diff --git a/Kconfig b/Kconfig
index 9af7435ba1..312ea591d0 100644
--- a/Kconfig
+++ b/Kconfig
@@ -82,7 +82,6 @@ mainmenu "Espressif IoT Development Framework Configuration"
         config IDF_TARGET_ESP32H2_BETA_VERSION_2
             bool
             prompt "ESP32-H2 beta2"
-            select ESPTOOLPY_NO_STUB    # TODO: IDF-4288
     endchoice
 
     config IDF_TARGET_ESP32C2
diff --git a/components/esptool_py/Kconfig.projbuild b/components/esptool_py/Kconfig.projbuild
index 7f3ed18166..8178b0d809 100644
--- a/components/esptool_py/Kconfig.projbuild
+++ b/components/esptool_py/Kconfig.projbuild
@@ -2,7 +2,7 @@ menu "Serial flasher config"
 
     config ESPTOOLPY_NO_STUB
         bool "Disable download stub"
-        default "y" if IDF_TARGET_ESP32H2 && IDF_ENV_FPGA # TODO: IDF-4288
+        default "y" if IDF_ENV_FPGA
         default "n"
 
         help