diff --git a/components/driver/test_apps/uart/main/test_app_main.c b/components/driver/test_apps/uart/main/test_app_main.c
index c1070bd94d..5db843a059 100644
--- a/components/driver/test_apps/uart/main/test_app_main.c
+++ b/components/driver/test_apps/uart/main/test_app_main.c
@@ -10,7 +10,7 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
-#define TEST_MEMORY_LEAK_THRESHOLD (200)
+#define TEST_MEMORY_LEAK_THRESHOLD (250)
 
 static size_t before_free_8bit;
 static size_t before_free_32bit;
diff --git a/components/driver/uart/include/driver/uart.h b/components/driver/uart/include/driver/uart.h
index bfeb90f952..e78a1c48b2 100644
--- a/components/driver/uart/include/driver/uart.h
+++ b/components/driver/uart/include/driver/uart.h
@@ -234,7 +234,7 @@ esp_err_t uart_get_sclk_freq(uart_sclk_t sclk, uint32_t* out_freq_hz);
  * @param baudrate UART baud rate.
  *
  * @return
- *     - ESP_FAIL Parameter error
+ *     - ESP_FAIL Parameter error, such as baud rate unachievable
  *     - ESP_OK   Success
  */
 esp_err_t uart_set_baudrate(uart_port_t uart_num, uint32_t baudrate);
@@ -464,7 +464,7 @@ esp_err_t uart_set_tx_idle_num(uart_port_t uart_num, uint16_t idle_num);
  *
  * @return
  *     - ESP_OK   Success
- *     - ESP_FAIL Parameter error
+ *     - ESP_FAIL Parameter error, such as baud rate unachievable
  */
 esp_err_t uart_param_config(uart_port_t uart_num, const uart_config_t *uart_config);
 
diff --git a/components/driver/uart/uart.c b/components/driver/uart/uart.c
index fc2523f6fa..27f78cf923 100644
--- a/components/driver/uart/uart.c
+++ b/components/driver/uart/uart.c
@@ -349,20 +349,20 @@ esp_err_t uart_set_baudrate(uart_port_t uart_num, uint32_t baud_rate)
     uart_hal_get_sclk(&(uart_context[uart_num].hal), &src_clk);
     ESP_RETURN_ON_ERROR(esp_clk_tree_src_get_freq_hz(src_clk, ESP_CLK_TREE_SRC_FREQ_PRECISION_CACHED, &sclk_freq), UART_TAG, "Invalid src_clk");
 
+    bool success = false;
     UART_ENTER_CRITICAL(&(uart_context[uart_num].spinlock));
-
     if (uart_num < SOC_UART_HP_NUM) {
         HP_UART_SRC_CLK_ATOMIC() {
-            uart_hal_set_baudrate(&(uart_context[uart_num].hal), baud_rate, sclk_freq);
+            success = uart_hal_set_baudrate(&(uart_context[uart_num].hal), baud_rate, sclk_freq);
         }
     }
 #if (SOC_UART_LP_NUM >= 1)
     else {
-        lp_uart_ll_set_baudrate(uart_context[uart_num].hal.dev, baud_rate, sclk_freq);
+        success = lp_uart_ll_set_baudrate(uart_context[uart_num].hal.dev, baud_rate, sclk_freq);
     }
 #endif
-
     UART_EXIT_CRITICAL(&(uart_context[uart_num].spinlock));
+    ESP_RETURN_ON_FALSE(success, ESP_FAIL, UART_TAG, "baud rate unachievable");
     return ESP_OK;
 }
 
@@ -900,12 +900,13 @@ esp_err_t uart_param_config(uart_port_t uart_num, const uart_config_t *uart_conf
     uint32_t sclk_freq;
     ESP_RETURN_ON_ERROR(esp_clk_tree_src_get_freq_hz(uart_sclk_sel, ESP_CLK_TREE_SRC_FREQ_PRECISION_CACHED, &sclk_freq), UART_TAG, "Invalid src_clk");
 
+    bool success = false;
     UART_ENTER_CRITICAL(&(uart_context[uart_num].spinlock));
     uart_hal_init(&(uart_context[uart_num].hal), uart_num);
     if (uart_num < SOC_UART_HP_NUM) {
         HP_UART_SRC_CLK_ATOMIC() {
             uart_hal_set_sclk(&(uart_context[uart_num].hal), uart_sclk_sel);
-            uart_hal_set_baudrate(&(uart_context[uart_num].hal), uart_config->baud_rate, sclk_freq);
+            success = uart_hal_set_baudrate(&(uart_context[uart_num].hal), uart_config->baud_rate, sclk_freq);
         }
     }
 #if (SOC_UART_LP_NUM >= 1)
@@ -913,7 +914,7 @@ esp_err_t uart_param_config(uart_port_t uart_num, const uart_config_t *uart_conf
         LP_UART_SRC_CLK_ATOMIC() {
             lp_uart_ll_set_source_clk(uart_context[uart_num].hal.dev, (soc_periph_lp_uart_clk_src_t)uart_sclk_sel);
         }
-        lp_uart_ll_set_baudrate(uart_context[uart_num].hal.dev, uart_config->baud_rate, sclk_freq);
+        success = lp_uart_ll_set_baudrate(uart_context[uart_num].hal.dev, uart_config->baud_rate, sclk_freq);
     }
 #endif
     uart_hal_set_parity(&(uart_context[uart_num].hal), uart_config->parity);
@@ -924,6 +925,7 @@ esp_err_t uart_param_config(uart_port_t uart_num, const uart_config_t *uart_conf
     UART_EXIT_CRITICAL(&(uart_context[uart_num].spinlock));
     uart_hal_rxfifo_rst(&(uart_context[uart_num].hal));
     uart_hal_txfifo_rst(&(uart_context[uart_num].hal));
+    ESP_RETURN_ON_FALSE(success, ESP_FAIL, UART_TAG, "baud rate unachievable");
     return ESP_OK;
 }
 
diff --git a/components/esp_hw_support/port/esp32s2/io_mux.c b/components/esp_hw_support/port/esp32s2/io_mux.c
index 4dc0131cf1..979cd55489 100644
--- a/components/esp_hw_support/port/esp32s2/io_mux.c
+++ b/components/esp_hw_support/port/esp32s2/io_mux.c
@@ -31,6 +31,7 @@ static rtc_io_status_t s_rtc_io_status = {
 
 void io_mux_enable_lp_io_clock(gpio_num_t gpio_num, bool enable)
 {
+    assert(gpio_num != GPIO_NUM_NC);
     portENTER_CRITICAL(&s_io_mux_spinlock);
     if (enable) {
         if (s_rtc_io_status.rtc_io_enabled_cnt[gpio_num] == 0) {
@@ -55,6 +56,7 @@ void io_mux_enable_lp_io_clock(gpio_num_t gpio_num, bool enable)
 
 void io_mux_force_disable_lp_io_clock(gpio_num_t gpio_num)
 {
+    assert(gpio_num != GPIO_NUM_NC);
     portENTER_CRITICAL(&s_io_mux_spinlock);
     s_rtc_io_status.rtc_io_enabled_cnt[gpio_num] = 0;
     s_rtc_io_status.rtc_io_using_mask &= ~(1ULL << gpio_num);
diff --git a/components/esp_hw_support/port/esp32s3/io_mux.c b/components/esp_hw_support/port/esp32s3/io_mux.c
index 4dc0131cf1..979cd55489 100644
--- a/components/esp_hw_support/port/esp32s3/io_mux.c
+++ b/components/esp_hw_support/port/esp32s3/io_mux.c
@@ -31,6 +31,7 @@ static rtc_io_status_t s_rtc_io_status = {
 
 void io_mux_enable_lp_io_clock(gpio_num_t gpio_num, bool enable)
 {
+    assert(gpio_num != GPIO_NUM_NC);
     portENTER_CRITICAL(&s_io_mux_spinlock);
     if (enable) {
         if (s_rtc_io_status.rtc_io_enabled_cnt[gpio_num] == 0) {
@@ -55,6 +56,7 @@ void io_mux_enable_lp_io_clock(gpio_num_t gpio_num, bool enable)
 
 void io_mux_force_disable_lp_io_clock(gpio_num_t gpio_num)
 {
+    assert(gpio_num != GPIO_NUM_NC);
     portENTER_CRITICAL(&s_io_mux_spinlock);
     s_rtc_io_status.rtc_io_enabled_cnt[gpio_num] = 0;
     s_rtc_io_status.rtc_io_using_mask &= ~(1ULL << gpio_num);
diff --git a/components/hal/esp32/include/hal/uart_ll.h b/components/hal/esp32/include/hal/uart_ll.h
index 218fd52ccd..bb9c328f47 100644
--- a/components/hal/esp32/include/hal/uart_ll.h
+++ b/components/hal/esp32/include/hal/uart_ll.h
@@ -183,17 +183,23 @@ FORCE_INLINE_ATTR void uart_ll_get_sclk(uart_dev_t *hw, soc_module_clk_t *source
  * @param  baud The baud-rate to be set. When the source clock is APB, the max baud-rate is `UART_LL_BITRATE_MAX`
  * @param  sclk_freq Frequency of the clock source of UART, in Hz.
 
- * @return None
+ * @return True if baud-rate set successfully; False if baud-rate requested cannot be achieved
  */
-FORCE_INLINE_ATTR void uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
+FORCE_INLINE_ATTR bool uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
 {
-    uint32_t clk_div;
-
-    clk_div = ((sclk_freq) << 4) / baud;
-    // The baud-rate configuration register is divided into
-    // an integer part and a fractional part.
-    hw->clk_div.div_int = clk_div >> 4;
-    hw->clk_div.div_frag = clk_div &  0xf;
+    if (baud == 0) {
+        return false;
+    }
+    uint32_t clk_div = ((sclk_freq) << 4) / baud;
+    // The baud-rate configuration register is divided into an integer part and a fractional part.
+    uint32_t clkdiv_int = clk_div >> 4;
+    if (clkdiv_int > UART_CLKDIV_V) {
+        return false; // unachievable baud-rate
+    }
+    uint32_t clkdiv_frag = clk_div & 0xf;
+    hw->clk_div.div_int = clkdiv_int;
+    hw->clk_div.div_frag = clkdiv_frag;
+    return true;
 }
 
 /**
diff --git a/components/hal/esp32c2/include/hal/uart_ll.h b/components/hal/esp32c2/include/hal/uart_ll.h
index a37a699b6f..837b0fa96a 100644
--- a/components/hal/esp32c2/include/hal/uart_ll.h
+++ b/components/hal/esp32c2/include/hal/uart_ll.h
@@ -208,23 +208,28 @@ FORCE_INLINE_ATTR void uart_ll_get_sclk(uart_dev_t *hw, soc_module_clk_t *source
  * @param  baud The baud rate to be set.
  * @param  sclk_freq Frequency of the clock source of UART, in Hz.
  *
- * @return None
+ * @return True if baud-rate set successfully; False if baud-rate requested cannot be achieved
  */
-FORCE_INLINE_ATTR void uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
+FORCE_INLINE_ATTR bool uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
 {
 #define DIV_UP(a, b)    (((a) + (b) - 1) / (b))
-    const uint32_t max_div = BIT(12) - 1;   // UART divider integer part only has 12 bits
+    if (baud == 0) {
+        return false;
+    }
+    const uint32_t max_div = UART_CLKDIV_V;   // UART divider integer part only has 12 bits
     uint32_t sclk_div = DIV_UP(sclk_freq, (uint64_t)max_div * baud);
+#undef DIV_UP
 
-    if (sclk_div == 0) abort();
+    if (sclk_div == 0 || sclk_div > (UART_SCLK_DIV_NUM_V + 1)) {
+        return false; // unachievable baud-rate
+    }
 
     uint32_t clk_div = ((sclk_freq) << 4) / (baud * sclk_div);
-    // The baud rate configuration register is divided into
-    // an integer part and a fractional part.
+    // The baud rate configuration register is divided into an integer part and a fractional part.
     hw->clk_div.div_int = clk_div >> 4;
     hw->clk_div.div_frag = clk_div & 0xf;
     HAL_FORCE_MODIFY_U32_REG_FIELD(hw->clk_conf, sclk_div_num, sclk_div - 1);
-#undef DIV_UP
+    return true;
 }
 
 /**
diff --git a/components/hal/esp32c3/include/hal/uart_ll.h b/components/hal/esp32c3/include/hal/uart_ll.h
index 9d61ea3a70..dc833a1e04 100644
--- a/components/hal/esp32c3/include/hal/uart_ll.h
+++ b/components/hal/esp32c3/include/hal/uart_ll.h
@@ -212,23 +212,28 @@ FORCE_INLINE_ATTR void uart_ll_get_sclk(uart_dev_t *hw, soc_module_clk_t *source
  * @param  baud The baud rate to be set.
  * @param  sclk_freq Frequency of the clock source of UART, in Hz.
  *
- * @return None
+ * @return True if baud-rate set successfully; False if baud-rate requested cannot be achieved
  */
-FORCE_INLINE_ATTR void uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
+FORCE_INLINE_ATTR bool uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
 {
 #define DIV_UP(a, b)    (((a) + (b) - 1) / (b))
-    const uint32_t max_div = BIT(12) - 1;   // UART divider integer part only has 12 bits
+    if (baud == 0) {
+        return false;
+    }
+    const uint32_t max_div = UART_CLKDIV_V;   // UART divider integer part only has 12 bits
     uint32_t sclk_div = DIV_UP(sclk_freq, (uint64_t)max_div * baud);
+#undef DIV_UP
 
-    if (sclk_div == 0) abort();
+    if (sclk_div == 0 || sclk_div > (UART_SCLK_DIV_NUM_V + 1)) {
+        return false; // unachievable baud-rate
+    }
 
     uint32_t clk_div = ((sclk_freq) << 4) / (baud * sclk_div);
-    // The baud rate configuration register is divided into
-    // an integer part and a fractional part.
+    // The baud rate configuration register is divided into an integer part and a fractional part.
     hw->clk_div.div_int = clk_div >> 4;
     hw->clk_div.div_frag = clk_div & 0xf;
     HAL_FORCE_MODIFY_U32_REG_FIELD(hw->clk_conf, sclk_div_num, sclk_div - 1);
-#undef DIV_UP
+    return true;
 }
 
 /**
diff --git a/components/hal/esp32c6/include/hal/uart_ll.h b/components/hal/esp32c6/include/hal/uart_ll.h
index d31d5ba974..0166943ae7 100644
--- a/components/hal/esp32c6/include/hal/uart_ll.h
+++ b/components/hal/esp32c6/include/hal/uart_ll.h
@@ -155,23 +155,25 @@ static inline void lp_uart_ll_set_source_clk(uart_dev_t *hw, soc_periph_lp_uart_
  * @param  baud The baud rate to be set.
  * @param  sclk_freq Frequency of the clock source of UART, in Hz.
  *
- * @return None
+ * @return True if baud-rate set successfully; False if baud-rate requested cannot be achieved
  */
-FORCE_INLINE_ATTR void lp_uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
+FORCE_INLINE_ATTR bool lp_uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
 {
-#define DIV_UP(a, b)    (((a) + (b) - 1) / (b))
-    const uint32_t max_div = BIT(12) - 1;   // UART divider integer part only has 12 bits
-    uint32_t sclk_div = DIV_UP(sclk_freq, (uint64_t)max_div * baud);
-
-    if (sclk_div == 0) abort();
-
-    uint32_t clk_div = ((sclk_freq) << 4) / (baud * sclk_div);
-    // The baud rate configuration register is divided into
-    // an integer part and a fractional part.
-    hw->clkdiv_sync.clkdiv_int = clk_div >> 4;
-    hw->clkdiv_sync.clkdiv_frag = clk_div & 0xf;
-    HAL_FORCE_MODIFY_U32_REG_FIELD(hw->clk_conf, sclk_div_num, sclk_div - 1);
+    if (baud == 0) {
+        return false;
+    }
+    // No pre-divider for LP UART clock source on the target
+    uint32_t clk_div = (sclk_freq << 4) / baud;
+    // The baud rate configuration register is divided into an integer part and a fractional part.
+    uint32_t clkdiv_int = clk_div >> 4;
+    if (clkdiv_int > UART_CLKDIV_V) {
+        return false; // unachievable baud-rate
+    }
+    uint32_t clkdiv_frag = clk_div & 0xf;
+    hw->clkdiv_sync.clkdiv_int = clkdiv_int;
+    hw->clkdiv_sync.clkdiv_frag = clkdiv_frag;
     uart_ll_update(hw);
+    return true;
 }
 
 /**
@@ -378,28 +380,33 @@ FORCE_INLINE_ATTR void uart_ll_get_sclk(uart_dev_t *hw, soc_module_clk_t *source
  * @param  baud The baud rate to be set.
  * @param  sclk_freq Frequency of the clock source of UART, in Hz.
  *
- * @return None
+ * @return True if baud-rate set successfully; False if baud-rate requested cannot be achieved
  */
-FORCE_INLINE_ATTR void uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
+FORCE_INLINE_ATTR bool uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
 {
-#define DIV_UP(a, b)    (((a) + (b) - 1) / (b))
-    const uint32_t max_div = BIT(12) - 1;   // UART divider integer part only has 12 bits
-    uint32_t sclk_div = DIV_UP(sclk_freq, (uint64_t)max_div * baud);
+    if ((hw) == &LP_UART) {
+        abort(); // need to call lp_uart_ll_set_baudrate()
+    }
 
-    if (sclk_div == 0) abort();
+#define DIV_UP(a, b)    (((a) + (b) - 1) / (b))
+    if (baud == 0) {
+        return false;
+    }
+    const uint32_t max_div = UART_CLKDIV_V;   // UART divider integer part only has 12 bits
+    uint32_t sclk_div = DIV_UP(sclk_freq, (uint64_t)max_div * baud);
+#undef DIV_UP
+
+    if (sclk_div == 0 || sclk_div > (PCR_UART0_SCLK_DIV_NUM_V + 1)) {
+        return false; // unachievable baud-rate
+    }
 
     uint32_t clk_div = ((sclk_freq) << 4) / (baud * sclk_div);
-    // The baud rate configuration register is divided into
-    // an integer part and a fractional part.
+    // The baud rate configuration register is divided into an integer part and a fractional part.
     hw->clkdiv_sync.clkdiv_int = clk_div >> 4;
     hw->clkdiv_sync.clkdiv_frag = clk_div & 0xf;
-    if ((hw) == &LP_UART) {
-        abort();
-    } else {
-        UART_LL_PCR_REG_U32_SET(hw, sclk_conf, sclk_div_num, sclk_div - 1);
-    }
-#undef DIV_UP
+    UART_LL_PCR_REG_U32_SET(hw, sclk_conf, sclk_div_num, sclk_div - 1);
     uart_ll_update(hw);
+    return true;
 }
 
 /**
@@ -416,7 +423,7 @@ FORCE_INLINE_ATTR uint32_t uart_ll_get_baudrate(uart_dev_t *hw, uint32_t sclk_fr
     div_reg.val = hw->clkdiv_sync.val;
     int sclk_div;
     if ((hw) == &LP_UART) {
-        sclk_div = HAL_FORCE_READ_U32_REG_FIELD(hw->clk_conf, sclk_div_num) + 1;
+        sclk_div = 1; // no pre-divider for LP UART clock source on the target
     } else {
         sclk_div = UART_LL_PCR_REG_U32_GET(hw, sclk_conf, sclk_div_num) + 1;
     }
diff --git a/components/hal/esp32h2/include/hal/uart_ll.h b/components/hal/esp32h2/include/hal/uart_ll.h
index 84536b663d..63201327e8 100644
--- a/components/hal/esp32h2/include/hal/uart_ll.h
+++ b/components/hal/esp32h2/include/hal/uart_ll.h
@@ -240,24 +240,29 @@ FORCE_INLINE_ATTR void uart_ll_get_sclk(uart_dev_t *hw, soc_module_clk_t *source
  * @param  baud The baud rate to be set.
  * @param  sclk_freq Frequency of the clock source of UART, in Hz.
  *
- * @return None
+ * @return True if baud-rate set successfully; False if baud-rate requested cannot be achieved
  */
-FORCE_INLINE_ATTR void uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
+FORCE_INLINE_ATTR bool uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
 {
 #define DIV_UP(a, b)    (((a) + (b) - 1) / (b))
-    const uint32_t max_div = BIT(12) - 1;   // UART divider integer part only has 12 bits
+    if (baud == 0) {
+        return false;
+    }
+    const uint32_t max_div = UART_CLKDIV_V;   // UART divider integer part only has 12 bits
     uint32_t sclk_div = DIV_UP(sclk_freq, (uint64_t)max_div * baud);
+#undef DIV_UP
 
-    if (sclk_div == 0) abort();
+    if (sclk_div == 0 || sclk_div > (PCR_UART0_SCLK_DIV_NUM_V + 1)) {
+        return false; // unachievable baud-rate
+    }
 
     uint32_t clk_div = ((sclk_freq) << 4) / (baud * sclk_div);
-    // The baud rate configuration register is divided into
-    // an integer part and a fractional part.
+    // The baud rate configuration register is divided into an integer part and a fractional part.
     hw->clkdiv_sync.clkdiv_int = clk_div >> 4;
     hw->clkdiv_sync.clkdiv_frag = clk_div & 0xf;
     UART_LL_PCR_REG_U32_SET(hw, sclk_conf, sclk_div_num, sclk_div - 1);
-#undef DIV_UP
     uart_ll_update(hw);
+    return true;
 }
 
 /**
diff --git a/components/hal/esp32p4/include/hal/uart_ll.h b/components/hal/esp32p4/include/hal/uart_ll.h
index 9abca68a03..214dfdcaf7 100644
--- a/components/hal/esp32p4/include/hal/uart_ll.h
+++ b/components/hal/esp32p4/include/hal/uart_ll.h
@@ -17,6 +17,7 @@
 #include "soc/uart_reg.h"
 #include "soc/uart_struct.h"
 #include "soc/hp_sys_clkrst_struct.h"
+#include "soc/hp_sys_clkrst_reg.h"
 #include "soc/lp_uart_reg.h"
 #include "soc/lp_clkrst_struct.h"
 #include "soc/lpperi_struct.h"
@@ -141,24 +142,25 @@ static inline void lp_uart_ll_set_source_clk(uart_dev_t *hw, soc_periph_lp_uart_
  * @param  baud The baud rate to be set.
  * @param  sclk_freq Frequency of the clock source of UART, in Hz.
  *
- * @return None
+ * @return True if baud-rate set successfully; False if baud-rate requested cannot be achieved
  */
-FORCE_INLINE_ATTR void lp_uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
+FORCE_INLINE_ATTR bool lp_uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
 {
-#define DIV_UP(a, b)    (((a) + (b) - 1) / (b))
-    const uint32_t max_div = BIT(12) - 1;   // UART divider integer part only has 12 bits
-    uint32_t sclk_div = DIV_UP(sclk_freq, (uint64_t)max_div * baud);
-    if (sclk_div == 0) abort();
-
-    uint32_t clk_div = ((sclk_freq) << 4) / (baud * sclk_div);
-    // The baud rate configuration register is divided into
-    // an integer part and a fractional part.
-    hw->clkdiv_sync.clkdiv = clk_div >> 4;
-    hw->clkdiv_sync.clkdiv_frag = clk_div & 0xf;
-    //needs force u32 write
-    HAL_FORCE_MODIFY_U32_REG_FIELD(hw->clk_conf, sclk_div_num, sclk_div - 1);
-#undef DIV_UP
+    if (baud == 0) {
+        return false;
+    }
+    // No pre-divider for LP UART clock source on the target
+    uint32_t clk_div = (sclk_freq << 4) / baud;
+    // The baud rate configuration register is divided into an integer part and a fractional part.
+    uint32_t clkdiv_int = clk_div >> 4;
+    if (clkdiv_int > UART_CLKDIV_V) {
+        return false; // unachievable baud-rate
+    }
+    uint32_t clkdiv_frag = clk_div & 0xf;
+    hw->clkdiv_sync.clkdiv = clkdiv_int;
+    hw->clkdiv_sync.clkdiv_frag = clkdiv_frag;
     uart_ll_update(hw);
+    return true;
 }
 
 /**
@@ -467,18 +469,28 @@ FORCE_INLINE_ATTR void uart_ll_get_sclk(uart_dev_t *hw, soc_module_clk_t *source
  * @param  baud The baud rate to be set.
  * @param  sclk_freq Frequency of the clock source of UART, in Hz.
  *
- * @return None
+ * @return True if baud-rate set successfully; False if baud-rate requested cannot be achieved
  */
-FORCE_INLINE_ATTR void uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
+FORCE_INLINE_ATTR bool uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
 {
+    if ((hw) == &LP_UART) {
+        abort(); // need to call lp_uart_ll_set_baudrate()
+    }
+
 #define DIV_UP(a, b)    (((a) + (b) - 1) / (b))
-    const uint32_t max_div = BIT(12) - 1;   // UART divider integer part only has 12 bits
+    if (baud == 0) {
+        return false;
+    }
+    const uint32_t max_div = UART_CLKDIV_V;   // UART divider integer part only has 12 bits
     uint32_t sclk_div = DIV_UP(sclk_freq, (uint64_t)max_div * baud);
-    if (sclk_div == 0) abort();
+#undef DIV_UP
+
+    if (sclk_div == 0 || sclk_div > (HP_SYS_CLKRST_REG_UART0_SCLK_DIV_NUM_V + 1)) {
+        return false; // unachievable baud-rate
+    }
 
     uint32_t clk_div = ((sclk_freq) << 4) / (baud * sclk_div);
-    // The baud rate configuration register is divided into
-    // an integer part and a fractional part.
+    // The baud rate configuration register is divided into an integer part and a fractional part.
     hw->clkdiv_sync.clkdiv = clk_div >> 4;
     hw->clkdiv_sync.clkdiv_frag = clk_div & 0xf;
     //needs force u32 write
@@ -495,12 +507,12 @@ FORCE_INLINE_ATTR void uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint3
     } else {
         abort();
     }
-#undef DIV_UP
     uart_ll_update(hw);
+    return true;
 }
 #if !BOOTLOADER_BUILD
 //HP_SYS_CLKRST.peri_clk_ctrlxxx are shared registers, so this function must be used in an atomic way
-#define uart_ll_set_baudrate(...) (void)__DECLARE_RCC_ATOMIC_ENV; uart_ll_set_baudrate(__VA_ARGS__)
+#define uart_ll_set_baudrate(...) uart_ll_set_baudrate(__VA_ARGS__); (void)__DECLARE_RCC_ATOMIC_ENV
 #endif
 
 /**
@@ -527,7 +539,7 @@ FORCE_INLINE_ATTR uint32_t uart_ll_get_baudrate(uart_dev_t *hw, uint32_t sclk_fr
     } else if ((hw) == &UART4) {
         sclk_div = HAL_FORCE_READ_U32_REG_FIELD(HP_SYS_CLKRST.peri_clk_ctrl115, reg_uart4_sclk_div_num) + 1;
     } else if ((hw) == &LP_UART) {
-        sclk_div = HAL_FORCE_READ_U32_REG_FIELD(hw->clk_conf, sclk_div_num) + 1;
+        sclk_div = 1; // no pre-divider for LP UART clock source on the target
     }
     return ((sclk_freq << 4)) / (((div_reg.clkdiv << 4) | div_reg.clkdiv_frag) * sclk_div);
 }
diff --git a/components/hal/esp32s2/include/hal/uart_ll.h b/components/hal/esp32s2/include/hal/uart_ll.h
index 601cafeeee..bb2ba55ab7 100644
--- a/components/hal/esp32s2/include/hal/uart_ll.h
+++ b/components/hal/esp32s2/include/hal/uart_ll.h
@@ -172,17 +172,23 @@ FORCE_INLINE_ATTR void uart_ll_get_sclk(uart_dev_t *hw, soc_module_clk_t *source
  * @param  baud The baud rate to be set. When the source clock is APB, the max baud rate is `UART_LL_BITRATE_MAX`
  * @param  sclk_freq Frequency of the clock source of UART, in Hz.
 
- * @return None
+ * @return True if baud-rate set successfully; False if baud-rate requested cannot be achieved
  */
-FORCE_INLINE_ATTR void uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
+FORCE_INLINE_ATTR bool uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
 {
-    uint32_t clk_div;
-
-    clk_div = ((sclk_freq) << 4) / baud;
-    // The baud rate configuration register is divided into
-    // an integer part and a fractional part.
-    hw->clk_div.div_int = clk_div >> 4;
-    hw->clk_div.div_frag = clk_div &  0xf;
+    if (baud == 0) {
+        return false;
+    }
+    uint32_t clk_div = ((sclk_freq) << 4) / baud;
+    // The baud-rate configuration register is divided into an integer part and a fractional part.
+    uint32_t clkdiv_int = clk_div >> 4;
+    if (clkdiv_int > UART_CLKDIV_V) {
+        return false; // unachievable baud-rate
+    }
+    uint32_t clkdiv_frag = clk_div & 0xf;
+    hw->clk_div.div_int = clkdiv_int;
+    hw->clk_div.div_frag = clkdiv_frag;
+    return true;
 }
 
 /**
diff --git a/components/hal/esp32s3/include/hal/uart_ll.h b/components/hal/esp32s3/include/hal/uart_ll.h
index eda511298c..d74b0e7e27 100644
--- a/components/hal/esp32s3/include/hal/uart_ll.h
+++ b/components/hal/esp32s3/include/hal/uart_ll.h
@@ -195,23 +195,28 @@ FORCE_INLINE_ATTR void uart_ll_get_sclk(uart_dev_t *hw, soc_module_clk_t *source
  * @param  baud The baud rate to be set.
  * @param  sclk_freq Frequency of the clock source of UART, in Hz.
  *
- * @return None
+ * @return True if baud-rate set successfully; False if baud-rate requested cannot be achieved
  */
-FORCE_INLINE_ATTR void uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
+FORCE_INLINE_ATTR bool uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t sclk_freq)
 {
 #define DIV_UP(a, b)    (((a) + (b) - 1) / (b))
-    const uint32_t max_div = BIT(12) - 1;   // UART divider integer part only has 12 bits
+    if (baud == 0) {
+        return false;
+    }
+    const uint32_t max_div = UART_CLKDIV_V;   // UART divider integer part only has 12 bits
     uint32_t sclk_div = DIV_UP(sclk_freq, (uint64_t)max_div * baud);
+#undef DIV_UP
 
-    if (sclk_div == 0) abort();
+    if (sclk_div == 0 || sclk_div > (UART_SCLK_DIV_NUM_V + 1)) {
+        return false; // unachievable baud-rate
+    }
 
     uint32_t clk_div = ((sclk_freq) << 4) / (baud * sclk_div);
-    // The baud rate configuration register is divided into
-    // an integer part and a fractional part.
+    // The baud rate configuration register is divided into an integer part and a fractional part.
     hw->clkdiv.clkdiv = clk_div >> 4;
     hw->clkdiv.clkdiv_frag = clk_div & 0xf;
     HAL_FORCE_MODIFY_U32_REG_FIELD(hw->clk_conf, sclk_div_num, sclk_div - 1);
-#undef DIV_UP
+    return true;
 }
 
 /**
diff --git a/components/hal/include/hal/uart_hal.h b/components/hal/include/hal/uart_hal.h
index 1ea84a7888..bcea7f3e5a 100644
--- a/components/hal/include/hal/uart_hal.h
+++ b/components/hal/include/hal/uart_hal.h
@@ -36,7 +36,7 @@ typedef struct {
  * @param  baud_rate The baud-rate to be set
  * @param  sclk_freq Frequency of the clock source of UART, in Hz.
  *
- * @return None
+ * @return True if baud-rate set successfully; False if baud-rate requested cannot be achieved
  */
 #define uart_hal_set_baudrate(hal, baud_rate, sclk_freq) uart_ll_set_baudrate((hal)->dev, baud_rate, sclk_freq)
 
diff --git a/components/soc/esp32c6/include/soc/lp_uart_reg.h b/components/soc/esp32c6/include/soc/lp_uart_reg.h
index b67fa1b59e..9d39f04834 100644
--- a/components/soc/esp32c6/include/soc/lp_uart_reg.h
+++ b/components/soc/esp32c6/include/soc/lp_uart_reg.h
@@ -1235,48 +1235,6 @@ extern "C" {
  *  UART core clock configuration
  */
 #define LP_UART_CLK_CONF_REG (DR_REG_LP_UART_BASE + 0x88)
-/** LP_UART_SCLK_DIV_B : R/W; bitpos: [5:0]; default: 0;
- *  The  denominator of the frequency divider factor.
- */
-#define LP_UART_SCLK_DIV_B    0x0000003FU
-#define LP_UART_SCLK_DIV_B_M  (LP_UART_SCLK_DIV_B_V << LP_UART_SCLK_DIV_B_S)
-#define LP_UART_SCLK_DIV_B_V  0x0000003FU
-#define LP_UART_SCLK_DIV_B_S  0
-/** LP_UART_SCLK_DIV_A : R/W; bitpos: [11:6]; default: 0;
- *  The numerator of the frequency divider factor.
- */
-#define LP_UART_SCLK_DIV_A    0x0000003FU
-#define LP_UART_SCLK_DIV_A_M  (LP_UART_SCLK_DIV_A_V << LP_UART_SCLK_DIV_A_S)
-#define LP_UART_SCLK_DIV_A_V  0x0000003FU
-#define LP_UART_SCLK_DIV_A_S  6
-/** LP_UART_SCLK_DIV_NUM : R/W; bitpos: [19:12]; default: 1;
- *  The integral part of the frequency divider factor.
- */
-#define LP_UART_SCLK_DIV_NUM    0x000000FFU
-#define LP_UART_SCLK_DIV_NUM_M  (LP_UART_SCLK_DIV_NUM_V << LP_UART_SCLK_DIV_NUM_S)
-#define LP_UART_SCLK_DIV_NUM_V  0x000000FFU
-#define LP_UART_SCLK_DIV_NUM_S  12
-/** LP_UART_SCLK_SEL : R/W; bitpos: [21:20]; default: 3;
- *  UART clock source select. 1: 80Mhz.  2: 8Mhz.  3: XTAL.
- */
-#define LP_UART_SCLK_SEL    0x00000003U
-#define LP_UART_SCLK_SEL_M  (LP_UART_SCLK_SEL_V << LP_UART_SCLK_SEL_S)
-#define LP_UART_SCLK_SEL_V  0x00000003U
-#define LP_UART_SCLK_SEL_S  20
-/** LP_UART_SCLK_EN : R/W; bitpos: [22]; default: 1;
- *  Set this bit to enable UART Tx/Rx clock.
- */
-#define LP_UART_SCLK_EN    (BIT(22))
-#define LP_UART_SCLK_EN_M  (LP_UART_SCLK_EN_V << LP_UART_SCLK_EN_S)
-#define LP_UART_SCLK_EN_V  0x00000001U
-#define LP_UART_SCLK_EN_S  22
-/** LP_UART_RST_CORE : R/W; bitpos: [23]; default: 0;
- *  Write 1 then write 0 to this bit to reset UART Tx/Rx.
- */
-#define LP_UART_RST_CORE    (BIT(23))
-#define LP_UART_RST_CORE_M  (LP_UART_RST_CORE_V << LP_UART_RST_CORE_S)
-#define LP_UART_RST_CORE_V  0x00000001U
-#define LP_UART_RST_CORE_S  23
 /** LP_UART_TX_SCLK_EN : R/W; bitpos: [24]; default: 1;
  *  Set this bit to enable UART Tx clock.
  */
diff --git a/components/soc/esp32c6/include/soc/lp_uart_struct.h b/components/soc/esp32c6/include/soc/lp_uart_struct.h
index 122c7d920a..da7242f88d 100644
--- a/components/soc/esp32c6/include/soc/lp_uart_struct.h
+++ b/components/soc/esp32c6/include/soc/lp_uart_struct.h
@@ -791,30 +791,7 @@ typedef union {
  */
 typedef union {
     struct {
-        /** sclk_div_b : R/W; bitpos: [5:0]; default: 0;
-         *  The  denominator of the frequency divider factor.
-         */
-        uint32_t sclk_div_b:6;
-        /** sclk_div_a : R/W; bitpos: [11:6]; default: 0;
-         *  The numerator of the frequency divider factor.
-         */
-        uint32_t sclk_div_a:6;
-        /** sclk_div_num : R/W; bitpos: [19:12]; default: 1;
-         *  The integral part of the frequency divider factor.
-         */
-        uint32_t sclk_div_num:8;
-        /** sclk_sel : R/W; bitpos: [21:20]; default: 3;
-         *  UART clock source select. 1: 80Mhz.  2: 8Mhz.  3: XTAL.
-         */
-        uint32_t sclk_sel:2;
-        /** sclk_en : R/W; bitpos: [22]; default: 1;
-         *  Set this bit to enable UART Tx/Rx clock.
-         */
-        uint32_t sclk_en:1;
-        /** rst_core : R/W; bitpos: [23]; default: 0;
-         *  Write 1 then write 0 to this bit to reset UART Tx/Rx.
-         */
-        uint32_t rst_core:1;
+        uint32_t reserved_20:24;
         /** tx_sclk_en : R/W; bitpos: [24]; default: 1;
          *  Set this bit to enable UART Tx clock.
          */
diff --git a/components/soc/esp32c6/include/soc/uart_reg.h b/components/soc/esp32c6/include/soc/uart_reg.h
index abac8d92b1..0dc6d23355 100644
--- a/components/soc/esp32c6/include/soc/uart_reg.h
+++ b/components/soc/esp32c6/include/soc/uart_reg.h
@@ -1471,6 +1471,40 @@ extern "C" {
 #define UART_RXD_EDGE_CNT_V  0x000003FFU
 #define UART_RXD_EDGE_CNT_S  0
 
+
+/** UART_CLK_CONF_REG register
+ *  UART core clock configuration
+ */
+#define UART_CLK_CONF_REG(i) (REG_UART_BASE(i) + 0x88)
+/** UART_TX_SCLK_EN : R/W; bitpos: [24]; default: 1;
+ *  Set this bit to enable UART Tx clock.
+ */
+#define UART_TX_SCLK_EN    (BIT(24))
+#define UART_TX_SCLK_EN_M  (UART_TX_SCLK_EN_V << UART_TX_SCLK_EN_S)
+#define UART_TX_SCLK_EN_V  0x00000001U
+#define UART_TX_SCLK_EN_S  24
+/** UART_RX_SCLK_EN : R/W; bitpos: [25]; default: 1;
+ *  Set this bit to enable UART Rx clock.
+ */
+#define UART_RX_SCLK_EN    (BIT(25))
+#define UART_RX_SCLK_EN_M  (UART_RX_SCLK_EN_V << UART_RX_SCLK_EN_S)
+#define UART_RX_SCLK_EN_V  0x00000001U
+#define UART_RX_SCLK_EN_S  25
+/** UART_TX_RST_CORE : R/W; bitpos: [26]; default: 0;
+ *  Write 1 then write 0 to this bit to reset UART Tx.
+ */
+#define UART_TX_RST_CORE    (BIT(26))
+#define UART_TX_RST_CORE_M  (UART_TX_RST_CORE_V << UART_TX_RST_CORE_S)
+#define UART_TX_RST_CORE_V  0x00000001U
+#define UART_TX_RST_CORE_S  26
+/** UART_RX_RST_CORE : R/W; bitpos: [27]; default: 0;
+ *  Write 1 then write 0 to this bit to reset UART Rx.
+ */
+#define UART_RX_RST_CORE    (BIT(27))
+#define UART_RX_RST_CORE_M  (UART_RX_RST_CORE_V << UART_RX_RST_CORE_S)
+#define UART_RX_RST_CORE_V  0x00000001U
+#define UART_RX_RST_CORE_S  27
+
 /** UART_DATE_REG register
  *  UART Version register
  */
diff --git a/components/soc/esp32c6/include/soc/uart_struct.h b/components/soc/esp32c6/include/soc/uart_struct.h
index 674af37135..080a829678 100644
--- a/components/soc/esp32c6/include/soc/uart_struct.h
+++ b/components/soc/esp32c6/include/soc/uart_struct.h
@@ -1,5 +1,5 @@
 /**
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  *  SPDX-License-Identifier: Apache-2.0
  */
@@ -880,30 +880,7 @@ typedef union {
  */
 typedef union {
     struct {
-        /** sclk_div_b : R/W; bitpos: [5:0]; default: 0;
-         *  The  denominator of the frequency divider factor.
-         */
-        uint32_t sclk_div_b:6;
-        /** sclk_div_a : R/W; bitpos: [11:6]; default: 0;
-         *  The numerator of the frequency divider factor.
-         */
-        uint32_t sclk_div_a:6;
-        /** sclk_div_num : R/W; bitpos: [19:12]; default: 1;
-         *  The integral part of the frequency divider factor.
-         */
-        uint32_t sclk_div_num:8;
-        /** sclk_sel : R/W; bitpos: [21:20]; default: 3;
-         *  UART clock source select. 1: 80Mhz.  2: 8Mhz.  3: XTAL.
-         */
-        uint32_t sclk_sel:2;
-        /** sclk_en : R/W; bitpos: [22]; default: 1;
-         *  Set this bit to enable UART Tx/Rx clock.
-         */
-        uint32_t sclk_en:1;
-        /** rst_core : R/W; bitpos: [23]; default: 0;
-         *  Write 1 then write 0 to this bit to reset UART Tx/Rx.
-         */
-        uint32_t rst_core:1;
+        uint32_t reserved_0:24;
         /** tx_sclk_en : R/W; bitpos: [24]; default: 1;
          *  Set this bit to enable UART Tx clock.
          */
@@ -1273,7 +1250,7 @@ typedef struct uart_dev_s {
     volatile uart_lowpulse_reg_t lowpulse;      /* LP_UART instance has this register reserved */
     volatile uart_highpulse_reg_t highpulse;    /* LP_UART instance has this register reserved */
     volatile uart_rxd_cnt_reg_t rxd_cnt;        /* LP_UART instance has this register reserved */
-    volatile uart_clk_conf_reg_t clk_conf;      /* UART0/1 instance have this register reserved, configure in corresponding PCR registers */
+    volatile uart_clk_conf_reg_t clk_conf;
     volatile uart_date_reg_t date;
     volatile uart_afifo_status_reg_t afifo_status;
     uint32_t reserved_094;
diff --git a/components/soc/esp32p4/include/soc/uart_struct.h b/components/soc/esp32p4/include/soc/uart_struct.h
index b23e6db930..061ab64e7b 100644
--- a/components/soc/esp32p4/include/soc/uart_struct.h
+++ b/components/soc/esp32p4/include/soc/uart_struct.h
@@ -1,5 +1,5 @@
 /**
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  *  SPDX-License-Identifier: Apache-2.0
  */
@@ -880,20 +880,7 @@ typedef union {
  */
 typedef union {
     struct {
-        /** sclk_div_b : R/W; bitpos: [5:0]; default: 0;
-         *  The  denominator of the frequency divider factor.
-         */
-        uint32_t sclk_div_b:6;      //HP UART's sclk_div_b is in hp_sys_clkrst_struct.h
-        /** sclk_div_a : R/W; bitpos: [11:6]; default: 0;
-         *  The numerator of the frequency divider factor.
-         */
-        uint32_t sclk_div_a:6;      //HP UART's sclk_div_a is in hp_sys_clkrst_struct.h
-        /** sclk_div_num : R/W; bitpos: [19:12]; default: 1;
-         *  The integral part of the frequency divider factor.
-         *  It is only used by LP UART
-         */
-        uint32_t sclk_div_num:8;    //HP UART's sclk_div_num is in hp_sys_clkrst_struct.h
-        uint32_t reserved_20:4;
+        uint32_t reserved_0:24;
         /** tx_sclk_en : R/W; bitpos: [24]; default: 1;
          *  Set this bit to enable UART Tx clock.
          */
@@ -1263,7 +1250,7 @@ typedef struct uart_dev_t{
     volatile uart_lowpulse_reg_t lowpulse;      /* LP_UART instance has this register reserved */
     volatile uart_highpulse_reg_t highpulse;    /* LP_UART instance has this register reserved */
     volatile uart_rxd_cnt_reg_t rxd_cnt;        /* LP_UART instance has this register reserved */
-    volatile uart_clk_conf_reg_t clk_conf;      /* UART0/1/2/3/4 instance have this register reserved, configure in corresponding PCR registers */
+    volatile uart_clk_conf_reg_t clk_conf;
     volatile uart_date_reg_t date;
     volatile uart_afifo_status_reg_t afifo_status;
     uint32_t reserved_094;
diff --git a/components/ulp/lp_core/lp_core_uart.c b/components/ulp/lp_core/lp_core_uart.c
index 4a4fad93a1..e6c804920e 100644
--- a/components/ulp/lp_core/lp_core_uart.c
+++ b/components/ulp/lp_core/lp_core_uart.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -53,7 +53,10 @@ static esp_err_t lp_core_uart_param_config(const lp_core_uart_cfg_t *cfg)
     }
 
     /* Override protocol parameters from the configuration */
-    lp_uart_ll_set_baudrate(hal.dev, cfg->uart_proto_cfg.baud_rate, sclk_freq);
+    if (!lp_uart_ll_set_baudrate(hal.dev, cfg->uart_proto_cfg.baud_rate, sclk_freq)) {
+        /* Unachievable baud rate */
+        return ESP_FAIL;
+    }
     uart_hal_set_parity(&hal, cfg->uart_proto_cfg.parity);
     uart_hal_set_data_bit_num(&hal, cfg->uart_proto_cfg.data_bits);
     uart_hal_set_stop_bits(&hal, cfg->uart_proto_cfg.stop_bits);