diff --git a/components/esp_driver_gpio/include/driver/rtc_io.h b/components/esp_driver_gpio/include/driver/rtc_io.h
index 27a161d655..b26cf20f14 100644
--- a/components/esp_driver_gpio/include/driver/rtc_io.h
+++ b/components/esp_driver_gpio/include/driver/rtc_io.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -11,17 +11,17 @@
 #include "esp_err.h"
 #include "soc/soc_caps.h"
 #include "hal/rtc_io_types.h"
-#include "driver/gpio.h"
+#include "hal/gpio_types.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 /**
- * @brief Determine if the specified GPIO is a valid RTC GPIO.
+ * @brief Determine if the specified IO is a valid RTC GPIO.
  *
  * @param gpio_num GPIO number
- * @return true if GPIO is valid for RTC GPIO use. false otherwise.
+ * @return true if the IO is valid for RTC GPIO use. false otherwise.
  */
 bool rtc_gpio_is_valid_gpio(gpio_num_t gpio_num);
 
@@ -29,36 +29,34 @@ bool rtc_gpio_is_valid_gpio(gpio_num_t gpio_num);
 
 #if SOC_RTCIO_PIN_COUNT > 0
 /**
- * @brief Get RTC IO index number by gpio number.
+ * @brief Get RTC IO index number by GPIO number.
  *
  * @param gpio_num GPIO number
  * @return
- *        >=0: Index of rtcio.
- *        -1 : The gpio is not rtcio.
+ *        >=0: Index of RTC IO.
+ *        -1 : The IO is not an RTC IO.
  */
 int rtc_io_number_get(gpio_num_t gpio_num);
 
 /**
- * @brief Init a GPIO as RTC GPIO
- *
- * This function must be called when initializing a pad for an analog function.
+ * @brief Init an IO to be an RTC GPIO, route to RTC IO MUX
  *
  * @param  gpio_num GPIO number (e.g. GPIO_NUM_12)
  *
  * @return
- *     - ESP_OK success
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_OK Success
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_init(gpio_num_t gpio_num);
 
 /**
- * @brief Init a GPIO as digital GPIO
+ * @brief Deinit an IO as an RTC GPIO, route back to IO MUX
  *
  * @param  gpio_num GPIO number (e.g. GPIO_NUM_12)
  *
  * @return
- *     - ESP_OK success
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_OK Success
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_deinit(gpio_num_t gpio_num);
 
@@ -71,7 +69,7 @@ esp_err_t rtc_gpio_deinit(gpio_num_t gpio_num);
  * @return
  *     - 1 High level
  *     - 0 Low level
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 uint32_t rtc_gpio_get_level(gpio_num_t gpio_num);
 
@@ -83,7 +81,7 @@ uint32_t rtc_gpio_get_level(gpio_num_t gpio_num);
  *
  * @return
  *     - ESP_OK Success
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_set_level(gpio_num_t gpio_num, uint32_t level);
 
@@ -94,11 +92,11 @@ esp_err_t rtc_gpio_set_level(gpio_num_t gpio_num, uint32_t level);
  * output and input.
  *
  * @param  gpio_num GPIO number (e.g. GPIO_NUM_12)
- * @param  mode GPIO direction
+ * @param  mode RTC GPIO direction
  *
  * @return
  *     - ESP_OK Success
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_set_direction(gpio_num_t gpio_num, rtc_gpio_mode_t mode);
 
@@ -110,11 +108,11 @@ esp_err_t rtc_gpio_set_direction(gpio_num_t gpio_num, rtc_gpio_mode_t mode);
  *       The rest targets support INPUT_ONLY, OUTPUT_ONLY, INPUT_OUTPUT mode.
  *
  * @param  gpio_num GPIO number (e.g. GPIO_NUM_12)
- * @param  mode GPIO direction
+ * @param  mode RTC GPIO direction
  *
  * @return
  *     - ESP_OK Success
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_set_direction_in_sleep(gpio_num_t gpio_num, rtc_gpio_mode_t mode);
 
@@ -128,7 +126,7 @@ esp_err_t rtc_gpio_set_direction_in_sleep(gpio_num_t gpio_num, rtc_gpio_mode_t m
  *
  * @return
  *     - ESP_OK Success
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_pullup_en(gpio_num_t gpio_num);
 
@@ -142,7 +140,7 @@ esp_err_t rtc_gpio_pullup_en(gpio_num_t gpio_num);
  *
  * @return
  *     - ESP_OK Success
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_pulldown_en(gpio_num_t gpio_num);
 
@@ -156,7 +154,7 @@ esp_err_t rtc_gpio_pulldown_en(gpio_num_t gpio_num);
  *
  * @return
  *     - ESP_OK Success
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_pullup_dis(gpio_num_t gpio_num);
 
@@ -170,7 +168,7 @@ esp_err_t rtc_gpio_pullup_dis(gpio_num_t gpio_num);
  *
  * @return
  *     - ESP_OK Success
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_pulldown_dis(gpio_num_t gpio_num);
 
@@ -225,7 +223,7 @@ esp_err_t rtc_gpio_iomux_func_sel(gpio_num_t gpio_num, int func);
  * @param gpio_num GPIO number (e.g. GPIO_NUM_12)
  * @return
  *     - ESP_OK Success
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_hold_en(gpio_num_t gpio_num);
 
@@ -239,7 +237,7 @@ esp_err_t rtc_gpio_hold_en(gpio_num_t gpio_num);
  * @param gpio_num GPIO number (e.g. GPIO_NUM_12)
  * @return
  *     - ESP_OK Success
- *     - ESP_ERR_INVALID_ARG GPIO is not an RTC IO
+ *     - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_hold_dis(gpio_num_t gpio_num);
 
@@ -275,8 +273,8 @@ esp_err_t rtc_gpio_force_hold_dis_all(void);
  *
  * @param gpio_num GPIO number (e.g. GPIO_NUM_12).
  * @return
- *      - ESP_OK on success
- *      - ESP_ERR_INVALID_ARG if GPIO is not an RTC IO
+ *      - ESP_OK Success
+ *      - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_isolate(gpio_num_t gpio_num);
 #endif // SOC_RTCIO_HOLD_SUPPORTED && SOC_RTCIO_INPUT_OUTPUT_SUPPORTED
@@ -289,8 +287,8 @@ esp_err_t rtc_gpio_isolate(gpio_num_t gpio_num);
  * @param intr_type  Wakeup on high level (GPIO_INTR_HIGH_LEVEL) or low level
  *                   (GPIO_INTR_LOW_LEVEL)
  * @return
- *      - ESP_OK on success
- *      - ESP_ERR_INVALID_ARG if gpio_num is not an RTC IO, or intr_type is not
+ *      - ESP_OK Success
+ *      - ESP_ERR_INVALID_ARG The IO is not an RTC IO, or intr_type is not
  *        one of GPIO_INTR_HIGH_LEVEL, GPIO_INTR_LOW_LEVEL.
  */
 esp_err_t rtc_gpio_wakeup_enable(gpio_num_t gpio_num, gpio_int_type_t intr_type);
@@ -299,8 +297,8 @@ esp_err_t rtc_gpio_wakeup_enable(gpio_num_t gpio_num, gpio_int_type_t intr_type)
  * @brief Disable wakeup from sleep mode using specific GPIO
  * @param gpio_num  GPIO number
  * @return
- *      - ESP_OK on success
- *      - ESP_ERR_INVALID_ARG if gpio_num is not an RTC IO
+ *      - ESP_OK Success
+ *      - ESP_ERR_INVALID_ARG The IO is not an RTC IO
  */
 esp_err_t rtc_gpio_wakeup_disable(gpio_num_t gpio_num);
 
diff --git a/components/esp_driver_gpio/src/rtc_io.c b/components/esp_driver_gpio/src/rtc_io.c
index d6bd9a6b7e..65ee7b9f17 100644
--- a/components/esp_driver_gpio/src/rtc_io.c
+++ b/components/esp_driver_gpio/src/rtc_io.c
@@ -11,8 +11,6 @@
 #include "esp_private/periph_ctrl.h"
 #include "esp_private/io_mux.h"
 #include "freertos/FreeRTOS.h"
-#include "freertos/semphr.h"
-#include "freertos/timers.h"
 #include "driver/rtc_io.h"
 #include "driver/lp_io.h"
 #include "hal/rtc_io_hal.h"
diff --git a/components/esp_hw_support/sleep_modes.c b/components/esp_hw_support/sleep_modes.c
index b09f995536..0972844e05 100644
--- a/components/esp_hw_support/sleep_modes.c
+++ b/components/esp_hw_support/sleep_modes.c
@@ -31,6 +31,7 @@
 #include "soc/spi_pins.h"
 #include "soc/chip_revision.h"
 #include "driver/rtc_io.h"
+#include "driver/gpio.h"
 #include "hal/efuse_hal.h"
 #include "hal/rtc_io_hal.h"
 #include "hal/clk_tree_hal.h"
@@ -1938,7 +1939,7 @@ static void ext1_wakeup_prepare(void)
 {
     // Configure all RTC IOs selected as ext1 wakeup inputs
     uint32_t rtc_gpio_mask = s_config.ext1_rtc_gpio_mask;
-    for (int gpio = 0; gpio < GPIO_PIN_COUNT && rtc_gpio_mask != 0; ++gpio) {
+    for (int gpio = 0; gpio < SOC_GPIO_PIN_COUNT && rtc_gpio_mask != 0; ++gpio) {
         int rtc_pin = rtc_io_number_get(gpio);
         if ((rtc_gpio_mask & BIT(rtc_pin)) == 0) {
             continue;
@@ -1987,7 +1988,7 @@ uint64_t esp_sleep_get_ext1_wakeup_status(void)
     uint32_t status = rtc_hal_ext1_get_wakeup_status();
     // Translate bit map of RTC IO numbers into the bit map of GPIO numbers
     uint64_t gpio_mask = 0;
-    for (int gpio = 0; gpio < GPIO_PIN_COUNT; ++gpio) {
+    for (int gpio = 0; gpio < SOC_GPIO_PIN_COUNT; ++gpio) {
         if (!esp_sleep_is_valid_wakeup_gpio(gpio)) {
             continue;
         }
diff --git a/components/esp_system/test_apps/esp_system_unity_tests/main/test_sleep.c b/components/esp_system/test_apps/esp_system_unity_tests/main/test_sleep.c
index 4dda52f60f..8dd7d9e733 100644
--- a/components/esp_system/test_apps/esp_system_unity_tests/main/test_sleep.c
+++ b/components/esp_system/test_apps/esp_system_unity_tests/main/test_sleep.c
@@ -9,7 +9,6 @@
 #include <sys/param.h>
 #include "esp_sleep.h"
 #include "esp_private/esp_sleep_internal.h"
-#include "driver/rtc_io.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "freertos/semphr.h"
@@ -17,6 +16,8 @@
 #include "hal/uart_types.h"
 #include "hal/uart_ll.h"
 #include "driver/uart.h"
+#include "driver/rtc_io.h"
+#include "driver/gpio.h"
 #include "soc/rtc.h"            // for wakeup trigger defines
 #include "soc/rtc_periph.h"     // for read rtc registers directly (cause)
 #include "soc/soc.h"            // for direct register read macros
diff --git a/examples/bluetooth/nimble/throughput_app/blecent_throughput/components/cmd_system/cmd_system.c b/examples/bluetooth/nimble/throughput_app/blecent_throughput/components/cmd_system/cmd_system.c
index b39ba53ff6..d67108acd8 100644
--- a/examples/bluetooth/nimble/throughput_app/blecent_throughput/components/cmd_system/cmd_system.c
+++ b/examples/bluetooth/nimble/throughput_app/blecent_throughput/components/cmd_system/cmd_system.c
@@ -13,6 +13,7 @@
 #include "esp_sleep.h"
 #include "esp_flash.h"
 #include "driver/rtc_io.h"
+#include "driver/gpio.h"
 #include "driver/uart.h"
 #include "argtable3/argtable3.h"
 #include "freertos/FreeRTOS.h"
diff --git a/examples/system/console/advanced/components/cmd_system/cmd_system_sleep.c b/examples/system/console/advanced/components/cmd_system/cmd_system_sleep.c
index 4aad14d6f3..4dc434b041 100644
--- a/examples/system/console/advanced/components/cmd_system/cmd_system_sleep.c
+++ b/examples/system/console/advanced/components/cmd_system/cmd_system_sleep.c
@@ -22,6 +22,7 @@
 #include "esp_chip_info.h"
 #include "esp_sleep.h"
 #include "driver/rtc_io.h"
+#include "driver/gpio.h"
 #include "driver/uart.h"
 #include "argtable3/argtable3.h"
 #include "cmd_system.h"