diff --git a/components/esp_wifi/include/esp_private/wifi.h b/components/esp_wifi/include/esp_private/wifi.h
index 59ea571db8..d9f06401bd 100644
--- a/components/esp_wifi/include/esp_private/wifi.h
+++ b/components/esp_wifi/include/esp_private/wifi.h
@@ -750,6 +750,33 @@ esp_err_t esp_nan_internal_datapath_resp(wifi_nan_datapath_resp_t *resp);
   */
 esp_err_t esp_nan_internal_datapath_end(wifi_nan_datapath_end_req_t *req);
 
+/**
+  * @brief     Connect WiFi station to the AP.
+  *
+  * @attention 1. This API only impact WIFI_MODE_STA or WIFI_MODE_APSTA mode
+  *
+  * @return
+  *    - ESP_OK: succeed
+  *    - ESP_ERR_WIFI_NOT_INIT: WiFi is not initialized by esp_wifi_init
+  *    - ESP_ERR_WIFI_NOT_STARTED: WiFi is not started by esp_wifi_start
+  *    - ESP_ERR_WIFI_MODE: WiFi mode error
+  *    - ESP_ERR_WIFI_CONN: WiFi internal error, station or soft-AP control block wrong
+  *    - ESP_ERR_WIFI_SSID: SSID of AP which station connects is invalid
+  */
+esp_err_t esp_wifi_connect_internal(void);
+
+/**
+  * @brief     Disconnect WiFi station from the AP.
+  *
+  * @return
+  *    - ESP_OK: succeed
+  *    - ESP_ERR_WIFI_NOT_INIT: WiFi was not initialized by esp_wifi_init
+  *    - ESP_ERR_WIFI_NOT_STARTED: WiFi was not started by esp_wifi_start
+  *    - ESP_FAIL: other WiFi internal errors
+  *
+  */
+esp_err_t esp_wifi_disconnect_internal(void);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp_wifi/lib b/components/esp_wifi/lib
index dc041af514..c995ba4a0f 160000
--- a/components/esp_wifi/lib
+++ b/components/esp_wifi/lib
@@ -1 +1 @@
-Subproject commit dc041af514b576875d8fb1702cdf29f35338c812
+Subproject commit c995ba4a0fd473f7ba9119a33aab2a2d804f2be7
diff --git a/components/esp_wifi/src/wifi_init.c b/components/esp_wifi/src/wifi_init.c
index 1b98a48a7a..6c9ed3ea68 100644
--- a/components/esp_wifi/src/wifi_init.c
+++ b/components/esp_wifi/src/wifi_init.c
@@ -38,6 +38,10 @@
 #include "esp_private/sleep_retention.h"
 #endif
 
+#if CONFIG_ESP_WIFI_ENABLE_ROAMING_APP
+#include "esp_roaming.h"
+#endif
+
 static bool s_wifi_inited = false;
 
 #if (CONFIG_ESP_WIFI_RX_BA_WIN > CONFIG_ESP_WIFI_DYNAMIC_RX_BUFFER_NUM)
@@ -176,6 +180,11 @@ static esp_err_t wifi_deinit_internal(void)
 #endif
 
     esp_supplicant_deinit();
+
+#if CONFIG_ESP_WIFI_ENABLE_ROAMING_APP
+    deinit_roaming_app();
+#endif
+
     err = esp_wifi_deinit_internal();
     if (err != ESP_OK) {
         ESP_LOGE(TAG, "Failed to deinit Wi-Fi driver (0x%x)", err);
@@ -435,6 +444,11 @@ esp_err_t esp_wifi_init(const wifi_init_config_t *config)
             ESP_LOGE(TAG, "Failed to init supplicant (0x%x)", result);
             goto _deinit;
         }
+
+#if CONFIG_ESP_WIFI_ENABLE_ROAMING_APP
+        init_roaming_app();
+#endif
+
     } else {
         goto _deinit;
     }
@@ -464,6 +478,28 @@ _deinit:
     return result;
 }
 
+esp_err_t esp_wifi_connect(void)
+{
+    esp_err_t ret = ESP_OK;
+    ret = esp_wifi_connect_internal();
+
+#if CONFIG_ESP_WIFI_ENABLE_ROAMING_APP
+    roaming_app_enable_reconnect();
+#endif
+    return ret;
+}
+
+esp_err_t esp_wifi_disconnect(void)
+{
+    esp_err_t ret = ESP_OK;
+    ret = esp_wifi_disconnect_internal();
+
+#if CONFIG_ESP_WIFI_ENABLE_ROAMING_APP
+    roaming_app_disable_reconnect();
+#endif
+    return ret;
+}
+
 #ifdef CONFIG_PM_ENABLE
 void wifi_apb80m_request(void)
 {
diff --git a/components/esp_wifi/wifi_apps/roaming_app/include/esp_roaming.h b/components/esp_wifi/wifi_apps/roaming_app/include/esp_roaming.h
index 7f5e581e08..8fa7402e6a 100644
--- a/components/esp_wifi/wifi_apps/roaming_app/include/esp_roaming.h
+++ b/components/esp_wifi/wifi_apps/roaming_app/include/esp_roaming.h
@@ -112,6 +112,7 @@ struct roaming_app {
 #if PERIODIC_SCAN_MONITORING
     bool periodic_scan_active;
 #endif
+    bool allow_reconnect;
 };
 
 void init_roaming_app(void);
@@ -126,6 +127,9 @@ void roaming_app_periodic_scan_internal_handler(void *data, void *ctx);
 #endif /*PERIODIC_SCAN_ROAM_MONITORING*/
 
 void roaming_app_trigger_roam_internal_handler(void *data, void *ctx);
+
+void roaming_app_disable_reconnect(void);
+void roaming_app_enable_reconnect(void);
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp_wifi/wifi_apps/roaming_app/src/roaming_app.c b/components/esp_wifi/wifi_apps/roaming_app/src/roaming_app.c
index 5f33b2c89b..e7ca6cbc53 100644
--- a/components/esp_wifi/wifi_apps/roaming_app/src/roaming_app.c
+++ b/components/esp_wifi/wifi_apps/roaming_app/src/roaming_app.c
@@ -50,6 +50,19 @@ static inline long time_diff_sec(struct timeval *a, struct timeval *b)
 {
     return (a->tv_sec - b->tv_sec);
 }
+
+void roaming_app_disable_reconnect(void)
+{
+    ESP_LOGD(ROAMING_TAG, "Switching off reconnect due to application trigerred disconnect");
+    g_roaming_app.allow_reconnect = false;
+}
+
+void roaming_app_enable_reconnect(void)
+{
+    ESP_LOGD(ROAMING_TAG, "Switching on reconnect due to application trigerred reconnect");
+    g_roaming_app.allow_reconnect = true;
+}
+
 static void roaming_app_get_ap_info(wifi_ap_record_t *ap_info)
 {
     esp_wifi_sta_get_ap_info(ap_info);
@@ -65,6 +78,7 @@ static void roaming_app_get_ap_info(wifi_ap_record_t *ap_info)
     }
 #endif /*LOW_RSSI_ROAMING_ENABLED*/
 }
+
 #if LEGACY_ROAM_ENABLED
 static void legacy_roam_clear_bssid_flag(void)
 {
@@ -145,6 +159,8 @@ static void roaming_app_disconnected_event_handler(void* arg, esp_event_base_t e
     ESP_LOGD(ROAMING_TAG, "station got disconnected reason=%d", disconn->reason);
     if (disconn->reason == WIFI_REASON_ROAMING) {
         ESP_LOGD(ROAMING_TAG, "station roaming, do nothing");
+    } else if (g_roaming_app.allow_reconnect == false) {
+        ESP_LOGD(ROAMING_TAG, "station initiated disconnect, do nothing");
     } else {
 #if LEGACY_ROAM_ENABLED
         /*
@@ -160,6 +176,12 @@ static void roaming_app_disconnected_event_handler(void* arg, esp_event_base_t e
     }
 }
 
+static void roaming_app_sta_stop_event_handler(void* arg, esp_event_base_t event_base,
+                                               int32_t event_id, void* event_data)
+{
+    g_roaming_app.allow_reconnect = false;
+}
+
 static void roaming_app_connected_event_handler(void* arg, esp_event_base_t event_base,
                                                 int32_t event_id, void* event_data)
 {
@@ -198,6 +220,7 @@ static void roaming_app_connected_event_handler(void* arg, esp_event_base_t even
 #if LEGACY_ROAM_ENABLED
     g_roaming_app.force_roam_ongoing = true;
 #endif /*LEGACY_ROAM_ENABLED*/
+    g_roaming_app.allow_reconnect = true;
 }
 #define MAX_NEIGHBOR_LEN 512
 #if PERIODIC_RRM_MONITORING
@@ -475,8 +498,6 @@ static void periodic_rrm_request(struct timeval *now)
         g_roaming_app.rrm_request_active = true;
     }
 }
-#else
-static void periodic_rrm_request(struct timeval *now) { }
 #endif
 
 static bool candidate_security_match(wifi_ap_record_t candidate)
@@ -763,7 +784,7 @@ esp_err_t init_scan_params(void)
 void init_roaming_app(void)
 {
 #if !LOW_RSSI_ROAMING_ENABLED && !PERIODIC_SCAN_MONITORING
-    ESP_LOGE(ROAMING_TAG, "No roaming method enabled. Roaming app cannot be initialized");
+    ESP_LOGE(ROAMING_TAG, "No roaming trigger enabled. Roaming app cannot be initialized");
     return;
 #endif
 
@@ -773,6 +794,7 @@ void init_roaming_app(void)
 #endif
     ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, WIFI_EVENT_STA_CONNECTED, roaming_app_connected_event_handler, NULL));
     ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, WIFI_EVENT_STA_DISCONNECTED, roaming_app_disconnected_event_handler, NULL));
+    ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, WIFI_EVENT_STA_STOP, roaming_app_sta_stop_event_handler, NULL));
 #if LOW_RSSI_ROAMING_ENABLED
     ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, WIFI_EVENT_STA_BSS_RSSI_LOW,
                                                &roaming_app_rssi_low_handler, NULL));
@@ -799,6 +821,7 @@ void deinit_roaming_app(void)
     /* Unregister Event handlers */
     ESP_ERROR_CHECK(esp_event_handler_unregister(WIFI_EVENT, WIFI_EVENT_STA_CONNECTED, roaming_app_connected_event_handler));
     ESP_ERROR_CHECK(esp_event_handler_unregister(WIFI_EVENT, WIFI_EVENT_STA_DISCONNECTED, roaming_app_disconnected_event_handler));
+    ESP_ERROR_CHECK(esp_event_handler_unregister(WIFI_EVENT, WIFI_EVENT_STA_STOP, roaming_app_sta_stop_event_handler));
 #if LOW_RSSI_ROAMING_ENABLED
     ESP_ERROR_CHECK(esp_event_handler_unregister(WIFI_EVENT, WIFI_EVENT_STA_BSS_RSSI_LOW,
                                                  &roaming_app_rssi_low_handler));
diff --git a/components/wpa_supplicant/esp_supplicant/src/esp_common.c b/components/wpa_supplicant/esp_supplicant/src/esp_common.c
index 3cb077941d..65dc68697a 100644
--- a/components/wpa_supplicant/esp_supplicant/src/esp_common.c
+++ b/components/wpa_supplicant/esp_supplicant/src/esp_common.c
@@ -427,9 +427,6 @@ void esp_supplicant_common_deinit(void)
     }
     s_supplicant_task_init_done = false;
 #endif /* CONFIG_SUPPLICANT_TASK */
-#if CONFIG_ESP_WIFI_ENABLE_ROAMING_APP
-    deinit_roaming_app();
-#endif
 #endif /* defined(CONFIG_IEEE80211KV) || defined(CONFIG_IEEE80211R) */
 }
 
@@ -744,15 +741,6 @@ static uint8_t get_extended_caps_ie(uint8_t *ie, size_t len)
 }
 
 #else /* CONFIG_IEEE80211KV */
-bool esp_rrm_is_rrm_supported_connection(void)
-{
-    return false;
-}
-
-bool esp_wnm_is_btm_supported_connection(void)
-{
-    return false;
-}
 #endif /* CONFIG_IEEE80211KV */
 
 void esp_set_scan_ie(void)
@@ -920,6 +908,20 @@ int esp_supplicant_post_evt(uint32_t evt_id, uint32_t data)
 }
 #endif /* CONFIG_SUPPLICANT_TASK */
 #else /* defined(CONFIG_IEEE80211KV) || defined(CONFIG_IEEE80211R) */
+void esp_set_scan_ie(void) { }
+#endif /* defined(CONFIG_IEEE80211KV) || defined(CONFIG_IEEE80211R) */
+
+#ifndef CONFIG_IEEE80211KV
+bool esp_rrm_is_rrm_supported_connection(void)
+{
+    return false;
+}
+
+bool esp_wnm_is_btm_supported_connection(void)
+{
+    return false;
+}
+
 int esp_rrm_send_neighbor_report_request(void)
 {
     return -1;
@@ -937,8 +939,7 @@ int esp_wnm_send_bss_transition_mgmt_query(enum btm_query_reason query_reason,
     return -1;
 }
 
-void esp_set_scan_ie(void) { }
-#endif /* defined(CONFIG_IEEE80211KV) || defined(CONFIG_IEEE80211R) */
+#endif /* !CONFIG_IEEE80211KV */
 
 #if defined(CONFIG_IEEE80211KV) || defined(CONFIG_IEEE80211R) || defined(CONFIG_WPA3_SAE)
 void esp_set_assoc_ie(uint8_t *bssid, const u8 *ies, size_t ies_len, bool mdie)
diff --git a/components/wpa_supplicant/esp_supplicant/src/esp_wpa_main.c b/components/wpa_supplicant/esp_supplicant/src/esp_wpa_main.c
index 50e87fab8a..6de2314642 100644
--- a/components/wpa_supplicant/esp_supplicant/src/esp_wpa_main.c
+++ b/components/wpa_supplicant/esp_supplicant/src/esp_wpa_main.c
@@ -481,6 +481,7 @@ int esp_supplicant_init(void)
 #ifdef CONFIG_OWE_STA
     esp_wifi_register_owe_cb(wpa_cb);
 #endif /* CONFIG_OWE_STA */
+
     eloop_init();
     ret = esp_supplicant_common_init(wpa_cb);
 
@@ -494,10 +495,6 @@ int esp_supplicant_init(void)
     ret =  esp_wifi_internal_wapi_init();
 #endif
 
-#if CONFIG_ESP_WIFI_ENABLE_ROAMING_APP
-    init_roaming_app();
-#endif
-
     return ret;
 }
 
diff --git a/examples/common_components/protocol_examples_common/wifi_connect.c b/examples/common_components/protocol_examples_common/wifi_connect.c
index ed95bccb2f..1bfc1b35f4 100644
--- a/examples/common_components/protocol_examples_common/wifi_connect.c
+++ b/examples/common_components/protocol_examples_common/wifi_connect.c
@@ -46,7 +46,12 @@ static void example_handler_on_wifi_disconnect(void *arg, esp_event_base_t event
         example_wifi_sta_do_disconnect();
         return;
     }
-    ESP_LOGI(TAG, "Wi-Fi disconnected, trying to reconnect...");
+    wifi_event_sta_disconnected_t *disconn = event_data;
+    if (disconn->reason == WIFI_REASON_ROAMING) {
+        ESP_LOGD(TAG, "station roaming, do nothing");
+        return;
+    }
+    ESP_LOGI(TAG, "Wi-Fi disconnected %d, trying to reconnect...", disconn->reason);
     esp_err_t err = esp_wifi_connect();
     if (err == ESP_ERR_WIFI_NOT_STARTED) {
         return;
diff --git a/examples/wifi/roaming/roaming_app/main/roaming_app_example.c b/examples/wifi/roaming/roaming_app/main/roaming_app_example.c
index c9c8de2c41..2d4c02b065 100644
--- a/examples/wifi/roaming/roaming_app/main/roaming_app_example.c
+++ b/examples/wifi/roaming/roaming_app/main/roaming_app_example.c
@@ -43,8 +43,6 @@ static EventGroupHandle_t s_wifi_event_group;
 #define MAXIMUM_RETRY 5
 const char *TAG = "wifi roaming app";
 
-static int s_retry_num = 0;
-
 static void event_handler(void* arg, esp_event_base_t event_base,
                           int32_t event_id, void* event_data)
 {
@@ -55,19 +53,12 @@ static void event_handler(void* arg, esp_event_base_t event_base,
         if (disconn->reason == WIFI_REASON_ROAMING) {
             ESP_LOGI(TAG, "station disconnected during roaming");
         } else {
-            if (s_retry_num < MAXIMUM_RETRY) {
-                ESP_LOGI(TAG, "station disconnected with reason %d", disconn->reason);
-                esp_wifi_connect();
-                s_retry_num++;
-                ESP_LOGI(TAG, "retry to connect to the AP");
-            } else {
-                xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);
-            }
+            ESP_LOGI(TAG, "station disconnected with reason %d", disconn->reason);
+            xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);
         }
     } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
         ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data;
         ESP_LOGI(TAG, "got ip:" IPSTR, IP2STR(&event->ip_info.ip));
-        s_retry_num = 0;
         xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
     }
 }