diff --git a/components/bt/host/nimble/Kconfig.in b/components/bt/host/nimble/Kconfig.in
index 320960f64b..7d11191e1f 100644
--- a/components/bt/host/nimble/Kconfig.in
+++ b/components/bt/host/nimble/Kconfig.in
@@ -600,6 +600,13 @@ if BT_NIMBLE_50_FEATURE_SUPPORT
             will be supported from BLE 5.0 onwards.
 
     if BT_NIMBLE_EXT_ADV
+        config BT_NIMBLE_EXT_ADV_V2
+            bool "Enable support for extended adv v2"
+            default n
+            depends on BT_NIMBLE_EXT_ADV
+            help
+                Enable this option to use Extended Adv V2 command instead of V1.
+
         config BT_NIMBLE_MAX_EXT_ADV_INSTANCES
             int "Maximum number of extended advertising instances."
             range 0 4
@@ -1094,8 +1101,7 @@ 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
-    depends on (!SOC_ESP_NIMBLE_CONTROLLER || IDF_TARGET_ESP32C6 || IDF_TARGET_ESP32H2)
+    depends on BT_NIMBLE_ENABLED && !(IDF_TARGET_ESP32C2)
     help
         This enables support for user to initiate a new connection with scan in progress
 
diff --git a/components/bt/host/nimble/nimble b/components/bt/host/nimble/nimble
index 5c6b832167..f5136d2b35 160000
--- a/components/bt/host/nimble/nimble
+++ b/components/bt/host/nimble/nimble
@@ -1 +1 @@
-Subproject commit 5c6b832167da95453701efeec3d383e71dd4b00a
+Subproject commit f5136d2b35e3bafce3e276daaba8f55b8c695aab
diff --git a/components/bt/host/nimble/port/include/esp_nimble_cfg.h b/components/bt/host/nimble/port/include/esp_nimble_cfg.h
index 90025e49a5..f5c802cee9 100644
--- a/components/bt/host/nimble/port/include/esp_nimble_cfg.h
+++ b/components/bt/host/nimble/port/include/esp_nimble_cfg.h
@@ -98,6 +98,14 @@
 #define MYNEWT_VAL_BLE_EXT_ADV (CONFIG_BT_NIMBLE_EXT_ADV)
 #endif
 
+#ifndef MYNEWT_VAL_BLE_EXT_ADV_V2
+#ifdef CONFIG_BT_NIMBLE_EXT_ADV_V2
+#define MYNEWT_VAL_BLE_EXT_ADV_V2  (CONFIG_BT_NIMBLE_EXT_ADV_V2)
+#else
+#define MYNEWT_VAL_BLE_EXT_ADV_V2  (0)
+#endif
+#endif
+
 #ifndef CONFIG_BT_NIMBLE_EXT_ADV_MAX_SIZE
 #define MYNEWT_VAL_BLE_EXT_ADV_MAX_SIZE (31)
 #else