diff --git a/components/driver/test_apps/components/esp_serial_slave_link/CMakeLists.txt b/components/driver/test_apps/components/esp_serial_slave_link/CMakeLists.txt
index 69c0f129bc..7b32461c5f 100644
--- a/components/driver/test_apps/components/esp_serial_slave_link/CMakeLists.txt
+++ b/components/driver/test_apps/components/esp_serial_slave_link/CMakeLists.txt
@@ -1,16 +1,10 @@
-set(srcs "essl.c")
-
-if(CONFIG_SOC_GPSPI_SUPPORTED)
-    list(APPEND srcs "essl_spi.c")
-endif()
-
-if(CONFIG_SOC_SDIO_SLAVE_SUPPORTED)
-    list(APPEND srcs "essl_sdio.c" "essl_sdio_defs.c")
-endif()
-
-idf_component_register(
-    SRCS "${srcs}"
-    INCLUDE_DIRS "include"
-    PRIV_INCLUDE_DIRS "." "include/esp_serial_slave_link"
-    REQUIRES sdmmc driver
+idf_component_register(SRCS "essl.c"
+                "essl_sdio.c"
+                "essl_spi.c"
+                "essl_sdio_defs.c"
+            INCLUDE_DIRS "include"
+            REQUIRES "sdmmc"
+                "driver"
+            PRIV_INCLUDE_DIRS "."
+                "include/esp_serial_slave_link"
 )
diff --git a/components/driver/test_apps/components/test_driver_utils/include/test_dualboard_utils.h b/components/driver/test_apps/components/test_driver_utils/include/test_dualboard_utils.h
index 458da653b5..f0850ef7c6 100644
--- a/components/driver/test_apps/components/test_driver_utils/include/test_dualboard_utils.h
+++ b/components/driver/test_apps/components/test_driver_utils/include/test_dualboard_utils.h
@@ -45,9 +45,10 @@ void test_prepare_buffer_pool(size_t pool_size, uint32_t flags);
  *
  * @param offset           A random offset
  * @param size             Buffer size
+ * @param alignment        Alignment
  * @param[out] out_buffer  Out buffer
  */
-void test_get_buffer_from_pool(uint32_t offset, size_t size, void **out_buffer);
+void test_get_buffer_from_pool(uint32_t offset, size_t size, size_t alignment, void **out_buffer);
 
 /**
  * Destroy the pool
diff --git a/components/driver/test_apps/components/test_driver_utils/test_dualboard_utils.c b/components/driver/test_apps/components/test_driver_utils/test_dualboard_utils.c
index 09b40be494..4d2530b018 100644
--- a/components/driver/test_apps/components/test_driver_utils/test_dualboard_utils.c
+++ b/components/driver/test_apps/components/test_driver_utils/test_dualboard_utils.c
@@ -43,10 +43,10 @@ void test_prepare_buffer_pool(size_t pool_size, uint32_t flags)
     test_fill_random_to_buffer(199, s_pool, pool_size);
 }
 
-void test_get_buffer_from_pool(uint32_t offset, size_t size, void **out_buffer)
+void test_get_buffer_from_pool(uint32_t offset, size_t size, size_t alignment, void **out_buffer)
 {
     //to make sure the out_buffer is within the pool
-    offset = ((offset % (s_pool_size - size)) + 3) & ~3;
+    offset = ((offset % (s_pool_size - size)) + (alignment - 1)) & ~(alignment - 1);
     // TEST_ASSERT(offset + size < (uint32_t)s_pool + s_pool_size)
 
     *out_buffer = (void *)(s_pool + offset);
diff --git a/components/esp_driver_sdio/test_apps/.build-test-rules.yml b/components/esp_driver_sdio/test_apps/.build-test-rules.yml
index 25d6c046ae..4b34b45429 100644
--- a/components/esp_driver_sdio/test_apps/.build-test-rules.yml
+++ b/components/esp_driver_sdio/test_apps/.build-test-rules.yml
@@ -1,7 +1,7 @@
 components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc:
   enable:
-    - if: IDF_TARGET == "esp32"
-      reason: always use ESP32 SDMMC as host
+    - if: IDF_TARGET in ["esp32", "esp32p4"]
+      reason: runners use ESP32 / ESP32P4 SDMMC as host
   depends_components:
     - sdmmc
     - esp_driver_sdmmc
diff --git a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/README.md b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/README.md
index abb7f3c223..cbe7d02b07 100644
--- a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/README.md
+++ b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32 |
-| ----------------- | ----- |
+| Supported Targets | ESP32 | ESP32-P4 |
+| ----------------- | ----- | -------- |
 
 # SDIO Cross Chips Test Apps: SDMMC Host App
 
diff --git a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/main/Kconfig.projbuild b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/main/Kconfig.projbuild
new file mode 100644
index 0000000000..fcfd842856
--- /dev/null
+++ b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/main/Kconfig.projbuild
@@ -0,0 +1,15 @@
+menu "SDIO Slave Test Host Configuration"
+    choice TEST_SDIO_SLAVE_TARGET
+        prompt "SDIO Slave Chip"
+        default TEST_SDIO_SLAVE_TARGET_ESP32
+        help
+            SDIO Slave chip target
+
+        config TEST_SDIO_SLAVE_TARGET_ESP32
+            bool "SDIO Slave ESP32"
+        config TEST_SDIO_SLAVE_TARGET_ESP32C6
+            bool "SDIO Slave ESP32C6"
+        config TEST_SDIO_SLAVE_TARGET_ESP32C5
+            bool "SDIO Slave ESP32C5"
+    endchoice
+endmenu
diff --git a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/main/test_sdio_sdhost.c b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/main/test_sdio_sdhost.c
index c358a2d8a7..673f5ec03f 100644
--- a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/main/test_sdio_sdhost.c
+++ b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/main/test_sdio_sdhost.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -32,6 +32,15 @@ static const char *TAG = "test_sdio_sdhost";
 #define TEST_INT_MASK_ALL             0xff
 #define TEST_REG_ADDR_MAX             60
 #define TEST_TIMEOUT_MAX              UINT32_MAX
+#define TEST_WIDTH                    4
+#if CONFIG_TEST_SDIO_SLAVE_TARGET_ESP32C5
+#define TEST_PIN_CLK                  33
+#define TEST_PIN_CMD                  4
+#define TEST_PIN_D0                   32
+#define TEST_PIN_D1                   23
+#define TEST_PIN_D2                   53
+#define TEST_PIN_D3                   5
+#endif
 
 typedef struct {
     uint32_t host_flags;
@@ -48,6 +57,11 @@ static void s_master_init(test_sdio_param_t *host_param, essl_handle_t *out_hand
 {
     sdmmc_host_t host_config = (sdmmc_host_t)SDMMC_HOST_DEFAULT();
     host_config.flags = host_param->host_flags;
+#if CONFIG_TEST_SDIO_SLAVE_TARGET_ESP32C5
+    //On P4-SDMMC + C5 SDIO test runner environment, hardware delay needs to be considered
+    host_config.input_delay_phase = SDMMC_DELAY_PHASE_2;
+#endif
+
     if (host_config.flags & SDMMC_HOST_FLAG_4BIT) {
         ESP_LOGI(TAG, "Probe using SD 4-bit...");
     } else if (host_config.flags & SDMMC_HOST_FLAG_1BIT) {
@@ -59,6 +73,16 @@ static void s_master_init(test_sdio_param_t *host_param, essl_handle_t *out_hand
     //init sdmmc host
     TEST_ESP_OK(sdmmc_host_init());
     sdmmc_slot_config_t slot_config = SDMMC_SLOT_CONFIG_DEFAULT();
+#if CONFIG_TEST_SDIO_SLAVE_TARGET_ESP32C5
+    slot_config.width = TEST_WIDTH;
+    slot_config.clk = TEST_PIN_CLK;
+    slot_config.cmd = TEST_PIN_CMD;
+    slot_config.d0 = TEST_PIN_D0;
+    slot_config.d1 = TEST_PIN_D1;
+    slot_config.d2 = TEST_PIN_D2;
+    slot_config.d3 = TEST_PIN_D3;
+#endif
+
     TEST_ESP_OK(sdmmc_host_init_slot(SDMMC_HOST_SLOT_1, &slot_config));
 
     //host init slave
@@ -127,7 +151,6 @@ TEST_CASE("SDIO_SDMMC: test interrupt", "[sdio]")
 
     //tests all 8 interrupts of the slave, in which int 7 is used to terminate the test on the slave.
     for (int i = 0; i < 8; i ++) {
-        esp_rom_printf("to essl_send_slave_intr\n");
         TEST_ESP_OK(essl_send_slave_intr(handle, BIT(i), TEST_TIMEOUT_MAX));
         //the slave should return interrupt with the same bit in 10 ms
         TEST_ESP_OK(essl_wait_int(handle, 10));
@@ -223,8 +246,13 @@ TEST_CASE("SDIO_SDMMC: test reset", "[sdio]")
 /*---------------------------------------------------------------
                 SDMMC_SDIO: test fixed addr
 ---------------------------------------------------------------*/
-#include "soc/soc.h"
+#if CONFIG_TEST_SDIO_SLAVE_TARGET_ESP32C5
+#define HOST_SLCHOST_CONF_W0_REG        (0x60018000 + 0x6C)
+#elif DR_REG_SLCHOST_BASE
 #define HOST_SLCHOST_CONF_W0_REG        (DR_REG_SLCHOST_BASE + 0x6C)
+#else
+#define HOST_SLCHOST_CONF_W0_REG        0
+#endif
 
 TEST_CASE("SDIO_SDMMC: test fixed addr", "[sdio]")
 {
@@ -318,7 +346,11 @@ static void test_from_host(bool check_data)
         for (int j = 0; j < TEST_TRANS_NUMS; j++) {
             ESP_LOGD(TAG, "j: %d", j);
 
-            test_get_buffer_from_pool(j, TEST_RX_BUFFER_SIZE, &tx_buf_ptr);
+            size_t alignment = 4;
+#if CONFIG_IDF_TARGET_ESP32P4
+            alignment = 64;
+#endif
+            test_get_buffer_from_pool(j, TEST_RX_BUFFER_SIZE, alignment, &tx_buf_ptr);
             ESP_LOG_BUFFER_HEX_LEVEL(TAG, tx_buf_ptr, TEST_RX_BUFFER_SIZE, TEST_HEX_LOG_LEVEL);
             TEST_ESP_OK(essl_send_packet(handle, tx_buf_ptr, TEST_RX_BUFFER_SIZE, TEST_TIMEOUT_MAX));
         }
@@ -383,8 +415,12 @@ static void test_to_host(bool check_data)
 
             if (check_data) {
                 size_t compared_len = 0;
+                size_t alignment = 4;
+#if CONFIG_IDF_TARGET_ESP32P4
+                alignment = 64;
+#endif
                 do {
-                    test_get_buffer_from_pool(offset, TEST_RX_BUFFER_SIZE, &tx_buf_ptr);
+                    test_get_buffer_from_pool(offset, TEST_RX_BUFFER_SIZE, alignment, &tx_buf_ptr);
                     TEST_ASSERT_EQUAL_HEX8_ARRAY(tx_buf_ptr, &host_rx_buffer[compared_len], TEST_RX_BUFFER_SIZE);
                     compared_len += TEST_RX_BUFFER_SIZE;
                     offset += TEST_RX_BUFFER_SIZE;
@@ -418,6 +454,11 @@ TEST_CASE("SDIO_SDMMC: test to host", "[sdio]")
     test_to_host(true);
 }
 
+TEST_CASE("SDIO_SDMMC: test to host (Performance)", "[sdio_speed]")
+{
+    test_to_host(false);
+}
+
 TEST_CASE("SDIO_SDMMC: test sleep retention", "[sdio_retention]")
 {
     essl_handle_t handle = NULL;
@@ -431,8 +472,3 @@ TEST_CASE("SDIO_SDMMC: test sleep retention", "[sdio_retention]")
     s_send_finish_test(handle);
     s_master_deinit();
 }
-
-TEST_CASE("SDIO_SDMMC: test to host (Performance)", "[sdio_speed]")
-{
-    test_to_host(false);
-}
diff --git a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/sdkconfig.ci.esp32p4_esp32c5 b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/sdkconfig.ci.esp32p4_esp32c5
new file mode 100644
index 0000000000..76b2683929
--- /dev/null
+++ b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/host_sdmmc/sdkconfig.ci.esp32p4_esp32c5
@@ -0,0 +1 @@
+CONFIG_TEST_SDIO_SLAVE_TARGET_ESP32C5=y
diff --git a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/pytest_sdio.py b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/pytest_sdio.py
index 5def5f9c29..227a242a9b 100644
--- a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/pytest_sdio.py
+++ b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/pytest_sdio.py
@@ -29,8 +29,16 @@ esp32_c6_param = [
     ]
 ]
 
+esp32p4_c5_param = [
+    [
+        f'{os.path.join(os.path.dirname(__file__), "host_sdmmc")}|{os.path.join(os.path.dirname(__file__), "sdio")}',
+        'esp32p4|esp32c5',
+    ]
+]
+
 esp32_param_default = [pytest.param(*param) for param in parameter_expand(esp32_32_param, ['default|default'])]
 c6_param_default = [pytest.param(*param) for param in parameter_expand(esp32_c6_param, ['default|default'])]
+c5_param_default = [pytest.param(*param) for param in parameter_expand(esp32p4_c5_param, ['esp32p4_esp32c5|default'])]
 
 c6_param_retention = [pytest.param(*param) for param in parameter_expand(esp32_c6_param, ['default|sleep_retention'])]
 
@@ -74,6 +82,19 @@ def test_sdio_esp32_esp32(dut: Tuple[IdfDut, IdfDut]) -> None:
     test_sdio_flow(dut)
 
 
+@pytest.mark.sdio_multidev_p4_c5
+@pytest.mark.parametrize(
+    'count',
+    [
+        2,
+    ],
+    indirect=True,
+)
+@pytest.mark.parametrize('app_path, target, config', c5_param_default, indirect=True)
+def test_sdio_esp32p4_esp32c5(dut: Tuple[IdfDut, IdfDut]) -> None:
+    test_sdio_flow(dut)
+
+
 # From host speed tests
 def test_sdio_speed_frhost_flow(dut: Tuple[IdfDut, IdfDut], expected_4b_speed: int, expected_1b_speed: int) -> None:
     dut[1].expect('Press ENTER to see the list of tests')
@@ -120,6 +141,19 @@ def test_sdio_speed_frhost_esp32_esp32(dut: Tuple[IdfDut, IdfDut]) -> None:
     test_sdio_speed_frhost_flow(dut, 12200, 4000)
 
 
+@pytest.mark.sdio_multidev_p4_c5
+@pytest.mark.parametrize(
+    'count',
+    [
+        2,
+    ],
+    indirect=True,
+)
+@pytest.mark.parametrize('app_path, target, config', c5_param_default, indirect=True)
+def test_sdio_speed_frhost_esp32p4_esp32c5(dut: Tuple[IdfDut, IdfDut]) -> None:
+    test_sdio_speed_frhost_flow(dut, 10000, 4000)
+
+
 # To host speed tests
 def test_sdio_speed_tohost_flow(dut: Tuple[IdfDut, IdfDut], expected_4b_speed: int, expected_1b_speed: int) -> None:
     dut[1].expect('Press ENTER to see the list of tests')
@@ -166,6 +200,19 @@ def test_sdio_speed_tohost_esp32_esp32(dut: Tuple[IdfDut, IdfDut]) -> None:
     test_sdio_speed_tohost_flow(dut, 12200, 4000)
 
 
+@pytest.mark.sdio_multidev_p4_c5
+@pytest.mark.parametrize(
+    'count',
+    [
+        2,
+    ],
+    indirect=True,
+)
+@pytest.mark.parametrize('app_path, target, config', c5_param_default, indirect=True)
+def test_sdio_speed_tohost_esp32p4_esp32c5(dut: Tuple[IdfDut, IdfDut]) -> None:
+    test_sdio_speed_tohost_flow(dut, 9000, 4000)
+
+
 # Retention tests
 def test_sdio_retention(dut: Tuple[IdfDut, IdfDut]) -> None:
     dut[1].expect('Press ENTER to see the list of tests')
diff --git a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/sdio/main/Kconfig.projbuild b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/sdio/main/Kconfig.projbuild
new file mode 100644
index 0000000000..8727206809
--- /dev/null
+++ b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/sdio/main/Kconfig.projbuild
@@ -0,0 +1,13 @@
+menu "SDIO Slave Test Slave Configuration"
+    choice TEST_SDIO_HOST_TARGET
+        prompt "SDIO Host Chip"
+        default TEST_SDIO_HOST_TARGET_ESP32
+        help
+            SDIO Host chip target
+
+        config TEST_SDIO_HOST_TARGET_ESP32
+            bool "SDIO Host ESP32"
+        config TEST_SDIO_HOST_TARGET_ESP32P4
+            bool "SDIO Host ESP32P4"
+    endchoice
+endmenu
diff --git a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/sdio/main/test_sdio_slave.c b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/sdio/main/test_sdio_slave.c
index 6be681697d..a5ff22fd7e 100644
--- a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/sdio/main/test_sdio_slave.c
+++ b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/sdio/main/test_sdio_slave.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
  */
@@ -218,7 +218,11 @@ static void test_from_host(bool check_data)
             ESP_LOG_BUFFER_HEX_LEVEL(TAG, buf, TEST_RX_BUFFER_SIZE, TEST_HEX_LOG_LEVEL);
 
             if (check_data) {
-                test_get_buffer_from_pool(j, TEST_RX_BUFFER_SIZE, &tx_buf_ptr);
+                size_t alignment = 4;
+#if CONFIG_TEST_SDIO_HOST_TARGET_ESP32P4
+                alignment = 64;
+#endif
+                test_get_buffer_from_pool(j, TEST_RX_BUFFER_SIZE, alignment, &tx_buf_ptr);
                 ESP_LOG_BUFFER_HEX_LEVEL("Expect data", tx_buf_ptr, TEST_RX_BUFFER_SIZE, TEST_HEX_LOG_LEVEL);
                 TEST_ASSERT_EQUAL_HEX8_ARRAY(tx_buf_ptr, buf, rcv_len);
             }
@@ -279,7 +283,11 @@ static void test_to_host(void)
                 TEST_ASSERT_EQUAL(ESP_ERR_TIMEOUT, err);
             } while (QUEUE_FULL());
 
-            test_get_buffer_from_pool(offset, TEST_RX_BUFFER_SIZE, &tx_buf_ptr);
+            size_t alignment = 4;
+#if CONFIG_TEST_SDIO_HOST_TARGET_ESP32P4
+            alignment = 64;
+#endif
+            test_get_buffer_from_pool(offset, TEST_RX_BUFFER_SIZE, alignment, &tx_buf_ptr);
             TEST_ESP_OK(sdio_slave_send_queue((uint8_t *)tx_buf_ptr, TEST_RX_BUFFER_SIZE, NULL, portMAX_DELAY));
 
             s_test_slv_ctx.queued_cnt++;
@@ -305,6 +313,11 @@ TEST_CASE("SDIO_Slave: test to host", "[sdio]")
     test_to_host();
 }
 
+TEST_CASE("SDIO_Slave: test to host (Performance)", "[sdio_speed]")
+{
+    test_to_host();
+}
+
 #if SOC_PAU_SUPPORTED
 #include "esp_private/sleep_sys_periph.h"
 #include "esp_private/sleep_retention.h"
@@ -329,8 +342,3 @@ TEST_CASE("SDIO_Slave: test sleep retention", "[sdio_retention]")
     TEST_ASSERT_EQUAL_INT32(true, peripheral_domain_pd_allowed());
 }
 #endif
-
-TEST_CASE("SDIO_Slave: test to host (Performance)", "[sdio_speed]")
-{
-    test_to_host();
-}
diff --git a/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/sdio/sdkconfig.defaults.esp32c5 b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/sdio/sdkconfig.defaults.esp32c5
new file mode 100644
index 0000000000..91c7140ece
--- /dev/null
+++ b/components/esp_driver_sdio/test_apps/sdio/sdio_common_tests/sdio/sdkconfig.defaults.esp32c5
@@ -0,0 +1 @@
+CONFIG_TEST_SDIO_HOST_TARGET_ESP32P4=y
diff --git a/tools/ci/idf_pytest/constants.py b/tools/ci/idf_pytest/constants.py
index af12e7d59f..8f9f0773bd 100644
--- a/tools/ci/idf_pytest/constants.py
+++ b/tools/ci/idf_pytest/constants.py
@@ -138,6 +138,7 @@ ENV_MARKERS = {
     'twai_network': 'multiple runners form a TWAI network.',
     'sdio_master_slave': 'Test sdio multi board, esp32+esp32',
     'sdio_multidev_32_c6': 'Test sdio multi board, esp32+esp32c6',
+    'sdio_multidev_p4_c5': 'Test sdio multi board, esp32p4+esp32c5',
     'usj_device': 'Test usb_serial_jtag and usb_serial_jtag is used as serial only (not console)',
     'twai_std': 'twai runner with all twai supported targets connect to usb-can adapter',
     'lp_i2s': 'lp_i2s runner tested with hp_i2s',