diff --git a/components/esp_driver_gpio/Kconfig b/components/esp_driver_gpio/Kconfig
index 36d2b13794..597b8833a6 100644
--- a/components/esp_driver_gpio/Kconfig
+++ b/components/esp_driver_gpio/Kconfig
@@ -1,13 +1,4 @@
 menu "ESP-Driver:GPIO Configurations"
-    config GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
-        bool "Support light sleep GPIO pullup/pulldown configuration for ESP32"
-        depends on IDF_TARGET_ESP32
-        help
-            This option is intended to fix the bug that ESP32 is not able to switch to configured
-            pullup/pulldown mode in sleep.
-            If this option is selected, chip will automatically emulate the behaviour of switching,
-            and about 450B of source codes would be placed into IRAM.
-
     config GPIO_CTRL_FUNC_IN_IRAM
         bool "Place GPIO control functions into IRAM"
         default n
diff --git a/components/esp_driver_gpio/include/esp_private/gpio.h b/components/esp_driver_gpio/include/esp_private/gpio.h
index 473991c753..daecb207a8 100644
--- a/components/esp_driver_gpio/include/esp_private/gpio.h
+++ b/components/esp_driver_gpio/include/esp_private/gpio.h
@@ -6,7 +6,6 @@
 
 #pragma once
 
-#include "sdkconfig.h"
 #include "esp_types.h"
 #include "soc/soc_caps.h"
 #include "soc/io_mux_reg.h"
@@ -16,30 +15,6 @@
 extern "C" {
 #endif
 
-#if CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
-/**
-  * @brief Emulate ESP32S2 behaviour to backup FUN_PU, FUN_PD information
-  *
-  * @note Need to be called before sleep.
-  *
-  * @return
-  *      - ESP_OK Success
-  *      - ESP_ERR_INVALID_ARG GPIO number error
-  */
-esp_err_t gpio_sleep_pupd_config_apply(gpio_num_t gpio_num);
-
-/**
-  * @brief Emulate ESP32S2 behaviour to restore FUN_PU, FUN_PD information
-  *
-  * @note Need to be called after sleep.
-  *
-  * @return
-  *      - ESP_OK Success
-  *      - ESP_ERR_INVALID_ARG GPIO number error
-  */
-esp_err_t gpio_sleep_pupd_config_unapply(gpio_num_t gpio_num);
-#endif
-
 /**
   * @brief Configure a pin to perform GPIO function or an IOMUX function
   *
diff --git a/components/esp_driver_gpio/src/gpio.c b/components/esp_driver_gpio/src/gpio.c
index 677297aa97..b951025b3f 100644
--- a/components/esp_driver_gpio/src/gpio.c
+++ b/components/esp_driver_gpio/src/gpio.c
@@ -1011,22 +1011,6 @@ esp_err_t gpio_sleep_sel_dis(gpio_num_t gpio_num)
     return ESP_OK;
 }
 
-#if CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
-esp_err_t gpio_sleep_pupd_config_apply(gpio_num_t gpio_num)
-{
-    GPIO_CHECK(GPIO_IS_VALID_GPIO(gpio_num), "GPIO number error", ESP_ERR_INVALID_ARG);
-    gpio_hal_sleep_pupd_config_apply(gpio_context.gpio_hal, gpio_num);
-    return ESP_OK;
-}
-
-esp_err_t gpio_sleep_pupd_config_unapply(gpio_num_t gpio_num)
-{
-    GPIO_CHECK(GPIO_IS_VALID_GPIO(gpio_num), "GPIO number error", ESP_ERR_INVALID_ARG);
-    gpio_hal_sleep_pupd_config_unapply(gpio_context.gpio_hal, gpio_num);
-    return ESP_OK;
-}
-#endif // CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
-
 #if SOC_GPIO_SUPPORT_DEEPSLEEP_WAKEUP && SOC_DEEP_SLEEP_SUPPORTED
 esp_err_t gpio_deep_sleep_wakeup_enable(gpio_num_t gpio_num, gpio_int_type_t intr_type)
 {
diff --git a/components/esp_hw_support/include/esp_private/sleep_gpio.h b/components/esp_hw_support/include/esp_private/sleep_gpio.h
index 4d2101ed6b..0278aba6a0 100644
--- a/components/esp_hw_support/include/esp_private/sleep_gpio.h
+++ b/components/esp_hw_support/include/esp_private/sleep_gpio.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -18,8 +18,7 @@ extern "C" {
  * This file contains declarations of GPIO related functions in sleep modes.
  */
 
-#if CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
-
+#if CONFIG_IDF_TARGET_ESP32
 /**
  * @brief Save GPIO pull-up and pull-down configuration information in the wake-up state
  *
@@ -29,7 +28,7 @@ extern "C" {
  * of all GPIO pull-up and pull-down resistors and disable the pull-up and
  * pull-down resistors of GPIO before the system enters sleep.
  */
-void gpio_sleep_mode_config_apply(void);
+void esp_sleep_gpio_pupd_config_workaround_apply(void);
 
 /**
  * @brief Restore GPIO pull-up and pull-down configuration information in the wake-up state
@@ -37,9 +36,9 @@ void gpio_sleep_mode_config_apply(void);
  * In light sleep mode, after the system wakes up, it needs to restore all GPIO
  * pull-up and pull-down configurations before the last sleep.
  */
-void gpio_sleep_mode_config_unapply(void);
+void esp_sleep_gpio_pupd_config_workaround_unapply(void);
 
-#endif // CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
+#endif // CONFIG_IDF_TARGET_ESP32
 
 /**
  * @brief Call once in startup to disable the wakeup IO pins and release their holding state after waking up from Deep-sleep
diff --git a/components/esp_hw_support/sleep_gpio.c b/components/esp_hw_support/sleep_gpio.c
index 14685ed0e1..c0bf8d5d57 100644
--- a/components/esp_hw_support/sleep_gpio.c
+++ b/components/esp_hw_support/sleep_gpio.c
@@ -34,21 +34,64 @@
 
 static const char *TAG = "sleep_gpio";
 
-#if CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
-void gpio_sleep_mode_config_apply(void)
+#if CONFIG_IDF_TARGET_ESP32
+/* On ESP32, for IOs with RTC functionality, setting SLP_PU, SLP_PD couldn't change IO status
+ * from FUN_PU, FUN_PD to SLP_PU, SLP_PD at sleep.
+ */
+typedef struct gpio_slp_mode_cfg {
+    volatile uint32_t fun_pu;
+    volatile uint32_t fun_pd;
+} gpio_slp_mode_cfg_t;
+
+static DRAM_ATTR gpio_slp_mode_cfg_t gpio_cfg = {};
+
+void esp_sleep_gpio_pupd_config_workaround_apply(void)
 {
+    /* Record fun_pu and fun_pd state in bitmap */
     for (gpio_num_t gpio_num = GPIO_NUM_0; gpio_num < GPIO_NUM_MAX; gpio_num++) {
-        if (GPIO_IS_VALID_GPIO(gpio_num)) {
-            gpio_sleep_pupd_config_apply(gpio_num);
+        int rtcio_num = rtc_io_num_map[gpio_num];
+        if (rtcio_num >= 0 && gpio_ll_sleep_sel_is_enabled(&GPIO, gpio_num)) {
+            if (rtcio_ll_is_pullup_enabled(rtcio_num)) {
+                gpio_cfg.fun_pu |= BIT(rtcio_num);
+            } else {
+                gpio_cfg.fun_pu &= ~BIT(rtcio_num);
+            }
+            if (rtcio_ll_is_pulldown_enabled(rtcio_num)) {
+                gpio_cfg.fun_pd |= BIT(rtcio_num);
+            } else {
+                gpio_cfg.fun_pd &= ~BIT(rtcio_num);
+            }
+
+            if (gpio_ll_sleep_pullup_is_enabled(&GPIO, gpio_num)) {
+                rtcio_ll_pullup_enable(rtcio_num);
+            } else {
+                rtcio_ll_pullup_disable(rtcio_num);
+            }
+            if (gpio_ll_sleep_pulldown_is_enabled(&GPIO, gpio_num)) {
+                rtcio_ll_pulldown_enable(rtcio_num);
+            } else {
+                rtcio_ll_pulldown_disable(rtcio_num);
+            }
         }
     }
 }
 
-IRAM_ATTR void gpio_sleep_mode_config_unapply(void)
+void esp_sleep_gpio_pupd_config_workaround_unapply(void)
 {
+    /* Restore fun_pu and fun_pd state from bitmap */
     for (gpio_num_t gpio_num = GPIO_NUM_0; gpio_num < GPIO_NUM_MAX; gpio_num++) {
-        if (GPIO_IS_VALID_GPIO(gpio_num)) {
-            gpio_sleep_pupd_config_unapply(gpio_num);
+        int rtcio_num = rtc_io_num_map[gpio_num];
+        if (rtcio_num >= 0 && gpio_ll_sleep_sel_is_enabled(&GPIO, gpio_num)) {
+            if (gpio_cfg.fun_pu & BIT(rtcio_num)) {
+                rtcio_ll_pullup_enable(rtcio_num);
+            } else {
+                rtcio_ll_pullup_disable(rtcio_num);
+            }
+            if (gpio_cfg.fun_pd & BIT(rtcio_num)) {
+                rtcio_ll_pulldown_enable(rtcio_num);
+            } else {
+                rtcio_ll_pulldown_disable(rtcio_num);
+            }
         }
     }
 }
diff --git a/components/esp_hw_support/sleep_modes.c b/components/esp_hw_support/sleep_modes.c
index 471f172874..5f39c56aa8 100644
--- a/components/esp_hw_support/sleep_modes.c
+++ b/components/esp_hw_support/sleep_modes.c
@@ -733,8 +733,8 @@ static SLEEP_FN_ATTR void misc_modules_sleep_prepare(uint32_t sleep_flags, bool
 # endif
         mac_bb_power_down_cb_execute();
 #endif
-#if CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
-        gpio_sleep_mode_config_apply();
+#if CONFIG_IDF_TARGET_ESP32
+    esp_sleep_gpio_pupd_config_workaround_apply();
 #endif
 #if CONFIG_PM_POWER_DOWN_CPU_IN_LIGHT_SLEEP && SOC_PM_CPU_RETENTION_BY_RTCCNTL
         sleep_enable_cpu_retention();
@@ -801,8 +801,8 @@ static SLEEP_FN_ATTR void misc_modules_wake_prepare(uint32_t sleep_flags)
 #if CONFIG_PM_POWER_DOWN_CPU_IN_LIGHT_SLEEP && SOC_PM_CPU_RETENTION_BY_RTCCNTL
     sleep_disable_cpu_retention();
 #endif
-#if CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
-    gpio_sleep_mode_config_unapply();
+#if CONFIG_IDF_TARGET_ESP32
+    esp_sleep_gpio_pupd_config_workaround_unapply();
 #endif
 #if CONFIG_MAC_BB_PD
     mac_bb_power_up_cb_execute();
diff --git a/components/esp_pm/Kconfig b/components/esp_pm/Kconfig
index 012bca0a22..0c7591b799 100644
--- a/components/esp_pm/Kconfig
+++ b/components/esp_pm/Kconfig
@@ -86,8 +86,6 @@ menu "Power Management"
             you can call 'gpio_sleep_sel_dis' to disable this feature on those pins.
             You can also keep this feature on and call 'gpio_sleep_set_direction' and 'gpio_sleep_set_pull_mode'
             to have a different GPIO configuration at sleep.
-            Warning: If you want to enable this option on ESP32, you should enable `GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL`
-            at first, otherwise you will not be able to switch pullup/pulldown mode.
 
     config PM_SLP_DEFAULT_PARAMS_OPT
         bool
diff --git a/components/esp_pm/linker.lf b/components/esp_pm/linker.lf
index 95a192d0c6..71984c2ab6 100644
--- a/components/esp_pm/linker.lf
+++ b/components/esp_pm/linker.lf
@@ -23,8 +23,9 @@ entries:
             if ESP_PHY_MAC_BB_PD = y:
                 sleep_modem:mac_bb_power_down_cb_execute (noflash)
                 sleep_modem:mac_bb_power_up_cb_execute (noflash)
-            if GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL = y:
-                sleep_gpio:gpio_sleep_mode_config_apply (noflash)
+            if IDF_TARGET_ESP32 = y:
+                sleep_gpio:esp_sleep_gpio_pupd_config_workaround_apply (noflash)
+                sleep_gpio:esp_sleep_gpio_pupd_config_workaround_unapply (noflash)
             if SOC_PM_SUPPORT_TOP_PD = y:
                 sleep_clock:clock_domain_pd_allowed (noflash)
                 sleep_system_peripheral:peripheral_domain_pd_allowed (noflash)
@@ -80,24 +81,9 @@ entries:
         esp_time_impl:esp_time_impl_get_boot_time (noflash)
         esp_time_impl:esp_set_time_from_rtc (noflash)
 
-[mapping:driver_pm]
-archive: libesp_driver_gpio.a
-entries:
-    if GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL = y:
-        gpio:gpio_sleep_pupd_config_unapply (noflash)
-        if PM_SLP_IRAM_OPT = y:
-            gpio:gpio_sleep_pupd_config_apply (noflash)
-
 [mapping:hal_pm]
 archive: libhal.a
 entries:
-    if GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL = y:
-        if PM_SLP_IRAM_OPT = y:
-            gpio_hal_workaround                                     (noflash)
-        else:
-            gpio_hal_workaround:gpio_hal_sleep_pupd_config_unapply  (noflash)
-            gpio_hal_workaround:gpio_hal_sleep_mode_setup_wrapper   (noflash)
-            gpio_hal_workaround:gpio_hal_fun_pupd_restore           (noflash)
     if SOC_PM_CPU_RETENTION_BY_RTCCNTL = y:
         if PM_SLP_IRAM_OPT = y && PM_POWER_DOWN_CPU_IN_LIGHT_SLEEP = y:
             rtc_cntl_hal:rtc_cntl_hal_enable_cpu_retention (noflash)
diff --git a/components/hal/CMakeLists.txt b/components/hal/CMakeLists.txt
index 02a5bab4ba..6b31fca5ad 100644
--- a/components/hal/CMakeLists.txt
+++ b/components/hal/CMakeLists.txt
@@ -325,11 +325,6 @@ elseif(NOT BOOTLOADER_BUILD)
         list(APPEND srcs "touch_sens_hal.c")
     endif()
 
-    if(${target} STREQUAL "esp32")
-        list(APPEND srcs
-            "esp32/gpio_hal_workaround.c")
-    endif()
-
     if(${target} STREQUAL "esp32s2")
         list(APPEND srcs
                     "xt_wdt_hal.c"
diff --git a/components/hal/esp32/gpio_hal_workaround.c b/components/hal/esp32/gpio_hal_workaround.c
deleted file mode 100644
index b56189d16c..0000000000
--- a/components/hal/esp32/gpio_hal_workaround.c
+++ /dev/null
@@ -1,111 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-// The HAL layer for GPIO (common part)
-//
-#include "esp_attr.h"
-#include "soc/soc.h"
-#include "hal/gpio_hal.h"
-#include "soc/soc_caps.h"
-
-#if CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
-typedef struct gpio_slp_mode_cfg {
-    volatile uint16_t fun_pu[((SOC_GPIO_PIN_COUNT-1) >> 4) + 1];
-    volatile uint16_t fun_pd[((SOC_GPIO_PIN_COUNT-1) >> 4) + 1];
-} gpio_slp_mode_cfg_t;
-
-static void gpio_hal_sleep_mode_setup_wrapper(
-        gpio_hal_context_t *hal,
-        uint32_t gpio_num,
-        void (*opt)(gpio_hal_context_t *, uint32_t, void *)
-    )
-{
-    static DRAM_ATTR gpio_slp_mode_cfg_t gpio_cfg;
-    if (opt) {
-        (*opt)(hal, gpio_num, (void *)&gpio_cfg);
-    }
-}
-
-/**
- * @brief GPIO pu/pd information backup function
- * @param hal gpio hal
- * @param  gpio_num gpio num
- * @param args pointer for bitmap to backup GPIO pu/pd information
- */
-static void gpio_hal_fun_pupd_backup(gpio_hal_context_t *hal, uint32_t gpio_num, void *args)
-{
-    /* On ESP32, setting SLP_PU, SLP_PD couldn`t change GPIO status
-     * from FUN_PU, FUN_PD to SLP_PU, SLP_PD at sleep.
-     * On the ESP32S2, it does.
-     * The following code emulates ESP32S2`s behavior:
-     */
-    gpio_slp_mode_cfg_t *pcfg = (gpio_slp_mode_cfg_t *)args;
-
-    if (gpio_ll_sleep_sel_is_enabled(hal->dev, gpio_num)) {
-        /* Record fun_pu and fun_pd state in bitmap */
-        if (gpio_ll_pullup_is_enabled(hal->dev, gpio_num)) {
-            pcfg->fun_pu[gpio_num >> 4] |= BIT(gpio_num & 0xf);
-        } else {
-            pcfg->fun_pu[gpio_num >> 4] &= ~BIT(gpio_num & 0xf);
-        }
-        if (gpio_ll_pulldown_is_enabled(hal->dev, gpio_num)) {
-            pcfg->fun_pd[gpio_num >> 4] |= BIT(gpio_num & 0xf);
-        } else {
-            pcfg->fun_pd[gpio_num >> 4] &= ~BIT(gpio_num & 0xf);
-        }
-
-        if (gpio_ll_sleep_pullup_is_enabled(hal->dev, gpio_num)) {
-            gpio_ll_pullup_en(hal->dev, gpio_num);
-        } else {
-            gpio_ll_pullup_dis(hal->dev, gpio_num);
-        }
-        if (gpio_ll_sleep_pulldown_is_enabled(hal->dev, gpio_num)) {
-            gpio_ll_pulldown_en(hal->dev, gpio_num);
-        } else {
-            gpio_ll_pulldown_dis(hal->dev, gpio_num);
-        }
-    }
-}
-
-/**
- * @brief GPIO pu/pd information backup function
- * @param hal gpio hal
- * @param  gpio_num gpio num
- * @param args pointer for bitmap to restore GPIO pu/pd information
- */
-static void gpio_hal_fun_pupd_restore(gpio_hal_context_t *hal, uint32_t gpio_num, void *args)
-{
-    /* On ESP32, setting SLP_PU, SLP_PD couldn`t change GPIO status
-     * from SLP_PU, SLP_PD to FUN_PU, FUN_PD when it wakes up.
-     * On the ESP32S2, it does.
-     * The following code emulates ESP32S2`s behavior:
-     */
-    gpio_slp_mode_cfg_t *pcfg = (gpio_slp_mode_cfg_t *)args;
-
-    if (gpio_ll_sleep_sel_is_enabled(hal->dev, gpio_num)) {
-        if (pcfg->fun_pu[gpio_num >> 4] & BIT(gpio_num & 0xf)) {
-            gpio_ll_pullup_en(hal->dev, gpio_num);
-        } else {
-            gpio_ll_pullup_dis(hal->dev, gpio_num);
-        }
-        if (pcfg->fun_pd[gpio_num >> 4] & BIT(gpio_num & 0xf)) {
-            gpio_ll_pulldown_en(hal->dev, gpio_num);
-        } else {
-            gpio_ll_pulldown_dis(hal->dev, gpio_num);
-        }
-    }
-}
-
-void gpio_hal_sleep_pupd_config_apply(gpio_hal_context_t *hal, uint32_t gpio_num)
-{
-    gpio_hal_sleep_mode_setup_wrapper(hal, gpio_num, gpio_hal_fun_pupd_backup);
-}
-
-void gpio_hal_sleep_pupd_config_unapply(gpio_hal_context_t *hal, uint32_t gpio_num)
-{
-    gpio_hal_sleep_mode_setup_wrapper(hal, gpio_num, gpio_hal_fun_pupd_restore);
-}
-#endif
diff --git a/components/hal/esp32/include/hal/gpio_ll.h b/components/hal/esp32/include/hal/gpio_ll.h
index 0e3da444d9..d10a4c9b8c 100644
--- a/components/hal/esp32/include/hal/gpio_ll.h
+++ b/components/hal/esp32/include/hal/gpio_ll.h
@@ -173,7 +173,7 @@ static inline void gpio_ll_sleep_sel_dis(gpio_dev_t *hw, uint32_t gpio_num)
 __attribute__((always_inline))
 static inline bool gpio_ll_sleep_sel_is_enabled(gpio_dev_t *hw, uint32_t gpio_num)
 {
-    return REG_GET_BIT(GPIO_PIN_MUX_REG[gpio_num], SLP_SEL) ? true : false;
+    return REG_GET_BIT(DR_REG_IO_MUX_BASE + GPIO_PIN_MUX_REG_OFFSET[gpio_num], SLP_SEL) ? true : false;
 }
 
 /**
@@ -210,7 +210,7 @@ static inline void gpio_ll_sleep_pullup_en(gpio_dev_t *hw, uint32_t gpio_num)
 __attribute__((always_inline))
 static inline bool gpio_ll_sleep_pullup_is_enabled(gpio_dev_t *hw, uint32_t gpio_num)
 {
-    return REG_GET_BIT(GPIO_PIN_MUX_REG[gpio_num], SLP_PU) ? true : false;
+    return REG_GET_BIT(DR_REG_IO_MUX_BASE + GPIO_PIN_MUX_REG_OFFSET[gpio_num], SLP_PU) ? true : false;
 }
 
 /**
@@ -247,7 +247,7 @@ static inline void gpio_ll_sleep_pulldown_dis(gpio_dev_t *hw, uint32_t gpio_num)
 __attribute__((always_inline))
 static inline bool gpio_ll_sleep_pulldown_is_enabled(gpio_dev_t *hw, uint32_t gpio_num)
 {
-    return REG_GET_BIT(GPIO_PIN_MUX_REG[gpio_num], SLP_PD) ? true : false;
+    return REG_GET_BIT(DR_REG_IO_MUX_BASE + GPIO_PIN_MUX_REG_OFFSET[gpio_num], SLP_PD) ? true : false;
 }
 
 /**
diff --git a/components/hal/esp32/include/hal/rtc_io_ll.h b/components/hal/esp32/include/hal/rtc_io_ll.h
index 3c8a21ed19..7b0fef6b1c 100644
--- a/components/hal/esp32/include/hal/rtc_io_ll.h
+++ b/components/hal/esp32/include/hal/rtc_io_ll.h
@@ -168,10 +168,11 @@ static inline void rtcio_ll_output_mode_set(int rtcio_num, rtcio_ll_out_mode_t m
 }
 
 /**
- * RTC GPIO pullup enable.
+ * @brief RTC GPIO pullup enable.
  *
  * @param rtcio_num The index of rtcio. 0 ~ MAX(rtcio).
  */
+__attribute__((always_inline))
 static inline void rtcio_ll_pullup_enable(int rtcio_num)
 {
     if (rtc_io_desc[rtcio_num].pullup) {
@@ -180,10 +181,11 @@ static inline void rtcio_ll_pullup_enable(int rtcio_num)
 }
 
 /**
- * RTC GPIO pullup disable.
+ * @brief RTC GPIO pullup disable.
  *
  * @param rtcio_num The index of rtcio. 0 ~ MAX(rtcio).
  */
+__attribute__((always_inline))
 static inline void rtcio_ll_pullup_disable(int rtcio_num)
 {
     if (rtc_io_desc[rtcio_num].pullup) {
@@ -197,6 +199,7 @@ static inline void rtcio_ll_pullup_disable(int rtcio_num)
  * @param rtcio_num The index of rtcio. 0 ~ MAX(rtcio).
  * @return Whether the pullup of the pad is enabled or not.
  */
+__attribute__((always_inline))
 static inline bool rtcio_ll_is_pullup_enabled(int rtcio_num)
 {
     if (rtc_io_desc[rtcio_num].pullup) {
@@ -207,10 +210,11 @@ static inline bool rtcio_ll_is_pullup_enabled(int rtcio_num)
 }
 
 /**
- * RTC GPIO pulldown enable.
+ * @brief RTC GPIO pulldown enable.
  *
  * @param rtcio_num The index of rtcio. 0 ~ MAX(rtcio).
  */
+__attribute__((always_inline))
 static inline void rtcio_ll_pulldown_enable(int rtcio_num)
 {
     if (rtc_io_desc[rtcio_num].pulldown) {
@@ -219,10 +223,11 @@ static inline void rtcio_ll_pulldown_enable(int rtcio_num)
 }
 
 /**
- * RTC GPIO pulldown disable.
+ * @brief RTC GPIO pulldown disable.
  *
  * @param rtcio_num The index of rtcio. 0 ~ MAX(rtcio).
  */
+__attribute__((always_inline))
 static inline void rtcio_ll_pulldown_disable(int rtcio_num)
 {
     if (rtc_io_desc[rtcio_num].pulldown) {
@@ -236,6 +241,7 @@ static inline void rtcio_ll_pulldown_disable(int rtcio_num)
  * @param rtcio_num The index of rtcio. 0 ~ MAX(rtcio).
  * @return Whether the pulldown of the pad is enabled or not.
  */
+__attribute__((always_inline))
 static inline bool rtcio_ll_is_pulldown_enabled(int rtcio_num)
 {
     if (rtc_io_desc[rtcio_num].pulldown) {
diff --git a/components/hal/include/hal/gpio_hal.h b/components/hal/include/hal/gpio_hal.h
index 2d6eb171b7..e3adeb4326 100644
--- a/components/hal/include/hal/gpio_hal.h
+++ b/components/hal/include/hal/gpio_hal.h
@@ -497,24 +497,6 @@ void gpio_hal_matrix_out(gpio_hal_context_t *hal, uint32_t gpio_num, uint32_t si
   */
 #define gpio_hal_sleep_output_enable(hal, gpio_num) gpio_ll_sleep_output_enable((hal)->dev, gpio_num)
 
-#if CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
-/**
- * @brief  Apply slp_pu/slp_pd configuration to fun_pu/fun_pd when system sleep.
- *
- * @param  hal Context of the HAL layer
- * @param  gpio_num GPIO number.
- */
-void gpio_hal_sleep_pupd_config_apply(gpio_hal_context_t *hal, uint32_t gpio_num);
-
-/**
- * @brief  Restore fun_pu/fun_pd configuration when system wakeup.
- *
- * @param  hal Context of the HAL layer
- * @param  gpio_num GPIO number.
- */
-void gpio_hal_sleep_pupd_config_unapply(gpio_hal_context_t *hal, uint32_t gpio_num);
-#endif // CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL
-
 #if SOC_GPIO_SUPPORT_DEEPSLEEP_WAKEUP && (SOC_RTCIO_PIN_COUNT == 0) && SOC_DEEP_SLEEP_SUPPORTED
 /**
  * @brief Enable GPIO deep-sleep wake-up function.
diff --git a/components/soc/esp32/rtc_io_periph.c b/components/soc/esp32/rtc_io_periph.c
index 899dabda75..73e7651af9 100644
--- a/components/soc/esp32/rtc_io_periph.c
+++ b/components/soc/esp32/rtc_io_periph.c
@@ -6,8 +6,9 @@
 
 #include "soc/rtc_periph.h"
 #include "soc/rtc_io_reg.h"
+#include "esp_attr.h"
 
-const int rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
+const int8_t DRAM_ATTR rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
     RTCIO_GPIO0_CHANNEL,    //GPIO0
     -1,//GPIO1
     RTCIO_GPIO2_CHANNEL,    //GPIO2
diff --git a/components/soc/esp32c5/rtc_io_periph.c b/components/soc/esp32c5/rtc_io_periph.c
index 7a9cd8d407..c680c6a34d 100644
--- a/components/soc/esp32c5/rtc_io_periph.c
+++ b/components/soc/esp32c5/rtc_io_periph.c
@@ -6,7 +6,7 @@
 
 #include "soc/rtc_io_periph.h"
 
-const int rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
+const int8_t rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
     RTCIO_GPIO0_CHANNEL,    //GPIO0
     RTCIO_GPIO1_CHANNEL,    //GPIO1
     RTCIO_GPIO2_CHANNEL,    //GPIO2
diff --git a/components/soc/esp32c6/rtc_io_periph.c b/components/soc/esp32c6/rtc_io_periph.c
index a55e1f5303..bb0ac718f8 100644
--- a/components/soc/esp32c6/rtc_io_periph.c
+++ b/components/soc/esp32c6/rtc_io_periph.c
@@ -6,7 +6,7 @@
 
 #include "soc/rtc_io_periph.h"
 
-const int rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
+const int8_t rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
     RTCIO_GPIO0_CHANNEL,    //GPIO0
     RTCIO_GPIO1_CHANNEL,    //GPIO1
     RTCIO_GPIO2_CHANNEL,    //GPIO2
diff --git a/components/soc/esp32c61/rtc_io_periph.c b/components/soc/esp32c61/rtc_io_periph.c
index 3f94474184..00068fc48c 100644
--- a/components/soc/esp32c61/rtc_io_periph.c
+++ b/components/soc/esp32c61/rtc_io_periph.c
@@ -6,7 +6,7 @@
 
 #include "soc/rtc_io_periph.h"
 
-const int rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
+const int8_t rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
     RTCIO_GPIO0_CHANNEL,    //GPIO0
     RTCIO_GPIO1_CHANNEL,    //GPIO1
     RTCIO_GPIO2_CHANNEL,    //GPIO2
diff --git a/components/soc/esp32h2/rtc_io_periph.c b/components/soc/esp32h2/rtc_io_periph.c
index c0085da2fd..58184cc585 100644
--- a/components/soc/esp32h2/rtc_io_periph.c
+++ b/components/soc/esp32h2/rtc_io_periph.c
@@ -5,7 +5,7 @@
  */
 #include "soc/rtc_io_periph.h"
 
-const int rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
+const int8_t rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
     -1,//GPIO0
     -1,//GPIO1
     -1,//GPIO2
diff --git a/components/soc/esp32h21/rtc_io_periph.c b/components/soc/esp32h21/rtc_io_periph.c
index edb07c52a0..10cb7c83c6 100644
--- a/components/soc/esp32h21/rtc_io_periph.c
+++ b/components/soc/esp32h21/rtc_io_periph.c
@@ -6,7 +6,7 @@
 
 #include "soc/rtc_io_periph.h"
 
-const int rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
+const int8_t rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
     -1,//GPIO0
     -1,//GPIO1
     -1,//GPIO2
diff --git a/components/soc/esp32h4/rtc_io_periph.c b/components/soc/esp32h4/rtc_io_periph.c
index 23353c97fd..2eb045373f 100644
--- a/components/soc/esp32h4/rtc_io_periph.c
+++ b/components/soc/esp32h4/rtc_io_periph.c
@@ -6,7 +6,7 @@
 
 #include "soc/rtc_io_periph.h"
 
-const int rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
+const int8_t rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
     RTCIO_GPIO0_CHANNEL,    //GPIO0
     RTCIO_GPIO1_CHANNEL,    //GPIO1
     RTCIO_GPIO2_CHANNEL,    //GPIO2
diff --git a/components/soc/esp32p4/rtc_io_periph.c b/components/soc/esp32p4/rtc_io_periph.c
index 41285055e4..db6827ea57 100644
--- a/components/soc/esp32p4/rtc_io_periph.c
+++ b/components/soc/esp32p4/rtc_io_periph.c
@@ -6,7 +6,7 @@
 
 #include "soc/rtc_periph.h"
 
-const int rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
+const int8_t rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
     RTCIO_GPIO0_CHANNEL,    //GPIO0
     RTCIO_GPIO1_CHANNEL,    //GPIO1
     RTCIO_GPIO2_CHANNEL,    //GPIO2
diff --git a/components/soc/esp32s2/rtc_io_periph.c b/components/soc/esp32s2/rtc_io_periph.c
index e19d22a691..6980852b65 100644
--- a/components/soc/esp32s2/rtc_io_periph.c
+++ b/components/soc/esp32s2/rtc_io_periph.c
@@ -7,7 +7,7 @@
 #include "soc/rtc_periph.h"
 #include "soc/rtc_io_reg.h"
 
-const int rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
+const int8_t rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
     RTCIO_GPIO0_CHANNEL,    //GPIO0
     RTCIO_GPIO1_CHANNEL,    //GPIO1
     RTCIO_GPIO2_CHANNEL,    //GPIO2
diff --git a/components/soc/esp32s3/rtc_io_periph.c b/components/soc/esp32s3/rtc_io_periph.c
index cf2484a911..7523759f1f 100644
--- a/components/soc/esp32s3/rtc_io_periph.c
+++ b/components/soc/esp32s3/rtc_io_periph.c
@@ -7,7 +7,7 @@
 #include "soc/rtc_periph.h"
 #include "soc/rtc_io_reg.h"
 
-const int rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
+const int8_t rtc_io_num_map[SOC_GPIO_PIN_COUNT] = {
     RTCIO_GPIO0_CHANNEL,    //GPIO0
     RTCIO_GPIO1_CHANNEL,    //GPIO1
     RTCIO_GPIO2_CHANNEL,    //GPIO2
diff --git a/components/soc/include/soc/rtc_io_periph.h b/components/soc/include/soc/rtc_io_periph.h
index 37a8d6696c..49ddd10ffc 100644
--- a/components/soc/include/soc/rtc_io_periph.h
+++ b/components/soc/include/soc/rtc_io_periph.h
@@ -63,7 +63,7 @@ extern const rtc_io_desc_t rtc_io_desc[SOC_RTCIO_PIN_COUNT];
  * This is an internal function of the driver, and is not usually useful
  * for external use.
  */
-extern const int rtc_io_num_map[SOC_GPIO_PIN_COUNT];
+extern const int8_t rtc_io_num_map[SOC_GPIO_PIN_COUNT];
 #endif //SOC_RTCIO_PIN_COUNT > 0
 
 #ifdef __cplusplus
diff --git a/examples/wifi/itwt/sdkconfig.defaults b/examples/wifi/itwt/sdkconfig.defaults
index bb37a95544..dfa88a1367 100644
--- a/examples/wifi/itwt/sdkconfig.defaults
+++ b/examples/wifi/itwt/sdkconfig.defaults
@@ -8,12 +8,10 @@ CONFIG_FREERTOS_USE_TICKLESS_IDLE=y
 CONFIG_PM_SLP_IRAM_OPT=y
 CONFIG_PM_RTOS_IDLE_OPT=y
 # Disable all GPIO at light sleep
-CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL=y
 CONFIG_PM_SLP_DISABLE_GPIO=y
 # Enable wifi sleep iram optimization
 CONFIG_ESP_WIFI_SLP_IRAM_OPT=y
 
-CONFIG_ESP_GRATUITOUS_ARP=n
 CONFIG_LWIP_ESP_GRATUITOUS_ARP=n
 
 CONFIG_FREERTOS_HZ=1000
diff --git a/examples/wifi/power_save/sdkconfig.defaults b/examples/wifi/power_save/sdkconfig.defaults
index cb1a0a7317..7ee327c44d 100644
--- a/examples/wifi/power_save/sdkconfig.defaults
+++ b/examples/wifi/power_save/sdkconfig.defaults
@@ -8,7 +8,6 @@ CONFIG_FREERTOS_USE_TICKLESS_IDLE=y
 CONFIG_PM_SLP_IRAM_OPT=y
 CONFIG_PM_RTOS_IDLE_OPT=y
 # Disable all GPIO at light sleep
-CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL=y
 CONFIG_PM_SLP_DISABLE_GPIO=y
 # Enable wifi sleep iram optimization
 CONFIG_ESP_WIFI_SLP_IRAM_OPT=y
diff --git a/tools/ci/sg_rules/no_kconfig_in_hal_component.yml b/tools/ci/sg_rules/no_kconfig_in_hal_component.yml
index c5f3181bdc..53d17e1e4b 100644
--- a/tools/ci/sg_rules/no_kconfig_in_hal_component.yml
+++ b/tools/ci/sg_rules/no_kconfig_in_hal_component.yml
@@ -15,10 +15,8 @@ ignores:
   - "components/hal/cache_hal.c"
   - "components/hal/mmu_hal.c"
   - "components/hal/twai_hal_sja1000.c"
-  - "components/hal/esp32/gpio_hal_workaround.c"
   - "components/hal/esp32/include/hal/twai_ll.h"
   - "components/hal/esp32/include/hal/uart_ll.h"
-  - "components/hal/include/hal/gpio_hal.h"
   - "components/hal/include/hal/twai_types_deprecated.h"
 rule:
   any: