diff --git a/components/bt/host/nimble/Kconfig.in b/components/bt/host/nimble/Kconfig.in
index 5902fba3ec..01866e9382 100644
--- a/components/bt/host/nimble/Kconfig.in
+++ b/components/bt/host/nimble/Kconfig.in
@@ -1053,7 +1053,8 @@ config BT_NIMBLE_HIGH_DUTY_ADV_ITVL
 
 config BT_NIMBLE_HOST_ALLOW_CONNECT_WITH_SCAN
     bool "Allow Connections with scanning in progress"
-    depends on BT_NIMBLE_ENABLED && (IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32S3)
+    depends on BT_NIMBLE_ENABLED
+    depends on (!SOC_ESP_NIMBLE_CONTROLLER || IDF_TARGET_ESP32C6 || IDF_TARGET_ESP32H2)
     help
         This enables support for user to initiate a new connection with scan in progress