diff --git a/components/driver/uart.c b/components/driver/uart.c
index 9b8dcb9c38..8f5e678b73 100644
--- a/components/driver/uart.c
+++ b/components/driver/uart.c
@@ -650,21 +650,22 @@ esp_err_t uart_set_pin(uart_port_t uart_num, int tx_io_num, int rx_io_num, int r
     /* In the following statements, if the io_num is negative, no need to configure anything. */
     if (tx_io_num >= 0 && !uart_try_set_iomux_pin(uart_num, tx_io_num, SOC_UART_TX_PIN_IDX)) {
         gpio_hal_iomux_func_sel(GPIO_PIN_MUX_REG[tx_io_num], PIN_FUNC_GPIO);
-        gpio_set_level(tx_io_num, 1);
         esp_rom_gpio_connect_out_signal(tx_io_num, UART_PERIPH_SIGNAL(uart_num, SOC_UART_TX_PIN_IDX), 0, 0);
+        // output enable is set inside esp_rom_gpio_connect_out_signal func after the signal is connected
+        // (output enabled too early may cause unnecessary level change at the pad)
     }
 
     if (rx_io_num >= 0 && !uart_try_set_iomux_pin(uart_num, rx_io_num, SOC_UART_RX_PIN_IDX)) {
         gpio_hal_iomux_func_sel(GPIO_PIN_MUX_REG[rx_io_num], PIN_FUNC_GPIO);
-        gpio_set_pull_mode(rx_io_num, GPIO_PULLUP_ONLY);
+        gpio_set_pull_mode(rx_io_num, GPIO_PULLUP_ONLY); // This does not consider that RX signal can be read inverted by configuring the hardware (i.e. idle is at low level). However, it is only a weak pullup, the TX at the other end can always drive the line.
         gpio_set_direction(rx_io_num, GPIO_MODE_INPUT);
         esp_rom_gpio_connect_in_signal(rx_io_num, UART_PERIPH_SIGNAL(uart_num, SOC_UART_RX_PIN_IDX), 0);
     }
 
     if (rts_io_num >= 0 && !uart_try_set_iomux_pin(uart_num, rts_io_num, SOC_UART_RTS_PIN_IDX)) {
         gpio_hal_iomux_func_sel(GPIO_PIN_MUX_REG[rts_io_num], PIN_FUNC_GPIO);
-        gpio_set_direction(rts_io_num, GPIO_MODE_OUTPUT);
         esp_rom_gpio_connect_out_signal(rts_io_num, UART_PERIPH_SIGNAL(uart_num, SOC_UART_RTS_PIN_IDX), 0, 0);
+        // output enable is set inside esp_rom_gpio_connect_out_signal func after the signal is connected
     }
 
     if (cts_io_num >= 0  && !uart_try_set_iomux_pin(uart_num, cts_io_num, SOC_UART_CTS_PIN_IDX)) {
diff --git a/components/esp_rom/CMakeLists.txt b/components/esp_rom/CMakeLists.txt
index 69b9b2a59a..6f1528e703 100644
--- a/components/esp_rom/CMakeLists.txt
+++ b/components/esp_rom/CMakeLists.txt
@@ -19,7 +19,8 @@ else()
                         "patches/esp_rom_uart.c"
                         "patches/esp_rom_spiflash.c"
                         "patches/esp_rom_regi2c.c"
-                        "patches/esp_rom_efuse.c")
+                        "patches/esp_rom_efuse.c"
+                        "patches/esp_rom_gpio.c")
 
     if(CONFIG_HEAP_TLSF_USE_ROM_IMPL AND (CONFIG_ESP_ROM_TLSF_CHECK_PATCH OR CONFIG_HEAP_TLSF_CHECK_PATCH))
         # This file shall be included in the build if TLSF in ROM is activated
diff --git a/components/esp_rom/include/esp_rom_gpio.h b/components/esp_rom/include/esp_rom_gpio.h
index ce4bb76516..2ba66c211d 100644
--- a/components/esp_rom/include/esp_rom_gpio.h
+++ b/components/esp_rom/include/esp_rom_gpio.h
@@ -1,16 +1,8 @@
-// Copyright 2010-2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2010-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 #pragma once
 
@@ -74,6 +66,7 @@ void esp_rom_gpio_connect_in_signal(uint32_t gpio_num, uint32_t signal_idx, bool
  * @brief Combine a peripheral signal which tagged as output attribute with a GPIO.
  *
  * @note There's no limitation on the number of signals that a GPIO can combine with.
+ * @note Internally, the signal will be connected first, then output will be enabled on the pad.
  *
  * @param gpio_num GPIO number
  * @param signal_idx Peripheral signal index (tagged as output attribute)
diff --git a/components/esp_rom/patches/esp_rom_gpio.c b/components/esp_rom/patches/esp_rom_gpio.c
new file mode 100644
index 0000000000..bf8bef623c
--- /dev/null
+++ b/components/esp_rom/patches/esp_rom_gpio.c
@@ -0,0 +1,28 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "sdkconfig.h"
+#include "esp_attr.h"
+#include "esp_rom_gpio.h"
+#include "soc/gpio_reg.h"
+
+#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S2
+// On such targets, the ROM code for this function enabled output for the pad first, and then connected the signal
+// This could result in an undesired glitch at the pad
+IRAM_ATTR void esp_rom_gpio_connect_out_signal(uint32_t gpio_num, uint32_t signal_idx, bool out_inv, bool oen_inv)
+{
+    uint32_t value = signal_idx << GPIO_FUNC0_OUT_SEL_S;
+    if (out_inv) {
+        value |= GPIO_FUNC0_OUT_INV_SEL_M;
+    }
+    if (oen_inv) {
+        value |= GPIO_FUNC0_OEN_INV_SEL_M;
+    }
+    REG_WRITE(GPIO_FUNC0_OUT_SEL_CFG_REG + (gpio_num * 4), value);
+
+    REG_WRITE(GPIO_ENABLE_W1TS_REG, (1 << gpio_num));
+}
+#endif
diff --git a/tools/ci/check_copyright_ignore.txt b/tools/ci/check_copyright_ignore.txt
index 6496cb0bbc..90e573deab 100644
--- a/tools/ci/check_copyright_ignore.txt
+++ b/tools/ci/check_copyright_ignore.txt
@@ -564,7 +564,6 @@ components/esp_rom/include/esp32s3/rom/sha.h
 components/esp_rom/include/esp32s3/rom/tjpgd.h
 components/esp_rom/include/esp32s3/rom/uart.h
 components/esp_rom/include/esp_rom_crc.h
-components/esp_rom/include/esp_rom_gpio.h
 components/esp_rom/include/esp_rom_uart.h
 components/esp_rom/include/linux/soc/reset_reasons.h
 components/esp_rom/linux/esp_rom_crc.c