diff --git a/components/esp_rom/CMakeLists.txt b/components/esp_rom/CMakeLists.txt
index 5c37b13d47..ca5994b540 100644
--- a/components/esp_rom/CMakeLists.txt
+++ b/components/esp_rom/CMakeLists.txt
@@ -29,7 +29,8 @@ else()
                         "patches/esp_rom_sys.c"
                         "patches/esp_rom_uart.c"
                         "patches/esp_rom_spiflash.c"
-                        "patches/esp_rom_efuse.c")
+                        "patches/esp_rom_efuse.c"
+                        "patches/esp_rom_gpio.c")
 
 
     # Override regi2c implementation in ROM
diff --git a/components/esp_rom/include/esp_rom_gpio.h b/components/esp_rom/include/esp_rom_gpio.h
index 4788d7b2de..5405fa3f0a 100644
--- a/components/esp_rom/include/esp_rom_gpio.h
+++ b/components/esp_rom/include/esp_rom_gpio.h
@@ -66,6 +66,7 @@ void esp_rom_gpio_connect_in_signal(uint32_t gpio_num, uint32_t signal_idx, bool
  * @brief Combine a peripheral signal which tagged as output attribute with a GPIO.
  *
  * @note There's no limitation on the number of signals that a GPIO can combine with.
+ * @note Internally, the signal will be connected first, then output will be enabled on the pad.
  *
  * @param gpio_num GPIO number
  * @param signal_idx Peripheral signal index (tagged as output attribute). Particularly, `SIG_GPIO_OUT_IDX` means disconnect GPIO and other peripherals. Only the GPIO driver can control the output level.
diff --git a/components/esp_rom/patches/esp_rom_gpio.c b/components/esp_rom/patches/esp_rom_gpio.c
new file mode 100644
index 0000000000..bf8bef623c
--- /dev/null
+++ b/components/esp_rom/patches/esp_rom_gpio.c
@@ -0,0 +1,28 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "sdkconfig.h"
+#include "esp_attr.h"
+#include "esp_rom_gpio.h"
+#include "soc/gpio_reg.h"
+
+#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2
+// On such targets, the ROM code for this function enabled output for the pad first, and then connected the signal
+// This could result in an undesired glitch at the pad
+IRAM_ATTR void esp_rom_gpio_connect_out_signal(uint32_t gpio_num, uint32_t signal_idx, bool out_inv, bool oen_inv)
+{
+    uint32_t value = signal_idx << GPIO_FUNC0_OUT_SEL_S;
+    if (out_inv) {
+        value |= GPIO_FUNC0_OUT_INV_SEL_M;
+    }
+    if (oen_inv) {
+        value |= GPIO_FUNC0_OEN_INV_SEL_M;
+    }
+    REG_WRITE(GPIO_FUNC0_OUT_SEL_CFG_REG + (gpio_num * 4), value);
+
+    REG_WRITE(GPIO_ENABLE_W1TS_REG, (1 << gpio_num));
+}
+#endif