diff --git a/components/esp_driver_twai/esp_twai_onchip.c b/components/esp_driver_twai/esp_twai_onchip.c
index a487b6231b..6ae09e296b 100644
--- a/components/esp_driver_twai/esp_twai_onchip.c
+++ b/components/esp_driver_twai/esp_twai_onchip.c
@@ -79,8 +79,6 @@ typedef struct {
 #endif
 
     _Atomic twai_error_state_t state;
-    uint16_t tx_error_count;
-    uint16_t rx_error_count;
     twai_node_record_t history;
 
     atomic_bool hw_busy;
@@ -127,8 +125,8 @@ static esp_err_t _node_config_io(twai_onchip_ctx_t *node, const twai_onchip_node
 {
     ESP_RETURN_ON_FALSE(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.tx) || (node_config->flags.enable_listen_only && (node_config->io_cfg.tx == -1)), ESP_ERR_INVALID_ARG, TAG, "Invalid tx gpio num");
     ESP_RETURN_ON_FALSE(GPIO_IS_VALID_GPIO(node_config->io_cfg.rx), ESP_ERR_INVALID_ARG, TAG, "Invalid rx gpio num");
-    ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.quanta_clk_out) && (twai_periph_signals[node->ctrlr_id].clk_out_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "quanta_clk_out is not supported");
-    ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.bus_off_indicator) && (twai_periph_signals[node->ctrlr_id].bus_off_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "bus_off_indicator is not supported");
+    ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.quanta_clk_out) && (twai_periph_signals[node->ctrlr_id].clk_out_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "quanta_clk_out gpio is not supported");
+    ESP_RETURN_ON_FALSE(!(GPIO_IS_VALID_OUTPUT_GPIO(node_config->io_cfg.bus_off_indicator) && (twai_periph_signals[node->ctrlr_id].bus_off_sig < 0)), ESP_ERR_NOT_SUPPORTED, TAG, "bus_off_indicator gpio is not supported");
 
     uint64_t reserve_mask = 0;
     // Set RX pin
@@ -569,8 +567,8 @@ static esp_err_t _node_get_status(twai_node_handle_t node, twai_node_status_t *s
 
     if (status_ret) {
         status_ret->state = atomic_load(&twai_ctx->state);
-        status_ret->tx_error_count = twai_ctx->tx_error_count;
-        status_ret->rx_error_count = twai_ctx->rx_error_count;
+        status_ret->tx_error_count = twai_hal_get_tec(twai_ctx->hal);
+        status_ret->rx_error_count = twai_hal_get_rec(twai_ctx->hal);
     }
     if (record_ret) {
         *record_ret = twai_ctx->history;
diff --git a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
index 8f287b06cf..242261196e 100644
--- a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
+++ b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
@@ -515,7 +515,7 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
 
     // send frames and trigger error, must become bus off before 50 frames
     while ((node_status.state != TWAI_ERROR_BUS_OFF) && (tx_frame.header.id < 50)) {
-        printf("sending frame %ld\n", tx_frame.header.id ++);
+        printf("sending frame %ld last tec %d rec %d\n", tx_frame.header.id ++, node_status.tx_error_count, node_status.rx_error_count);
         TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 500));
         if (tx_frame.header.id > 3) {    // trigger error after 3 frames
             printf("trigger bit_error now!\n");
@@ -529,6 +529,11 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
     }
 
     // recover node
+#if SOC_TWAI_SUPPORT_FD
+    TEST_ASSERT_GREATER_THAN(200, node_status.tx_error_count);
+#else
+    TEST_ASSERT_EQUAL(128, node_status.tx_error_count); // TEC become 128 when bus off on legacy chips
+#endif
     TEST_ASSERT_EQUAL(TWAI_ERROR_BUS_OFF, node_status.state);
     printf("node offline, start recover ...\n");
     TEST_ESP_OK(twai_node_recover(node_hdl));
@@ -539,7 +544,8 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
         vTaskDelay(pdMS_TO_TICKS(1000));
         twai_node_get_info(node_hdl, &node_status, NULL);
     }
-    printf("node recovered! continue\n");
+    printf("node recovered! current tec %d rec %d, continue\n", node_status.tx_error_count, node_status.rx_error_count);
+    TEST_ASSERT_LESS_THAN(96, node_status.tx_error_count);
     TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 500));
 
     TEST_ESP_OK(twai_node_disable(node_hdl));
@@ -597,25 +603,25 @@ TEST_CASE("twai tx_wait_all_done thread safe", "[twai]")
 // Test data for ISR send functionality
 typedef struct {
     twai_node_handle_t node;
-    uint32_t rx_count;
-    uint32_t tx_isr_send_count;
-    uint32_t rx_isr_send_count;
+    uint8_t rx_count;
+    uint8_t tx_isr_send_count;
+    uint8_t rx_isr_send_count;
+    twai_frame_t tx_isr_frame;
+    twai_frame_t rx_isr_frame;
     bool test_completed;
 } isr_send_test_ctx_t;
 
 static IRAM_ATTR bool test_tx_isr_send_cb(twai_node_handle_t handle, const twai_tx_done_event_data_t *edata, void *user_ctx)
 {
     isr_send_test_ctx_t *ctx = (isr_send_test_ctx_t *)user_ctx;
+    twai_frame_t *isr_frame = &ctx->tx_isr_frame;
 
     // Test sending from TX ISR context
     if (ctx->tx_isr_send_count < 3) {
-        static twai_frame_t isr_frame = {};
-        isr_frame.header.id = 0x200 + ctx->tx_isr_send_count;
-        isr_frame.header.dlc = 1;
-        isr_frame.buffer = (uint8_t*)(&ctx->tx_isr_send_count);
-        isr_frame.buffer_len = 1;
+        isr_frame->header.id = 0x200 + ctx->tx_isr_send_count;
+        isr_frame->header.dlc = 1;
 
-        esp_err_t err = twai_node_transmit(handle, &isr_frame, 0);  // timeout must be 0 in ISR
+        esp_err_t err = twai_node_transmit(handle, isr_frame, 0);  // timeout must be 0 in ISR
         if (err == ESP_OK) {
             ctx->tx_isr_send_count++;
         }
@@ -627,23 +633,17 @@ static IRAM_ATTR bool test_tx_isr_send_cb(twai_node_handle_t handle, const twai_
 static IRAM_ATTR bool test_rx_isr_send_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
 {
     isr_send_test_ctx_t *ctx = (isr_send_test_ctx_t *)user_ctx;
-    twai_frame_t rx_frame = {};
-    uint8_t buffer[8];
-    rx_frame.buffer = buffer;
-    rx_frame.buffer_len = sizeof(buffer);
+    twai_frame_t *rx_frame = &ctx->rx_isr_frame;
 
-    if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame)) {
+    if (ESP_OK == twai_node_receive_from_isr(handle, rx_frame)) {
         ctx->rx_count++;
 
         // Test sending from RX ISR context (response pattern)
-        if ((rx_frame.header.id >= 0x100) && (rx_frame.header.id < 0x103) && (ctx->rx_isr_send_count < 3)) {
-            static twai_frame_t response_frame = {};
-            response_frame.header.id = 0x300 + ctx->rx_isr_send_count;
-            response_frame.header.dlc = 1;
-            response_frame.buffer = (uint8_t*)(&ctx->rx_isr_send_count);
-            response_frame.buffer_len = 1;
+        if ((rx_frame->header.id >= 0x100) && (rx_frame->header.id < 0x103) && (ctx->rx_isr_send_count < 3)) {
+            rx_frame->header.id = 0x300 + ctx->rx_isr_send_count;
+            rx_frame->header.dlc = 1;
 
-            esp_err_t err = twai_node_transmit(handle, &response_frame, 0);  // timeout must be 0 in ISR
+            esp_err_t err = twai_node_transmit(handle, rx_frame, 0);  // timeout must be 0 in ISR
             if (err == ESP_OK) {
                 ctx->rx_isr_send_count++;
             }
@@ -660,6 +660,8 @@ static IRAM_ATTR bool test_rx_isr_send_cb(twai_node_handle_t handle, const twai_
 TEST_CASE("twai send from ISR context (loopback)", "[twai]")
 {
     isr_send_test_ctx_t test_ctx = {};
+    test_ctx.tx_isr_frame.buffer = &test_ctx.tx_isr_send_count;
+    test_ctx.rx_isr_frame.buffer = &test_ctx.rx_isr_send_count;
 
     twai_onchip_node_config_t node_config = {};
     node_config.io_cfg.tx = TEST_TX_GPIO;
@@ -702,9 +704,9 @@ TEST_CASE("twai send from ISR context (loopback)", "[twai]")
     }
 
     printf("Test results:\n");
-    printf("  RX count: %" PRIu32 "\n", test_ctx.rx_count);
-    printf("  TX ISR sends: %" PRIu32 "\n", test_ctx.tx_isr_send_count);
-    printf("  RX ISR sends: %" PRIu32 "\n", test_ctx.rx_isr_send_count);
+    printf("  RX count: %d\n", test_ctx.rx_count);
+    printf("  TX ISR sends: %d\n", test_ctx.tx_isr_send_count);
+    printf("  RX ISR sends: %d\n", test_ctx.rx_isr_send_count);
     printf("  Test completed: %s\n", test_ctx.test_completed ? "YES" : "NO");
 
     // Verify test results
@@ -732,6 +734,8 @@ TEST_CASE("twai dlc range test", "[twai]")
     twai_onchip_node_config_t node_config = {};
     node_config.io_cfg.tx = TEST_TX_GPIO;
     node_config.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
+    node_config.io_cfg.quanta_clk_out = GPIO_NUM_NC;
+    node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
     node_config.bit_timing.bitrate = 800000;
     node_config.tx_queue_depth = TEST_FRAME_NUM;
     node_config.flags.enable_loopback = true;
diff --git a/components/hal/include/hal/twai_hal.h b/components/hal/include/hal/twai_hal.h
index 75d557650f..31db1b9c59 100644
--- a/components/hal/include/hal/twai_hal.h
+++ b/components/hal/include/hal/twai_hal.h
@@ -210,7 +210,7 @@ void twai_hal_start_bus_recovery(twai_hal_context_t *hal_ctx);
  * @param hal_ctx Context of the HAL layer
  * @return TX Error Counter Value
  */
-uint32_t twai_hal_get_tec(twai_hal_context_t *hal_ctx);
+uint16_t twai_hal_get_tec(twai_hal_context_t *hal_ctx);
 
 /**
  * @brief Get the value of the RX Error Counter
@@ -218,7 +218,7 @@ uint32_t twai_hal_get_tec(twai_hal_context_t *hal_ctx);
  * @param hal_ctx Context of the HAL layer
  * @return RX Error Counter Value
  */
-uint32_t twai_hal_get_rec(twai_hal_context_t *hal_ctx);
+uint16_t twai_hal_get_rec(twai_hal_context_t *hal_ctx);
 
 /**
  * @brief Check if certain HAL state flags are set
diff --git a/components/hal/twai_hal_ctufd.c b/components/hal/twai_hal_ctufd.c
index e71cb923b5..b6f86a643c 100644
--- a/components/hal/twai_hal_ctufd.c
+++ b/components/hal/twai_hal_ctufd.c
@@ -113,6 +113,16 @@ void twai_hal_start_bus_recovery(twai_hal_context_t *hal_ctx)
     twaifd_ll_set_operate_cmd(hal_ctx->dev, TWAIFD_LL_HW_CMD_RST_ERR_CNT);
 }
 
+uint16_t twai_hal_get_tec(twai_hal_context_t *hal_ctx)
+{
+    return twaifd_ll_get_tec((hal_ctx)->dev);
+}
+
+uint16_t twai_hal_get_rec(twai_hal_context_t *hal_ctx)
+{
+    return twaifd_ll_get_rec((hal_ctx)->dev);
+}
+
 // /* ------------------------------------ IRAM Content ------------------------------------ */
 
 void twai_hal_format_frame(const twai_hal_trans_desc_t *trans_desc, twai_hal_frame_t *frame)
diff --git a/components/hal/twai_hal_sja1000.c b/components/hal/twai_hal_sja1000.c
index 3554123347..e063bdffa9 100644
--- a/components/hal/twai_hal_sja1000.c
+++ b/components/hal/twai_hal_sja1000.c
@@ -127,12 +127,12 @@ twai_error_state_t twai_hal_get_err_state(twai_hal_context_t *hal_ctx)
     return (hw_state & TWAI_LL_STATUS_BS) ? TWAI_ERROR_BUS_OFF : (hw_state & TWAI_LL_STATUS_ES) ? TWAI_ERROR_PASSIVE : TWAI_ERROR_ACTIVE;
 }
 
-uint32_t twai_hal_get_tec(twai_hal_context_t *hal_ctx)
+uint16_t twai_hal_get_tec(twai_hal_context_t *hal_ctx)
 {
     return twai_ll_get_tec((hal_ctx)->dev);
 }
 
-uint32_t twai_hal_get_rec(twai_hal_context_t *hal_ctx)
+uint16_t twai_hal_get_rec(twai_hal_context_t *hal_ctx)
 {
     return twai_ll_get_rec((hal_ctx)->dev);
 }