diff --git a/components/driver/.build-test-rules.yml b/components/driver/.build-test-rules.yml
index 9923237f72..84d13b4918 100644
--- a/components/driver/.build-test-rules.yml
+++ b/components/driver/.build-test-rules.yml
@@ -88,9 +88,3 @@ components/driver/test_apps/touch_sensor_v2:
 components/driver/test_apps/twai:
   disable:
     - if: SOC_TWAI_SUPPORTED != 1
-
-components/driver/test_apps/uart:
-  disable_test:
-    - if: IDF_TARGET == "esp32c6"
-      temporary: true
-      reason: target esp32c6 not supported yet
diff --git a/components/driver/uart.c b/components/driver/uart.c
index 302ccbccde..a378765119 100644
--- a/components/driver/uart.c
+++ b/components/driver/uart.c
@@ -232,6 +232,11 @@ esp_err_t uart_get_sclk_freq(uart_sclk_t sclk, uint32_t* out_freq_hz)
     case UART_SCLK_XTAL:
         freq = esp_clk_xtal_freq();
         break;
+#endif
+#if SOC_UART_SUPPORT_PLL_F80M_CLK
+    case UART_SCLK_PLL_F80M:
+        freq = UART_LL_PLL_DIV_FREQ;
+        break;
 #endif
     default:
         return ESP_ERR_INVALID_ARG;
diff --git a/components/hal/esp32c6/include/hal/uart_ll.h b/components/hal/esp32c6/include/hal/uart_ll.h
index 5411edebbf..543ebfcbda 100644
--- a/components/hal/esp32c6/include/hal/uart_ll.h
+++ b/components/hal/esp32c6/include/hal/uart_ll.h
@@ -14,6 +14,7 @@
 #include "hal/uart_types.h"
 #include "soc/uart_periph.h"
 #include "soc/uart_struct.h"
+#include "soc/pcr_struct.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -30,6 +31,30 @@ extern "C" {
 #define UART_LL_FSM_IDLE                       (0x0)
 #define UART_LL_FSM_TX_WAIT_SEND               (0xf)
 
+#define UART_LL_PLL_DIV_FREQ      (80000000)  // 80 MHz
+
+#define UART_LL_PCR_REG_U32_SET(hw, reg_suffix, field_suffix, val)  \
+    if ((hw) == &UART0) { \
+        HAL_FORCE_MODIFY_U32_REG_FIELD(PCR.uart0_##reg_suffix, uart0_##field_suffix, (val))  \
+    } else {  \
+        HAL_FORCE_MODIFY_U32_REG_FIELD(PCR.uart1_##reg_suffix, uart1_##field_suffix, (val))  \
+    }
+
+#define UART_LL_PCR_REG_U32_GET(hw, reg_suffix, field_suffix)  \
+    (((hw) == &UART0) ? \
+    HAL_FORCE_READ_U32_REG_FIELD(PCR.uart0_##reg_suffix, uart0_##field_suffix) : \
+    HAL_FORCE_READ_U32_REG_FIELD(PCR.uart1_##reg_suffix, uart1_##field_suffix))
+
+#define UART_LL_PCR_REG_SET(hw, reg_suffix, field_suffix, val)    \
+    if ((hw) == &UART0) { \
+        PCR.uart0_##reg_suffix.uart0_##field_suffix = (val);  \
+    } else {  \
+        PCR.uart1_##reg_suffix.uart1_##field_suffix = (val);  \
+    }
+
+#define UART_LL_PCR_REG_GET(hw, reg_suffix, field_suffix)  \
+    (((hw) == &UART0) ? PCR.uart0_##reg_suffix.uart0_##field_suffix : PCR.uart1_##reg_suffix.uart1_##field_suffix)
+
 // Define UART interrupts
 typedef enum {
     UART_INTR_RXFIFO_FULL      = (0x1 << 0),
@@ -51,19 +76,21 @@ typedef enum {
     UART_INTR_RS485_FRM_ERR    = (0x1 << 16),
     UART_INTR_RS485_CLASH      = (0x1 << 17),
     UART_INTR_CMD_CHAR_DET     = (0x1 << 18),
-    // UART_INTR_WAKEUP           = (0x1 << 19), // TODO: IDF-5338
+    // UART_INTR_WAKEUP           = (0x1 << 19),  // TODO: Test UART wakeup while supporting sleep
 } uart_intr_t;
 
-static inline void uart_ll_update(int uart_no) // TODO: IDF-5338 should use uart_dev_t *hw
+/**
+ * @brief Sync the update to UART core clock domain
+ *
+ * @param hw Beginning address of the peripheral registers.
+ *
+ * @return None.
+ */
+static inline void uart_ll_update(uart_dev_t *hw)
 {
     // TODO: set a timeout ??
-    while(1) {
-        int update = GET_PERI_REG_BITS2(UART_REG_UPDATE_REG(uart_no), UART_REG_UPDATE_V, UART_REG_UPDATE_S);
-        if (!update) {
-            break;
-        }
-    }
-    SET_PERI_REG_MASK(UART_REG_UPDATE_REG(uart_no), UART_REG_UPDATE_M);
+    hw->reg_update.reg_update = 1;
+    while (hw->reg_update.reg_update);
 }
 
 /**
@@ -88,9 +115,7 @@ static inline void uart_ll_set_reset_core(uart_dev_t *hw, bool core_rst_en)
  */
 static inline void uart_ll_sclk_enable(uart_dev_t *hw)
 {
-    hw->clk_conf.sclk_en = 1;
-    hw->clk_conf.rx_sclk_en = 1;
-    hw->clk_conf.tx_sclk_en = 1;
+    UART_LL_PCR_REG_SET(hw, sclk_conf, sclk_en, 1);
 }
 
 /**
@@ -102,9 +127,7 @@ static inline void uart_ll_sclk_enable(uart_dev_t *hw)
  */
 static inline void uart_ll_sclk_disable(uart_dev_t *hw)
 {
-    hw->clk_conf.sclk_en = 0;
-    hw->clk_conf.rx_sclk_en = 0;
-    hw->clk_conf.tx_sclk_en = 0;
+    UART_LL_PCR_REG_SET(hw, sclk_conf, sclk_en, 0);
 }
 
 /**
@@ -120,14 +143,14 @@ static inline void uart_ll_set_sclk(uart_dev_t *hw, uart_sclk_t source_clk)
 {
     switch (source_clk) {
         default:
-        case UART_SCLK_APB:
-            hw->clk_conf.sclk_sel = 1;
+        case UART_SCLK_PLL_F80M:
+            UART_LL_PCR_REG_SET(hw, sclk_conf, sclk_sel, 1);
             break;
         case UART_SCLK_RTC:
-            hw->clk_conf.sclk_sel = 2;
+            UART_LL_PCR_REG_SET(hw, sclk_conf, sclk_sel, 2);
             break;
         case UART_SCLK_XTAL:
-            hw->clk_conf.sclk_sel = 3;
+            UART_LL_PCR_REG_SET(hw, sclk_conf, sclk_sel, 3);
             break;
     }
 }
@@ -142,10 +165,10 @@ static inline void uart_ll_set_sclk(uart_dev_t *hw, uart_sclk_t source_clk)
  */
 static inline void uart_ll_get_sclk(uart_dev_t *hw, uart_sclk_t *source_clk)
 {
-    switch (hw->clk_conf.sclk_sel) {
+    switch (UART_LL_PCR_REG_GET(hw, sclk_conf, sclk_sel)) {
         default:
         case 1:
-            *source_clk = UART_SCLK_APB;
+            *source_clk = UART_SCLK_PLL_F80M;
             break;
         case 2:
             *source_clk = UART_SCLK_RTC;
@@ -176,9 +199,9 @@ static inline void uart_ll_set_baudrate(uart_dev_t *hw, uint32_t baud, uint32_t
     // an integer part and a fractional part.
     hw->clkdiv_sync.clkdiv_int = clk_div >> 4;
     hw->clkdiv_sync.clkdiv_frag = clk_div &  0xf;
-    HAL_FORCE_MODIFY_U32_REG_FIELD(hw->clk_conf, sclk_div_num, sclk_div - 1);
+    UART_LL_PCR_REG_U32_SET(hw, sclk_conf, sclk_div_num, sclk_div - 1);
 #undef DIV_UP
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -193,7 +216,7 @@ static inline uint32_t uart_ll_get_baudrate(uart_dev_t *hw, uint32_t sclk_freq)
 {
     typeof(hw->clkdiv_sync) div_reg;
     div_reg.val = hw->clkdiv_sync.val;
-    return ((sclk_freq << 4)) / (((div_reg.clkdiv_int << 4) | div_reg.clkdiv_frag) * (HAL_FORCE_READ_U32_REG_FIELD(hw->clk_conf, sclk_div_num) + 1));
+    return ((sclk_freq << 4)) / (((div_reg.clkdiv_int << 4) | div_reg.clkdiv_frag) * (UART_LL_PCR_REG_U32_GET(hw, sclk_conf, sclk_div_num) + 1));
 }
 
 /**
@@ -271,7 +294,7 @@ static inline uint32_t uart_ll_get_intr_ena_status(uart_dev_t *hw)
 static inline void uart_ll_read_rxfifo(uart_dev_t *hw, uint8_t *buf, uint32_t rd_len)
 {
     for (int i = 0; i < (int)rd_len; i++) {
-        buf[i] = HAL_FORCE_READ_U32_REG_FIELD(hw->fifo, rxfifo_rd_byte);
+        buf[i] = hw->fifo.rxfifo_rd_byte;
     }
 }
 
@@ -287,7 +310,7 @@ static inline void uart_ll_read_rxfifo(uart_dev_t *hw, uint8_t *buf, uint32_t rd
 static inline void uart_ll_write_txfifo(uart_dev_t *hw, const uint8_t *buf, uint32_t wr_len)
 {
     for (int i = 0; i < (int)wr_len; i++) {
-        HAL_FORCE_MODIFY_U32_REG_FIELD(hw->fifo, rxfifo_rd_byte, buf[i]);
+        hw->fifo.rxfifo_rd_byte = buf[i];
     }
 }
 
@@ -301,9 +324,9 @@ static inline void uart_ll_write_txfifo(uart_dev_t *hw, const uint8_t *buf, uint
 static inline void uart_ll_rxfifo_rst(uart_dev_t *hw)
 {
     hw->conf0_sync.rxfifo_rst = 1;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
     hw->conf0_sync.rxfifo_rst = 0;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -316,9 +339,9 @@ static inline void uart_ll_rxfifo_rst(uart_dev_t *hw)
 static inline void uart_ll_txfifo_rst(uart_dev_t *hw)
 {
     hw->conf0_sync.txfifo_rst = 1;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
     hw->conf0_sync.txfifo_rst = 0;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -356,7 +379,7 @@ static inline uint32_t uart_ll_get_txfifo_len(uart_dev_t *hw)
 static inline void uart_ll_set_stop_bits(uart_dev_t *hw, uart_stop_bits_t stop_bit)
 {
     hw->conf0_sync.stop_bit_num = stop_bit;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -386,7 +409,7 @@ static inline void uart_ll_set_parity(uart_dev_t *hw, uart_parity_t parity_mode)
         hw->conf0_sync.parity = parity_mode & 0x1;
     }
     hw->conf0_sync.parity_en = (parity_mode >> 1) & 0x1;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -446,7 +469,7 @@ static inline void uart_ll_set_txfifo_empty_thr(uart_dev_t *hw, uint16_t empty_t
 static inline void uart_ll_set_rx_idle_thr(uart_dev_t *hw, uint32_t rx_idle_thr)
 {
     hw->idle_conf_sync.rx_idle_thrhd = rx_idle_thr;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -460,7 +483,7 @@ static inline void uart_ll_set_rx_idle_thr(uart_dev_t *hw, uint32_t rx_idle_thr)
 static inline void uart_ll_set_tx_idle_num(uart_dev_t *hw, uint32_t idle_num)
 {
     hw->idle_conf_sync.tx_idle_num = idle_num;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -475,13 +498,11 @@ static inline void uart_ll_tx_break(uart_dev_t *hw, uint32_t break_num)
 {
     if (break_num > 0) {
         HAL_FORCE_MODIFY_U32_REG_FIELD(hw->txbrk_conf_sync, tx_brk_num, break_num);
-        uart_ll_update(0); // TODO: IDF-5338
         hw->conf0_sync.txd_brk = 1;
-        uart_ll_update(0); // TODO: IDF-5338
     } else {
         hw->conf0_sync.txd_brk = 0;
-        uart_ll_update(0); // TODO: IDF-5338
     }
+    uart_ll_update(hw);
 }
 
 /**
@@ -498,20 +519,16 @@ static inline void uart_ll_set_hw_flow_ctrl(uart_dev_t *hw, uart_hw_flowcontrol_
     //only when UART_HW_FLOWCTRL_RTS is set , will the rx_thresh value be set.
     if (flow_ctrl & UART_HW_FLOWCTRL_RTS) {
         hw->hwfc_conf_sync.rx_flow_thrhd = rx_thrs;
-        uart_ll_update(0); // TODO: IDF-5338
         hw->hwfc_conf_sync.rx_flow_en = 1;
-        uart_ll_update(0); // TODO: IDF-5338
     } else {
         hw->hwfc_conf_sync.rx_flow_en = 0;
-        uart_ll_update(0); // TODO: IDF-5338
     }
     if (flow_ctrl & UART_HW_FLOWCTRL_CTS) {
         hw->conf0_sync.tx_flow_en = 1;
-        uart_ll_update(0); // TODO: IDF-5338
     } else {
         hw->conf0_sync.tx_flow_en = 0;
-        uart_ll_update(0); // TODO: IDF-5338
     }
+    uart_ll_update(hw);
 }
 
 /**
@@ -546,21 +563,16 @@ static inline void uart_ll_set_sw_flow_ctrl(uart_dev_t *hw, uart_sw_flowctrl_t *
 {
     if (sw_flow_ctrl_en) {
         hw->swfc_conf0_sync.xonoff_del = 1;
-        uart_ll_update(0); // TODO: IDF-5338
         hw->swfc_conf0_sync.sw_flow_con_en = 1;
-        uart_ll_update(0); // TODO: IDF-5338
         hw->swfc_conf1.xon_threshold = flow_ctrl->xon_thrd;
         hw->swfc_conf1.xoff_threshold = flow_ctrl->xoff_thrd;
         HAL_FORCE_MODIFY_U32_REG_FIELD(hw->swfc_conf0_sync, xon_char, flow_ctrl->xon_char);
-        uart_ll_update(0); // TODO: IDF-5338
         HAL_FORCE_MODIFY_U32_REG_FIELD(hw->swfc_conf0_sync, xoff_char, flow_ctrl->xoff_char);
-        uart_ll_update(0); // TODO: IDF-5338
     } else {
         hw->swfc_conf0_sync.sw_flow_con_en = 0;
-        uart_ll_update(0); // TODO: IDF-5338
         hw->swfc_conf0_sync.xonoff_del = 0;
-        uart_ll_update(0); // TODO: IDF-5338
     }
+    uart_ll_update(hw);
 }
 
 /**
@@ -579,15 +591,11 @@ static inline void uart_ll_set_sw_flow_ctrl(uart_dev_t *hw, uart_sw_flowctrl_t *
 static inline void uart_ll_set_at_cmd_char(uart_dev_t *hw, uart_at_cmd_t *cmd_char)
 {
     HAL_FORCE_MODIFY_U32_REG_FIELD(hw->at_cmd_char_sync, data, cmd_char->cmd_char);
-    uart_ll_update(0); // TODO: IDF-5338
     HAL_FORCE_MODIFY_U32_REG_FIELD(hw->at_cmd_char_sync, char_num, cmd_char->char_num);
-    uart_ll_update(0); // TODO: IDF-5338
     HAL_FORCE_MODIFY_U32_REG_FIELD(hw->at_cmd_postcnt_sync, post_idle_num, cmd_char->post_idle);
-    uart_ll_update(0); // TODO: IDF-5338
     HAL_FORCE_MODIFY_U32_REG_FIELD(hw->at_cmd_precnt_sync, pre_idle_num, cmd_char->pre_idle);
-    uart_ll_update(0); // TODO: IDF-5338
     HAL_FORCE_MODIFY_U32_REG_FIELD(hw->at_cmd_gaptout_sync, rx_gap_tout, cmd_char->gap_tout);
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -601,7 +609,7 @@ static inline void uart_ll_set_at_cmd_char(uart_dev_t *hw, uart_at_cmd_t *cmd_ch
 static inline void uart_ll_set_data_bit_num(uart_dev_t *hw, uart_word_length_t data_bit)
 {
     hw->conf0_sync.bit_num = data_bit;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -615,7 +623,7 @@ static inline void uart_ll_set_data_bit_num(uart_dev_t *hw, uart_word_length_t d
 static inline void uart_ll_set_rts_active_level(uart_dev_t *hw, int level)
 {
     hw->conf0_sync.sw_rts = level & 0x1;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -655,13 +663,10 @@ static inline void uart_ll_set_wakeup_thrd(uart_dev_t *hw, uint32_t wakeup_thrd)
 static inline void uart_ll_set_mode_normal(uart_dev_t *hw)
 {
     hw->rs485_conf_sync.rs485_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.rs485tx_rx_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.rs485rxby_tx_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->conf0_sync.irda_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -675,19 +680,13 @@ static inline void uart_ll_set_mode_rs485_app_ctrl(uart_dev_t *hw)
 {
     // Application software control, remove echo
     hw->rs485_conf_sync.rs485rxby_tx_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->conf0_sync.irda_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->conf0_sync.sw_rts = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->conf0_sync.irda_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.dl0_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.dl1_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.rs485_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -701,22 +700,16 @@ static inline void uart_ll_set_mode_rs485_half_duplex(uart_dev_t *hw)
 {
     // Enable receiver, sw_rts = 1  generates low level on RTS pin
     hw->conf0_sync.sw_rts = 1;
-    uart_ll_update(0); // TODO: IDF-5338
     // Half duplex mode
     hw->rs485_conf_sync.rs485tx_rx_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     // Setting this bit will allow data to be transmitted while receiving data(full-duplex mode).
     // But note that this full-duplex mode has no conflict detection function
     hw->rs485_conf_sync.rs485rxby_tx_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->conf0_sync.irda_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.dl0_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.dl1_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.rs485_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -729,21 +722,15 @@ static inline void uart_ll_set_mode_rs485_half_duplex(uart_dev_t *hw)
 static inline void uart_ll_set_mode_collision_detect(uart_dev_t *hw)
 {
     hw->conf0_sync.irda_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     // Enable full-duplex mode
     hw->rs485_conf_sync.rs485tx_rx_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
     // Transmitter should send data when the receiver is busy,
     hw->rs485_conf_sync.rs485rxby_tx_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.dl0_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.dl1_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->conf0_sync.sw_rts = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.rs485_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -756,15 +743,11 @@ static inline void uart_ll_set_mode_collision_detect(uart_dev_t *hw)
 static inline void uart_ll_set_mode_irda(uart_dev_t *hw)
 {
     hw->rs485_conf_sync.rs485_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.rs485tx_rx_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->rs485_conf_sync.rs485rxby_tx_en = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->conf0_sync.sw_rts = 0;
-    uart_ll_update(0); // TODO: IDF-5338
     hw->conf0_sync.irda_en = 1;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -809,9 +792,7 @@ static inline void uart_ll_set_mode(uart_dev_t *hw, uart_mode_t mode)
 static inline void uart_ll_get_at_cmd_char(uart_dev_t *hw, uint8_t *cmd_char, uint8_t *char_num)
 {
     *cmd_char = HAL_FORCE_READ_U32_REG_FIELD(hw->at_cmd_char_sync, data);
-    uart_ll_update(0); // TODO: IDF-5338
     *char_num = HAL_FORCE_READ_U32_REG_FIELD(hw->at_cmd_char_sync, char_num);
-    uart_ll_update(0); // TODO: IDF-5338
 }
 
 /**
@@ -886,15 +867,16 @@ static inline bool uart_ll_is_hw_cts_en(uart_dev_t *hw)
 static inline void uart_ll_set_loop_back(uart_dev_t *hw, bool loop_back_en)
 {
     hw->conf0_sync.loopback = loop_back_en;
+    uart_ll_update(hw);
 }
 
 static inline void uart_ll_xon_force_on(uart_dev_t *hw, bool always_on)
 {
     hw->swfc_conf0_sync.force_xon = 1;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
     if(!always_on) {
         hw->swfc_conf0_sync.force_xon = 0;
-        uart_ll_update(0); // TODO: IDF-5338
+        uart_ll_update(hw);
     }
 }
 
@@ -916,7 +898,6 @@ static inline void uart_ll_inverse_signal(uart_dev_t *hw, uint32_t inv_mask)
     conf0_reg.rxd_inv = (inv_mask & UART_SIGNAL_RXD_INV) ? 1 : 0;
     conf0_reg.txd_inv = (inv_mask & UART_SIGNAL_TXD_INV) ? 1 : 0;
     hw->conf0_sync.val = conf0_reg.val;
-    uart_ll_update(0); // TODO: IDF-5338
 
     typeof(hw->conf1) conf1_reg;
     conf1_reg.val = hw->conf1.val;
@@ -925,6 +906,7 @@ static inline void uart_ll_inverse_signal(uart_dev_t *hw, uint32_t inv_mask)
     conf1_reg.cts_inv = (inv_mask & UART_SIGNAL_CTS_INV) ? 1 : 0;
     conf1_reg.dsr_inv = (inv_mask & UART_SIGNAL_DSR_INV) ? 1 : 0;
     hw->conf1.val = conf1_reg.val;
+    uart_ll_update(hw);
 }
 
 /**
@@ -940,13 +922,11 @@ static inline void uart_ll_set_rx_tout(uart_dev_t *hw, uint16_t tout_thrd)
     uint16_t tout_val = tout_thrd;
     if(tout_thrd > 0) {
         hw->tout_conf_sync.rx_tout_thrhd = tout_val;
-        uart_ll_update(0); // TODO: IDF-5338
         hw->tout_conf_sync.rx_tout_en = 1;
-        uart_ll_update(0); // TODO: IDF-5338
     } else {
         hw->tout_conf_sync.rx_tout_en = 0;
-        uart_ll_update(0); // TODO: IDF-5338
     }
+    uart_ll_update(hw);
 }
 
 /**
@@ -986,7 +966,7 @@ static inline uint16_t uart_ll_max_tout_thrd(uart_dev_t *hw)
 static inline void uart_ll_set_autobaud_en(uart_dev_t *hw, bool enable)
 {
     hw->conf0_sync.autobaud_en = enable ? 1 : 0;
-    uart_ll_update(0); // TODO: IDF-5338
+    uart_ll_update(hw);
 }
 
 /**
@@ -1049,10 +1029,8 @@ static inline uint32_t uart_ll_get_low_pulse_cnt(uart_dev_t *hw)
 static inline void uart_ll_force_xoff(uart_port_t uart_num)
 {
     REG_CLR_BIT(UART_SWFC_CONF0_SYNC_REG(uart_num), UART_FORCE_XON);
-    uart_ll_update(0); // TODO: IDF-5338
     REG_SET_BIT(UART_SWFC_CONF0_SYNC_REG(uart_num), UART_SW_FLOW_CON_EN | UART_FORCE_XOFF);
-    uart_ll_update(0); // TODO: IDF-5338
-    // REG_SET_BIT(UART_ID_REG(uart_num), UART_UPDATE);
+    uart_ll_update(UART_LL_GET_HW(uart_num));
 }
 
 /**
@@ -1065,12 +1043,9 @@ static inline void uart_ll_force_xoff(uart_port_t uart_num)
 static inline void uart_ll_force_xon(uart_port_t uart_num)
 {
     REG_CLR_BIT(UART_SWFC_CONF0_SYNC_REG(uart_num), UART_FORCE_XOFF);
-    uart_ll_update(0); // TODO: IDF-5338
     REG_SET_BIT(UART_SWFC_CONF0_SYNC_REG(uart_num), UART_FORCE_XON);
-    uart_ll_update(0); // TODO: IDF-5338
     REG_CLR_BIT(UART_SWFC_CONF0_SYNC_REG(uart_num), UART_SW_FLOW_CON_EN | UART_FORCE_XON);
-    uart_ll_update(0); // TODO: IDF-5338
-    // REG_SET_BIT(UART_ID_REG(uart_num), UART_UPDATE);
+    uart_ll_update(UART_LL_GET_HW(uart_num));
 }
 
 /**
diff --git a/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
index c3d9c9e1bc..35804883c6 100644
--- a/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
@@ -807,19 +807,15 @@ config SOC_UART_BITRATE_MAX
     int
     default 5000000
 
-config SOC_UART_SUPPORT_APB_CLK
+config SOC_UART_SUPPORT_PLL_F80M_CLK
     bool
     default y
 
 config SOC_UART_SUPPORT_RTC_CLK
-    bool
-    default n
-
-config SOC_UART_SUPPORT_XTAL_CLK
     bool
     default y
 
-config SOC_UART_REQUIRE_CORE_RESET
+config SOC_UART_SUPPORT_XTAL_CLK
     bool
     default y
 
diff --git a/components/soc/esp32c6/include/soc/clk_tree_defs.h b/components/soc/esp32c6/include/soc/clk_tree_defs.h
index 32c77d1b9d..ccd0d25f41 100644
--- a/components/soc/esp32c6/include/soc/clk_tree_defs.h
+++ b/components/soc/esp32c6/include/soc/clk_tree_defs.h
@@ -224,10 +224,14 @@ typedef enum {
  * @brief Type of UART clock source, reserved for the legacy UART driver
  */
 typedef enum {
-    UART_SCLK_APB = SOC_MOD_CLK_APB,     /*!< UART source clock is APB CLK */
-    UART_SCLK_RTC = SOC_MOD_CLK_RC_FAST, /*!< UART source clock is RC_FAST */
-    UART_SCLK_XTAL = SOC_MOD_CLK_XTAL,   /*!< UART source clock is XTAL */
-    UART_SCLK_DEFAULT = SOC_MOD_CLK_APB, /*!< UART source clock default choice is APB */
+    UART_SCLK_PLL_F80M = SOC_MOD_CLK_PLL_F80M,           /*!< UART source clock is PLL_F80M */
+    UART_SCLK_RTC = SOC_MOD_CLK_RC_FAST,                /*!< UART source clock is RC_FAST */
+    UART_SCLK_XTAL = SOC_MOD_CLK_XTAL,                  /*!< UART source clock is XTAL */
+#if CONFIG_IDF_ENV_FPGA
+    UART_SCLK_DEFAULT = SOC_MOD_CLK_XTAL,               /*!< UART source clock default choice is XTAL for FPGA environment */
+#else
+    UART_SCLK_DEFAULT = SOC_MOD_CLK_PLL_F80M,           /*!< UART source clock default choice is PLL_F80M */
+#endif
 } soc_periph_uart_clk_src_legacy_t;
 
 //////////////////////////////////////////////////MCPWM/////////////////////////////////////////////////////////////////
diff --git a/components/soc/esp32c6/include/soc/soc_caps.h b/components/soc/esp32c6/include/soc/soc_caps.h
index d1ed6f241f..093ab09513 100644
--- a/components/soc/esp32c6/include/soc/soc_caps.h
+++ b/components/soc/esp32c6/include/soc/soc_caps.h
@@ -393,11 +393,10 @@
 #define SOC_UART_FIFO_LEN           (128)      /*!< The UART hardware FIFO length */
 #define SOC_UART_BITRATE_MAX        (5000000)  /*!< Max bit rate supported by UART */
 
-#define SOC_UART_SUPPORT_APB_CLK    (1)     /*!< Support APB as the clock source */
-#define SOC_UART_SUPPORT_RTC_CLK    (0)     /*!< Support RTC clock as the clock source */ // TODO: IDF-5338
+#define SOC_UART_SUPPORT_PLL_F80M_CLK (1)    /*!< Support PLL_DIV as the clock source */
+#define SOC_UART_SUPPORT_RTC_CLK    (1)     /*!< Support RTC clock as the clock source */
 #define SOC_UART_SUPPORT_XTAL_CLK   (1)     /*!< Support XTAL clock as the clock source */
-// #define SOC_UART_SUPPORT_WAKEUP_INT (1)         /*!< Support UART wakeup interrupt */ // TODO: IDF-5338
-#define SOC_UART_REQUIRE_CORE_RESET (1)
+// #define SOC_UART_SUPPORT_WAKEUP_INT (1)         /*!< Support UART wakeup interrupt */ // TODO: Test UART wakeup while supporting sleep
 
 // UART has an extra TX_WAIT_SEND state when the FIFO is not empty and XOFF is enabled
 #define SOC_UART_SUPPORT_FSM_TX_WAIT_SEND   (1)
diff --git a/components/soc/esp32c6/include/soc/uart_channel.h b/components/soc/esp32c6/include/soc/uart_channel.h
index b81bfc432d..507f020603 100644
--- a/components/soc/esp32c6/include/soc/uart_channel.h
+++ b/components/soc/esp32c6/include/soc/uart_channel.h
@@ -10,12 +10,12 @@
 #define _SOC_UART_CHANNEL_H
 
 //UART channels
-#define UART_GPIO21_DIRECT_CHANNEL      UART_NUM_0
-#define UART_NUM_0_TXD_DIRECT_GPIO_NUM  21
-#define UART_GPIO20_DIRECT_CHANNEL      UART_NUM_0
-#define UART_NUM_0_RXD_DIRECT_GPIO_NUM  20
+#define UART_GPIO16_DIRECT_CHANNEL      UART_NUM_0
+#define UART_NUM_0_TXD_DIRECT_GPIO_NUM  16
+#define UART_GPIO17_DIRECT_CHANNEL      UART_NUM_0
+#define UART_NUM_0_RXD_DIRECT_GPIO_NUM  17
 
-#define UART_TXD_GPIO21_DIRECT_CHANNEL  UART_GPIO21_DIRECT_CHANNEL
-#define UART_RXD_GPIO20_DIRECT_CHANNEL  UART_GPIO20_DIRECT_CHANNEL
+#define UART_TXD_GPIO16_DIRECT_CHANNEL  UART_GPIO16_DIRECT_CHANNEL
+#define UART_RXD_GPIO17_DIRECT_CHANNEL  UART_GPIO17_DIRECT_CHANNEL
 
 #endif
diff --git a/components/soc/esp32c6/include/soc/uart_struct.h b/components/soc/esp32c6/include/soc/uart_struct.h
index 487c05b90a..2315f5c1ad 100644
--- a/components/soc/esp32c6/include/soc/uart_struct.h
+++ b/components/soc/esp32c6/include/soc/uart_struct.h
@@ -16,11 +16,10 @@ extern "C" {
  */
 typedef union {
     struct {
-        /** rxfifo_rd_byte : RO; bitpos: [7:0]; default: 0;
+        /** rxfifo_rd_byte : RO; bitpos: [31:0]; default: 0;
          *  UART $n accesses FIFO via this register.
          */
-        uint32_t rxfifo_rd_byte:8;
-        uint32_t reserved_8:24;
+        uint32_t rxfifo_rd_byte:32;
     };
     uint32_t val;
 } uart_fifo_reg_t;
diff --git a/docs/docs_not_updated/esp32c6.txt b/docs/docs_not_updated/esp32c6.txt
index a135eacbe5..ad6c69f528 100644
--- a/docs/docs_not_updated/esp32c6.txt
+++ b/docs/docs_not_updated/esp32c6.txt
@@ -113,7 +113,6 @@ api-reference/peripherals/ds
 api-reference/peripherals/sd_pullup_requirements
 api-reference/peripherals/index
 api-reference/peripherals/sdmmc_host
-api-reference/peripherals/uart
 api-reference/kconfig
 api-reference/network
 api-reference/network/esp_openthread
diff --git a/examples/peripherals/.build-test-rules.yml b/examples/peripherals/.build-test-rules.yml
index a2c07640f1..f5af80c04a 100644
--- a/examples/peripherals/.build-test-rules.yml
+++ b/examples/peripherals/.build-test-rules.yml
@@ -238,19 +238,9 @@ examples/peripherals/twai/twai_self_test:
       temporary: true
       reason: lack of runners
 
-examples/peripherals/uart/uart_echo:
-  disable:
-    - if: IDF_TARGET == "esp32c6"
-      temporary: true
-      reason: target esp32c6 is not supported yet
-
 examples/peripherals/uart/uart_echo_rs485:
   enable:
     - if: INCLUDE_DEFAULT == 1 or IDF_TARGET == "esp32h4"
-  disable:
-    - if: IDF_TARGET == "esp32c6"
-      temporary: true
-      reason: target esp32c6 is not supported yet
 
 examples/peripherals/usb:
   disable:
diff --git a/examples/peripherals/uart/uart_echo/README.md b/examples/peripherals/uart/uart_echo/README.md
index 80e05bbbff..8dce28fb59 100644
--- a/examples/peripherals/uart/uart_echo/README.md
+++ b/examples/peripherals/uart/uart_echo/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- |
 
 # UART Echo Example
 
diff --git a/examples/peripherals/uart/uart_echo/main/Kconfig.projbuild b/examples/peripherals/uart/uart_echo/main/Kconfig.projbuild
index 0959ec7aba..573604b107 100644
--- a/examples/peripherals/uart/uart_echo/main/Kconfig.projbuild
+++ b/examples/peripherals/uart/uart_echo/main/Kconfig.projbuild
@@ -6,8 +6,8 @@ menu "Echo Example Configuration"
         int "UART port number"
         range 0 2 if IDF_TARGET_ESP32 || IDF_TARGET_ESP32S3
         default 2 if IDF_TARGET_ESP32 || IDF_TARGET_ESP32S3
-        range 0 1 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32C2 || IDF_TARGET_ESP32H4
-        default 1 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32C2 || IDF_TARGET_ESP32H4
+        range 0 1
+        default 1
         help
             UART communication port number for the example.
             See UART documentation for available port numbers.
diff --git a/examples/peripherals/uart/uart_echo_rs485/README.md b/examples/peripherals/uart/uart_echo_rs485/README.md
index e41602d749..70d834e9f9 100644
--- a/examples/peripherals/uart/uart_echo_rs485/README.md
+++ b/examples/peripherals/uart/uart_echo_rs485/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-H4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C6 | ESP32-H4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | ----- | -------- | -------- | -------- | -------- | -------- | -------- |
 
 # UART RS485 Echo Example
 
@@ -36,8 +36,7 @@ ESP32 BOARD         |               |   RS-485 side |               |  SERIAL AD
 Connect a USB-to-RS485 adapter to a computer, then connect the adapter's A/B output lines with the corresponding A/B output lines of the RS485 line driver connected to the ESP32 chip (see figure above).
 ```
   ------------------------------------------------------------------------------------------------------------------------------
-  |  UART Interface       | #define            | Default ESP32 Pin     | Default pins for          | External RS485 Driver Pin |
-  |                       |                    |                       | ESP32-S2(S3, C3, C2, H4)  |                           |
+  |  UART Interface       | #define            | Default pin for ESP32 | Default pins for others   | External RS485 Driver Pin |
   | ----------------------|--------------------|-----------------------|---------------------------|---------------------------|
   | Transmit Data (TxD)   | CONFIG_MB_UART_TXD | GPIO23                | GPIO9                     | DI                        |
   | Receive Data (RxD)    | CONFIG_MB_UART_RXD | GPIO22                | GPIO8                     | RO                        |
diff --git a/examples/peripherals/uart/uart_echo_rs485/main/Kconfig.projbuild b/examples/peripherals/uart/uart_echo_rs485/main/Kconfig.projbuild
index d9e7f85e82..786e2ad39b 100644
--- a/examples/peripherals/uart/uart_echo_rs485/main/Kconfig.projbuild
+++ b/examples/peripherals/uart/uart_echo_rs485/main/Kconfig.projbuild
@@ -6,8 +6,8 @@ menu "Echo RS485 Example Configuration"
         int "UART port number"
         range 0 2 if IDF_TARGET_ESP32 || IDF_TARGET_ESP32S3
         default 2 if IDF_TARGET_ESP32 || IDF_TARGET_ESP32S3
-        range 0 1 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32C2 || IDF_TARGET_ESP32H4
-        default 1 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32C2 || IDF_TARGET_ESP32H4
+        range 0 1
+        default 1
         help
             UART communication port number for the example.
             See UART documentation for available port numbers.