diff --git a/components/bt/host/nimble/Kconfig.in b/components/bt/host/nimble/Kconfig.in
index f65af0716c..7d11191e1f 100644
--- a/components/bt/host/nimble/Kconfig.in
+++ b/components/bt/host/nimble/Kconfig.in
@@ -1101,8 +1101,7 @@ config BT_NIMBLE_HIGH_DUTY_ADV_ITVL
 
 config BT_NIMBLE_HOST_ALLOW_CONNECT_WITH_SCAN
     bool "Allow Connections with scanning in progress"
-    depends on BT_NIMBLE_ENABLED
-    depends on (!SOC_ESP_NIMBLE_CONTROLLER || IDF_TARGET_ESP32C6 || IDF_TARGET_ESP32H2)
+    depends on BT_NIMBLE_ENABLED && !(IDF_TARGET_ESP32C2)
     help
         This enables support for user to initiate a new connection with scan in progress
 
diff --git a/components/bt/host/nimble/nimble b/components/bt/host/nimble/nimble
index 6fb5ece270..1fdde6f555 160000
--- a/components/bt/host/nimble/nimble
+++ b/components/bt/host/nimble/nimble
@@ -1 +1 @@
-Subproject commit 6fb5ece2706550ce8027b68cb7bbf3b24f65050c
+Subproject commit 1fdde6f555b6e9f14a38e6c7eb755a88149c18e7