diff --git a/components/driver/test_apps/.build-test-rules.yml b/components/driver/test_apps/.build-test-rules.yml
index f9d3c10bb1..7ddcb71239 100644
--- a/components/driver/test_apps/.build-test-rules.yml
+++ b/components/driver/test_apps/.build-test-rules.yml
@@ -30,13 +30,7 @@ components/driver/test_apps/legacy_adc_driver:
 
 components/driver/test_apps/legacy_i2c_driver:
   disable:
-    - if: IDF_TARGET in ["esp32c5", "esp32c61"]
-      temporary: true
-      reason: not support yet # TODO: [ESP32C5] IDF-10307, [ESP32C61] IDF-9296
-  disable_test:
-    - if: IDF_TARGET == "esp32p4"
-      temporary: true
-      reason: lack of runner
+    - if: SOC_I2C_SUPPORTED != 1
   depends_filepatterns:
     - components/driver/i2c/**
     # Following dependency is needed because they might increase lazy installed memory
diff --git a/components/driver/test_apps/legacy_i2c_driver/README.md b/components/driver/test_apps/legacy_i2c_driver/README.md
index bf47d80ec6..7b96141437 100644
--- a/components/driver/test_apps/legacy_i2c_driver/README.md
+++ b/components/driver/test_apps/legacy_i2c_driver/README.md
@@ -1,2 +1,2 @@
-| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | -------- | --------- | -------- | -------- | -------- | -------- |
diff --git a/components/driver/test_apps/legacy_i2c_driver/main/test_i2c.c b/components/driver/test_apps/legacy_i2c_driver/main/test_i2c.c
index 6dc5967b0a..14a7fbc96b 100644
--- a/components/driver/test_apps/legacy_i2c_driver/main/test_i2c.c
+++ b/components/driver/test_apps/legacy_i2c_driver/main/test_i2c.c
@@ -23,6 +23,7 @@
 #include "hal/i2c_types.h"
 #include "soc/uart_periph.h"
 #include "test_utils.h"
+#include "esp_private/gpio.h"
 
 #define DATA_LENGTH          512  /*!<Data buffer length for test buffer*/
 #define RW_TEST_LENGTH       129  /*!<Data length for r/w test, any value from 0-DATA_LENGTH*/
@@ -675,7 +676,7 @@ TEST_CASE("I2C general API test", "[i2c]")
 //Init uart baud rate detection
 static void uart_aut_baud_det_init(int rxd_io_num)
 {
-    gpio_hal_iomux_func_sel(GPIO_PIN_MUX_REG[rxd_io_num], PIN_FUNC_GPIO);
+    gpio_func_sel(rxd_io_num, PIN_FUNC_GPIO);
     gpio_set_direction(rxd_io_num, GPIO_MODE_INPUT_OUTPUT);
     esp_rom_gpio_connect_out_signal(rxd_io_num, i2c_periph_signal[0].scl_out_sig, 0, 0);
     esp_rom_gpio_connect_in_signal(rxd_io_num, UART_PERIPH_SIGNAL(1, SOC_UART_RX_PIN_IDX), 0);
diff --git a/components/driver/test_apps/legacy_i2c_driver/pytest_i2c_legacy.py b/components/driver/test_apps/legacy_i2c_driver/pytest_i2c_legacy.py
index 841bb08618..4ec552ee8f 100644
--- a/components/driver/test_apps/legacy_i2c_driver/pytest_i2c_legacy.py
+++ b/components/driver/test_apps/legacy_i2c_driver/pytest_i2c_legacy.py
@@ -5,7 +5,6 @@ from pytest_embedded import Dut
 
 
 @pytest.mark.supported_targets
-@pytest.mark.temp_skip_ci(targets=['esp32p4', 'esp32c5'], reason='esp32p4 support TBD, C5 failed')  # TODO: IDF-8960, [ESP32C5] IDF-10307
 @pytest.mark.generic
 @pytest.mark.parametrize(
     'config',
@@ -22,7 +21,9 @@ def test_i2c_legacy(dut: Dut) -> None:
 @pytest.mark.esp32
 @pytest.mark.esp32c3
 @pytest.mark.esp32c6
+@pytest.mark.esp32c5
 @pytest.mark.esp32h2
+@pytest.mark.esp32p4
 @pytest.mark.esp32s2
 @pytest.mark.esp32s3
 @pytest.mark.generic_multi_device
diff --git a/components/esp_driver_i2c/test_apps/i2c_test_apps/pytest_i2c.py b/components/esp_driver_i2c/test_apps/i2c_test_apps/pytest_i2c.py
index 1a1fd6f08b..56a8eb0bf8 100644
--- a/components/esp_driver_i2c/test_apps/i2c_test_apps/pytest_i2c.py
+++ b/components/esp_driver_i2c/test_apps/i2c_test_apps/pytest_i2c.py
@@ -20,8 +20,10 @@ def test_i2c(dut: Dut) -> None:
 
 @pytest.mark.esp32
 @pytest.mark.esp32c3
+@pytest.mark.esp32c5
 @pytest.mark.esp32c6
 @pytest.mark.esp32h2
+@pytest.mark.esp32p4
 @pytest.mark.esp32s2
 @pytest.mark.esp32s3
 @pytest.mark.generic_multi_device