diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 84a52639..2522e031 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -146,7 +146,9 @@ jobs:
         if: ${{ runner.os == 'Linux' && runner.arch == 'ARM64' }}
         run: |
           sudo apt-get update
-          sudo apt-get install -y gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf libc6-armhf-cross
+          sudo apt-get install -y \
+            gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf libc6-armhf-cross \
+            gcc-arm-linux-gnueabi g++-arm-linux-gnueabi libc6-armel-cross
 
           # Install the latest QEMU 10.x package from Debian. Ubuntu 24.04 ships QEMU 8.2
           # which has a bug where inter-thread signal delivery (tgkill) hangs,
@@ -177,6 +179,17 @@ jobs:
           go env -u CC
           go env -u CXX
 
+          # Repeat the same for ARMv5 target (soft-float)
+          sudo ln -sf /usr/arm-linux-gnueabi/lib/ld-linux.so.3 /lib/ld-linux.so.3
+          go env -w CC=arm-linux-gnueabi-gcc
+          go env -w CXX=arm-linux-gnueabi-g++
+          env GOOS=linux GOARCH=arm GOARM=5 CGO_ENABLED=0 go test -c -o=purego-test-nocgo .
+          env QEMU_LD_PREFIX=/usr/arm-linux-gnueabi qemu-arm ./purego-test-nocgo -test.shuffle=on -test.v -test.count=10
+          env GOOS=linux GOARCH=arm GOARM=5 CGO_ENABLED=1 go test -c -o=purego-test-cgo .
+          env QEMU_LD_PREFIX=/usr/arm-linux-gnueabi qemu-arm ./purego-test-cgo -test.shuffle=on -test.v -test.count=10
+          go env -u CC
+          go env -u CXX
+
       - name: go test race (no Cgo)
         if: runner.os == 'macOS'
         run: |
diff --git a/func.go b/func.go
index ff154dc7..57afd93e 100644
--- a/func.go
+++ b/func.go
@@ -21,6 +21,10 @@ const (
 	align8ByteSize = 8 // 8-byte alignment boundary
 )
 
+func isARMSoftFloat() bool {
+	return runtime.GOARCH == "arm" && *(*uint8)(unsafe.Pointer(&runtime_goarmsoftfp)) != 0
+}
+
 var thePool = sync.Pool{New: func() any {
 	return new(syscallArgs)
 }}
@@ -183,6 +187,19 @@ func RegisterFunc(fptr any, cfn uintptr) {
 				}
 			case reflect.Float32, reflect.Float64:
 				usesSlots := max(1, int(arg.Size()/ptrSize))
+				if isARMSoftFloat() {
+					// float64 for arm with softfloat uses same rules as int64
+					if isARMPaddingNeeded(arg, ints, stack) {
+						usesSlots++
+					}
+					if ints < numOfIntegerRegisters() {
+						ints += usesSlots
+					} else {
+						stack += usesSlots
+					}
+					continue
+				}
+
 				if isARMFloatPaddingNeeded(arg, floats, stack) {
 					usesSlots++
 				}
@@ -402,6 +419,7 @@ func RegisterFunc(fptr any, cfn uintptr) {
 			// On 386, x87 FPU returns floats as float64 in ST(0), so we read as float64 and convert.
 			// On PPC64LE, C ABI converts float32 to double in FPR, so we read as float64.
 			// On S390X (big-endian), float32 is in upper 32 bits of the 64-bit FP register.
+			// On 32bit ARM with softfloat float32 returned as integer
 			switch runtime.GOARCH {
 			case "386":
 				v.SetFloat(math.Float64frombits(uint64(syscall.f1) | (uint64(syscall.f2) << 32)))
@@ -410,13 +428,22 @@ func RegisterFunc(fptr any, cfn uintptr) {
 			case "s390x":
 				// S390X is big-endian: float32 in upper 32 bits of 64-bit register
 				v.SetFloat(float64(math.Float32frombits(uint32(syscall.f1 >> 32))))
+			case "arm":
+				if isARMSoftFloat() {
+					v.SetFloat(float64(math.Float32frombits(uint32(syscall.a1))))
+				} else {
+					v.SetFloat(float64(math.Float32frombits(uint32(syscall.f1))))
+				}
 			default:
 				v.SetFloat(float64(math.Float32frombits(uint32(syscall.f1))))
 			}
 		case reflect.Float64:
 			// NOTE: syscall.r2 is only the floating return value on 64bit platforms.
 			// On 32bit platforms syscall.r2 is the upper part of a 64bit return.
-			if is32bit {
+			if isARMSoftFloat() {
+				// a1,a2 are populated in this case
+				v.SetFloat(math.Float64frombits(uint64(syscall.a1) | (uint64(syscall.a2) << 32)))
+			} else if is32bit {
 				v.SetFloat(math.Float64frombits(uint64(syscall.f1) | (uint64(syscall.f2) << 32)))
 			} else {
 				v.SetFloat(math.Float64frombits(uint64(syscall.f1)))
@@ -483,6 +510,13 @@ func addValue(v reflect.Value, keepAlive []any, addInt func(x uintptr), addFloat
 		case "s390x":
 			// S390X big-endian: float32 goes in the upper 32 bits of the 64-bit FP register.
 			addFloat(uintptr(math.Float32bits(float32(v.Float()))) << 32)
+		case "arm":
+			if isARMSoftFloat() {
+				// 32-bit ARM with softfloat: float32 goes as integer
+				addInt(uintptr(math.Float32bits(float32(v.Float()))))
+			} else {
+				addFloat(uintptr(math.Float32bits(float32(v.Float()))))
+			}
 		default:
 			addFloat(uintptr(math.Float32bits(float32(v.Float()))))
 		}
@@ -492,7 +526,14 @@ func addValue(v reflect.Value, keepAlive []any, addInt func(x uintptr), addFloat
 			// if floats are spilled onto stack on ARM than we must follow AAPCS C.7
 			addFloat(0)
 		}
-		if is32bit {
+		if isARMSoftFloat() {
+			// add as uint64
+			if isARMPaddingNeeded(v.Type(), *numInts, *numStack) {
+				addInt(0)
+			}
+			addInt(uintptr(bits))
+			addInt(uintptr(bits >> 32))
+		} else if is32bit {
 			addFloat(uintptr(bits))
 			addFloat(uintptr(bits >> 32))
 		} else {
@@ -603,6 +644,7 @@ func numOfFloatRegisters() int {
 	case "s390x":
 		return 4
 	case "arm":
+		// 8 doubles (16 words) are always reserved by asm trampolines, even if softfloat is used
 		return 16
 	case "386":
 		// i386 SysV ABI passes all arguments on the stack, including floats
diff --git a/func_test.go b/func_test.go
index 9b305ade..f5190714 100644
--- a/func_test.go
+++ b/func_test.go
@@ -461,6 +461,30 @@ func TestABI_ArgumentPassing(t *testing.T) {
 			},
 			want: strconv.FormatInt(12*1+34*2+56*3+78*4+math.MaxInt32+1500, 10),
 		},
+		{
+			// check if unaligned float 64bit argument and float 64bit returned value is properly passed via registers
+			// arm-softfloat-specific but must work everywhere
+			name: "arm_float64_unaligned_in_registers",
+			fn:   new(func(uintptr, float64) float64),
+			cFn:  "arm_float64_unaligned_in_registers",
+			call: func(f any) string {
+				fn := *(f).(*func(x uintptr, y float64) float64)
+				return strconv.FormatFloat(fn(456, math.MaxFloat32+1500), 'b', 10, 64)
+			},
+			want: strconv.FormatFloat(456*123.5+math.MaxFloat32+1500, 'b', 10, 64),
+		},
+		{
+			// check if unaligned float 64bit argument and float 64bit returned value is properly passed via stack
+			// arm-softfloat-specific but must work everywhere
+			name: "arm_float64_unaligned_on_stack",
+			fn:   new(func(uintptr, uintptr, uintptr, uintptr, uintptr, float64) float64),
+			cFn:  "arm_float64_unaligned_on_stack",
+			call: func(f any) string {
+				fn := *(f).(*func(a1, a2, a3, a4, a5 uintptr, a6 float64) float64)
+				return strconv.FormatFloat(fn(12, 34, 56, 78, 90, math.MaxFloat32+1500), 'b', 10, 64)
+			},
+			want: strconv.FormatFloat(12*1+34*2+56*3+78*4+90*5+math.MaxFloat32+1500, 'b', 10, 64),
+		},
 	}
 
 	for _, tt := range tests {
diff --git a/go_runtime.go b/go_runtime.go
index b327f786..0a332b6e 100644
--- a/go_runtime.go
+++ b/go_runtime.go
@@ -11,3 +11,9 @@ import (
 
 //go:linkname runtime_cgocall runtime.cgocall
 func runtime_cgocall(fn uintptr, arg unsafe.Pointer) int32 // from runtime/sys_libc.go
+
+// from runtime/runtime2.go, exported via go:linkname for usage with cgo assembly
+// pulled in as struct{} for proper linking, see https://github.com/golang/go/issues/72032
+//
+//go:linkname runtime_goarmsoftfp runtime.goarmsoftfp
+var runtime_goarmsoftfp struct{}
diff --git a/internal/fakecgo/asm_arm.s b/internal/fakecgo/asm_arm.s
index a45f1f83..1ebb7e4f 100644
--- a/internal/fakecgo/asm_arm.s
+++ b/internal/fakecgo/asm_arm.s
@@ -21,8 +21,11 @@ TEXT crosscall2(SB), NOSPLIT|NOFRAME, $0
 	// starting at 4(R13).
 	MOVW.W R14, -4(R13)
 
+	// Skip floating point registers if runtime.goarmsoftfp!=0.
+	MOVB    runtime·goarmsoftfp(SB), R11
+	CMP     $0, R11
+	BNE     skipfpsave
 	// Save VFP callee-saved registers D8-D15 (same as S16-S31).
-	// Note: We always save these since we target hard-float ABI.
 	MOVD F8, (13*4+8*1)(R13)
 	MOVD F9, (13*4+8*2)(R13)
 	MOVD F10, (13*4+8*3)(R13)
@@ -32,9 +35,13 @@ TEXT crosscall2(SB), NOSPLIT|NOFRAME, $0
 	MOVD F14, (13*4+8*7)(R13)
 	MOVD F15, (13*4+8*8)(R13)
 
+skipfpsave:
 	// We set up the arguments to cgocallback when saving registers above.
 	BL runtime·cgocallback(SB)
 
+	MOVB    runtime·goarmsoftfp(SB), R11
+	CMP     $0, R11
+	BNE     skipfprest
 	MOVD (13*4+8*1)(R13), F8
 	MOVD (13*4+8*2)(R13), F9
 	MOVD (13*4+8*3)(R13), F10
@@ -44,6 +51,7 @@ TEXT crosscall2(SB), NOSPLIT|NOFRAME, $0
 	MOVD (13*4+8*7)(R13), F14
 	MOVD (13*4+8*8)(R13), F15
 
+skipfprest:
 	MOVW.P   4(R13), R14
 	MOVM.IAW (R13), [R0, R1, R3, R4, R5, R6, R7, R8, R9, g, R11, R12]
 	ADD      $(8*9), R13
diff --git a/internal/fakecgo/trampolines_arm.s b/internal/fakecgo/trampolines_arm.s
index c1cd0c92..d679f4c1 100644
--- a/internal/fakecgo/trampolines_arm.s
+++ b/internal/fakecgo/trampolines_arm.s
@@ -70,6 +70,10 @@ TEXT threadentry_trampoline(SB), NOSPLIT, $104-0
 	MOVW g, 32(R13)   // R10
 	MOVW R11, 36(R13)
 
+	// Skip floating point registers if runtime.goarmsoftfp!=0.
+	MOVB    runtime·goarmsoftfp(SB), R11
+	CMP     $0, R11
+	BNE     skipfpsave
 	MOVD F8, 40(R13)
 	MOVD F9, 48(R13)
 	MOVD F10, 56(R13)
@@ -79,10 +83,14 @@ TEXT threadentry_trampoline(SB), NOSPLIT, $104-0
 	MOVD F14, 88(R13)
 	MOVD F15, 96(R13)
 
+skipfpsave:
 	MOVW ·threadentry_call(SB), R12
 	MOVW (R12), R12
 	CALL (R12)
 
+	MOVB    runtime·goarmsoftfp(SB), R11
+	CMP     $0, R11
+	BNE     skipfprest
 	MOVD 40(R13), F8
 	MOVD 48(R13), F9
 	MOVD 56(R13), F10
@@ -92,6 +100,7 @@ TEXT threadentry_trampoline(SB), NOSPLIT, $104-0
 	MOVD 88(R13), F14
 	MOVD 96(R13), F15
 
+skipfprest:
 	MOVW 8(R13), R4
 	MOVW 12(R13), R5
 	MOVW 16(R13), R6
diff --git a/sys_arm.s b/sys_arm.s
index f1ea44a2..fd2dcc22 100644
--- a/sys_arm.s
+++ b/sys_arm.s
@@ -41,6 +41,10 @@ TEXT syscallX(SB), NOSPLIT|NOFRAME, $0-0
 	MOVW syscallArgs_fn(R8), R5
 	MOVW R5, (PTR_ADDRESS-4)(R13) // save fn at offset 56
 
+	// Skip floating point registers if runtime.goarmsoftfp!=0.
+	MOVB    runtime·goarmsoftfp(SB), R11
+	CMP     $0, R11
+	BNE     skipfpload
 	// Load floating point arguments
 	// Each float64 spans 2 uintptr slots (8 bytes) on ARM32, so we skip by 2
 	MOVD syscallArgs_f1(R8), F0  // f1+f2 -> D0
@@ -52,6 +56,7 @@ TEXT syscallX(SB), NOSPLIT|NOFRAME, $0-0
 	MOVD syscallArgs_f13(R8), F6 // f13+f14 -> D6
 	MOVD syscallArgs_f15(R8), F7 // f15+f16 -> D7
 
+skipfpload:
 	// Load integer arguments into registers (R0-R3 for ARM EABI)
 	MOVW syscallArgs_a1(R8), R0 // a1
 	MOVW syscallArgs_a2(R8), R1 // a2
@@ -131,12 +136,16 @@ TEXT syscallX(SB), NOSPLIT|NOFRAME, $0-0
 	MOVW R0, syscallArgs_a1(R8)
 	MOVW R1, syscallArgs_a2(R8)
 
+	MOVB    runtime·goarmsoftfp(SB), R11
+	CMP     $0, R11
+	BNE     skipfpsave
 	// save f0-f3 (each float64 spans 2 uintptr slots on ARM32)
 	MOVD F0, syscallArgs_f1(R8)
 	MOVD F1, syscallArgs_f3(R8)
 	MOVD F2, syscallArgs_f5(R8)
 	MOVD F3, syscallArgs_f7(R8)
 
+skipfpsave:
 	// Restore callee-saved registers and return
 	MOVM.IA.W (R13), [R4, R5, R6, R7, R8, R9, R11]
 	MOVW.P    4(R13), R15                          // pop LR into PC (return)
diff --git a/sys_unix_arm.s b/sys_unix_arm.s
index 2ba8c2bd..0efd59e5 100644
--- a/sys_unix_arm.s
+++ b/sys_unix_arm.s
@@ -33,8 +33,11 @@ TEXT callbackasm1(SB), NOSPLIT|NOFRAME, $0
 	MOVW R2, 136(R13)
 	MOVW R3, 140(R13)
 
+	// Skip floating point registers if runtime.goarmsoftfp!=0.
+	MOVB    runtime·goarmsoftfp(SB), R11
+	CMP     $0, R11
+	BNE     skipfpsave
 	// Save floating point registers F0-F7 at SP+64 (frame[0..15])
-	// Note: We always save these since we target hard-float ABI.
 	MOVD F0, 64(R13)
 	MOVD F1, 72(R13)
 	MOVD F2, 80(R13)
@@ -44,6 +47,7 @@ TEXT callbackasm1(SB), NOSPLIT|NOFRAME, $0
 	MOVD F6, 112(R13)
 	MOVD F7, 120(R13)
 
+skipfpsave:
 	// Set up callbackArgs at SP+48
 	MOVW 36(R13), R4
 	MOVW R4, 48(R13)
@@ -66,6 +70,9 @@ TEXT callbackasm1(SB), NOSPLIT|NOFRAME, $0
 	MOVW 56(R13), R0
 	MOVW 60(R13), R1 // high word of a 64-bit return
 
+	MOVB    runtime·goarmsoftfp(SB), R11
+	CMP     $0, R11
+	BNE     skipfprest
 	// Restore float registers
 	MOVD 64(R13), F0
 	MOVD 72(R13), F1
@@ -76,6 +83,7 @@ TEXT callbackasm1(SB), NOSPLIT|NOFRAME, $0
 	MOVD 112(R13), F6
 	MOVD 120(R13), F7
 
+skipfprest:
 	// Restore callee-saved registers
 	MOVW 0(R13), R4
 	MOVW 4(R13), R5
diff --git a/syscall_unix.go b/syscall_unix.go
index 7ba03211..024e1073 100644
--- a/syscall_unix.go
+++ b/syscall_unix.go
@@ -166,6 +166,26 @@ func callbackWrap(a *callbackArgs) {
 		slots := int((inType.Size() + ptrSize - 1) / ptrSize)
 		switch inType.Kind() {
 		case reflect.Float32, reflect.Float64:
+			if isARMSoftFloat() {
+				// we should restore from integer slot, can skip unnecessary branching here
+				if isARMPaddingNeeded(inType, -1, intsN) {
+					intsN++
+				}
+				if intsN+slots <= numOfIntegerRegisters() {
+					// the integers begin after the floats in frame
+					args[i] = reflect.NewAt(inType, unsafe.Pointer(&frame[intsN+numOfFloatRegisters()])).Elem()
+					intsN += slots
+					continue
+				}
+				if isARMPaddingNeeded(inType, -1, stackSlot) {
+					stackSlot++
+				}
+				args[i] = reflect.NewAt(inType, unsafe.Pointer(&frame[stackSlot])).Elem()
+				stackSlot += slots
+				intsN += slots
+				continue
+			}
+
 			if floatsN+slots > numOfFloatRegisters() {
 				if isDarwin && runtime.GOARCH == "arm64" {
 					// Darwin ARM64: read from packed stack with proper alignment
diff --git a/testdata/abitest/abi_test.c b/testdata/abitest/abi_test.c
index bc31eb9e..c129d26d 100644
--- a/testdata/abitest/abi_test.c
+++ b/testdata/abitest/abi_test.c
@@ -188,3 +188,12 @@ int64_t arm_int64_unaligned_on_stack_after_floats(
 ) {
     return (int64_t)a1 * 1 + (int64_t)a2 * 2 + (int64_t)a3 * 3 + (int64_t)a4 * 4 + a5;
 }
+
+double arm_float64_unaligned_in_registers(uintptr_t a1, double a2) {
+    return (double)a1 * 123.5 + a2;
+}
+
+double arm_float64_unaligned_on_stack(uintptr_t a1, uintptr_t a2, uintptr_t a3, uintptr_t a4, uintptr_t a5, double a6) {
+    return (double)a1 * 1 + (double)a2 * 2 + (double)a3 * 3 + (double)a4 * 4 +
+           (double)a5 * 5 + a6;
+}