diff --git a/components/esp_driver_sdmmc/include/driver/sdmmc_default_configs.h b/components/esp_driver_sdmmc/include/driver/sdmmc_default_configs.h
index add6c4c859..1f6fbee7d0 100644
--- a/components/esp_driver_sdmmc/include/driver/sdmmc_default_configs.h
+++ b/components/esp_driver_sdmmc/include/driver/sdmmc_default_configs.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -53,23 +53,28 @@ extern "C" {
 #define SDMMC_SLOT_NO_WP      GPIO_NUM_NC     ///< indicates that write protect line is not used
 #define SDMMC_SLOT_WIDTH_DEFAULT 0 ///< use the maximum possible width for the slot
 
-#if SOC_SDMMC_USE_IOMUX && !SOC_SDMMC_USE_GPIO_MATRIX
 /**
  * Macro defining default configuration of SDMMC host slot
  */
+#if CONFIG_IDF_TARGET_ESP32
 #define SDMMC_SLOT_CONFIG_DEFAULT() {\
+    .clk = GPIO_NUM_6, \
+    .cmd = GPIO_NUM_11, \
+    .d0 = GPIO_NUM_7, \
+    .d1 = GPIO_NUM_8, \
+    .d2 = GPIO_NUM_9, \
+    .d3 = GPIO_NUM_10, \
+    .d4 = GPIO_NUM_16, \
+    .d5 = GPIO_NUM_17, \
+    .d6 = GPIO_NUM_5, \
+    .d7 = GPIO_NUM_18, \
     .cd = SDMMC_SLOT_NO_CD, \
     .wp = SDMMC_SLOT_NO_WP, \
     .width   = SDMMC_SLOT_WIDTH_DEFAULT, \
     .flags = 0, \
 }
 
-#else
-
-/**
- * Macro defining default configuration of SDMMC host slot
- */
-#if CONFIG_IDF_TARGET_ESP32P4
+#elif CONFIG_IDF_TARGET_ESP32P4
 #define SDMMC_SLOT_CONFIG_DEFAULT() {\
     .clk = GPIO_NUM_43, \
     .cmd = GPIO_NUM_44, \
@@ -106,8 +111,6 @@ extern "C" {
 }
 #endif  // GPIO Matrix chips
 
-#endif
-
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp_driver_sdmmc/include/driver/sdmmc_host.h b/components/esp_driver_sdmmc/include/driver/sdmmc_host.h
index e596835005..2b6059d023 100644
--- a/components/esp_driver_sdmmc/include/driver/sdmmc_host.h
+++ b/components/esp_driver_sdmmc/include/driver/sdmmc_host.h
@@ -24,7 +24,6 @@ extern "C" {
  * Extra configuration for SDMMC peripheral slot
  */
 typedef struct {
-#ifdef SOC_SDMMC_USE_GPIO_MATRIX
     gpio_num_t clk;         ///< GPIO number of CLK signal.
     gpio_num_t cmd;         ///< GPIO number of CMD signal.
     gpio_num_t d0;          ///< GPIO number of D0 signal.
@@ -35,7 +34,6 @@ typedef struct {
     gpio_num_t d5;          ///< GPIO number of D5 signal. Ignored in 1- or 4- line mode.
     gpio_num_t d6;          ///< GPIO number of D6 signal. Ignored in 1- or 4- line mode.
     gpio_num_t d7;          ///< GPIO number of D7 signal. Ignored in 1- or 4- line mode.
-#endif // SOC_SDMMC_USE_GPIO_MATRIX
     union {
         gpio_num_t gpio_cd;     ///< GPIO number of card detect signal
         gpio_num_t cd;          ///< GPIO number of card detect signal; shorter name.
diff --git a/components/esp_driver_sdmmc/src/sdmmc_host.c b/components/esp_driver_sdmmc/src/sdmmc_host.c
index 2362e03028..848d7c1d35 100644
--- a/components/esp_driver_sdmmc/src/sdmmc_host.c
+++ b/components/esp_driver_sdmmc/src/sdmmc_host.c
@@ -544,7 +544,17 @@ esp_err_t sdmmc_host_init_slot(int slot, const sdmmc_slot_config_t *slot_config)
 
     if (slot == 0) {
 #if !SDMMC_LL_SLOT_SUPPORT_GPIO_MATRIX(0)
-        ESP_RETURN_ON_FALSE(!use_gpio_matrix, ESP_ERR_INVALID_ARG, TAG, "doesn't support routing from GPIO matrix, driver uses dedicated IOs");
+        if (use_gpio_matrix &&
+                SDMMC_SLOT0_IOMUX_PIN_NUM_CLK == slot_config->clk &&
+                SDMMC_SLOT0_IOMUX_PIN_NUM_CMD == slot_config->cmd &&
+                SDMMC_SLOT0_IOMUX_PIN_NUM_D0 == slot_config->d0 &&
+                SDMMC_SLOT0_IOMUX_PIN_NUM_D1 == slot_config->d1 &&
+                SDMMC_SLOT0_IOMUX_PIN_NUM_D2 == slot_config->d2 &&
+                SDMMC_SLOT0_IOMUX_PIN_NUM_D3 == slot_config->d3) {
+            use_gpio_matrix = false;
+        } else {
+            ESP_RETURN_ON_FALSE(!use_gpio_matrix, ESP_ERR_INVALID_ARG, TAG, "doesn't support routing from GPIO matrix, driver uses dedicated IOs");
+        }
 #endif
     } else {
 #if !SDMMC_LL_SLOT_SUPPORT_GPIO_MATRIX(1)
diff --git a/components/esp_driver_sdmmc/test_apps/sd_test_utils/components/sdmmc_test_boards/sdmmc_test_board_defs.c b/components/esp_driver_sdmmc/test_apps/sd_test_utils/components/sdmmc_test_boards/sdmmc_test_board_defs.c
index 8cd43b7c51..c4b34a0518 100644
--- a/components/esp_driver_sdmmc/test_apps/sd_test_utils/components/sdmmc_test_boards/sdmmc_test_board_defs.c
+++ b/components/esp_driver_sdmmc/test_apps/sd_test_utils/components/sdmmc_test_boards/sdmmc_test_board_defs.c
@@ -323,9 +323,6 @@ static const sdmmc_test_board_info_t s_board_info = {
 static const sdmmc_test_board_info_t s_board_info = {
     .name = "ESP32-P4 Function EV Board",
     .slot = {
-        {
-            .slot_exists = false
-        },
         {
             .slot_exists = true,
             .bus_width = 4,
@@ -342,6 +339,9 @@ static const sdmmc_test_board_info_t s_board_info = {
             .cd = GPIO_NUM_NC,
             .wp = GPIO_NUM_NC,
             .unused_pin = 54,
+        },
+        {
+            .slot_exists = false,
         }
     },
 };
diff --git a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_begin_end_sd.c b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_begin_end_sd.c
index 804bd203b0..387cf811bc 100644
--- a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_begin_end_sd.c
+++ b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_begin_end_sd.c
@@ -18,7 +18,7 @@
 #include "sd_pwr_ctrl.h"
 #include "sd_pwr_ctrl_by_on_chip_ldo.h"
 
-void sdmmc_test_sd_skip_if_board_incompatible(int slot, int width, int freq_khz, int ddr)
+void sdmmc_test_sd_skip_if_board_incompatible(int slot, int width, int freq_khz, int ddr, int is_emmc)
 {
     sdmmc_host_t config = SDMMC_HOST_DEFAULT();
     sdmmc_slot_config_t slot_config = SDMMC_SLOT_CONFIG_DEFAULT();
@@ -26,6 +26,13 @@ void sdmmc_test_sd_skip_if_board_incompatible(int slot, int width, int freq_khz,
     if (!sdmmc_test_board_has_slot(slot)) {
         TEST_IGNORE_MESSAGE("Board doesn't have the required slot");
     }
+
+    if (is_emmc) {
+        if (!sdmmc_test_board_slot_is_emmc(slot)) {
+            TEST_IGNORE_MESSAGE("Board doesn't have the emmc card inserted");
+        }
+    }
+
     sdmmc_test_board_get_config_sdmmc(slot, &config, &slot_config);
 
     int board_max_freq_khz = sdmmc_test_board_get_slot_info(slot)->max_freq_khz;
diff --git a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_begin_end_sd.h b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_begin_end_sd.h
index 1120781185..42d02494af 100644
--- a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_begin_end_sd.h
+++ b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_begin_end_sd.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -16,6 +16,8 @@ extern "C" {
 #define SLOT_1  1
 #define NO_DDR 0
 #define WITH_DDR 1
+#define NO_EMMC 0
+#define IS_EMMC 1
 
 /* Helper functions to initialize/deinintalize the host (SDMMC/SDSPI) inside the test */
 
@@ -28,8 +30,9 @@ extern "C" {
  * @param width  Slot width (1, 4 or 8)
  * @param freq_khz  Bus frequency in kHz
  * @param ddr  Whether to use DDR mode (NO_DDR or WITH_DDR)
+ * @param is_emmc Is emmc or not
  */
-void sdmmc_test_sd_skip_if_board_incompatible(int slot, int width, int freq_khz, int ddr);
+void sdmmc_test_sd_skip_if_board_incompatible(int slot, int width, int freq_khz, int ddr, int is_emmc);
 
 /**
  * @brief Helper function to initialize the SDMMC host and slot for the test using the given settings
diff --git a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_cd_wp_sd.c b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_cd_wp_sd.c
index 80e9e01730..fcd1dcb788 100644
--- a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_cd_wp_sd.c
+++ b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_cd_wp_sd.c
@@ -8,6 +8,7 @@
 #include "sdmmc_cmd.h"
 #include "driver/sdmmc_host.h"
 #include "sdmmc_test_cd_wp_common.h"
+#include "sdmmc_test_begin_end_sd.h"
 #include "sdmmc_test_board.h"
 #include "sd_pwr_ctrl.h"
 #include "sd_pwr_ctrl_by_on_chip_ldo.h"
@@ -16,6 +17,7 @@ TEST_CASE("CD input works in SD mode", "[sdmmc]")
 {
     sdmmc_host_t config = SDMMC_HOST_DEFAULT();
     sdmmc_slot_config_t slot_config = SDMMC_SLOT_CONFIG_DEFAULT();
+    sdmmc_test_sd_skip_if_board_incompatible(SDMMC_HOST_SLOT_1, 0, SDMMC_FREQ_PROBING, NO_DDR, NO_EMMC);
     sdmmc_test_board_get_config_sdmmc(SDMMC_HOST_SLOT_1, &config, &slot_config);
     const int test_gpio = sdmmc_test_board_get_slot_info(SDMMC_HOST_SLOT_1)->unused_pin;
     slot_config.gpio_cd = test_gpio;
@@ -48,6 +50,7 @@ TEST_CASE("WP input works in SD mode", "[sdmmc]")
     sdmmc_test_board_card_power_set(true);
     sdmmc_host_t config = SDMMC_HOST_DEFAULT();
     sdmmc_slot_config_t slot_config = SDMMC_SLOT_CONFIG_DEFAULT();
+    sdmmc_test_sd_skip_if_board_incompatible(SDMMC_HOST_SLOT_1, 0, SDMMC_FREQ_PROBING, NO_DDR, NO_EMMC);
     sdmmc_test_board_get_config_sdmmc(SDMMC_HOST_SLOT_1, &config, &slot_config);
     const int test_gpio = sdmmc_test_board_get_slot_info(SDMMC_HOST_SLOT_1)->unused_pin;
     slot_config.gpio_wp = test_gpio;
diff --git a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_discard_sd.c b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_discard_sd.c
index b0211b73d9..392c8cec04 100644
--- a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_discard_sd.c
+++ b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_discard_sd.c
@@ -43,7 +43,7 @@ static void test_discard_blocks(sdmmc_card_t* card, int slot)
 static void do_one_mmc_discard_test(int slot, int width, int freq_khz, int ddr)
 {
     sdmmc_card_t card;
-    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr);
+    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr, IS_EMMC);
     sdmmc_test_sd_begin(slot, width, freq_khz, ddr, &card);
     sdmmc_card_print_info(stdout, &card);
     test_discard_blocks(&card, slot);
diff --git a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_erase_sd.c b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_erase_sd.c
index 9212c61a8c..9a40351d82 100644
--- a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_erase_sd.c
+++ b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_erase_sd.c
@@ -15,7 +15,7 @@
 static void do_one_sdmmc_erase_test(int slot, int width, int freq_khz, int ddr)
 {
     sdmmc_card_t card;
-    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr);
+    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr, NO_EMMC);
     sdmmc_test_sd_begin(slot, width, freq_khz, ddr, &card);
     sdmmc_card_print_info(stdout, &card);
     sdmmc_test_sd_erase_blocks(&card);
diff --git a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_probe_sd.c b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_probe_sd.c
index ce4ab53fc4..f10d8d68a4 100644
--- a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_probe_sd.c
+++ b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_probe_sd.c
@@ -13,7 +13,7 @@
 static void do_one_sdmmc_probe_test(int slot, int width, int freq_khz, int ddr)
 {
     sdmmc_card_t card;
-    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr);
+    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr, NO_EMMC);
     sdmmc_test_sd_begin(slot, width, freq_khz, ddr, &card);
     sdmmc_card_print_info(stdout, &card);
     uint8_t* buffer = heap_caps_calloc(512, 1, MALLOC_CAP_DMA);
diff --git a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_rw_sd.c b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_rw_sd.c
index 942bae84b7..3a07056213 100644
--- a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_rw_sd.c
+++ b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_rw_sd.c
@@ -15,7 +15,7 @@
 static void do_one_sdmmc_perf_test(int slot, int width, int freq_khz, int ddr, FILE* perf_log)
 {
     sdmmc_card_t card;
-    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr);
+    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr, NO_EMMC);
     sdmmc_test_sd_begin(slot, width, freq_khz, ddr, &card);
     sdmmc_card_print_info(stdout, &card);
     sdmmc_test_rw_performance(&card, perf_log);
@@ -68,7 +68,7 @@ TEST_CASE("sdmmc read/write performance, slot 1, 4-bit DDR", "[sdmmc]")
 static void do_one_sdmmc_rw_test_with_offset(int slot, int width, int freq_khz, int ddr)
 {
     sdmmc_card_t card;
-    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr);
+    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr, NO_EMMC);
     sdmmc_test_sd_begin(slot, width, freq_khz, ddr, &card);
     sdmmc_card_print_info(stdout, &card);
     sdmmc_test_rw_with_offset(&card);
@@ -90,7 +90,7 @@ TEST_CASE("sdmmc read/write performance with offset, slot 1, 4-bit", "[sdmmc]")
 static void do_one_sdmmc_rw_test_unaligned_buffer(int slot, int width, int freq_khz, int ddr)
 {
     sdmmc_card_t card;
-    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr);
+    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr, NO_EMMC);
     sdmmc_test_sd_begin(slot, width, freq_khz, ddr, &card);
     sdmmc_card_print_info(stdout, &card);
     sdmmc_test_rw_unaligned_buffer(&card);
diff --git a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_sanitize_sd.c b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_sanitize_sd.c
index 4fc434fbb5..45492e76b7 100644
--- a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_sanitize_sd.c
+++ b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_sanitize_sd.c
@@ -35,7 +35,7 @@ static void test_mmc_sanitize_blocks(sdmmc_card_t* card)
 static void do_one_mmc_sanitize_test(int slot, int width, int freq_khz, int ddr)
 {
     sdmmc_card_t card;
-    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr);
+    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr, IS_EMMC);
     sdmmc_test_sd_begin(slot, width, freq_khz, ddr, &card);
     sdmmc_card_print_info(stdout, &card);
     test_mmc_sanitize_blocks(&card);
diff --git a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_trim_sd.c b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_trim_sd.c
index 8f277b8066..6a02d8bc63 100644
--- a/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_trim_sd.c
+++ b/components/esp_driver_sdmmc/test_apps/sdmmc/components/sdmmc_tests/sdmmc_test_trim_sd.c
@@ -33,7 +33,7 @@ static void test_mmc_trim_blocks(sdmmc_card_t* card)
 static void do_one_mmc_trim_test(int slot, int width, int freq_khz, int ddr)
 {
     sdmmc_card_t card;
-    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr);
+    sdmmc_test_sd_skip_if_board_incompatible(slot, width, freq_khz, ddr, IS_EMMC);
     sdmmc_test_sd_begin(slot, width, freq_khz, ddr, &card);
     sdmmc_card_print_info(stdout, &card);
     test_mmc_trim_blocks(&card);
diff --git a/components/esp_driver_sdmmc/test_apps/sdmmc/sdkconfig.defaults.esp32p4 b/components/esp_driver_sdmmc/test_apps/sdmmc/sdkconfig.defaults.esp32p4
index bae8235e8d..7b8ca4566c 100644
--- a/components/esp_driver_sdmmc/test_apps/sdmmc/sdkconfig.defaults.esp32p4
+++ b/components/esp_driver_sdmmc/test_apps/sdmmc/sdkconfig.defaults.esp32p4
@@ -3,4 +3,3 @@ CONFIG_SDMMC_BOARD_ESP32P4_EV_BOARD=y
 CONFIG_SPIRAM=y
 CONFIG_IDF_EXPERIMENTAL_FEATURES=y
 CONFIG_SPIRAM_SPEED_200M=y
-CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
diff --git a/components/esp_driver_sdspi/test_apps/sdspi/sdkconfig.defaults.esp32p4 b/components/esp_driver_sdspi/test_apps/sdspi/sdkconfig.defaults.esp32p4
index 74592300eb..4363f63715 100644
--- a/components/esp_driver_sdspi/test_apps/sdspi/sdkconfig.defaults.esp32p4
+++ b/components/esp_driver_sdspi/test_apps/sdspi/sdkconfig.defaults.esp32p4
@@ -1,2 +1 @@
 CONFIG_SDMMC_BOARD_ESP32P4_EV_BOARD_WITH_SDSPI=y
-CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
diff --git a/examples/storage/sd_card/sdspi/sdkconfig.defaults.esp32p4 b/examples/storage/sd_card/sdspi/sdkconfig.defaults.esp32p4
deleted file mode 100644
index 5e9f8e25bd..0000000000
--- a/examples/storage/sd_card/sdspi/sdkconfig.defaults.esp32p4
+++ /dev/null
@@ -1 +0,0 @@
-CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y