bsp/bspUart/src/bsp/Uart.cpp b/platforms/posix/bsp/bspUart/src/bsp/Uart.cpp
index 1f7a4e3c787..ee9fe25fd29 100644
--- a/platforms/posix/bsp/bspUart/src/bsp/Uart.cpp
+++ b/platforms/posix/bsp/bspUart/src/bsp/Uart.cpp
@@ -1,7 +1,6 @@
 #include <bsp/Uart.h>
 #include <bsp/uart/UartConfig.h>
 
-#include <cassert>
 #include <errno.h>
 #include <fcntl.h> // For fcntl and O_NONBLOCK
 #include <stdio.h>
diff --git a/platforms/s32k1xx/bsp/bspFlexCan/src/can/FlexCANDevice.cpp b/platforms/s32k1xx/bsp/bspFlexCan/src/can/FlexCANDevice.cpp
index fd803622721..030c2aca74d 100644
--- a/platforms/s32k1xx/bsp/bspFlexCan/src/can/FlexCANDevice.cpp
+++ b/platforms/s32k1xx/bsp/bspFlexCan/src/can/FlexCANDevice.cpp
@@ -9,11 +9,10 @@
 #include <bsp/timer/SystemTimer.h>
 #include <bsp/timer/isEqualAfterTimeout.h>
 #include <etl/byte_stream.h>
+#include <etl/error_handler.h>
 #include <etl/span.h>
 #include <etl/unaligned_type.h>
 
-#include <cassert>
-
 using namespace can;
 
 namespace bios
@@ -44,15 +43,17 @@ FlexCANDevice::FlexCANDevice(
         case 0x40025000UL: fIndex = 1; break;
         case 0x4002B000UL: fIndex = 2; break;
 
-        default: assert(1);
+        default: ETL_ASSERT_FAIL(ETL_ERROR_GENERIC("Unsupported baseAddress"));
     }
 
     // Buffers 0..16 are used for reception
-    assert(fConfig.numRxBufsExt + fConfig.numRxBufsStd <= FIRST_TRANSMIT_BUFFER);
+    ETL_ASSERT(
+        fConfig.numRxBufsExt + fConfig.numRxBufsStd <= FIRST_TRANSMIT_BUFFER,
+        ETL_ERROR_GENERIC("Bad reception buffer"));
 
     // Buffers 16..31 are used for transmission (application),
     // buffer CALLBACK_TRANSMIT_BUFFER for transport transmission
-    assert(fConfig.numTxBufsApp <= 31);
+    ETL_ASSERT(fConfig.numTxBufsApp <= 31, ETL_ERROR_GENERIC("Bad transmission buffer"));
 }
 
 FlexCANDevice::FlexCANDevice(
@@ -77,14 +78,16 @@ FlexCANDevice::FlexCANDevice(
         case 0x40025000UL: fIndex = 1; break;
         case 0x4002B000UL: fIndex = 2; break;
 
-        default: assert(1);
+        default: ETL_ASSERT_FAIL(ETL_ERROR_GENERIC("Unsupported baseAddress"));
     }
     // Buffers 0..16 are used for reception
-    assert(fConfig.numRxBufsExt + fConfig.numRxBufsStd <= FIRST_TRANSMIT_BUFFER);
+    ETL_ASSERT(
+        fConfig.numRxBufsExt + fConfig.numRxBufsStd <= FIRST_TRANSMIT_BUFFER,
+        ETL_ERROR_GENERIC("Bad reception buffer"));
 
     // Buffers 16..31 are used for transmission (application),
     // buffer CALLBACK_TRANSMIT_BUFFER for transport transmission
-    assert(fConfig.numTxBufsApp <= 31);
+    ETL_ASSERT(fConfig.numTxBufsApp <= 31, ETL_ERROR_GENERIC("Bad transmission buffer"));
 }
 
 ICanTransceiver::ErrorCode FlexCANDevice::init()