diff --git a/esptool/targets/esp32s3.py b/esptool/targets/esp32s3.py
index f3d814455..bdf5f9d13 100644
--- a/esptool/targets/esp32s3.py
+++ b/esptool/targets/esp32s3.py
@@ -342,6 +342,11 @@ def hard_reset(self):
         uses_usb_otg = self.uses_usb_otg()
         if uses_usb_otg:
             self._check_if_can_reset()
+        # github.com/espressif/arduino-esp32/issues/6762#issuecomment-1829942230
+        # Clear "Force Download Boot" flag, otherwise we keep resetting to boot mode
+        self.write_reg(
+            self.RTC_CNTL_OPTION1_REG, 0, self.RTC_CNTL_FORCE_DOWNLOAD_BOOT_MASK
+        )
 
         print("Hard resetting via RTS pin...")
         HardReset(self._port, uses_usb_otg)()