diff --git a/components/esp_phy/Kconfig b/components/esp_phy/Kconfig
index b94aca1cbe..59d7fe783d 100644
--- a/components/esp_phy/Kconfig
+++ b/components/esp_phy/Kconfig
@@ -107,7 +107,7 @@ menu "PHY"
 
     config ESP_PHY_ENABLE_USB
         bool "Enable USB when phy init"
-        depends on USB_OTG_SUPPORTED || ESP_CONSOLE_USB_SERIAL_JTAG || ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG
+        depends on SOC_USB_OTG_SUPPORTED || ESP_CONSOLE_USB_SERIAL_JTAG || ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG
         default y if IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32S3
         default n
         help
diff --git a/components/usb/CMakeLists.txt b/components/usb/CMakeLists.txt
index 5ff63af4d7..8be713727a 100644
--- a/components/usb/CMakeLists.txt
+++ b/components/usb/CMakeLists.txt
@@ -1,12 +1,12 @@
 set(srcs)
 set(include)
-set(priv_include)
-# As CONFIG_USB_OTG_SUPPORTED comes from Kconfig, it is not evaluated yet
+set(priv_includes)
+# As CONFIG_SOC_USB_OTG_SUPPORTED comes from Kconfig, it is not evaluated yet
 # when components are being registered.
 # Thus, always add the (private) requirements, regardless of Kconfig
-set(priv_require driver) # usb_phy driver relies on gpio driver API
+set(priv_requires driver) # usb_phy driver relies on gpio driver API
 
-if(CONFIG_USB_OTG_SUPPORTED)
+if(CONFIG_SOC_USB_OTG_SUPPORTED)
     list(APPEND srcs "hcd_dwc.c"
                      "hub.c"
                      "usb_helpers.c"
@@ -15,11 +15,11 @@ if(CONFIG_USB_OTG_SUPPORTED)
                      "usbh.c"
                      "usb_phy.c")
     list(APPEND include "include")
-    list(APPEND priv_include "private_include")
+    list(APPEND priv_includes "private_include")
 endif()
 
 idf_component_register(SRCS ${srcs}
                        INCLUDE_DIRS ${include}
-                       PRIV_INCLUDE_DIRS ${priv_include}
-                       PRIV_REQUIRES ${priv_require}
+                       PRIV_INCLUDE_DIRS ${priv_includes}
+                       PRIV_REQUIRES ${priv_requires}
                        )
diff --git a/components/usb/Kconfig b/components/usb/Kconfig
index 993d9ccb5f..5e02abe0d8 100644
--- a/components/usb/Kconfig
+++ b/components/usb/Kconfig
@@ -1,13 +1,7 @@
 menu "USB-OTG"
-    visible if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
-
-    # Invisible item, enabled when USB_OTG peripheral does exist
-    config USB_OTG_SUPPORTED
-        bool
-        default y if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
+    depends on SOC_USB_OTG_SUPPORTED
 
     config USB_HOST_CONTROL_TRANSFER_MAX_SIZE
-        depends on USB_OTG_SUPPORTED
         int "Largest size (in bytes) of transfers to/from default endpoints"
         default 256
         help
@@ -18,7 +12,6 @@ menu "USB-OTG"
             - Device's with configuration descriptors larger than this limit cannot be supported
 
     choice USB_HOST_HW_BUFFER_BIAS
-        depends on USB_OTG_SUPPORTED
         prompt "Hardware FIFO size biasing"
         default USB_HOST_HW_BUFFER_BIAS_BALANCED
         help
@@ -56,7 +49,6 @@ menu "USB-OTG"
     menu "Root Hub configuration"
 
         config USB_HOST_DEBOUNCE_DELAY_MS
-            depends on USB_OTG_SUPPORTED
             int "Debounce delay in ms"
             default 250
             help
@@ -67,7 +59,6 @@ menu "USB-OTG"
                 The default value is set to 250 ms to be safe.
 
         config USB_HOST_RESET_HOLD_MS
-            depends on USB_OTG_SUPPORTED
             int "Reset hold in ms"
             default 30
             help
@@ -79,7 +70,6 @@ menu "USB-OTG"
                 The default value is set to 30 ms to be safe.
 
         config USB_HOST_RESET_RECOVERY_MS
-            depends on USB_OTG_SUPPORTED
             int "Reset recovery delay in ms"
             default 30
             help
@@ -92,7 +82,6 @@ menu "USB-OTG"
 
 
         config USB_HOST_SET_ADDR_RECOVERY_MS
-            depends on USB_OTG_SUPPORTED
             int "SetAddress() recovery time in ms"
             default 10
             help
@@ -107,4 +96,12 @@ menu "USB-OTG"
 
     endmenu #Root Hub configuration
 
+    # Hidden or compatibility options
+
+    config USB_OTG_SUPPORTED
+        # Invisible config kept for compatibility
+        # Todo: Remove in v6.0 (IDF-8936)
+        bool
+        default y
+
 endmenu #USB-OTG