diff --git a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
index fb9cb95fa2..113e6e91d8 100644
--- a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
@@ -183,6 +183,10 @@ config SOC_LP_TIMER_SUPPORTED
     bool
     default y
 
+config SOC_ULP_LP_UART_SUPPORTED
+    bool
+    default y
+
 config SOC_LP_GPIO_MATRIX_SUPPORTED
     bool
     default y
diff --git a/components/soc/esp32p4/include/soc/soc_caps.h b/components/soc/esp32p4/include/soc/soc_caps.h
index cbcfba0c9d..dc4d629791 100644
--- a/components/soc/esp32p4/include/soc/soc_caps.h
+++ b/components/soc/esp32p4/include/soc/soc_caps.h
@@ -72,7 +72,7 @@
 #define SOC_DCDC_SUPPORTED              1
 // #define SOC_PAU_SUPPORTED               1  //TODO: IDF-7531
 #define SOC_LP_TIMER_SUPPORTED          1
-// #define SOC_ULP_LP_UART_SUPPORTED       1  //TODO: IDF-7533
+#define SOC_ULP_LP_UART_SUPPORTED       1
 #define SOC_LP_GPIO_MATRIX_SUPPORTED    1
 #define SOC_LP_PERIPHERALS_SUPPORTED    1
 #define SOC_SPIRAM_SUPPORTED            1
diff --git a/components/ulp/Kconfig b/components/ulp/Kconfig
index 5b8a7c5ce1..29b1e5ff00 100644
--- a/components/ulp/Kconfig
+++ b/components/ulp/Kconfig
@@ -80,4 +80,16 @@ menu "Ultra Low Power (ULP) Co-processor"
             Size of the shared memory defined in ulp_lp_core_memory_shared.c.
             Size should be kept in-sync with the size of the struct defined there.
 
+    config ULP_ROM_PRINT_ENABLE
+        depends on ULP_COPROC_TYPE_LP_CORE && ESP_ROM_HAS_LP_ROM
+        bool
+        prompt "Enable print utilities from LP ROM"
+        default "y"
+        help
+            Set this option to enable printf functionality from LP ROM. This option
+            can help reduce the LP core binary size by not linking printf functionality
+            from RAM code.
+            Note: For LP ROM prints to work properly, make sure that the LP core boots
+            from the LP ROM.
+
 endmenu  # Ultra Low Power (ULP) Co-processor
diff --git a/components/ulp/cmake/CMakeLists.txt b/components/ulp/cmake/CMakeLists.txt
index e396502853..d35f517966 100644
--- a/components/ulp/cmake/CMakeLists.txt
+++ b/components/ulp/cmake/CMakeLists.txt
@@ -54,6 +54,7 @@ target_link_options(${ULP_APP_NAME} PRIVATE SHELL:-T ${CMAKE_CURRENT_BINARY_DIR}
 
 # To avoid warning "Manually-specified variables were not used by the project"
 set(bypassWarning "${IDF_TARGET}")
+set(bypassWarning "${CONFIG_ESP_ROM_HAS_LP_ROM}")
 if(ULP_COCPU_IS_RISCV)
     #risc-v ulp uses extra files for building:
     list(APPEND ULP_S_SOURCES
diff --git a/components/ulp/lp_core/include/lp_core_uart.h b/components/ulp/lp_core/include/lp_core_uart.h
index dfb2b5bd3a..3b367a548d 100644
--- a/components/ulp/lp_core/include/lp_core_uart.h
+++ b/components/ulp/lp_core/include/lp_core_uart.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -15,6 +15,23 @@ extern "C" {
 #include "hal/uart_types.h"
 #include "hal/gpio_types.h"
 
+/**
+ * Default LP_IO Mux pins for LP UART
+ */
+#if CONFIG_IDF_TARGET_ESP32P4
+#define LP_UART_DEFAULT_TX_GPIO_NUM GPIO_NUM_14
+#define LP_UART_DEFAULT_RX_GPIO_NUM GPIO_NUM_15
+#define LP_UART_DEFAULT_RTS_GPIO_NUM (-1)
+#define LP_UART_DEFAULT_CTS_GPIO_NUM (-1)
+#elif CONFIG_IDF_TARGET_ESP32C6
+#define LP_UART_DEFAULT_TX_GPIO_NUM GPIO_NUM_5
+#define LP_UART_DEFAULT_RX_GPIO_NUM GPIO_NUM_4
+#define LP_UART_DEFAULT_RTS_GPIO_NUM GPIO_NUM_2
+#define LP_UART_DEFAULT_CTS_GPIO_NUM GPIO_NUM_3
+#else
+#error "LP IO Mux pins undefined for LP UART"
+#endif /* CONFIG_IDF_TARGET_ESP32P4 */
+
 /**
  * @brief LP UART IO pins configuration
  */
@@ -47,11 +64,11 @@ typedef struct {
 } lp_core_uart_cfg_t;
 
 /* Default LP UART GPIO settings */
-#define LP_UART_DEFAULT_GPIO_CONFIG()           \
-        .uart_pin_cfg.tx_io_num = GPIO_NUM_5,   \
-        .uart_pin_cfg.rx_io_num = GPIO_NUM_4,   \
-        .uart_pin_cfg.rts_io_num = GPIO_NUM_2,  \
-        .uart_pin_cfg.cts_io_num = GPIO_NUM_3,  \
+#define LP_UART_DEFAULT_GPIO_CONFIG()                               \
+        .uart_pin_cfg.tx_io_num = LP_UART_DEFAULT_TX_GPIO_NUM,      \
+        .uart_pin_cfg.rx_io_num = LP_UART_DEFAULT_RX_GPIO_NUM,      \
+        .uart_pin_cfg.rts_io_num = LP_UART_DEFAULT_RTS_GPIO_NUM,    \
+        .uart_pin_cfg.cts_io_num = LP_UART_DEFAULT_CTS_GPIO_NUM,    \
 
 /* Default LP UART protocol config */
 #define LP_UART_DEFAULT_PROTO_CONFIG()                           \
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h b/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h
index 43a956b9be..4c0b214528 100644
--- a/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h
+++ b/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h
@@ -1,8 +1,9 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
+#include "sdkconfig.h"
 
 /**
  * @brief Print from the LP core
@@ -14,4 +15,21 @@
  * @param ...           variable argument list
  *
  */
+#if CONFIG_ULP_ROM_PRINT_ENABLE
+extern int ets_printf(const char* format, ...);
+int (*lp_core_printf)(const char* format, ...) = ets_printf;
+#else
+//TODO: Change return type from void to int in IDF 6.0
 void lp_core_printf(const char* format, ...);
+#endif /* CONFIG_ULP_ROM_PRINT_ENABLE */
+
+#if CONFIG_ULP_ROM_PRINT_ENABLE
+/**
+ * @brief Install LP ROM UART printf function as standard putc handler to enable prints
+ *
+ * @note This function must be called before printing anything when the LP core boots from LP ROM but does not install
+ *       putc handler. This is possible when the LP ROM is instructed so by setting bit#1 in the LP_SYSTEM_REG_LP_STORE9_REG register.
+ */
+extern void ets_install_uart_printf(void);
+void (*lp_core_install_uart_printf)(void) = ets_install_uart_printf;
+#endif /* CONFIG_ULP_ROM_PRINT_ENABLE */
diff --git a/components/ulp/lp_core/lp_core/lp_core_print.c b/components/ulp/lp_core/lp_core/lp_core_print.c
index d010f68328..785d59e6c4 100644
--- a/components/ulp/lp_core/lp_core/lp_core_print.c
+++ b/components/ulp/lp_core/lp_core/lp_core_print.c
@@ -6,6 +6,8 @@
 #include <stdarg.h>
 #include "ulp_lp_core_uart.h"
 
+#if !CONFIG_ULP_ROM_PRINT_ENABLE
+
 #define LP_UART_PORT_NUM LP_UART_NUM_0
 #define BINARY_SUPPORT 1
 
@@ -271,3 +273,5 @@ int lp_core_printf(const char* format, ...)
 
     return ret;
 }
+
+#endif /* !CONFIG_ULP_ROM_PRINT_ENABLE */
diff --git a/components/ulp/lp_core/lp_core_uart.c b/components/ulp/lp_core/lp_core_uart.c
index 7ab414ec16..21c8ad4ee2 100644
--- a/components/ulp/lp_core/lp_core_uart.c
+++ b/components/ulp/lp_core/lp_core_uart.c
@@ -6,15 +6,21 @@
 
 #include <stdint.h>
 #include "esp_err.h"
+#include "esp_check.h"
 #include "lp_core_uart.h"
 #include "driver/rtc_io.h"
+#include "driver/lp_io.h"
+#include "soc/uart_periph.h"
 #include "soc/lp_uart_struct.h"
 #include "hal/uart_hal.h"
+#include "hal/rtc_io_hal.h"
 #include "hal/rtc_io_types.h"
 #include "esp_clk_tree.h"
 #include "esp_private/periph_ctrl.h"
 #include "esp_private/uart_share_hw_ctrl.h"
 
+static const char *LP_UART_TAG = "lp_uart";
+
 #define LP_UART_PORT_NUM    LP_UART_NUM_0
 #define LP_UART_TX_IDLE_NUM_DEFAULT     (0U)
 
@@ -67,8 +73,13 @@ static esp_err_t lp_core_uart_param_config(const lp_core_uart_cfg_t *cfg)
     return ret;
 }
 
-static esp_err_t lp_uart_config_io(gpio_num_t pin, rtc_gpio_mode_t direction)
+static esp_err_t lp_uart_config_io(gpio_num_t pin, rtc_gpio_mode_t direction, uint32_t idx)
 {
+    /* Skip configuration if the LP_IO is -1 */
+    if (pin < 0) {
+        return ESP_OK;
+    }
+
     /* Initialize LP_IO */
     esp_err_t ret = rtc_gpio_init(pin);
     if (ret != ESP_OK) {
@@ -81,8 +92,26 @@ static esp_err_t lp_uart_config_io(gpio_num_t pin, rtc_gpio_mode_t direction)
         return ESP_FAIL;
     }
 
-    /* Set LP_IO function */
-    ret = rtc_gpio_iomux_func_sel(pin, 1);
+    /* Connect pins */
+    const uart_periph_sig_t *upin = &uart_periph_signal[LP_UART_PORT_NUM].pins[idx];
+#if !SOC_LP_GPIO_MATRIX_SUPPORTED
+    /* When LP_IO Matrix is not support, LP_IO Mux must be connected to the pins */
+    ret = rtc_gpio_iomux_func_sel(pin, upin->iomux_func);
+#else
+    /* If the configured pin is the default LP_IO Mux pin for LP UART, then set the LP_IO MUX function */
+    if (upin->default_gpio == pin) {
+        ret = rtc_gpio_iomux_func_sel(pin, upin->iomux_func);
+    } else {
+        /* Select FUNC1 for LP_IO Matrix */
+        ret = rtc_gpio_iomux_func_sel(pin, 1);
+        /* Connect the LP_IO to the LP UART peripheral signal */
+        if (direction == RTC_GPIO_MODE_OUTPUT_ONLY) {
+            ret = lp_gpio_connect_out_signal(pin, UART_PERIPH_SIGNAL(LP_UART_PORT_NUM, idx), 0, 0);
+        } else {
+            ret = lp_gpio_connect_in_signal(pin, UART_PERIPH_SIGNAL(LP_UART_PORT_NUM, idx), 0);
+        }
+    }
+#endif /* SOC_LP_GPIO_MATRIX_SUPPORTED */
 
     return ret;
 }
@@ -92,22 +121,29 @@ static esp_err_t lp_core_uart_set_pin(const lp_core_uart_cfg_t *cfg)
     esp_err_t ret = ESP_OK;
 
     /* Argument sanity check */
-    if ((cfg->uart_pin_cfg.tx_io_num != GPIO_NUM_5) ||
-            (cfg->uart_pin_cfg.rx_io_num != GPIO_NUM_4) ||
-            (cfg->uart_pin_cfg.rts_io_num != GPIO_NUM_2) ||
-            (cfg->uart_pin_cfg.cts_io_num != GPIO_NUM_3)) {
-        // Invalid IO config
-        return ESP_ERR_INVALID_ARG;
-    }
+#if !SOC_LP_GPIO_MATRIX_SUPPORTED
+    const uart_periph_sig_t *pins = uart_periph_signal[LP_UART_PORT_NUM].pins;
+    // LP_UART has its fixed IOs
+    ESP_RETURN_ON_FALSE((cfg->uart_pin_cfg.tx_io_num < 0 || (cfg->uart_pin_cfg.tx_io_num == pins[SOC_UART_TX_PIN_IDX].default_gpio)), ESP_FAIL, LP_UART_TAG, "tx_io_num error");
+    ESP_RETURN_ON_FALSE((cfg->uart_pin_cfg.rx_io_num < 0 || (cfg->uart_pin_cfg.rx_io_num == pins[SOC_UART_RX_PIN_IDX].default_gpio)), ESP_FAIL, LP_UART_TAG, "rx_io_num error");
+    ESP_RETURN_ON_FALSE((cfg->uart_pin_cfg.rts_io_num < 0 || (cfg->uart_pin_cfg.rts_io_num == pins[SOC_UART_RTS_PIN_IDX].default_gpio)), ESP_FAIL, LP_UART_TAG, "rts_io_num error");
+    ESP_RETURN_ON_FALSE((cfg->uart_pin_cfg.cts_io_num < 0 || (cfg->uart_pin_cfg.cts_io_num == pins[SOC_UART_CTS_PIN_IDX].default_gpio)), ESP_FAIL, LP_UART_TAG, "cts_io_num error");
+#else
+    // LP_UART signals can be routed to any LP_IOs
+    ESP_RETURN_ON_FALSE((cfg->uart_pin_cfg.tx_io_num < 0 || rtc_gpio_is_valid_gpio(cfg->uart_pin_cfg.tx_io_num)), ESP_FAIL, LP_UART_TAG, "tx_io_num error");
+    ESP_RETURN_ON_FALSE((cfg->uart_pin_cfg.rx_io_num < 0 || rtc_gpio_is_valid_gpio(cfg->uart_pin_cfg.rx_io_num)), ESP_FAIL, LP_UART_TAG, "rx_io_num error");
+    ESP_RETURN_ON_FALSE((cfg->uart_pin_cfg.rts_io_num < 0 || rtc_gpio_is_valid_gpio(cfg->uart_pin_cfg.rts_io_num)), ESP_FAIL, LP_UART_TAG, "rts_io_num error");
+    ESP_RETURN_ON_FALSE((cfg->uart_pin_cfg.cts_io_num < 0 || rtc_gpio_is_valid_gpio(cfg->uart_pin_cfg.cts_io_num)), ESP_FAIL, LP_UART_TAG, "cts_io_num error");
+#endif  /* SOC_LP_GPIO_MATRIX_SUPPORTED */
 
     /* Configure Tx Pin */
-    ret = lp_uart_config_io(cfg->uart_pin_cfg.tx_io_num, RTC_GPIO_MODE_OUTPUT_ONLY);
+    ret = lp_uart_config_io(cfg->uart_pin_cfg.tx_io_num, RTC_GPIO_MODE_OUTPUT_ONLY, SOC_UART_TX_PIN_IDX);
     /* Configure Rx Pin */
-    ret = lp_uart_config_io(cfg->uart_pin_cfg.rx_io_num, RTC_GPIO_MODE_INPUT_ONLY);
+    ret = lp_uart_config_io(cfg->uart_pin_cfg.rx_io_num, RTC_GPIO_MODE_INPUT_ONLY, SOC_UART_RX_PIN_IDX);
     /* Configure RTS Pin */
-    ret = lp_uart_config_io(cfg->uart_pin_cfg.rts_io_num, RTC_GPIO_MODE_OUTPUT_ONLY);
+    ret = lp_uart_config_io(cfg->uart_pin_cfg.rts_io_num, RTC_GPIO_MODE_OUTPUT_ONLY, SOC_UART_RTS_PIN_IDX);
     /* Configure CTS Pin */
-    ret = lp_uart_config_io(cfg->uart_pin_cfg.cts_io_num, RTC_GPIO_MODE_INPUT_ONLY);
+    ret = lp_uart_config_io(cfg->uart_pin_cfg.cts_io_num, RTC_GPIO_MODE_INPUT_ONLY, SOC_UART_CTS_PIN_IDX);
 
     return ret;
 }
diff --git a/components/ulp/project_include.cmake b/components/ulp/project_include.cmake
index 47df252e01..b3e35dca96 100644
--- a/components/ulp/project_include.cmake
+++ b/components/ulp/project_include.cmake
@@ -49,6 +49,9 @@ function(ulp_embed_binary app_name s_sources exp_dep_srcs)
         elseif(CONFIG_ULP_COPROC_TYPE_LP_CORE)
                 set(TOOLCHAIN_FLAG ${idf_path}/components/ulp/cmake/toolchain-lp-core-riscv.cmake)
                 set(ULP_IS_LP_CORE_RISCV ON)
+                if(CONFIG_ESP_ROM_HAS_LP_ROM)
+                    set(CONFIG_ESP_ROM_HAS_LP_ROM ON)
+                endif()
         endif()
 
         externalproject_add(${app_name}
@@ -67,6 +70,7 @@ function(ulp_embed_binary app_name s_sources exp_dep_srcs)
                             -DPYTHON=${python}
                             -DULP_COCPU_IS_RISCV=${ULP_IS_RISCV}
                             -DULP_COCPU_IS_LP_CORE=${ULP_IS_LP_CORE_RISCV}
+                            -DCONFIG_ESP_ROM_HAS_LP_ROM=${CONFIG_ESP_ROM_HAS_LP_ROM}
                             ${extra_cmake_args}
                 BUILD_COMMAND ${CMAKE_COMMAND} --build ${CMAKE_CURRENT_BINARY_DIR}/${app_name} --target build
                 BUILD_BYPRODUCTS ${ulp_artifacts} ${ulp_artifacts_extras} ${ulp_ps_sources}
diff --git a/examples/system/.build-test-rules.yml b/examples/system/.build-test-rules.yml
index 96215c3c3a..5113c2c41e 100644
--- a/examples/system/.build-test-rules.yml
+++ b/examples/system/.build-test-rules.yml
@@ -285,7 +285,7 @@ examples/system/ulp/lp_core/lp_uart/lp_uart_echo:
     - if: SOC_ULP_LP_UART_SUPPORTED != 1
     - if: IDF_TARGET == "esp32p4"
       temporary: true
-      reason: target esp32p4 is not supported yet TODO IDF-7533
+      reason: target esp32p4 is not supported yet TODO IDF-9407
   depends_components:
     - ulp
 
@@ -294,7 +294,7 @@ examples/system/ulp/lp_core/lp_uart/lp_uart_print:
     - if: SOC_ULP_LP_UART_SUPPORTED != 1
     - if: IDF_TARGET == "esp32p4"
       temporary: true
-      reason: target esp32p4 is not supported yet TODO IDF-7533
+      reason: target esp32p4 is not supported yet TODO IDF-9407
   depends_components:
     - ulp