diff --git a/components/openthread/lib b/components/openthread/lib
index 785e946222..c9c17a0b66 160000
--- a/components/openthread/lib
+++ b/components/openthread/lib
@@ -1 +1 @@
-Subproject commit 785e946222f6c6ab453d7d47c15c551d4a181f79
+Subproject commit c9c17a0b6634af016111c9817f0be1fe0e7112f6
diff --git a/components/openthread/private_include/openthread-core-esp32x-ftd-config.h b/components/openthread/private_include/openthread-core-esp32x-ftd-config.h
index 30dbe362ae..14479dac73 100644
--- a/components/openthread/private_include/openthread-core-esp32x-ftd-config.h
+++ b/components/openthread/private_include/openthread-core-esp32x-ftd-config.h
@@ -123,6 +123,16 @@
 #define OPENTHREAD_CONFIG_BORDER_AGENT_ENABLE 1
 #endif
 
+/**
+ * @def OPENTHREAD_CONFIG_BORDER_AGENT_ID_ENABLE
+ *
+ * Define to 1 to enable Border Agent ID support.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_BORDER_AGENT_ID_ENABLE
+#define OPENTHREAD_CONFIG_BORDER_AGENT_ID_ENABLE 1
+#endif
+
 /**
  * @def OPENTHREAD_CONFIG_BORDER_ROUTER_ENABLE
  *
diff --git a/examples/openthread/ot_br/main/esp_ot_br.c b/examples/openthread/ot_br/main/esp_ot_br.c
index 249ea27654..7ad9f7a6bd 100644
--- a/examples/openthread/ot_br/main/esp_ot_br.c
+++ b/examples/openthread/ot_br/main/esp_ot_br.c
@@ -71,7 +71,9 @@ static void ot_task_worker(void *aContext)
 
 #if CONFIG_OPENTHREAD_BR_AUTO_START
     ESP_ERROR_CHECK(esp_openthread_border_router_init());
-    ESP_ERROR_CHECK(esp_openthread_auto_start(NULL));
+    otOperationalDatasetTlvs dataset;
+    otError error = otDatasetGetActiveTlvs(esp_openthread_get_instance(), &dataset);
+    ESP_ERROR_CHECK(esp_openthread_auto_start((error == OT_ERROR_NONE) ? &dataset : NULL));
 #endif // CONFIG_OPENTHREAD_BR_AUTO_START
 
     esp_cli_custom_command_init();