diff --git a/components/driver/Kconfig b/components/driver/Kconfig
index 9d132f9c00..f25bc53978 100644
--- a/components/driver/Kconfig
+++ b/components/driver/Kconfig
@@ -86,6 +86,7 @@ menu "Driver configurations"
     endmenu # SPI Configuration
 
     menu "TWAI configuration"
+        depends on SOC_TWAI_SUPPORTED
 
         config TWAI_ISR_IN_IRAM
             bool "Place TWAI ISR function into IRAM"
diff --git a/components/hal/linker.lf b/components/hal/linker.lf
index ad1f7e3034..2f6b35bd8b 100644
--- a/components/hal/linker.lf
+++ b/components/hal/linker.lf
@@ -14,11 +14,8 @@ entries:
     cpu_hal (noflash)
     soc_hal (noflash)
     wdt_hal_iram (noflash)
-    if IDF_TARGET_ESP32C3 = n && IDF_TARGET_ESP32H2 = n && IDF_TARGET_ESP32C2 = n:
-        if TWAI_ISR_IN_IRAM = y:
-            twai_hal_iram (noflash)
-        else:
-            twai_hal_iram (default)
+    if TWAI_ISR_IN_IRAM = y:
+        twai_hal_iram (noflash)
     if IDF_TARGET_ESP32 = n:
         spi_flash_hal_gpspi (noflash)
         systimer_hal (noflash)