diff --git a/components/esp_driver_twai/esp_twai_onchip.c b/components/esp_driver_twai/esp_twai_onchip.c
index 2046d2b3c5..7b95a5420c 100644
--- a/components/esp_driver_twai/esp_twai_onchip.c
+++ b/components/esp_driver_twai/esp_twai_onchip.c
@@ -127,8 +127,10 @@ 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");
-    uint64_t reserve_mask = 0;
+    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");
 
+    uint64_t reserve_mask = 0;
     // Set RX pin
     gpio_set_pull_mode(node_config->io_cfg.rx, GPIO_PULLUP_ONLY);    // pullup to avoid noise if no connection to transceiver
     gpio_matrix_input(node_config->io_cfg.rx, twai_periph_signals[node->ctrlr_id].rx_sig, false);
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 a42d0e4ed6..ee94a8bcd5 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
@@ -48,6 +48,8 @@ TEST_CASE("twai install uninstall (loopback)", "[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 = 1000000;
     node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
     node_config.flags.enable_self_test = true;
@@ -111,6 +113,8 @@ static void test_twai_baudrate_correctness(twai_clock_source_t clk_src, uint32_t
     twai_onchip_node_config_t node_config = {};
     node_config.io_cfg.tx = TEST_TX_GPIO;
     node_config.io_cfg.rx = TEST_TX_GPIO;
+    node_config.io_cfg.quanta_clk_out = GPIO_NUM_NC;
+    node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
     node_config.clk_src = clk_src;
     node_config.bit_timing.bitrate = test_bitrate;
     node_config.tx_queue_depth = 1;
@@ -183,6 +187,8 @@ TEST_CASE("twai transmit stop resume (loopback)", "[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 = 200000;
     node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
     node_config.flags.enable_self_test = true;
@@ -280,6 +286,8 @@ TEST_CASE("twai mask filter (loopback)", "[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 = 1000000;
     node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
     node_config.flags.enable_self_test = true;
@@ -363,6 +371,8 @@ TEST_CASE("twai dual 16bit mask filter (loopback)", "[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 = 1000000;
     node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
     node_config.flags.enable_self_test = true;
@@ -436,6 +446,8 @@ TEST_CASE("twai driver cache safe (loopback)", "[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 = 50000; //slow bitrate to ensure cache disabled before tx_queue finish
     node_config.tx_queue_depth = TEST_FRAME_NUM;
     node_config.flags.enable_loopback = true;
@@ -487,6 +499,8 @@ TEST_CASE("twai bus off recovery (loopback)", "[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 = 50000; //slow bitrate to ensure soft error trigger
     node_config.tx_queue_depth = 1;
     node_config.flags.enable_self_test = true;
@@ -558,6 +572,8 @@ TEST_CASE("twai tx_wait_all_done thread safe", "[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 = 100000; //slow bitrate to ensure transmite finish during wait_all_done
     node_config.tx_queue_depth = TEST_FRAME_NUM;
     node_config.flags.enable_self_test = true;
diff --git a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.cpp b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.cpp
index 59e3861e1e..47929940eb 100644
--- a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.cpp
+++ b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.cpp
@@ -66,6 +66,8 @@ TEST_CASE("twai range filter (loopback)", "[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 = 1000000;
     node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
     node_config.flags.enable_self_test = true;
@@ -139,6 +141,8 @@ TEST_CASE("twai fd transmit time (loopback)", "[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 = 1000000;
     node_config.data_timing.bitrate = 4000000;
     node_config.data_timing.ssp_permill = 700; // ssp 70.0%
diff --git a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.cpp b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.cpp
index 043154ddb7..5b4ad1ee85 100644
--- a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.cpp
+++ b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_network.cpp
@@ -31,6 +31,8 @@ TEST_CASE("twai_listen_only", "[twai_net]")
     twai_onchip_node_config_t node_config = {};
     node_config.io_cfg.tx = TEST_TX_GPIO;
     node_config.io_cfg.rx = TEST_RX_GPIO;
+    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 = 250000;
     node_config.tx_queue_depth = 3;
     node_config.flags.enable_listen_only = true;
@@ -71,6 +73,8 @@ TEST_CASE("twai_remote_request", "[twai_net]")
     twai_onchip_node_config_t node_config = {};
     node_config.io_cfg.tx = TEST_TX_GPIO;
     node_config.io_cfg.rx = TEST_RX_GPIO;
+    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 = 250000;
     node_config.tx_queue_depth = 3;
     node_config.fail_retry_cnt = -1; // retry forever if send remote frame failed
diff --git a/components/soc/esp32c5/twai_periph.c b/components/soc/esp32c5/twai_periph.c
index 80e627a0b2..b8e19aeab2 100644
--- a/components/soc/esp32c5/twai_periph.c
+++ b/components/soc/esp32c5/twai_periph.c
@@ -7,16 +7,16 @@
 #include "soc/twai_periph.h"
 #include "soc/gpio_sig_map.h"
 
-const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
+const twai_signal_conn_t twai_periph_signals[2] = {
     [0] = {
         .module_name = "TWAI0",
         .irq_id = ETS_TWAI0_INTR_SOURCE,
         .timer_irq_id = ETS_TWAI0_TIMER_INTR_SOURCE,
         .tx_sig = TWAI0_TX_IDX,
         .rx_sig = TWAI0_RX_IDX,
-        .bus_off_sig = TWAI0_BUS_OFF_ON_IDX,
-        .clk_out_sig = TWAI0_CLKOUT_IDX,
-        .stand_by_sig = TWAI0_STANDBY_IDX,
+        .bus_off_sig = -1,
+        .clk_out_sig = -1,
+        .stand_by_sig = -1,
     },
     [1] = {
         .module_name = "TWAI1",
@@ -24,8 +24,8 @@ const twai_signal_conn_t twai_periph_signals[SOC_TWAI_CONTROLLER_NUM] = {
         .timer_irq_id = ETS_TWAI1_TIMER_INTR_SOURCE,
         .tx_sig = TWAI1_TX_IDX,
         .rx_sig = TWAI1_RX_IDX,
-        .bus_off_sig = TWAI1_BUS_OFF_ON_IDX,
-        .clk_out_sig = TWAI1_CLKOUT_IDX,
-        .stand_by_sig = TWAI1_STANDBY_IDX,
+        .bus_off_sig = -1,
+        .clk_out_sig = -1,
+        .stand_by_sig = -1,
     },
 };
diff --git a/examples/peripherals/twai/twai_error_recovery/main/twai_recovery_main.c b/examples/peripherals/twai/twai_error_recovery/main/twai_recovery_main.c
index 8e0bf10713..201b1472bd 100644
--- a/examples/peripherals/twai/twai_error_recovery/main/twai_recovery_main.c
+++ b/examples/peripherals/twai/twai_error_recovery/main/twai_recovery_main.c
@@ -49,8 +49,12 @@ void app_main(void)
 {
     twai_node_handle_t node_hdl;
     twai_onchip_node_config_t node_config = {
-        .io_cfg.tx = TX_GPIO_NUM,
-        .io_cfg.rx = RX_GPIO_NUM,
+        .io_cfg = {
+            .tx = TX_GPIO_NUM,
+            .rx = RX_GPIO_NUM,
+            .quanta_clk_out = GPIO_NUM_NC,
+            .bus_off_indicator = GPIO_NUM_NC,
+        },
         .bit_timing.bitrate = TWAI_BITRATE,
         .tx_queue_depth = 1,
         .flags.enable_self_test = true,
diff --git a/examples/peripherals/twai/twai_network/twai_listen_only/main/twai_listen_only.c b/examples/peripherals/twai/twai_network/twai_listen_only/main/twai_listen_only.c
index fa53395bbb..1851281f18 100644
--- a/examples/peripherals/twai/twai_network/twai_listen_only/main/twai_listen_only.c
+++ b/examples/peripherals/twai/twai_network/twai_listen_only/main/twai_listen_only.c
@@ -94,8 +94,8 @@ void app_main(void)
         .io_cfg = {
             .tx = TWAI_LISTENER_TX_GPIO,
             .rx = TWAI_LISTENER_RX_GPIO,
-            .quanta_clk_out = -1,
-            .bus_off_indicator = -1,
+            .quanta_clk_out = GPIO_NUM_NC,
+            .bus_off_indicator = GPIO_NUM_NC,
         },
         .bit_timing.bitrate = TWAI_BITRATE,
         .flags.enable_listen_only = true,
diff --git a/examples/peripherals/twai/twai_network/twai_sender/main/twai_sender.c b/examples/peripherals/twai/twai_network/twai_sender/main/twai_sender.c
index 2c9c037c7c..a8255752bc 100644
--- a/examples/peripherals/twai/twai_network/twai_sender/main/twai_sender.c
+++ b/examples/peripherals/twai/twai_network/twai_sender/main/twai_sender.c
@@ -57,8 +57,8 @@ void app_main(void)
         .io_cfg = {
             .tx = TWAI_SENDER_TX_GPIO,
             .rx = TWAI_SENDER_RX_GPIO,
-            .quanta_clk_out = -1,
-            .bus_off_indicator = -1,
+            .quanta_clk_out = GPIO_NUM_NC,
+            .bus_off_indicator = GPIO_NUM_NC,
         },
         .bit_timing = {
             .bitrate = TWAI_BITRATE,