diff --git a/examples/peripherals/twai/twai_alert_and_recovery/README.md b/examples/peripherals/twai/twai_alert_and_recovery/README.md
index b6eba62367..d76bb0900e 100644
--- a/examples/peripherals/twai/twai_alert_and_recovery/README.md
+++ b/examples/peripherals/twai/twai_alert_and_recovery/README.md
@@ -25,7 +25,7 @@ idf.py menuconfig
 * Under `Example Configuration`, configure the pin assignments using the options `TX GPIO Number` and `RX GPIO Number` according to how the target was connected to the transceiver. By default, `TX GPIO Number` and `RX GPIO Number` are set to the following values:
     * On the ESP32, `TX GPIO Number` and `RX GPIO Number` default to `21` and `22` respectively
     * On the ESP32-S2, `TX GPIO Number` and `RX GPIO Number` default to `20` and `21` respectively
-    * On the ESP32-S3, `TX GPIO Number` and `RX GPIO Number` default to `20` and `21` respectively
+    * On the ESP32-S3, `TX GPIO Number` and `RX GPIO Number` default to `4` and `5` respectively
     * On the ESP32-C3, `TX GPIO Number` and `RX GPIO Number` default to `2` and `3` respectively
 
 ### Build and Flash
diff --git a/examples/peripherals/twai/twai_alert_and_recovery/main/Kconfig.projbuild b/examples/peripherals/twai/twai_alert_and_recovery/main/Kconfig.projbuild
index ed23df09cd..e71c1bf058 100644
--- a/examples/peripherals/twai/twai_alert_and_recovery/main/Kconfig.projbuild
+++ b/examples/peripherals/twai/twai_alert_and_recovery/main/Kconfig.projbuild
@@ -3,8 +3,9 @@ menu "Example Configuration"
     config EXAMPLE_TX_GPIO_NUM
         int "TX GPIO number"
         default 2 if IDF_TARGET_ESP32C3
-        default 20 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
+        default 20 if IDF_TARGET_ESP32S2
         default 21 if IDF_TARGET_ESP32
+        default 4 if IDF_TARGET_ESP32S3
         help
             This option selects the GPIO pin used for the TX signal. Connect the
             TX signal to your transceiver.
@@ -12,8 +13,9 @@ menu "Example Configuration"
     config EXAMPLE_RX_GPIO_NUM
         int "RX GPIO number"
         default 3 if IDF_TARGET_ESP32C3
-        default 21 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
+        default 21 if IDF_TARGET_ESP32S2
         default 22 if IDF_TARGET_ESP32
+        default 5 if IDF_TARGET_ESP32S3
         help
             This option selects the GPIO pin used for the RX signal. Connect the
             RX signal to your transceiver.
diff --git a/examples/peripherals/twai/twai_network/README.md b/examples/peripherals/twai/twai_network/README.md
index 01c2876661..0136b016f2 100644
--- a/examples/peripherals/twai/twai_network/README.md
+++ b/examples/peripherals/twai/twai_network/README.md
@@ -55,7 +55,7 @@ idf.py menuconfig
 * Under `Example Configuration`, configure the pin assignments using the options `TX GPIO Number` and `RX GPIO Number` according to how the target was connected to the transceiver. By default, `TX GPIO Number` and `RX GPIO Number` are set to the following values:
     * On the ESP32, `TX GPIO Number` and `RX GPIO Number` default to `21` and `22` respectively
     * On the ESP32-S2, `TX GPIO Number` and `RX GPIO Number` default to `20` and `21` respectively
-    * On the ESP32-S3, `TX GPIO Number` and `RX GPIO Number` default to `20` and `21` respectively
+    * On the ESP32-S3, `TX GPIO Number` and `RX GPIO Number` default to `4` and `5` respectively
     * On the ESP32-C3, `TX GPIO Number` and `RX GPIO Number` default to `2` and `3` respectively
 
 
diff --git a/examples/peripherals/twai/twai_network/twai_network_listen_only/main/Kconfig.projbuild b/examples/peripherals/twai/twai_network/twai_network_listen_only/main/Kconfig.projbuild
index ed23df09cd..e71c1bf058 100644
--- a/examples/peripherals/twai/twai_network/twai_network_listen_only/main/Kconfig.projbuild
+++ b/examples/peripherals/twai/twai_network/twai_network_listen_only/main/Kconfig.projbuild
@@ -3,8 +3,9 @@ menu "Example Configuration"
     config EXAMPLE_TX_GPIO_NUM
         int "TX GPIO number"
         default 2 if IDF_TARGET_ESP32C3
-        default 20 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
+        default 20 if IDF_TARGET_ESP32S2
         default 21 if IDF_TARGET_ESP32
+        default 4 if IDF_TARGET_ESP32S3
         help
             This option selects the GPIO pin used for the TX signal. Connect the
             TX signal to your transceiver.
@@ -12,8 +13,9 @@ menu "Example Configuration"
     config EXAMPLE_RX_GPIO_NUM
         int "RX GPIO number"
         default 3 if IDF_TARGET_ESP32C3
-        default 21 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
+        default 21 if IDF_TARGET_ESP32S2
         default 22 if IDF_TARGET_ESP32
+        default 5 if IDF_TARGET_ESP32S3
         help
             This option selects the GPIO pin used for the RX signal. Connect the
             RX signal to your transceiver.
diff --git a/examples/peripherals/twai/twai_network/twai_network_master/main/Kconfig.projbuild b/examples/peripherals/twai/twai_network/twai_network_master/main/Kconfig.projbuild
index ed23df09cd..e71c1bf058 100644
--- a/examples/peripherals/twai/twai_network/twai_network_master/main/Kconfig.projbuild
+++ b/examples/peripherals/twai/twai_network/twai_network_master/main/Kconfig.projbuild
@@ -3,8 +3,9 @@ menu "Example Configuration"
     config EXAMPLE_TX_GPIO_NUM
         int "TX GPIO number"
         default 2 if IDF_TARGET_ESP32C3
-        default 20 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
+        default 20 if IDF_TARGET_ESP32S2
         default 21 if IDF_TARGET_ESP32
+        default 4 if IDF_TARGET_ESP32S3
         help
             This option selects the GPIO pin used for the TX signal. Connect the
             TX signal to your transceiver.
@@ -12,8 +13,9 @@ menu "Example Configuration"
     config EXAMPLE_RX_GPIO_NUM
         int "RX GPIO number"
         default 3 if IDF_TARGET_ESP32C3
-        default 21 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
+        default 21 if IDF_TARGET_ESP32S2
         default 22 if IDF_TARGET_ESP32
+        default 5 if IDF_TARGET_ESP32S3
         help
             This option selects the GPIO pin used for the RX signal. Connect the
             RX signal to your transceiver.
diff --git a/examples/peripherals/twai/twai_network/twai_network_slave/main/Kconfig.projbuild b/examples/peripherals/twai/twai_network/twai_network_slave/main/Kconfig.projbuild
index ed23df09cd..e71c1bf058 100644
--- a/examples/peripherals/twai/twai_network/twai_network_slave/main/Kconfig.projbuild
+++ b/examples/peripherals/twai/twai_network/twai_network_slave/main/Kconfig.projbuild
@@ -3,8 +3,9 @@ menu "Example Configuration"
     config EXAMPLE_TX_GPIO_NUM
         int "TX GPIO number"
         default 2 if IDF_TARGET_ESP32C3
-        default 20 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
+        default 20 if IDF_TARGET_ESP32S2
         default 21 if IDF_TARGET_ESP32
+        default 4 if IDF_TARGET_ESP32S3
         help
             This option selects the GPIO pin used for the TX signal. Connect the
             TX signal to your transceiver.
@@ -12,8 +13,9 @@ menu "Example Configuration"
     config EXAMPLE_RX_GPIO_NUM
         int "RX GPIO number"
         default 3 if IDF_TARGET_ESP32C3
-        default 21 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
+        default 21 if IDF_TARGET_ESP32S2
         default 22 if IDF_TARGET_ESP32
+        default 5 if IDF_TARGET_ESP32S3
         help
             This option selects the GPIO pin used for the RX signal. Connect the
             RX signal to your transceiver.
diff --git a/examples/peripherals/twai/twai_self_test/README.md b/examples/peripherals/twai/twai_self_test/README.md
index 46f1a60f2a..a46e34b049 100644
--- a/examples/peripherals/twai/twai_self_test/README.md
+++ b/examples/peripherals/twai/twai_self_test/README.md
@@ -25,7 +25,7 @@ idf.py menuconfig
 * Under `Example Configuration`, configure the pin assignments using the options `TX GPIO Number` and `RX GPIO Number` according to how the target was connected to the transceiver. By default, `TX GPIO Number` and `RX GPIO Number` are set to the following values:
     * On the ESP32, `TX GPIO Number` and `RX GPIO Number` default to `21` and `22` respectively
     * On the ESP32-S2, `TX GPIO Number` and `RX GPIO Number` default to `20` and `21` respectively
-    * On the ESP32-S3, `TX GPIO Number` and `RX GPIO Number` default to `20` and `21` respectively
+    * On the ESP32-S3, `TX GPIO Number` and `RX GPIO Number` default to `4` and `5` respectively
     * On the ESP32-C3, `TX GPIO Number` and `RX GPIO Number` default to `2` and `3` respectively
 
 ### Build and Flash
diff --git a/examples/peripherals/twai/twai_self_test/main/Kconfig.projbuild b/examples/peripherals/twai/twai_self_test/main/Kconfig.projbuild
index ed23df09cd..e71c1bf058 100644
--- a/examples/peripherals/twai/twai_self_test/main/Kconfig.projbuild
+++ b/examples/peripherals/twai/twai_self_test/main/Kconfig.projbuild
@@ -3,8 +3,9 @@ menu "Example Configuration"
     config EXAMPLE_TX_GPIO_NUM
         int "TX GPIO number"
         default 2 if IDF_TARGET_ESP32C3
-        default 20 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
+        default 20 if IDF_TARGET_ESP32S2
         default 21 if IDF_TARGET_ESP32
+        default 4 if IDF_TARGET_ESP32S3
         help
             This option selects the GPIO pin used for the TX signal. Connect the
             TX signal to your transceiver.
@@ -12,8 +13,9 @@ menu "Example Configuration"
     config EXAMPLE_RX_GPIO_NUM
         int "RX GPIO number"
         default 3 if IDF_TARGET_ESP32C3
-        default 21 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
+        default 21 if IDF_TARGET_ESP32S2
         default 22 if IDF_TARGET_ESP32
+        default 5 if IDF_TARGET_ESP32S3
         help
             This option selects the GPIO pin used for the RX signal. Connect the
             RX signal to your transceiver.