Firmware Reverse Engineering: A Comprehensive Review and Directions

Firmware forms the persistent software layer controlling embedded and Internet-of-Things (IoT) devices, industrial controllers, automotive systems, and cyber-physical infrastructure. Vulnerabilities in firmware enable remote compromise, supply-chain attacks, and long-lived implants that survive operating-system reinstallation. This review synthesises 118 works published from 2014 to 2026—comprising 78 primary research studies; 23 surveys and systematisations of knowledge; and 17 benchmarks, tools, and background references—covering the full firmware reverse engineering (FRE) pipeline: physical acquisition (including fault injection and side-channel extraction), format analysis and unpacking, static analysis (binary code similarity detection, protocol reverse engineering, and patch diffing), dynamic analysis and hardware emulation, fuzzing-based vulnerability discovery, and artificial intelligence (AI) and large language model (LLM)-assisted analysis. Three additional dimensions are surveyed: digital twin-assisted firmware security testing; secure boot, trusted execution environment (TEE), and over-the-air (OTA) update security; and firmware rootkit and implant detection. Coverage spans two axes—the firmware class (Linux-based IoT, microcontroller-unit bare-metal, RTOS, UEFI/BIOS, PLC/ICS, and automotive ECU) and analysis depth (surface scanning to exploit-validated vulnerability chains). We identify ten structural gaps, including the absence of unified evaluation benchmarks, fragmented peripheral modelling, the scalability–fidelity trade-off in re-hosting, and insufficient grounding of LLM tools in firmware-specific realities. We conclude with six research directions for trustworthy, scalable, and infrastructure-aware firmware analysis.