diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4d1810eb..417ba192 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -322,8 +322,11 @@ if(NOT ZEPHYR_BASE)
   check_include_file(net/if.h HAVE_NET_IF_H)
   check_include_file(ifaddrs.h HAVE_IFADDRS_H)
   check_include_file(netinet/in.h HAVE_NETINET_IN_H)
-  check_include_file(sys/epoll.h HAVE_EPOLL_H)
-  check_include_file(sys/timerfd.h HAVE_TIMERFD_H)
+  check_include_file(netinet/ip_icmp.h HAVE_NETINET_IP_ICMP_H)
+  check_include_file(netinet/icmp6.h HAVE_NETINET_ICMP6_H)
+  check_include_file(linux/errqueue.h HAVE_LINUX_ERRQUEUE_H -D_LINUX_ERRQUEUE_H)
+  check_include_file(sys/epoll.h HAVE_SYS_EPOLL_H)
+  check_include_file(sys/timerfd.h HAVE_SYS_TIMERFD_H)
   check_include_file(arpa/inet.h HAVE_ARPA_INET_H)
   check_include_file(stdbool.h HAVE_STDBOOL_H)
   check_include_file(signal.h HAVE_SIGNAL_H)
diff --git a/cmake_coap_config.h.in b/cmake_coap_config.h.in
index 70c5c0d2..d44de0fc 100644
--- a/cmake_coap_config.h.in
+++ b/cmake_coap_config.h.in
@@ -32,7 +32,7 @@
 #cmakedefine HAVE_DLFCN_H @HAVE_DLFCN_H@
 
 /* Define to 1 if you have the <sys/epoll.h> header file. */
-#cmakedefine HAVE_EPOLL_H @HAVE_EPOLL_H@
+#cmakedefine HAVE_SYS_EPOLL_H @HAVE_SYS_EPOLL_H@
 
 /* Define to 1 if you have the <errno.h> header file. */
 #cmakedefine HAVE_ERRNO_H @HAVE_ERRNO_H@
@@ -79,6 +79,15 @@
 /* Define to 1 if you have the <netinet/in.h> header file. */
 #cmakedefine HAVE_NETINET_IN_H @HAVE_NETINET_IN_H@
 
+/* Define to 1 if you have the <netinet/ip_icmp.h> header file. */
+#cmakedefine HAVE_NETINET_IP_ICMP_H @HAVE_NETINET_IP_ICMP_H@
+
+/* Define to 1 if you have the <netinet/icmp6.h> header file. */
+#cmakedefine HAVE_NETINET_ICMP6_H @HAVE_NETINET_ICMP6_H@
+
+/* Define to 1 if you have the <linux/errqueue.h> header file. */
+#cmakedefine HAVE_LINUX_ERRQUEUE_H @HAVE_LINUX_ERRQUEUE_H@
+
 /* Define to 1 if you have the <pthread.h> header file. */
 #cmakedefine HAVE_PTHREAD_H @HAVE_PTHREAD_H@
 
@@ -155,7 +164,7 @@
 #cmakedefine HAVE_TIME_H @HAVE_TIME_H@
 
 /* Define to 1 if you have the <sys/timerfd.h> header file. */
-#cmakedefine HAVE_TIMERFD_H @HAVE_TIMERFD_H@
+#cmakedefine HAVE_SYS_TIMERFD_H @HAVE_SYS_TIMERFD_H@
 
 /* Define to 1 if you have the <unistd.h> header file. */
 #cmakedefine HAVE_UNISTD_H @HAVE_UNISTD_H@
diff --git a/configure.ac b/configure.ac
index d1006b51..34eec4e3 100644
--- a/configure.ac
+++ b/configure.ac
@@ -1090,7 +1090,7 @@ AC_ARG_ENABLE([af_llc],
 AS_IF([test "x$build_af_llc" = "xyes"],
       [AC_DEFINE(COAP_AF_LLC_SUPPORT, [1], [Define to build support for LLC sockets.])])
 
-if test "x$with_epoll" = "xyes"; then
+if test "x$build_af_llc" = "xyes"; then
     AC_CHECK_HEADER([netinet/ether.h])
     AC_CHECK_HEADER([linux/llc.h])
 fi
@@ -1220,6 +1220,7 @@ fi
 
 # Checks for header files.
 AC_CHECK_HEADERS([assert.h arpa/inet.h limits.h netdb.h netinet/in.h \
+                  netinet/ip_icmp.h netinet/icmp6.h linux/errqueue.h \
                   pthread.h errno.h winsock2.h ws2tcpip.h signal.h \
                   stdlib.h string.h strings.h sys/socket.h sys/select.h sys/time.h \
                   time.h unistd.h sys/unistd.h sys/ioctl.h net/if.h ifaddrs.h \
diff --git a/include/coap3/coap_dgrm_internal.h b/include/coap3/coap_dgrm_internal.h
index 86180fa6..da15a918 100644
--- a/include/coap3/coap_dgrm_internal.h
+++ b/include/coap3/coap_dgrm_internal.h
@@ -21,6 +21,14 @@
 extern "C" {
 #endif
 
+typedef struct coap_icmp_info_t {
+  uint32_t length;
+  uint8_t cmsg_level;
+  uint8_t ee_origin;
+  uint8_t ee_type;
+  uint8_t ee_code;
+} coap_icmp_info_t;
+
 /**
  * @ingroup internal_api
  * @defgroup dgrm Datagram (UDP) Support
diff --git a/include/coap3/coap_session_internal.h b/include/coap3/coap_session_internal.h
index 7b2e85e3..c2a912a7 100644
--- a/include/coap3/coap_session_internal.h
+++ b/include/coap3/coap_session_internal.h
@@ -260,6 +260,10 @@ struct coap_session_t {
   coap_tick_t last_tx;            /**< Last time a ratelimited packet is sent */
   uint8_t is_rate_limiting;       /**< Currently NON rate limiting */
   uint32_t ping_failed;           /**< Ping failure count */
+#ifdef HAVE_LINUX_ERRQUEUE_H
+  coap_str_const_t *last_data_write; /**< Last sent data to check against ICMP
+                                          responses */
+#endif /* HAVE_LINUX_ERRQUEUE_H */
 };
 
 #if COAP_SERVER_SUPPORT
diff --git a/src/coap_dgrm_posix.c b/src/coap_dgrm_posix.c
index 88a083ab..83684e00 100644
--- a/src/coap_dgrm_posix.c
+++ b/src/coap_dgrm_posix.c
@@ -40,6 +40,18 @@
 #ifdef HAVE_NETINET_IN_H
 # include <netinet/in.h>
 #endif
+#ifdef HAVE_NETINET_IP_ICMP_H
+# include <netinet/ip_icmp.h>
+#endif
+#ifdef HAVE_NETINET_ICMP6_H
+# include <netinet/icmp6.h>
+#endif
+#ifdef HAVE_LINUX_ERRQUEUE_H
+# include <linux/errqueue.h>
+#endif
+#ifdef HAVE_SYS_SELECT_H
+# include <sys/select.h>
+#endif
 #ifdef HAVE_WS2TCPIP_H
 #include <ws2tcpip.h>
 # define OPTVAL_T(t)         (const char*)(t)
@@ -243,6 +255,12 @@ coap_socket_connect_udp(coap_socket_t *sock,
   case AF_INET:
     if (connect_addr.addr.sin.sin_port == 0)
       connect_addr.addr.sin.sin_port = htons(default_port);
+#if IP_RECVERR && defined(HAVE_STRUCT_CMSGHDR) && defined(HAVE_LINUX_ERRQUEUE_H)
+    if (setsockopt(sock->fd, IPPROTO_IP, IP_RECVERR, OPTVAL_T(&on),
+                   sizeof(on)) == COAP_SOCKET_ERROR)
+      coap_log_alert("coap_socket_connect_udp: setsockopt IP_RECVERR: %s\n",
+                     coap_socket_strerror());
+#endif /* IP_RECVERR && HAVE_STRUCT_CMSGHDR && HAVE_LINUX_ERRQUEUE_H */
     break;
 #endif /* COAP_IPV4_SUPPORT */
 #if COAP_IPV6_SUPPORT
@@ -256,6 +274,12 @@ coap_socket_connect_udp(coap_socket_t *sock,
         coap_log_warn("coap_socket_connect_udp: setsockopt IPV6_V6ONLY: %s\n",
                       coap_socket_strerror());
       }
+#if IPV6_RECVERR && defined(HAVE_STRUCT_CMSGHDR) && defined(HAVE_LINUX_ERRQUEUE_H)
+    if (setsockopt(sock->fd, IPPROTO_IPV6, IPV6_RECVERR, OPTVAL_T(&on),
+                   sizeof(on)) == COAP_SOCKET_ERROR)
+      coap_log_alert("coap_socket_connect_udp: setsockopt IPV6_RECVERR: %s\n",
+                     coap_socket_strerror());
+#endif /* IPV6_RECVERR && HAVE_STRUCT_CMSGHDR && HAVE_LINUX_ERRQUEUE_H */
 #endif /* COAP_IPV6_SUPPORT */
     break;
 #if COAP_AF_UNIX_SUPPORT
@@ -495,6 +519,98 @@ coap_test_cid_tuple_change(coap_session_t *session) {
 }
 #endif /* COAP_CLIENT_SUPPORT */
 
+#if defined(HAVE_LINUX_ERRQUEUE_H) && defined(HAVE_STRUCT_CMSGHDR)
+static ssize_t
+coap_get_icmp_data(coap_socket_t *sock, uint8_t *data, size_t length) {
+  coap_fd_t fd = sock->fd;
+  char control_buf[1024];
+  struct iovec iov;
+  struct msghdr msg;
+  struct cmsghdr *cmsg;
+  int kerrno = errno;
+  int ret;
+
+  if (length < sizeof(coap_icmp_info_t)) {
+    return -1;
+  }
+  iov.iov_base = data + sizeof(coap_icmp_info_t);
+  iov.iov_len = length - sizeof(coap_icmp_info_t);;
+
+  memset(&msg, 0, sizeof(msg));
+  msg.msg_name = NULL;
+  msg.msg_namelen = 0;
+  msg.msg_iov = &iov;
+  msg.msg_iovlen = 1;
+  msg.msg_control = control_buf;
+  msg.msg_controllen = sizeof(control_buf);
+
+  /* Poll for errors using MSG_ERRQUEUE */
+  ret = recvmsg(fd, &msg, MSG_ERRQUEUE);
+  errno = kerrno;
+  if (ret < 0) {
+    return -1;
+  }
+
+  /* Parse control messages, looking for ICMP error messages */
+  for (cmsg = CMSG_FIRSTHDR(&msg); cmsg != NULL; cmsg = CMSG_NXTHDR(&msg, cmsg)) {
+#if COAP_IPV4_SUPPORT && IP_RECVERR
+    if (cmsg->cmsg_level == SOL_IP && cmsg->cmsg_type == IP_RECVERR) {
+      struct sock_extended_err *err = (struct sock_extended_err *)CMSG_DATA(cmsg);
+      coap_icmp_info_t *info = (coap_icmp_info_t *)data;
+
+      if (err->ee_origin == SO_EE_ORIGIN_ICMP) {
+        info->length = (uint32_t)ret;
+        info->cmsg_level = cmsg->cmsg_level;
+        info->ee_origin = err->ee_origin;
+        info->ee_type = err->ee_type;
+        info->ee_code = err->ee_code;
+#if COAP_SERVER_SUPPORT
+        coap_log_debug("*  %s: ICMP Error Type: %d, Code: %d\n",
+                       sock->endpoint ? coap_endpoint_str(sock->endpoint) :
+                       coap_session_str(sock->session),
+                       err->ee_type, err->ee_code);
+#else /* ! COAP_SERVER_SUPPORT */
+        coap_log_debug("*  %s: ICMP Error Type: %d, Code: %d\n",
+                       coap_session_str(sock->session),
+                       err->ee_type, err->ee_code);
+#endif /* ! COAP_SERVER_SUPPORT */
+        return ret;
+      }
+    }
+#endif /* COAP_IPV4_SUPPORT && IP_RECVERR */
+#if COAP_IPV6_SUPPORT && IPV6_RECVERR
+    if (cmsg->cmsg_level == SOL_IPV6 && cmsg->cmsg_type == IPV6_RECVERR) {
+      struct sock_extended_err *err = (struct sock_extended_err *)CMSG_DATA(cmsg);
+      coap_icmp_info_t *info = (coap_icmp_info_t *)data;
+
+      if (err->ee_origin == SO_EE_ORIGIN_ICMP6 || err->ee_origin == SO_EE_ORIGIN_ICMP) {
+        info->length = (uint32_t)ret;
+        info->cmsg_level = cmsg->cmsg_level;
+        info->ee_origin = err->ee_origin;
+        info->ee_type = err->ee_type;
+        info->ee_code = err->ee_code;
+#if COAP_SERVER_SUPPORT
+        coap_log_debug("*  %s: ICMP%s Error Type: %d, Code: %d\n",
+                       sock->endpoint ? coap_endpoint_str(sock->endpoint) :
+                       coap_session_str(sock->session),
+                       err->ee_origin == SO_EE_ORIGIN_ICMP6 ? "6" : "",
+                       err->ee_type, err->ee_code);
+#else /* ! COAP_SERVER_SUPPORT */
+        coap_log_debug("*  %s: ICMP%s Error Type: %d, Code: %d\n",
+                       coap_session_str(sock->session),
+                       err->ee_origin == SO_EE_ORIGIN_ICMP6 ? "6" : "",
+                       err->ee_type, err->ee_code);
+#endif /* ! COAP_SERVER_SUPPORT */
+        return ret;
+      }
+    }
+#endif /* COAP_IPV6_SUPPORT && IPV6_RECVERR */
+    coap_log_debug("MSG_ERRQUEUE: Level %d, Type: %d\n", cmsg->cmsg_level, cmsg->cmsg_type);
+  }
+  return -1;
+}
+#endif /* HAVE_LINUX_ERRQUEUE_H && HAVE_STRUCT_CMSGHDR */
+
 /*
  * dgram
  * return +ve Number of bytes written.
@@ -704,6 +820,9 @@ coap_socket_send(coap_socket_t *sock, coap_session_t *session,
 ssize_t
 coap_socket_recv(coap_socket_t *sock, coap_packet_t *packet) {
   ssize_t len = -1;
+#if defined(HAVE_LINUX_ERRQUEUE_H) && defined(HAVE_STRUCT_CMSGHDR)
+  ssize_t ret;
+#endif /* HAVE_LINUX_ERRQUEUE_H && HAVE_STRUCT_CMSGHDR */
 
   assert(sock);
   assert(packet);
@@ -725,13 +844,21 @@ coap_socket_recv(coap_socket_t *sock, coap_packet_t *packet) {
 #ifdef _WIN32
       coap_win_error_to_errno();
 #endif /* _WIN32 */
+
+#if defined(HAVE_LINUX_ERRQUEUE_H) && defined(HAVE_STRUCT_CMSGHDR)
+      ret = coap_get_icmp_data(sock, packet->payload, COAP_RXBUFFER_SIZE);
+      if (ret >= 4) {
+        /* Information about the ICMP diagnostic packet is in packet->payload */
+        return -2;
+      }
+#endif /* HAVE_LINUX_ERRQUEUE_H && HAVE_STRUCT_CMSGHDR */
       if (errno == ECONNREFUSED || errno == EHOSTUNREACH || errno == ECONNRESET) {
         /* client-side ICMP destination unreachable, ignore it */
         coap_log_warn("** %s: coap_socket_recv: ICMP: %s\n",
                       sock->session ?
                       coap_session_str(sock->session) : "",
                       coap_socket_strerror());
-        return -2;
+        goto error;
       }
       if (errno != EAGAIN) {
         coap_log_warn("** %s: coap_socket_recv: %s\n",
@@ -928,9 +1055,9 @@ coap_socket_dgrm_close(coap_socket_t *sock) {
 #if COAP_SERVER_SUPPORT
     coap_context_t *context = sock->session ? sock->session->context :
                               sock->endpoint ? sock->endpoint->context : NULL;
-#else /* COAP_SERVER_SUPPORT */
+#else /* ! COAP_SERVER_SUPPORT */
     coap_context_t *context = sock->session ? sock->session->context : NULL;
-#endif /* COAP_SERVER_SUPPORT */
+#endif /* ! COAP_SERVER_SUPPORT */
     if (context != NULL) {
       int ret;
       struct epoll_event event;
diff --git a/src/coap_dgrm_riot.c b/src/coap_dgrm_riot.c
index 18282189..38e05b3a 100644
--- a/src/coap_dgrm_riot.c
+++ b/src/coap_dgrm_riot.c
@@ -67,7 +67,6 @@ coap_socket_send(coap_socket_t *sock,
  * dgram
  * return +ve Number of bytes written.
  *         -1 Error error in errno).
- *         -2 ICMP error response
  */
 ssize_t
 coap_socket_recv(coap_socket_t *sock, coap_packet_t *packet) {
@@ -94,7 +93,7 @@ coap_socket_recv(coap_socket_t *sock, coap_packet_t *packet) {
                       sock->session ?
                       coap_session_str(sock->session) : "",
                       coap_socket_strerror());
-        return -2;
+        goto error;
       }
       if (errno != EAGAIN) {
         coap_log_warn("** %s: coap_socket_recv: %s\n",
diff --git a/src/coap_netif.c b/src/coap_netif.c
index 83c39dd4..6b446619 100644
--- a/src/coap_netif.c
+++ b/src/coap_netif.c
@@ -80,6 +80,21 @@ coap_netif_dgrm_read(coap_session_t *session, coap_packet_t *packet) {
                    coap_session_str(session), packet->length,
                    coap_socket_strerror(), keep_errno, session->state);
     errno = keep_errno;
+  } else if (bytes_read == -2) {
+#ifdef HAVE_LINUX_ERRQUEUE_H
+    coap_icmp_info_t *info = (coap_icmp_info_t *)packet->payload;
+
+    if (session->last_data_write && session->last_data_write->length >= info->length) {
+      if (memcmp(session->last_data_write->s, &info[1], info->length) == 0) {
+        /* There is a match - need to handle failure */
+        coap_log_debug("*  %s: netif: failed to read % " PRIdS " bytes (%s (%d)) state %d\n",
+                       coap_session_str(session), packet->length,
+                       coap_socket_strerror(), keep_errno, session->state);
+        return -2;
+      }
+    }
+#endif /* HAVE_LINUX_ERRQUEUE_H */
+    bytes_read = -1;
   } else if (bytes_read > 0) {
     coap_ticks(&session->last_rx_tx);
     memcpy(&session->addr_info, &packet->addr_info,
@@ -153,6 +168,12 @@ coap_netif_dgrm_write(coap_session_t *session, const uint8_t *data,
       coap_log_debug("*  %s: netif: sent %4" PRIdS " of %4" PRIdS " bytes\n",
                      coap_session_str(session), bytes_written, datalen);
   }
+#ifdef HAVE_LINUX_ERRQUEUE_H
+  if (session->type == COAP_SESSION_TYPE_CLIENT) {
+    coap_delete_str_const(session->last_data_write);
+    session->last_data_write = coap_new_str_const(data, datalen);
+  }
+#endif /* HAVE_LINUX_ERRQUEUE_H */
   return bytes_written;
 }
 
diff --git a/src/coap_session.c b/src/coap_session.c
index 0048265d..6dee3bbb 100644
--- a/src/coap_session.c
+++ b/src/coap_session.c
@@ -598,6 +598,10 @@ coap_session_mfree(coap_session_t *session) {
   if (session->psk_hint)
     coap_delete_bin_const(session->psk_hint);
 
+#ifdef HAVE_LINUX_ERRQUEUE_H
+  coap_delete_str_const(session->last_data_write);
+#endif /* HAVE_LINUX_ERRQUEUE_H */
+
 #if COAP_SERVER_SUPPORT
   coap_cache_entry_t *cp, *ctmp;
   HASH_ITER(hh, session->context->cache, cp, ctmp) {
@@ -1109,28 +1113,22 @@ coap_session_disconnected_lkd(coap_session_t *session, coap_nack_reason_t reason
     q = q->next;
   }
 
-  if (reason != COAP_NACK_ICMP_ISSUE
-#if COAP_CLIENT_SUPPORT
-      || session->session_failed
-#endif /* COAP_CLIENT_SUPPORT */
-     ) {
-    while (session->delayqueue) {
-      q = session->delayqueue;
-      session->delayqueue = q->next;
-      q->next = NULL;
-      coap_log_debug("** %s: mid=0x%04x: not transmitted after disconnect\n",
-                     coap_session_str(session), q->id);
-      if (q->pdu->type == COAP_MESSAGE_CON) {
-        coap_handle_nack(session, q->pdu, reason, q->id);
-        sent_nack = 1;
-      }
-
-#if COAP_CLIENT_SUPPORT
-      session->doing_send_recv = 0;
-#endif /* COAP_CLIENT_SUPPORT */
-      coap_delete_node_lkd(q);
+  while (session->delayqueue) {
+    q = session->delayqueue;
+    session->delayqueue = q->next;
+    q->next = NULL;
+    coap_log_debug("** %s: mid=0x%04x: not transmitted after disconnect\n",
+                   coap_session_str(session), q->id);
+    if (q->pdu->type == COAP_MESSAGE_CON) {
+      coap_handle_nack(session, q->pdu, reason, q->id);
+      sent_nack = 1;
     }
+
+    coap_delete_node_lkd(q);
   }
+#if COAP_CLIENT_SUPPORT
+  session->doing_send_recv = 0;
+#endif /* COAP_CLIENT_SUPPORT */
 #if COAP_CLIENT_SUPPORT
   if (!sent_nack && session->lg_crcv) {
     /* Take the first one */
@@ -1143,11 +1141,6 @@ coap_session_disconnected_lkd(coap_session_t *session, coap_nack_reason_t reason
     /* Unable to determine which request disconnection was for */
     coap_handle_nack(session, NULL, reason, 0);
   }
-  if (reason == COAP_NACK_ICMP_ISSUE) {
-    coap_log_debug("***%s: session ICMP issue (%s)\n",
-                   coap_session_str(session), coap_nack_name(reason));
-    return;
-  }
   coap_log_debug("***%s: session disconnected (%s)\n",
                  coap_session_str(session), coap_nack_name(reason));
 #if COAP_SERVER_SUPPORT