diff --git a/components/esp_hw_support/Kconfig b/components/esp_hw_support/Kconfig
index 80a684a830..d87f999c22 100644
--- a/components/esp_hw_support/Kconfig
+++ b/components/esp_hw_support/Kconfig
@@ -208,18 +208,6 @@ menu "Hardware Settings"
                 callback and hence it is highly recommended to keep them as short as possible.
     endmenu
 
-    menu "ESP_SLEEP_WORKAROUND"
-        # No visible menu/configs for workaround
-        visible if 0
-        config ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
-            bool "ESP32C3 SYSTIMER Stall Issue Workaround"
-            depends on IDF_TARGET_ESP32C3
-            help
-                Its not able to stall ESP32C3 systimer in sleep.
-                To fix related RTOS TICK issue, select it to disable related systimer during sleep.
-                TODO: IDF-7036
-    endmenu
-
     menu "RTC Clock Config"
         orsource "./port/$IDF_TARGET/Kconfig.rtc"
     endmenu
diff --git a/components/esp_hw_support/port/esp32c3/rtc_sleep.c b/components/esp_hw_support/port/esp32c3/rtc_sleep.c
index ac771a47af..3c246f8690 100644
--- a/components/esp_hw_support/port/esp32c3/rtc_sleep.c
+++ b/components/esp_hw_support/port/esp32c3/rtc_sleep.c
@@ -24,7 +24,7 @@
 #include "soc/regi2c_dig_reg.h"
 #include "soc/regi2c_lp_bias.h"
 #include "hal/efuse_hal.h"
-#if CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
+#if SOC_SLEEP_SYSTIMER_STALL_WORKAROUND
 #include "soc/systimer_reg.h"
 #endif
 
@@ -252,17 +252,6 @@ void rtc_sleep_low_init(uint32_t slowclk_period)
     REG_SET_FIELD(RTC_CNTL_TIMER1_REG, RTC_CNTL_CK8M_WAIT, RTC_CNTL_CK8M_WAIT_SLP_CYCLES);
 }
 
-#if CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
-void rtc_sleep_systimer_enable(bool en)
-{
-    if (en) {
-        REG_SET_BIT(SYSTIMER_CONF_REG, SYSTIMER_TIMER_UNIT1_WORK_EN);
-    } else {
-        REG_CLR_BIT(SYSTIMER_CONF_REG, SYSTIMER_TIMER_UNIT1_WORK_EN);
-    }
-}
-#endif
-
 static uint32_t rtc_sleep_finish(uint32_t lslp_mem_inf_fpu);
 
 uint32_t rtc_sleep_start(uint32_t wakeup_opt, uint32_t reject_opt, uint32_t lslp_mem_inf_fpu)
diff --git a/components/esp_hw_support/sleep_modes.c b/components/esp_hw_support/sleep_modes.c
index a579a9f729..fe8d96d55b 100644
--- a/components/esp_hw_support/sleep_modes.c
+++ b/components/esp_hw_support/sleep_modes.c
@@ -26,6 +26,10 @@
 #include "driver/rtc_io.h"
 #include "hal/rtc_io_hal.h"
 
+#if SOC_SLEEP_SYSTIMER_STALL_WORKAROUND
+#include "hal/systimer_ll.h"
+#endif
+
 #if SOC_PM_SUPPORT_PMU_MODEM_STATE
 #include "esp_private/pm_impl.h"
 #endif
@@ -821,19 +825,14 @@ static esp_err_t IRAM_ATTR esp_sleep_start(uint32_t pd_flags, esp_sleep_mode_t m
         }
     }
 
-#if CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
-    if (!(pd_flags & RTC_SLEEP_PD_XTAL)) {
-        rtc_sleep_systimer_enable(false);
-    }
-#endif
 
     if (should_skip_sleep) {
         result = ESP_ERR_SLEEP_REJECT;
     } else {
 #if CONFIG_ESP_SLEEP_DEBUG
-    if (s_sleep_ctx != NULL) {
-        s_sleep_ctx->wakeup_triggers = s_config.wakeup_triggers;
-    }
+        if (s_sleep_ctx != NULL) {
+            s_sleep_ctx->wakeup_triggers = s_config.wakeup_triggers;
+        }
 #endif
         if (deep_sleep) {
 #if !SOC_GPIO_SUPPORT_HOLD_SINGLE_IO_IN_DSLP
@@ -861,6 +860,13 @@ static esp_err_t IRAM_ATTR esp_sleep_start(uint32_t pd_flags, esp_sleep_mode_t m
 #endif
 #endif // SOC_PM_SUPPORT_DEEPSLEEP_CHECK_STUB_ONLY
         } else {
+#if SOC_SLEEP_SYSTIMER_STALL_WORKAROUND
+            if (!(pd_flags & RTC_SLEEP_PD_XTAL)) {
+                for (uint32_t counter_id = 0; counter_id < SOC_SYSTIMER_COUNTER_NUM; ++counter_id) {
+                    systimer_ll_enable_counter(&SYSTIMER, counter_id, false);
+                }
+            }
+#endif
             /* Cache Suspend 1: will wait cache idle in cache suspend */
             suspend_cache();
             /* On esp32c6, only the lp_aon pad hold function can only hold the GPIO state in the active mode.
@@ -899,13 +905,14 @@ static esp_err_t IRAM_ATTR esp_sleep_start(uint32_t pd_flags, esp_sleep_mode_t m
 #endif
             /* Cache Resume 1: Resume cache for continue running*/
             resume_cache();
-        }
-
-#if CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
+#if SOC_SLEEP_SYSTIMER_STALL_WORKAROUND
             if (!(pd_flags & RTC_SLEEP_PD_XTAL)) {
-                rtc_sleep_systimer_enable(true);
+                for (uint32_t counter_id = 0; counter_id < SOC_SYSTIMER_COUNTER_NUM; ++counter_id) {
+                    systimer_ll_enable_counter(&SYSTIMER, counter_id, true);
+                }
             }
 #endif
+        }
     }
 #if CONFIG_ESP_SLEEP_CACHE_SAFE_ASSERTION
     if (pd_flags & RTC_SLEEP_PD_VDDSDIO) {
diff --git a/components/esp_timer/src/esp_timer_impl_systimer.c b/components/esp_timer/src/esp_timer_impl_systimer.c
index dbd701ee62..939d60c718 100644
--- a/components/esp_timer/src/esp_timer_impl_systimer.c
+++ b/components/esp_timer/src/esp_timer_impl_systimer.c
@@ -175,6 +175,10 @@ esp_err_t esp_timer_impl_early_init(void)
     systimer_hal_select_alarm_mode(&systimer_hal, SYSTIMER_ALARM_ESPTIMER, SYSTIMER_ALARM_MODE_ONESHOT);
     systimer_hal_connect_alarm_counter(&systimer_hal, SYSTIMER_ALARM_ESPTIMER, SYSTIMER_COUNTER_ESPTIMER);
 
+    for (unsigned cpuid = 0; cpuid < SOC_CPU_CORES_NUM; ++cpuid) {
+        systimer_hal_counter_can_stall_by_cpu(&systimer_hal, SYSTIMER_COUNTER_ESPTIMER, cpuid, (cpuid < portNUM_PROCESSORS) ? true : false);
+    }
+
     return ESP_OK;
 }
 
diff --git a/components/soc/esp32c3/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c3/include/soc/Kconfig.soc_caps.in
index ef24fe54bf..73457a5c52 100644
--- a/components/soc/esp32c3/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c3/include/soc/Kconfig.soc_caps.in
@@ -587,6 +587,10 @@ config SOC_RTC_CNTL_CPU_PD_REG_FILE_NUM
     int
     default 108
 
+config SOC_SLEEP_SYSTIMER_STALL_WORKAROUND
+    bool
+    default y
+
 config SOC_RTCIO_PIN_COUNT
     int
     default 0
diff --git a/components/soc/esp32c3/include/soc/rtc.h b/components/soc/esp32c3/include/soc/rtc.h
index bf102a9380..ac715014b2 100644
--- a/components/soc/esp32c3/include/soc/rtc.h
+++ b/components/soc/esp32c3/include/soc/rtc.h
@@ -651,18 +651,6 @@ void rtc_sleep_init(rtc_sleep_config_t cfg);
  */
 void rtc_sleep_low_init(uint32_t slowclk_period);
 
-#if CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
-/**
- * @brief Configure systimer for esp32c3 systimer stall issue workaround
- *
- * This function configures related systimer for esp32c3 systimer stall issue.
- * Only apply workaround when xtal powered up.
- *
- * @param en enable systimer or not
- */
-void rtc_sleep_systimer_enable(bool en);
-#endif
-
 #define RTC_GPIO_TRIG_EN            BIT(2)  //!< GPIO wakeup
 #define RTC_TIMER_TRIG_EN           BIT(3)  //!< Timer wakeup
 #define RTC_WIFI_TRIG_EN            BIT(5)  //!< WIFI wakeup (light sleep only)
diff --git a/components/soc/esp32c3/include/soc/soc_caps.h b/components/soc/esp32c3/include/soc/soc_caps.h
index 374a6c71e7..86ed78d949 100644
--- a/components/soc/esp32c3/include/soc/soc_caps.h
+++ b/components/soc/esp32c3/include/soc/soc_caps.h
@@ -257,6 +257,7 @@
 
 #define SOC_RTC_CNTL_CPU_PD_RETENTION_MEM_SIZE  (SOC_RTC_CNTL_CPU_PD_REG_FILE_NUM * (SOC_RTC_CNTL_CPU_PD_DMA_BUS_WIDTH >> 3))
 
+#define SOC_SLEEP_SYSTIMER_STALL_WORKAROUND     1
 /*-------------------------- RTCIO CAPS --------------------------------------*/
 /* No dedicated RTCIO subsystem on ESP32-C3. RTC functions are still supported
  * for hold, wake & 32kHz crystal functions - via rtc_cntl_reg */