diff --git a/components/esp_hw_support/sleep_modes.c b/components/esp_hw_support/sleep_modes.c
index d40572a170..14e606f3db 100644
--- a/components/esp_hw_support/sleep_modes.c
+++ b/components/esp_hw_support/sleep_modes.c
@@ -45,6 +45,7 @@
 #include "esp_private/brownout.h"
 #include "esp_private/sleep_retention.h"
 #include "esp_private/esp_clk.h"
+#include "esp_private/startup_internal.h"
 
 #ifdef CONFIG_IDF_TARGET_ESP32
 #include "esp32/rom/cache.h"
@@ -1395,3 +1396,15 @@ void rtc_sleep_enable_ultra_low(bool enable)
 {
     s_ultra_low_enabled = enable;
 }
+
+#if CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND && !CONFIG_PM_SLP_DISABLE_GPIO
+ESP_SYSTEM_INIT_FN(esp_sleep_startup_init, BIT(0), 105)
+{
+    // Configure to isolate (disable the Input/Output/Pullup/Pulldown
+    // function of the pin) all GPIO pins in sleep state
+    esp_sleep_config_gpio_isolate();
+    // Enable automatic switching of GPIO configuration
+    esp_sleep_enable_gpio_switch(true);
+    return ESP_OK;
+}
+#endif
diff --git a/components/esp_system/startup.c b/components/esp_system/startup.c
index cb87153ec0..02f02da571 100644
--- a/components/esp_system/startup.c
+++ b/components/esp_system/startup.c
@@ -30,7 +30,6 @@
 #include "esp_efuse.h"
 #include "esp_flash_encrypt.h"
 #include "esp_secure_boot.h"
-#include "esp_sleep.h"
 #include "esp_xt_wdt.h"
 
 #if __has_include("esp_ota_ops.h")
@@ -447,13 +446,6 @@ static void start_cpu0_default(void)
 
 ESP_SYSTEM_INIT_FN(init_components0, BIT(0), 200)
 {
-#if CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND && !CONFIG_PM_SLP_DISABLE_GPIO
-    // Configure to isolate (disable the Input/Output/Pullup/Pulldown
-    // function of the pin) all GPIO pins in sleep state
-    esp_sleep_config_gpio_isolate();
-    // Enable automatic switching of GPIO configuration
-    esp_sleep_enable_gpio_switch(true);
-#endif
 
 #if CONFIG_APPTRACE_ENABLE
     esp_err_t err = esp_apptrace_init();
diff --git a/components/esp_system/system_init_fn.txt b/components/esp_system/system_init_fn.txt
index 0b91c17853..d8abc241a4 100644
--- a/components/esp_system/system_init_fn.txt
+++ b/components/esp_system/system_init_fn.txt
@@ -16,6 +16,9 @@
 # esp_timer has to be initialized early, since it is used by several other components
 100: esp_timer_startup_init in components/esp_timer/src/esp_timer.c on BIT(0)
 
+# esp_sleep doesn't have init dependencies
+105: esp_sleep_startup_init in components/esp_hw_support/sleep_modes.c on BIT(0)
+
 # the rest of the components which are initialized from startup.c
 # [refactor-todo]: move init calls into respective components
 200: init_components0 in components/esp_system/startup.c on BIT(0)