diff --git a/components/esp_system/port/soc/esp32/highint_hdl.S b/components/esp_system/port/soc/esp32/highint_hdl.S
index 3ae31686d2..51b963cce6 100644
--- a/components/esp_system/port/soc/esp32/highint_hdl.S
+++ b/components/esp_system/port/soc/esp32/highint_hdl.S
@@ -173,7 +173,13 @@ xt_highintx:
     rsr     a0, INTERRUPT
     extui   a0, a0, ETS_IPC_ISR_INUM, 1
     beqz    a0, 1f
-    j       esp_ipc_isr_handler
+    /* Jump to `esp_ipc_isr_handler` which is non-returning. We need to use `jx`
+     * because on Xtensa, `j` instruction can only refer to a label which
+     * is in the range [-131068;+131075]. If the destination is out of scope,
+     * linking will fail. So, to make sure we will always be able to jump to
+     * that subroutine, retrieve its address and store it in a register. */
+    movi    a0, esp_ipc_isr_handler
+    jx      a0
 1:
 #endif /* not CONFIG_FREERTOS_UNICORE */
 
diff --git a/components/esp_system/port/soc/esp32s3/highint_hdl.S b/components/esp_system/port/soc/esp32s3/highint_hdl.S
index 91916e2cef..af0b2b31e7 100644
--- a/components/esp_system/port/soc/esp32s3/highint_hdl.S
+++ b/components/esp_system/port/soc/esp32s3/highint_hdl.S
@@ -49,7 +49,7 @@ xt_highint4:
     /* See if we're here for the IPC_ISR interrupt */
     rsr     a0, INTERRUPT
     extui   a0, a0, ETS_IPC_ISR_INUM, 1
-    bnez    a0, esp_ipc_isr_handler
+    bnez    a0, jump_to_esp_ipc_isr_handler
 #endif // not CONFIG_FREERTOS_UNICORE
 
     /* Allocate exception frame and save minimal context. */
@@ -130,6 +130,14 @@ xt_highint4:
     rsr     a0, EXCSAVE_4                   /* restore a0 */
     rfi     4
 
+#ifdef CONFIG_ESP_IPC_ISR_ENABLE
+jump_to_esp_ipc_isr_handler:
+    /* Address of `esp_ipc_isr_handler_address` will always be in `movi` range
+     * as it is defined right above. */
+    movi    a0, esp_ipc_isr_handler
+    jx      a0
+#endif
+
 /* The linker has no reason to link in this file; all symbols it exports are already defined
    (weakly!) in the default int handler. Define a symbol here so we can use it to have the
    linker inspect this anyway. */