diff --git a/components/soc/esp32c2/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c2/include/soc/Kconfig.soc_caps.in
index 4ea88b6323..5cdbff97b5 100644
--- a/components/soc/esp32c2/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c2/include/soc/Kconfig.soc_caps.in
@@ -643,6 +643,10 @@ config SOC_UART_SUPPORT_FSM_TX_WAIT_SEND
     bool
     default y
 
+config SOC_SUPPORT_COEXISTENCE
+    bool
+    default y
+
 config SOC_COEX_HW_PTI
     bool
     default y
diff --git a/components/soc/esp32c2/include/soc/soc_caps.h b/components/soc/esp32c2/include/soc/soc_caps.h
index cbf18a1c68..9f3fb8adb8 100644
--- a/components/soc/esp32c2/include/soc/soc_caps.h
+++ b/components/soc/esp32c2/include/soc/soc_caps.h
@@ -291,6 +291,9 @@
 // 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)
 
+/*-------------------------- COEXISTENCE CAPS -------------------------------*/
+#define SOC_SUPPORT_COEXISTENCE     (1)
+
 /*-------------------------- COEXISTENCE HARDWARE PTI CAPS -------------------------------*/
 #define SOC_COEX_HW_PTI                 (1)
 
diff --git a/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in b/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
index 2e1f4d7f9e..e599f317a9 100644
--- a/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
@@ -123,6 +123,10 @@ config SOC_SYSTIMER_SUPPORTED
     bool
     default y
 
+config SOC_SUPPORT_COEXISTENCE
+    bool
+    default y
+
 config SOC_AES_SUPPORTED
     bool
     default y
diff --git a/components/soc/esp32h2/include/soc/soc_caps.h b/components/soc/esp32h2/include/soc/soc_caps.h
index a6ea1fcec5..e90213a2dc 100644
--- a/components/soc/esp32h2/include/soc/soc_caps.h
+++ b/components/soc/esp32h2/include/soc/soc_caps.h
@@ -47,7 +47,7 @@
 #define SOC_LEDC_SUPPORTED              1
 #define SOC_I2C_SUPPORTED               1
 #define SOC_SYSTIMER_SUPPORTED          1
-// #define SOC_SUPPORT_COEXISTENCE         1 // TODO: IDF-6416
+#define SOC_SUPPORT_COEXISTENCE         1
 #define SOC_AES_SUPPORTED               1
 #define SOC_MPI_SUPPORTED               1
 #define SOC_SHA_SUPPORTED               1