diff --git a/components/bt/host/nimble/Kconfig.in b/components/bt/host/nimble/Kconfig.in
index 3cbbefe8ba..55c0db936b 100644
--- a/components/bt/host/nimble/Kconfig.in
+++ b/components/bt/host/nimble/Kconfig.in
@@ -1087,8 +1087,7 @@ config BT_NIMBLE_HIGH_DUTY_ADV_ITVL
 
 config BT_NIMBLE_HOST_ALLOW_CONNECT_WITH_SCAN
     bool "Allow Connections with scanning in progress"
-    depends on BT_NIMBLE_ENABLED
-    depends on (!SOC_ESP_NIMBLE_CONTROLLER || IDF_TARGET_ESP32C6 || IDF_TARGET_ESP32H2)
+    depends on BT_NIMBLE_ENABLED && !(IDF_TARGET_ESP32C2)
     help
         This enables support for user to initiate a new connection with scan in progress
 
diff --git a/components/bt/host/nimble/nimble b/components/bt/host/nimble/nimble
index 3c4afa0ff1..fdc10c5322 160000
--- a/components/bt/host/nimble/nimble
+++ b/components/bt/host/nimble/nimble
@@ -1 +1 @@
-Subproject commit 3c4afa0ff1c17d7e4a311cd96d2fc572aae92902
+Subproject commit fdc10c532294bc6ce434002111d9ca7282261300