diff --git a/components/driver/deprecated/adc_legacy.c b/components/driver/deprecated/adc_legacy.c
index da6f018c49..2b11ec348e 100644
--- a/components/driver/deprecated/adc_legacy.c
+++ b/components/driver/deprecated/adc_legacy.c
@@ -17,9 +17,8 @@
 #include "esp_pm.h"
 #include "soc/rtc.h"
 #include "soc/soc_caps.h"
-#include "driver/rtc_io.h"
+#include "esp_private/gpio.h"
 #include "sys/lock.h"
-#include "driver/gpio.h"
 #include "esp_private/adc_share_hw_ctrl.h"
 #include "esp_private/sar_periph_ctrl.h"
 #include "adc1_private.h"
@@ -175,7 +174,6 @@ static void adc_rtc_chan_init(adc_unit_t adc_unit)
 esp_err_t adc_common_gpio_init(adc_unit_t adc_unit, adc_channel_t channel)
 {
     ESP_RETURN_ON_FALSE(channel < SOC_ADC_CHANNEL_NUM(adc_unit), ESP_ERR_INVALID_ARG, ADC_TAG, "invalid channel");
-#if ADC_LL_RTC_GPIO_SUPPORTED
     gpio_num_t gpio_num = 0;
     //If called with `ADC_UNIT_BOTH (ADC_UNIT_1 | ADC_UNIT_2)`, both if blocks will be run
     if (adc_unit == ADC_UNIT_1) {
@@ -186,13 +184,7 @@ esp_err_t adc_common_gpio_init(adc_unit_t adc_unit, adc_channel_t channel)
     } else {
         return ESP_ERR_INVALID_ARG;
     }
-
-    ESP_RETURN_ON_ERROR(rtc_gpio_init(gpio_num), ADC_TAG, "rtc_gpio_init fail");
-    ESP_RETURN_ON_ERROR(rtc_gpio_set_direction(gpio_num, RTC_GPIO_MODE_DISABLED), ADC_TAG, "rtc_gpio_set_direction fail");
-    ESP_RETURN_ON_ERROR(rtc_gpio_pulldown_dis(gpio_num), ADC_TAG, "rtc_gpio_pulldown_dis fail");
-    ESP_RETURN_ON_ERROR(rtc_gpio_pullup_dis(gpio_num), ADC_TAG, "rtc_gpio_pullup_dis fail");
-#endif
-    return ESP_OK;
+    return gpio_config_as_analog(gpio_num);
 }
 
 esp_err_t adc_set_data_inv(adc_unit_t adc_unit, bool inv_en)
@@ -678,7 +670,6 @@ static int8_t adc_digi_get_io_num(adc_unit_t adc_unit, uint8_t adc_channel)
 static esp_err_t adc_digi_gpio_init(adc_unit_t adc_unit, uint16_t channel_mask)
 {
     esp_err_t ret = ESP_OK;
-    uint64_t gpio_mask = 0;
     uint32_t n = 0;
     int8_t io = 0;
 
@@ -688,18 +679,11 @@ static esp_err_t adc_digi_gpio_init(adc_unit_t adc_unit, uint16_t channel_mask)
             if (io < 0) {
                 return ESP_ERR_INVALID_ARG;
             }
-            gpio_mask |= BIT64(io);
+            gpio_config_as_analog(io);
         }
         channel_mask = channel_mask >> 1;
         n++;
     }
-
-    gpio_config_t cfg = {
-        .pin_bit_mask = gpio_mask,
-        .mode = GPIO_MODE_DISABLE,
-    };
-    ret = gpio_config(&cfg);
-
     return ret;
 }
 
diff --git a/components/driver/deprecated/dac_common_legacy.c b/components/driver/deprecated/dac_common_legacy.c
index 603363e42f..38bbb1fb34 100644
--- a/components/driver/deprecated/dac_common_legacy.c
+++ b/components/driver/deprecated/dac_common_legacy.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2019-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2019-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -7,7 +7,7 @@
 #include <string.h>
 #include "esp_check.h"
 #include "freertos/FreeRTOS.h"
-#include "driver/rtc_io.h"
+#include "esp_private/gpio.h"
 #include "driver/dac_types_legacy.h"
 #include "soc/dac_periph.h"
 #include "hal/gpio_types.h"
@@ -36,10 +36,7 @@ static esp_err_t dac_rtc_pad_init(dac_channel_t channel)
 
     gpio_num_t gpio_num = 0;
     dac_pad_get_io_num(channel, &gpio_num);
-    rtc_gpio_init(gpio_num);
-    rtc_gpio_set_direction(gpio_num, RTC_GPIO_MODE_DISABLED);
-    rtc_gpio_pullup_dis(gpio_num);
-    rtc_gpio_pulldown_dis(gpio_num);
+    gpio_config_as_analog(gpio_num);
 
     return ESP_OK;
 }
diff --git a/components/driver/test_apps/legacy_adc_driver/main/test_legacy_adc.c b/components/driver/test_apps/legacy_adc_driver/main/test_legacy_adc.c
index 327fefa051..ddf4b3e2e5 100644
--- a/components/driver/test_apps/legacy_adc_driver/main/test_legacy_adc.c
+++ b/components/driver/test_apps/legacy_adc_driver/main/test_legacy_adc.c
@@ -111,17 +111,17 @@ void test_adc_set_io_level(adc_unit_t unit, adc_channel_t channel, bool level)
 {
     TEST_ASSERT(channel < SOC_ADC_CHANNEL_NUM(unit) && "invalid channel");
 
-#if !ADC_LL_RTC_GPIO_SUPPORTED
     uint32_t io_num = ADC_GET_IO_NUM(unit, channel);
     TEST_ESP_OK(gpio_set_pull_mode(io_num, (level ? GPIO_PULLUP_ONLY : GPIO_PULLDOWN_ONLY)));
-#else
-    gpio_num_t io_num = ADC_GET_IO_NUM(unit, channel);
-    if (level) {
-        TEST_ESP_OK(rtc_gpio_pullup_en(io_num));
-        TEST_ESP_OK(rtc_gpio_pulldown_dis(io_num));
-    } else {
-        TEST_ESP_OK(rtc_gpio_pullup_dis(io_num));
-        TEST_ESP_OK(rtc_gpio_pulldown_en(io_num));
+#if SOC_RTCIO_INPUT_OUTPUT_SUPPORTED
+    if (rtc_gpio_is_valid_gpio(io_num)) {
+        if (level) {
+            TEST_ESP_OK(rtc_gpio_pullup_en(io_num));
+            TEST_ESP_OK(rtc_gpio_pulldown_dis(io_num));
+        } else {
+            TEST_ESP_OK(rtc_gpio_pullup_dis(io_num));
+            TEST_ESP_OK(rtc_gpio_pulldown_en(io_num));
+        }
     }
 #endif
 }
diff --git a/components/driver/touch_sensor/touch_sensor_common.c b/components/driver/touch_sensor/touch_sensor_common.c
index 1c901dc0be..97d44aaa89 100644
--- a/components/driver/touch_sensor/touch_sensor_common.c
+++ b/components/driver/touch_sensor/touch_sensor_common.c
@@ -15,9 +15,8 @@
 #include "freertos/semphr.h"
 #include "freertos/timers.h"
 #include "esp_intr_alloc.h"
-#include "driver/rtc_io.h"
 #include "esp_private/rtc_ctrl.h"
-#include "driver/gpio.h"
+#include "esp_private/gpio.h"
 #include "hal/touch_sensor_legacy_types.h"
 #include "hal/touch_sensor_hal.h"
 
@@ -121,11 +120,7 @@ esp_err_t touch_pad_io_init(touch_pad_t touch_num)
 {
     TOUCH_CHANNEL_CHECK(touch_num);
     gpio_num_t gpio_num = TOUCH_GET_IO_NUM(touch_num);
-    rtc_gpio_init(gpio_num);
-    rtc_gpio_set_direction(gpio_num, RTC_GPIO_MODE_DISABLED);
-    rtc_gpio_pulldown_dis(gpio_num);
-    rtc_gpio_pullup_dis(gpio_num);
-    return ESP_OK;
+    return gpio_config_as_analog(gpio_num);
 }
 
 esp_err_t touch_pad_fsm_start(void)
diff --git a/components/esp_adc/adc_continuous.c b/components/esp_adc/adc_continuous.c
index 267afcfb19..ab63bf393d 100644
--- a/components/esp_adc/adc_continuous.c
+++ b/components/esp_adc/adc_continuous.c
@@ -30,7 +30,7 @@
 #include "esp_private/adc_share_hw_ctrl.h"
 #include "esp_private/sar_periph_ctrl.h"
 #include "esp_clk_tree.h"
-#include "driver/gpio.h"
+#include "esp_private/gpio.h"
 #include "esp_adc/adc_continuous.h"
 #include "hal/adc_types.h"
 #include "hal/adc_hal.h"
@@ -132,15 +132,15 @@ static IRAM_ATTR bool adc_dma_intr(adc_continuous_ctx_t *adc_digi_ctx)
 
 static int8_t adc_digi_get_io_num(adc_unit_t adc_unit, uint8_t adc_channel)
 {
-    assert(adc_unit < SOC_ADC_PERIPH_NUM);
-    uint8_t adc_n = (adc_unit == ADC_UNIT_1) ? 0 : 1;
-    return adc_channel_io_map[adc_n][adc_channel];
+    if (adc_unit >= 0 && adc_unit < SOC_ADC_PERIPH_NUM) {
+        return adc_channel_io_map[adc_unit][adc_channel];
+    }
+    return -1;
 }
 
 static esp_err_t adc_digi_gpio_init(adc_unit_t adc_unit, uint16_t channel_mask)
 {
     esp_err_t ret = ESP_OK;
-    uint64_t gpio_mask = 0;
     uint32_t n = 0;
     int8_t io = 0;
 
@@ -150,18 +150,11 @@ static esp_err_t adc_digi_gpio_init(adc_unit_t adc_unit, uint16_t channel_mask)
             if (io < 0) {
                 return ESP_ERR_INVALID_ARG;
             }
-            gpio_mask |= BIT64(io);
+            gpio_config_as_analog(io);
         }
         channel_mask = channel_mask >> 1;
         n++;
     }
-
-    gpio_config_t cfg = {
-        .pin_bit_mask = gpio_mask,
-        .mode = GPIO_MODE_DISABLE,
-    };
-    ret = gpio_config(&cfg);
-
     return ret;
 }
 
diff --git a/components/esp_adc/adc_oneshot.c b/components/esp_adc/adc_oneshot.c
index ffc72dc041..c49b4dc247 100644
--- a/components/esp_adc/adc_oneshot.c
+++ b/components/esp_adc/adc_oneshot.c
@@ -17,8 +17,7 @@
 #include "esp_check.h"
 #include "esp_heap_caps.h"
 #include "freertos/FreeRTOS.h"
-#include "driver/gpio.h"
-#include "driver/rtc_io.h"
+#include "esp_private/gpio.h"
 #include "esp_adc/adc_oneshot.h"
 #include "esp_clk_tree.h"
 #include "esp_private/adc_private.h"
@@ -293,27 +292,7 @@ esp_err_t adc_oneshot_get_calibrated_result(adc_oneshot_unit_handle_t handle, ad
 static esp_err_t s_adc_io_init(adc_unit_t unit, adc_channel_t channel)
 {
     ESP_RETURN_ON_FALSE(channel < SOC_ADC_CHANNEL_NUM(unit), ESP_ERR_INVALID_ARG, TAG, "invalid channel");
-
-#if !ADC_LL_RTC_GPIO_SUPPORTED
-
-    uint32_t io_num = ADC_GET_IO_NUM(unit, channel);
-    gpio_config_t cfg = {
-        .pin_bit_mask = BIT64(io_num),
-        .mode = GPIO_MODE_DISABLE,
-        .pull_up_en = GPIO_PULLUP_DISABLE,
-        .pull_down_en = GPIO_PULLDOWN_DISABLE,
-        .intr_type = GPIO_INTR_DISABLE,
-    };
-    ESP_RETURN_ON_ERROR(gpio_config(&cfg), TAG, "IO config fail");
-#else
-    gpio_num_t io_num = ADC_GET_IO_NUM(unit, channel);
-    ESP_RETURN_ON_ERROR(rtc_gpio_init(io_num), TAG, "IO config fail");
-    ESP_RETURN_ON_ERROR(rtc_gpio_set_direction(io_num, RTC_GPIO_MODE_DISABLED), TAG, "IO config fail");
-    ESP_RETURN_ON_ERROR(rtc_gpio_pulldown_dis(io_num), TAG, "IO config fail");
-    ESP_RETURN_ON_ERROR(rtc_gpio_pullup_dis(io_num), TAG, "IO config fail");
-#endif
-
-    return ESP_OK;
+    return gpio_config_as_analog(ADC_GET_IO_NUM(unit, channel));
 }
 
 static bool s_adc_unit_claim(adc_unit_t unit)
diff --git a/components/esp_adc/test_apps/adc/main/test_common_adc.c b/components/esp_adc/test_apps/adc/main/test_common_adc.c
index 417d1d5b9e..6d7564ddc1 100644
--- a/components/esp_adc/test_apps/adc/main/test_common_adc.c
+++ b/components/esp_adc/test_apps/adc/main/test_common_adc.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Unlicense OR CC0-1.0
  */
@@ -99,19 +99,18 @@ void test_adc_set_io_level(adc_unit_t unit, adc_channel_t channel, bool level)
 {
     TEST_ASSERT(channel < SOC_ADC_CHANNEL_NUM(unit) && "invalid channel");
 
-#if !ADC_LL_RTC_GPIO_SUPPORTED
     uint32_t io_num = ADC_GET_IO_NUM(unit, channel);
     TEST_ESP_OK(gpio_set_pull_mode(io_num, (level ? GPIO_PULLUP_ONLY : GPIO_PULLDOWN_ONLY)));
-#else
-    gpio_num_t io_num = ADC_GET_IO_NUM(unit, channel);
-    if (level) {
-        TEST_ESP_OK(rtc_gpio_pullup_en(io_num));
-        TEST_ESP_OK(rtc_gpio_pulldown_dis(io_num));
-    } else {
-        TEST_ESP_OK(rtc_gpio_pullup_dis(io_num));
-        TEST_ESP_OK(rtc_gpio_pulldown_en(io_num));
+#if SOC_RTCIO_INPUT_OUTPUT_SUPPORTED
+    if (rtc_gpio_is_valid_gpio(io_num)) {
+        if (level) {
+            TEST_ESP_OK(rtc_gpio_pullup_en(io_num));
+            TEST_ESP_OK(rtc_gpio_pulldown_dis(io_num));
+        } else {
+            TEST_ESP_OK(rtc_gpio_pullup_dis(io_num));
+            TEST_ESP_OK(rtc_gpio_pulldown_en(io_num));
+        }
     }
-    TEST_ESP_OK(gpio_set_pull_mode(io_num, (level ? GPIO_PULLUP_ONLY : GPIO_PULLDOWN_ONLY)));
 #endif
 }
 
@@ -120,14 +119,12 @@ void test_adc_set_io_middle(adc_unit_t unit, adc_channel_t channel)
     TEST_ASSERT(channel < SOC_ADC_CHANNEL_NUM(unit) && "invalid channel");
 
     uint32_t io_num = ADC_GET_IO_NUM(unit, channel);
-
-#if !ADC_LL_RTC_GPIO_SUPPORTED
     TEST_ESP_OK(gpio_set_pull_mode(io_num, GPIO_PULLUP_PULLDOWN));
-#else
-    TEST_ESP_OK(rtc_gpio_init(io_num));
-    TEST_ESP_OK(rtc_gpio_pullup_en(io_num));
-    TEST_ESP_OK(rtc_gpio_pulldown_en(io_num));
-    TEST_ESP_OK(rtc_gpio_set_direction(io_num, RTC_GPIO_MODE_DISABLED));
+#if SOC_RTCIO_INPUT_OUTPUT_SUPPORTED
+    if (rtc_gpio_is_valid_gpio(io_num)) {
+        TEST_ESP_OK(rtc_gpio_pullup_en(io_num));
+        TEST_ESP_OK(rtc_gpio_pulldown_en(io_num));
+    }
 #endif
     vTaskDelay(10 / portTICK_PERIOD_MS);
 }
diff --git a/components/esp_driver_ana_cmpr/ana_cmpr.c b/components/esp_driver_ana_cmpr/ana_cmpr.c
index e0dea5e7c4..5ee0b5b403 100644
--- a/components/esp_driver_ana_cmpr/ana_cmpr.c
+++ b/components/esp_driver_ana_cmpr/ana_cmpr.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -25,7 +25,7 @@
 #include "soc/ana_cmpr_periph.h"
 #include "hal/ana_cmpr_ll.h"
 #include "driver/ana_cmpr.h"
-#include "driver/gpio.h"
+#include "esp_private/gpio.h"
 #include "esp_private/io_mux.h"
 #include "esp_private/esp_clk.h"
 
@@ -96,18 +96,11 @@ static void IRAM_ATTR s_ana_cmpr_default_intr_handler(void *usr_data)
 
 static esp_err_t s_ana_cmpr_init_gpio(ana_cmpr_handle_t cmpr, bool is_external_ref)
 {
-    uint64_t pin_mask = BIT64(ana_cmpr_periph[cmpr->unit].src_gpio);
-    if (is_external_ref) {
-        pin_mask |= BIT64(ana_cmpr_periph[cmpr->unit].ext_ref_gpio);
+    esp_err_t err = gpio_config_as_analog(ana_cmpr_periph[cmpr->unit].src_gpio);
+    if (err == ESP_OK && is_external_ref) {
+        err = gpio_config_as_analog(ana_cmpr_periph[cmpr->unit].ext_ref_gpio);
     }
-    gpio_config_t ana_cmpr_gpio_cfg = {
-        .pin_bit_mask = pin_mask,
-        .mode = GPIO_MODE_DISABLE,
-        .pull_up_en = GPIO_PULLUP_DISABLE,
-        .pull_down_en = GPIO_PULLDOWN_DISABLE,
-        .intr_type = GPIO_INTR_DISABLE,
-    };
-    return gpio_config(&ana_cmpr_gpio_cfg);
+    return err;
 }
 
 esp_err_t ana_cmpr_new_unit(const ana_cmpr_config_t *config, ana_cmpr_handle_t *ret_cmpr)
diff --git a/components/esp_driver_ana_cmpr/test_apps/analog_comparator/main/test_ana_cmpr.c b/components/esp_driver_ana_cmpr/test_apps/analog_comparator/main/test_ana_cmpr.c
index 21154fed14..1b99261865 100644
--- a/components/esp_driver_ana_cmpr/test_apps/analog_comparator/main/test_ana_cmpr.c
+++ b/components/esp_driver_ana_cmpr/test_apps/analog_comparator/main/test_ana_cmpr.c
@@ -50,8 +50,6 @@ TEST_CASE("ana_cmpr_unit_install_uninstall", "[ana_cmpr]")
 
 TEST_CASE("ana_cmpr_internal_reference", "[ana_cmpr]")
 {
-    int src_chan = test_init_src_chan_gpio(TEST_ANA_CMPR_UNIT_ID);
-
     uint32_t cnt = 0;
     ana_cmpr_handle_t cmpr = NULL;
     ana_cmpr_config_t config = {
@@ -62,6 +60,7 @@ TEST_CASE("ana_cmpr_internal_reference", "[ana_cmpr]")
         .flags.io_loop_back = 1,
     };
     TEST_ESP_OK(ana_cmpr_new_unit(&config, &cmpr));
+    int src_chan = test_init_src_chan_gpio(TEST_ANA_CMPR_UNIT_ID);
     ana_cmpr_internal_ref_config_t ref_cfg = {
         .ref_volt = ANA_CMPR_REF_VOLT_50_PCT_VDD,
     };
diff --git a/components/esp_driver_ana_cmpr/test_apps/analog_comparator/main/test_ana_cmpr_common.c b/components/esp_driver_ana_cmpr/test_apps/analog_comparator/main/test_ana_cmpr_common.c
index 7f5c3e0889..4a327b97e8 100644
--- a/components/esp_driver_ana_cmpr/test_apps/analog_comparator/main/test_ana_cmpr_common.c
+++ b/components/esp_driver_ana_cmpr/test_apps/analog_comparator/main/test_ana_cmpr_common.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -7,6 +7,7 @@
 #include "test_ana_cmpr.h"
 #include "hal/gpio_ll.h"
 #include "driver/gpio.h"
+#include "esp_private/gpio.h"
 #include "esp_attr.h"
 
 bool IRAM_ATTR test_ana_cmpr_on_cross_callback(ana_cmpr_handle_t cmpr, const ana_cmpr_cross_event_data_t *edata, void *user_ctx)
@@ -21,15 +22,8 @@ int test_init_src_chan_gpio(int unit_id)
     int src_chan_num = -1;
     TEST_ESP_OK(ana_cmpr_get_gpio(unit_id, ANA_CMPR_SOURCE_CHAN, &src_chan_num));
     TEST_ASSERT(src_chan_num > 0);
-    gpio_config_t io_conf = {
-        .intr_type = GPIO_INTR_DISABLE,
-        .mode = GPIO_MODE_OUTPUT,
-        .pin_bit_mask = (1ULL << src_chan_num),
-        .pull_down_en = false,
-        .pull_up_en = false,
-    };
-    TEST_ESP_OK(gpio_config(&io_conf));
     TEST_ESP_OK(gpio_set_level(src_chan_num, 0));
+    TEST_ESP_OK(gpio_output_enable(src_chan_num));
     return src_chan_num;
 }
 
diff --git a/components/esp_driver_dac/dac_common.c b/components/esp_driver_dac/dac_common.c
index 26cd466b5b..d56e82b997 100644
--- a/components/esp_driver_dac/dac_common.c
+++ b/components/esp_driver_dac/dac_common.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -11,7 +11,7 @@
 #include "soc/dac_periph.h"
 #include "hal/dac_types.h"
 #include "hal/dac_ll.h"
-#include "driver/rtc_io.h"
+#include "esp_private/gpio.h"
 #include "esp_check.h"
 #include "dac_priv_common.h"
 
@@ -70,10 +70,7 @@ esp_err_t dac_priv_enable_channel(dac_channel_t chan_id)
     ESP_RETURN_ON_FALSE(s_dac_chan[chan_id].in_use, ESP_ERR_INVALID_STATE, TAG, "the channel is not registered");
 
     gpio_num_t gpio_num = (gpio_num_t)dac_periph_signal.dac_channel_io_num[chan_id];
-    rtc_gpio_init(gpio_num);
-    rtc_gpio_set_direction(gpio_num, RTC_GPIO_MODE_DISABLED);
-    rtc_gpio_pullup_dis(gpio_num);
-    rtc_gpio_pulldown_dis(gpio_num);
+    gpio_config_as_analog(gpio_num);
     DAC_RTC_ENTER_CRITICAL();
     dac_ll_power_on(chan_id);
     dac_ll_rtc_sync_by_adc(false);
@@ -87,8 +84,6 @@ esp_err_t dac_priv_disable_channel(dac_channel_t chan_id)
     ESP_RETURN_ON_FALSE(chan_id < SOC_DAC_CHAN_NUM, ESP_ERR_INVALID_ARG, TAG, "channel id is invalid");
     ESP_RETURN_ON_FALSE(s_dac_chan[chan_id].in_use, ESP_ERR_INVALID_STATE, TAG, "the channel is not registered");
 
-    gpio_num_t gpio_num = (gpio_num_t)dac_periph_signal.dac_channel_io_num[chan_id];
-    rtc_gpio_deinit(gpio_num);
     DAC_RTC_ENTER_CRITICAL();
     dac_ll_power_down(chan_id);
     DAC_RTC_EXIT_CRITICAL();
diff --git a/components/esp_driver_gpio/README.md b/components/esp_driver_gpio/README.md
index 26fd08afb3..40ecb1cb5d 100644
--- a/components/esp_driver_gpio/README.md
+++ b/components/esp_driver_gpio/README.md
@@ -23,3 +23,7 @@ If the signal is routed through IO MUX to the pin, then call `gpio_iomux_out` to
 If the signal is routed through GPIO Matrix to the pin, then first call `gpio_func_sel` to let the pin use `PIN_FUNC_GPIO` function, follow by calling `gpio_input_enable` and `esp_rom_gpio_connect_in_signal` to enable the input and connect the signal to the pin.
 
 When a peripheral driver does de-initialization, to de-configure the pin as the peripheral signal input, use `esp_rom_gpio_connect_in_signal` to connect the signal to CONST_ONE or CONST_ZERO, so that it is disconnected from the pin. It is not desired to call `gpio_input_disable`, because there might be other drivers still using this pin as an input.
+
+# Configure an IO as analog function
+
+When the pin is used for analog purpose, the pin needs to be left floating, so that the external analog signal is directly connected to internal analog signal. A call to `gpio_config_as_analog` will handle all the necessary IO configurations.
diff --git a/components/esp_driver_gpio/include/esp_private/gpio.h b/components/esp_driver_gpio/include/esp_private/gpio.h
index 2e06192f63..ce4d84a7bd 100644
--- a/components/esp_driver_gpio/include/esp_private/gpio.h
+++ b/components/esp_driver_gpio/include/esp_private/gpio.h
@@ -96,6 +96,16 @@ esp_err_t gpio_od_disable(gpio_num_t gpio_num);
  */
 esp_err_t gpio_od_enable(gpio_num_t gpio_num);
 
+/**
+ * @brief Configure the pin to be used for analog purpose (such as ADC, touch, etc.)
+ *
+ * @param gpio_num GPIO number
+ * @return
+ *      - ESP_OK Success
+ *      - ESP_ERR_INVALID_ARG GPIO number error
+ */
+esp_err_t gpio_config_as_analog(gpio_num_t gpio_num);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp_driver_gpio/src/gpio.c b/components/esp_driver_gpio/src/gpio.c
index bcf512ca14..9d088a1ed0 100644
--- a/components/esp_driver_gpio/src/gpio.c
+++ b/components/esp_driver_gpio/src/gpio.c
@@ -433,6 +433,26 @@ esp_err_t gpio_config(const gpio_config_t *pGPIOConfig)
     return ESP_OK;
 }
 
+esp_err_t gpio_config_as_analog(gpio_num_t gpio_num)
+{
+    GPIO_CHECK(GPIO_IS_VALID_GPIO(gpio_num), "GPIO number error", ESP_ERR_INVALID_ARG);
+    // To be used for analog function, the pin needs to be left floating
+    gpio_input_disable(gpio_num);
+    gpio_output_disable(gpio_num);
+    gpio_pullup_dis(gpio_num);
+    gpio_pulldown_dis(gpio_num);
+    gpio_hal_func_sel(gpio_context.gpio_hal, gpio_num, PIN_FUNC_GPIO);
+#if SOC_RTCIO_INPUT_OUTPUT_SUPPORTED
+    if (rtc_gpio_is_valid_gpio(gpio_num)) {
+        rtc_gpio_deinit(gpio_num);
+        rtc_gpio_set_direction(gpio_num, RTC_GPIO_MODE_DISABLED);
+        rtc_gpio_pullup_dis(gpio_num);
+        rtc_gpio_pulldown_dis(gpio_num);
+    }
+#endif
+    return ESP_OK;
+}
+
 esp_err_t gpio_reset_pin(gpio_num_t gpio_num)
 {
     assert(GPIO_IS_VALID_GPIO(gpio_num));
diff --git a/components/esp_driver_gpio/src/rtc_io.c b/components/esp_driver_gpio/src/rtc_io.c
index 65ee7b9f17..30bc6fffae 100644
--- a/components/esp_driver_gpio/src/rtc_io.c
+++ b/components/esp_driver_gpio/src/rtc_io.c
@@ -239,8 +239,10 @@ esp_err_t rtc_gpio_force_hold_dis_all(void)
 esp_err_t rtc_gpio_isolate(gpio_num_t gpio_num)
 {
     ESP_RETURN_ON_FALSE(rtc_gpio_is_valid_gpio(gpio_num), ESP_ERR_INVALID_ARG, RTCIO_TAG, "RTCIO number error");
+    int rtcio_num = rtc_io_number_get(gpio_num);
     RTCIO_ENTER_CRITICAL();
-    rtcio_hal_isolate(rtc_io_number_get(gpio_num));
+    rtcio_hal_isolate(rtcio_num);
+    rtcio_hal_hold_enable(rtcio_num);
     RTCIO_EXIT_CRITICAL();
 
     return ESP_OK;
diff --git a/components/esp_driver_touch_sens/common/touch_sens_common.c b/components/esp_driver_touch_sens/common/touch_sens_common.c
index f13f47848d..505d776f8e 100644
--- a/components/esp_driver_touch_sens/common/touch_sens_common.c
+++ b/components/esp_driver_touch_sens/common/touch_sens_common.c
@@ -12,7 +12,7 @@
 #include "soc/rtc.h"
 #include "soc/clk_tree_defs.h"
 #include "soc/touch_sensor_periph.h"
-#include "driver/rtc_io.h"
+#include "esp_private/gpio.h"
 #include "driver/touch_sens.h"
 
 #if SOC_TOUCH_SENSOR_VERSION <= 2
@@ -42,10 +42,7 @@ touch_sensor_handle_t g_touch = NULL;
 static void touch_channel_pin_init(int id)
 {
     gpio_num_t pin = touch_sensor_channel_io_map[id];
-    rtc_gpio_init(pin);
-    rtc_gpio_set_direction(pin, RTC_GPIO_MODE_DISABLED);
-    rtc_gpio_pulldown_dis(pin);
-    rtc_gpio_pullup_dis(pin);
+    gpio_config_as_analog(pin);
 }
 
 static void s_touch_free_resource(touch_sensor_handle_t sens_handle)
diff --git a/components/hal/esp32/include/hal/adc_ll.h b/components/hal/esp32/include/hal/adc_ll.h
index 8f412ea3d6..374be22c64 100644
--- a/components/hal/esp32/include/hal/adc_ll.h
+++ b/components/hal/esp32/include/hal/adc_ll.h
@@ -31,7 +31,6 @@ extern "C" {
 #define ADC_LL_DATA_INVERT_DEFAULT(PERIPH_NUM)         (1)
 #define ADC_LL_SAR_CLK_DIV_DEFAULT(PERIPH_NUM)         (1)
 #define ADC_LL_DELAY_CYCLE_AFTER_DONE_SIGNAL           (0)
-#define ADC_LL_RTC_GPIO_SUPPORTED                      (1)
 
 /*---------------------------------------------------------------
                     DMA
diff --git a/components/hal/esp32s2/include/hal/adc_ll.h b/components/hal/esp32s2/include/hal/adc_ll.h
index d0b558cc61..add16dc3c9 100644
--- a/components/hal/esp32s2/include/hal/adc_ll.h
+++ b/components/hal/esp32s2/include/hal/adc_ll.h
@@ -42,7 +42,6 @@ extern "C" {
 #define ADC_LL_DATA_INVERT_DEFAULT(PERIPH_NUM)         (0)
 #define ADC_LL_SAR_CLK_DIV_DEFAULT(PERIPH_NUM)         (1)
 #define ADC_LL_DELAY_CYCLE_AFTER_DONE_SIGNAL           (0)
-#define ADC_LL_RTC_GPIO_SUPPORTED                      (1)
 
 /*---------------------------------------------------------------
                     DMA
diff --git a/components/hal/esp32s3/include/hal/adc_ll.h b/components/hal/esp32s3/include/hal/adc_ll.h
index ec8180c048..6911924b0d 100644
--- a/components/hal/esp32s3/include/hal/adc_ll.h
+++ b/components/hal/esp32s3/include/hal/adc_ll.h
@@ -44,7 +44,6 @@ extern "C" {
 #define ADC_LL_DATA_INVERT_DEFAULT(PERIPH_NUM)         (0)
 #define ADC_LL_SAR_CLK_DIV_DEFAULT(PERIPH_NUM)         (1)
 #define ADC_LL_DELAY_CYCLE_AFTER_DONE_SIGNAL           (0)
-#define ADC_LL_RTC_GPIO_SUPPORTED                      (1)
 
 /*---------------------------------------------------------------
                     DMA
diff --git a/components/hal/rtc_io_hal.c b/components/hal/rtc_io_hal.c
index ce88795642..2d38e7d3bb 100644
--- a/components/hal/rtc_io_hal.c
+++ b/components/hal/rtc_io_hal.c
@@ -77,15 +77,12 @@ void rtcio_hal_set_direction_in_sleep(int rtcio_num, rtc_gpio_mode_t mode)
     }
 }
 
-#if SOC_RTCIO_HOLD_SUPPORTED
 void rtcio_hal_isolate(int rtcio_num)
 {
     rtcio_ll_pullup_disable(rtcio_num);
     rtcio_ll_pulldown_disable(rtcio_num);
     rtcio_ll_output_disable(rtcio_num);
     rtcio_ll_input_disable(rtcio_num);
-    rtcio_ll_force_hold_enable(rtcio_num);
 }
-#endif
 
 #endif //SOC_RTCIO_INPUT_OUTPUT_SUPPORTED
diff --git a/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/test_lp_core_adc.c b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/test_lp_core_adc.c
index a44570a5ac..d026da4e45 100644
--- a/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/test_lp_core_adc.c
+++ b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/test_lp_core_adc.c
@@ -12,6 +12,7 @@
 #include "ulp_lp_core_lp_adc_shared.h"
 #include "soc/adc_periph.h"
 #include "driver/gpio.h"
+#include "driver/rtc_io.h"
 #include "driver/temperature_sensor.h"
 
 #include "unity.h"
@@ -33,17 +34,17 @@ static void test_adc_set_io_level(adc_unit_t unit, adc_channel_t channel, bool l
 {
     TEST_ASSERT(channel < SOC_ADC_CHANNEL_NUM(unit) && "invalid channel");
 
-#if !ADC_LL_RTC_GPIO_SUPPORTED
     uint32_t io_num = ADC_GET_IO_NUM(unit, channel);
     TEST_ESP_OK(gpio_set_pull_mode(io_num, (level ? GPIO_PULLUP_ONLY : GPIO_PULLDOWN_ONLY)));
-#else
-    gpio_num_t io_num = ADC_GET_IO_NUM(unit, channel);
-    if (level) {
-        TEST_ESP_OK(rtc_gpio_pullup_en(io_num));
-        TEST_ESP_OK(rtc_gpio_pulldown_dis(io_num));
-    } else {
-        TEST_ESP_OK(rtc_gpio_pullup_dis(io_num));
-        TEST_ESP_OK(rtc_gpio_pulldown_en(io_num));
+#if SOC_RTCIO_INPUT_OUTPUT_SUPPORTED
+    if (rtc_gpio_is_valid_gpio(io_num)) {
+        if (level) {
+            TEST_ESP_OK(rtc_gpio_pullup_en(io_num));
+            TEST_ESP_OK(rtc_gpio_pulldown_dis(io_num));
+        } else {
+            TEST_ESP_OK(rtc_gpio_pullup_dis(io_num));
+            TEST_ESP_OK(rtc_gpio_pulldown_en(io_num));
+        }
     }
 #endif
 }