diff --git a/components/driver/test_apps/.build-test-rules.yml b/components/driver/test_apps/.build-test-rules.yml
index f445e1381c..ec02d7d63d 100644
--- a/components/driver/test_apps/.build-test-rules.yml
+++ b/components/driver/test_apps/.build-test-rules.yml
@@ -81,10 +81,6 @@ components/driver/test_apps/legacy_sigma_delta_driver:
 components/driver/test_apps/legacy_timer_driver:
   disable:
     - if: SOC_GPTIMER_SUPPORTED != 1
-  disable_test:
-    - if: IDF_TARGET == "esp32p4"
-      temporary: true
-      reason: test not pass, should be re-enable # TODO: IDF-8962
   depends_filepatterns:
     - components/driver/deprecated/**/*timer*
 
diff --git a/components/driver/test_apps/legacy_timer_driver/main/test_legacy_timer.c b/components/driver/test_apps/legacy_timer_driver/main/test_legacy_timer.c
index 60c448ac41..77c1eb5080 100644
--- a/components/driver/test_apps/legacy_timer_driver/main/test_legacy_timer.c
+++ b/components/driver/test_apps/legacy_timer_driver/main/test_legacy_timer.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -62,7 +62,6 @@ static bool test_timer_group_isr_cb(void *arg)
     const timer_group_t timer_group = info->timer_group;
     const timer_idx_t timer_idx = info->timer_idx;
     uint64_t timer_val;
-    double time;
     uint64_t alarm_value;
     timer_event_t evt;
     alarm_flag = true;
@@ -70,13 +69,11 @@ static bool test_timer_group_isr_cb(void *arg)
         timer_group_clr_intr_status_in_isr(timer_group, timer_idx);
         esp_rom_printf("This is TG%d timer[%d] reload-timer alarm!\n", timer_group, timer_idx);
         timer_get_counter_value(timer_group, timer_idx, &timer_val);
-        timer_get_counter_time_sec(timer_group, timer_idx, &time);
         evt.type = TIMER_AUTORELOAD_EN;
     } else {
         timer_group_clr_intr_status_in_isr(timer_group, timer_idx);
         esp_rom_printf("This is TG%d timer[%d] count-up-timer alarm!\n", timer_group, timer_idx);
         timer_get_counter_value(timer_group, timer_idx, &timer_val);
-        timer_get_counter_time_sec(timer_group, timer_idx, &time);
         timer_get_alarm_value(timer_group, timer_idx, &alarm_value);
         timer_set_counter_value(timer_group, timer_idx, 0);
         evt.type = TIMER_AUTORELOAD_DIS;
@@ -363,7 +360,7 @@ TEST_CASE("Timer_read_counter_value", "[hw_timer]")
     timer_config_t config = {
         .clk_src = TIMER_SRC_CLK_DEFAULT,
         .divider = clk_src_hz / TEST_TIMER_RESOLUTION_HZ,
-        .alarm_en = TIMER_ALARM_EN,
+        .alarm_en = TIMER_ALARM_DIS,
         .auto_reload = TIMER_AUTORELOAD_EN,
         .counter_dir = TIMER_COUNT_UP,
         .counter_en = TIMER_START,
@@ -469,7 +466,7 @@ TEST_CASE("Timer_counter_direction", "[hw_timer]")
     timer_config_t config = {
         .clk_src = TIMER_SRC_CLK_DEFAULT,
         .divider = clk_src_hz / TEST_TIMER_RESOLUTION_HZ,
-        .alarm_en = TIMER_ALARM_EN,
+        .alarm_en = TIMER_ALARM_DIS,
         .auto_reload = TIMER_AUTORELOAD_EN,
         .counter_dir = TIMER_COUNT_UP,
         .counter_en = TIMER_START,
@@ -508,7 +505,7 @@ TEST_CASE("Timer_divider", "[hw_timer]")
     timer_config_t config = {
         .clk_src = TIMER_SRC_CLK_DEFAULT,
         .divider = clk_src_hz / TEST_TIMER_RESOLUTION_HZ,
-        .alarm_en = TIMER_ALARM_EN,
+        .alarm_en = TIMER_ALARM_DIS,
         .auto_reload = TIMER_AUTORELOAD_EN,
         .counter_dir = TIMER_COUNT_UP,
         .counter_en = TIMER_START,
diff --git a/components/driver/test_apps/legacy_timer_driver/pytest_legacy_timer_driver.py b/components/driver/test_apps/legacy_timer_driver/pytest_legacy_timer_driver.py
index 43c6726f68..726f05adc7 100644
--- a/components/driver/test_apps/legacy_timer_driver/pytest_legacy_timer_driver.py
+++ b/components/driver/test_apps/legacy_timer_driver/pytest_legacy_timer_driver.py
@@ -1,11 +1,9 @@
 # SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
-
 import pytest
 from pytest_embedded import Dut
 
 
-@pytest.mark.temp_skip_ci(targets=['esp32p4'], reason='esp32p4 support TBD')  # TODO: IDF-8962
 @pytest.mark.supported_targets
 @pytest.mark.generic
 @pytest.mark.parametrize('config', [