diff --git a/components/hal/esp32c3/include/hal/gpio_ll.h b/components/hal/esp32c3/include/hal/gpio_ll.h
index 6b77aade5bde..a48b63cf153a 100644
--- a/components/hal/esp32c3/include/hal/gpio_ll.h
+++ b/components/hal/esp32c3/include/hal/gpio_ll.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2020-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -322,7 +322,12 @@ static inline void gpio_ll_wakeup_disable(gpio_dev_t *hw, gpio_num_t gpio_num)
   */
 static inline void gpio_ll_set_drive_capability(gpio_dev_t *hw, gpio_num_t gpio_num, gpio_drive_cap_t strength)
 {
-    SET_PERI_REG_BITS(GPIO_PIN_MUX_REG[gpio_num], FUN_DRV_V, strength, FUN_DRV_S);
+    uint32_t drv_cap = (uint32_t)strength;
+    // DRV = 1 and DRV = 2 register bits are flipped for IO2, IO3, IO4, IO5, IO18, IO19 on the target
+    if (gpio_num == 2 || gpio_num == 3 || gpio_num == 4 || gpio_num == 5 || gpio_num == 18 || gpio_num == 19) {
+        drv_cap = ((drv_cap & 0x1) << 1) | ((drv_cap & 0x2) >> 1); // swap bit0 and bit1
+    }
+    SET_PERI_REG_BITS(IO_MUX_GPIO0_REG + (gpio_num * 4), FUN_DRV_V, drv_cap, FUN_DRV_S);
 }
 
 /**
@@ -334,7 +339,12 @@ static inline void gpio_ll_set_drive_capability(gpio_dev_t *hw, gpio_num_t gpio_
   */
 static inline void gpio_ll_get_drive_capability(gpio_dev_t *hw, gpio_num_t gpio_num, gpio_drive_cap_t *strength)
 {
-    *strength = (gpio_drive_cap_t)GET_PERI_REG_BITS2(GPIO_PIN_MUX_REG[gpio_num], FUN_DRV_V, FUN_DRV_S);
+    uint32_t drv_cap = GET_PERI_REG_BITS2(IO_MUX_GPIO0_REG + (gpio_num * 4), FUN_DRV_V, FUN_DRV_S);
+    // DRV = 1 and DRV = 2 register bits are flipped for IO2, IO3, IO4, IO5, IO18, IO19 on the target
+    if (gpio_num == 2 || gpio_num == 3 || gpio_num == 4 || gpio_num == 5 || gpio_num == 18 || gpio_num == 19) {
+        drv_cap = ((drv_cap & 0x1) << 1) | ((drv_cap & 0x2) >> 1); // swap bit0 and bit1
+    }
+    *strength = (gpio_drive_cap_t)drv_cap;
 }
 
 /**
diff --git a/components/hal/esp32s3/include/hal/gpio_ll.h b/components/hal/esp32s3/include/hal/gpio_ll.h
index 7ed456103d6a..241bc8779f37 100644
--- a/components/hal/esp32s3/include/hal/gpio_ll.h
+++ b/components/hal/esp32s3/include/hal/gpio_ll.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -347,7 +347,12 @@ static inline void gpio_ll_wakeup_disable(gpio_dev_t *hw, gpio_num_t gpio_num)
   */
 static inline void gpio_ll_set_drive_capability(gpio_dev_t *hw, gpio_num_t gpio_num, gpio_drive_cap_t strength)
 {
-    SET_PERI_REG_BITS(GPIO_PIN_MUX_REG[gpio_num], FUN_DRV_V, strength, FUN_DRV_S);
+    uint32_t drv_cap = (uint32_t)strength;
+    // DRV = 1 and DRV = 2 register bits are flipped for IO17, IO18 on the target
+    if (gpio_num == 17 || gpio_num == 18) {
+        drv_cap = ((drv_cap & 0x1) << 1) | ((drv_cap & 0x2) >> 1); // swap bit0 and bit1
+    }
+    SET_PERI_REG_BITS(IO_MUX_GPIO0_REG + (gpio_num * 4), FUN_DRV_V, drv_cap, FUN_DRV_S);
 }
 
 /**
@@ -359,7 +364,12 @@ static inline void gpio_ll_set_drive_capability(gpio_dev_t *hw, gpio_num_t gpio_
   */
 static inline void gpio_ll_get_drive_capability(gpio_dev_t *hw, gpio_num_t gpio_num, gpio_drive_cap_t *strength)
 {
-    *strength = (gpio_drive_cap_t)GET_PERI_REG_BITS2(GPIO_PIN_MUX_REG[gpio_num], FUN_DRV_V, FUN_DRV_S);
+    uint32_t drv_cap = GET_PERI_REG_BITS2(IO_MUX_GPIO0_REG + (gpio_num * 4), FUN_DRV_V, FUN_DRV_S);
+    // DRV = 1 and DRV = 2 register bits are flipped for IO17, IO18 on the target
+    if (gpio_num == 17 || gpio_num == 18) {
+        drv_cap = ((drv_cap & 0x1) << 1) | ((drv_cap & 0x2) >> 1); // swap bit0 and bit1
+    }
+    *strength = (gpio_drive_cap_t)drv_cap;
 }
 
 /**
diff --git a/components/hal/esp32s3/include/hal/rtc_io_ll.h b/components/hal/esp32s3/include/hal/rtc_io_ll.h
index 81ad25553f89..936f72e86089 100644
--- a/components/hal/esp32s3/include/hal/rtc_io_ll.h
+++ b/components/hal/esp32s3/include/hal/rtc_io_ll.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -145,7 +145,12 @@ static inline uint32_t rtcio_ll_get_level(int rtcio_num)
 static inline void rtcio_ll_set_drive_capability(int rtcio_num, uint32_t strength)
 {
     if (rtc_io_desc[rtcio_num].drv_v) {
-        SET_PERI_REG_BITS(rtc_io_desc[rtcio_num].reg, rtc_io_desc[rtcio_num].drv_v, strength, rtc_io_desc[rtcio_num].drv_s);
+        uint32_t drv_cap = strength;
+        // DRV = 1 and DRV = 2 register bits are flipped for IO17, IO18 on the target
+        if (rtcio_num == RTCIO_GPIO17_CHANNEL || rtcio_num == RTCIO_GPIO18_CHANNEL) {
+            drv_cap = ((drv_cap & 0x1) << 1) | ((drv_cap & 0x2) >> 1); // swap bit0 and bit1
+        }
+        SET_PERI_REG_BITS(rtc_io_desc[rtcio_num].reg, rtc_io_desc[rtcio_num].drv_v, drv_cap, rtc_io_desc[rtcio_num].drv_s);
     }
 }
 
@@ -157,7 +162,12 @@ static inline void rtcio_ll_set_drive_capability(int rtcio_num, uint32_t strengt
  */
 static inline uint32_t rtcio_ll_get_drive_capability(int rtcio_num)
 {
-    return GET_PERI_REG_BITS2(rtc_io_desc[rtcio_num].reg, rtc_io_desc[rtcio_num].drv_v, rtc_io_desc[rtcio_num].drv_s);
+    uint32_t strength = GET_PERI_REG_BITS2(rtc_io_desc[rtcio_num].reg, rtc_io_desc[rtcio_num].drv_v, rtc_io_desc[rtcio_num].drv_s);
+    // DRV = 1 and DRV = 2 register bits are flipped for IO17, IO18 on the target
+    if (rtcio_num == RTCIO_GPIO17_CHANNEL || rtcio_num == RTCIO_GPIO18_CHANNEL) {
+        strength = ((strength & 0x1) << 1) | ((strength & 0x2) >> 1); // swap bit0 and bit1
+    }
+    return strength;
 }
 
 /**