diff --git a/components/bt/host/nimble/Kconfig.in b/components/bt/host/nimble/Kconfig.in
index 442c485d53..06ec1dca11 100644
--- a/components/bt/host/nimble/Kconfig.in
+++ b/components/bt/host/nimble/Kconfig.in
@@ -632,8 +632,9 @@ config BT_NIMBLE_PERIODIC_ADV_ENH
 menuconfig BT_NIMBLE_GATT_CACHING
     bool "Enable GATT caching"
     depends on BT_NIMBLE_ENABLED && BT_NIMBLE_50_FEATURE_SUPPORT
+    select BT_NIMBLE_DYNAMIC_SERVICE
     help
-            Enable GATT caching
+        Enable GATT caching
 config BT_NIMBLE_GATT_CACHING_MAX_CONNS
     int "Maximum connections to be cached"
     depends on BT_NIMBLE_GATT_CACHING
diff --git a/components/bt/host/nimble/nimble b/components/bt/host/nimble/nimble
index 299279a467..a2acac3e14 160000
--- a/components/bt/host/nimble/nimble
+++ b/components/bt/host/nimble/nimble
@@ -1 +1 @@
-Subproject commit 299279a46795a6de44c2683cae6f85e0c68cb551
+Subproject commit a2acac3e14bb7810783ac5089ccf8229a2dd2f70
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 6d2a9cf8aa..6a47d90f1d 100644
--- a/components/bt/host/nimble/port/include/esp_nimble_cfg.h
+++ b/components/bt/host/nimble/port/include/esp_nimble_cfg.h
@@ -133,10 +133,31 @@
 #define MYNEWT_VAL_BLE_GATT_CACHING (0)
 #else
 #define MYNEWT_VAL_BLE_GATT_CACHING           (CONFIG_BT_NIMBLE_GATT_CACHING)
+
+#ifdef CONFIG_BT_NIMBLE_GATT_CACHING_MAX_CONNS
 #define MYNEWT_VAL_BLE_GATT_CACHING_MAX_CONNS (CONFIG_BT_NIMBLE_GATT_CACHING_MAX_CONNS)
+#else
+#define MYNEWT_VAL_BLE_GATT_CACHING_MAX_CONNS (0)
+#endif
+
+#ifdef CONFIG_BT_NIMBLE_GATT_CACHING_MAX_SVCS
 #define MYNEWT_VAL_BLE_GATT_CACHING_MAX_SVCS  (CONFIG_BT_NIMBLE_GATT_CACHING_MAX_SVCS)
+#else
+#define MYNEWT_VAL_BLE_GATT_CACHING_MAX_SVCS  (0)
+#endif
+
+#ifdef CONFIG_BT_NIMBLE_GATT_CACHING_MAX_CHRS
 #define MYNEWT_VAL_BLE_GATT_CACHING_MAX_CHRS  (CONFIG_BT_NIMBLE_GATT_CACHING_MAX_CHRS)
+#else
+#define MYNEWT_VAL_BLE_GATT_CACHING_MAX_CHRS  (0)
+#endif
+
+#ifdef CONFIG_BT_NIMBLE_GATT_CACHING_MAX_DSCS
 #define MYNEWT_VAL_BLE_GATT_CACHING_MAX_DSCS  (CONFIG_BT_NIMBLE_GATT_CACHING_MAX_DSCS)
+#else
+#define MYNEWT_VAL_BLE_GATT_CACHING_MAX_DSCS  (0)
+#endif
+
 #endif
 
 #ifndef CONFIG_BT_NIMBLE_MAX_EXT_ADV_INSTANCES
@@ -487,7 +508,11 @@
 /*** @apache-mynewt-nimble/nimble/host */
 
 #ifndef MYNEWT_VAL_BLE_DYNAMIC_SERVICE
+#ifdef CONFIG_BT_NIMBLE_DYNAMIC_SERVICE
 #define MYNEWT_VAL_BLE_DYNAMIC_SERVICE CONFIG_BT_NIMBLE_DYNAMIC_SERVICE
+#else
+#define MYNEWT_VAL_BLE_DYNAMIC_SERVICE (0)
+#endif
 #endif
 
 #ifndef MYNEWT_VAL_BLE_ATT_PREFERRED_MTU
@@ -848,7 +873,11 @@
 
 
 #ifndef MYNEWT_VAL_BLE_SM_SC_LVL
+#ifdef CONFIG_BT_NIMBLE_SM_SC_LVL
 #define MYNEWT_VAL_BLE_SM_SC_LVL CONFIG_BT_NIMBLE_SM_SC_LVL
+#else
+#define MYNEWT_VAL_BLE_SM_SC_LVL (0)
+#endif
 #endif
 
 #ifndef MYNEWT_VAL_BLE_SM_SC_ONLY
diff --git a/examples/bluetooth/esp_hid_device/main/esp_hid_gap.c b/examples/bluetooth/esp_hid_device/main/esp_hid_gap.c
index af763f3b39..6b2c78b954 100644
--- a/examples/bluetooth/esp_hid_device/main/esp_hid_gap.c
+++ b/examples/bluetooth/esp_hid_device/main/esp_hid_gap.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Unlicense OR CC0-1.0
  */
@@ -22,6 +22,8 @@
 #include "host/ble_hs_adv.h"
 #include "nimble/ble.h"
 #include "host/ble_sm.h"
+#else
+#include "esp_bt_device.h"
 #endif
 
 static const char *TAG = "ESP_HID_GAP";
@@ -697,9 +699,13 @@ esp_err_t esp_hid_ble_gap_adv_start(void)
     return esp_ble_gap_start_advertising(&hidd_adv_params);
 }
 #endif /* CONFIG_BT_BLE_ENABLED */
+
 #if CONFIG_BT_NIMBLE_ENABLED
-static struct ble_hs_adv_fields fields;
 #define GATT_SVR_SVC_HID_UUID 0x1812
+
+extern void ble_hid_task_start_up(void);
+static struct ble_hs_adv_fields fields;
+
 esp_err_t esp_hid_ble_gap_adv_init(uint16_t appearance, const char *device_name)
 {
     ble_uuid16_t *uuid16, *uuid16_1;
@@ -806,6 +812,7 @@ nimble_hid_gap_event(struct ble_gap_event *event, void *arg)
                 event->enc_change.status);
         rc = ble_gap_conn_find(event->enc_change.conn_handle, &desc);
         assert(rc == 0);
+        ble_hid_task_start_up();
         return 0;
 
     case BLE_GAP_EVENT_NOTIFY_TX:
diff --git a/examples/bluetooth/esp_hid_host/main/esp_hid_gap.c b/examples/bluetooth/esp_hid_host/main/esp_hid_gap.c
index 249d1f0fda..94fab0775c 100644
--- a/examples/bluetooth/esp_hid_host/main/esp_hid_gap.c
+++ b/examples/bluetooth/esp_hid_host/main/esp_hid_gap.c
@@ -22,6 +22,8 @@
 #include "nimble/ble.h"
 #include "host/ble_sm.h"
 #define BLE_HID_SVC_UUID 0x1812          /* HID Service*/
+#else
+#include "esp_bt_device.h"
 #endif
 
 static const char *TAG = "ESP_HID_GAP";