diff --git a/esptool/targets/esp32s3.py b/esptool/targets/esp32s3.py
index 7531f4ae0..04c3c0ef4 100644
--- a/esptool/targets/esp32s3.py
+++ b/esptool/targets/esp32s3.py
@@ -352,6 +352,16 @@ def hard_reset(self):
         if uses_usb_otg:
             self._check_if_can_reset()
 
+        try:
+            # Clear force download boot mode to avoid the chip being stuck in download mode after reset
+            # workaround for issue: https://github.com/espressif/arduino-esp32/issues/6762
+            self.write_reg(
+                self.RTC_CNTL_OPTION1_REG, 0, self.RTC_CNTL_FORCE_DOWNLOAD_BOOT_MASK
+            )
+        except Exception:
+            # Skip if response was not valid and proceed to reset; e.g. when monitoring while resetting
+            pass
+
         print("Hard resetting via RTS pin...")
         HardReset(self._port, uses_usb_otg)()