diff --git a/components/bt/controller/esp32c6/Kconfig.in b/components/bt/controller/esp32c6/Kconfig.in
index 70165672f6..18b4039895 100644
--- a/components/bt/controller/esp32c6/Kconfig.in
+++ b/components/bt/controller/esp32c6/Kconfig.in
@@ -228,6 +228,16 @@ config BT_LE_POWER_CONTROL_ENABLED
     help
         Set this option to enable the Power Control feature on controller
 
+config BT_LE_CTE_FEATURE_ENABLED
+    bool "Enable Bluetooth LE Direction Finding (AoA/AoD)"
+    depends on BT_LE_50_FEATURE_SUPPORT && SOC_BLE_CTE_SUPPORTED
+    default n
+    help
+        Enable this option to activate Bluetooth LE Direction Finding (AoA/AoD) feature.
+        Note:
+        This feature allows devices to determine the direction of a Bluetooth CTE signal,
+        enabling Angle of Arrival (AoA) and Angle of Departure (AoD) functionality.
+
 menu "Memory Settings"
     depends on !BT_NIMBLE_ENABLED
 
diff --git a/components/bt/controller/esp32h2/Kconfig.in b/components/bt/controller/esp32h2/Kconfig.in
index d270ca4913..858a772217 100644
--- a/components/bt/controller/esp32h2/Kconfig.in
+++ b/components/bt/controller/esp32h2/Kconfig.in
@@ -228,6 +228,19 @@ config BT_LE_POWER_CONTROL_ENABLED
     help
         Set this option to enable the Power Control feature on controller
 
+config BT_LE_CTE_FEATURE_ENABLED
+    bool "Enable Bluetooth LE Direction Finding (AoA/AoD)"
+    depends on BT_LE_50_FEATURE_SUPPORT && SOC_BLE_CTE_SUPPORTED && !(BT_LE_SECURITY_ENABLE)
+    default n
+    help
+        Enable this option to activate Bluetooth LE Direction Finding (AoA/AoD) feature.
+        Note:
+        This feature allows devices to determine the direction of a Bluetooth CTE signal,
+        enabling Angle of Arrival (AoA) and Angle of Departure (AoD) functionality.
+        In chip esp32h2, Direction Finding is not supported in encrypted
+        communication scenarios. If you are using chip esp32h2, ensure that encryption is
+        disabled when using this feature.
+
 menu "Memory Settings"
     depends on !BT_NIMBLE_ENABLED
 
diff --git a/components/bt/host/nimble/nimble b/components/bt/host/nimble/nimble
index 0324b33321..43a7056259 160000
--- a/components/bt/host/nimble/nimble
+++ b/components/bt/host/nimble/nimble
@@ -1 +1 @@
-Subproject commit 0324b33321132923c80f6b84f1c4ed3137c23eff
+Subproject commit 43a7056259275490a86f60dd10cc2eea7b708a0a
diff --git a/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in b/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
index f7c87f85d3..3e092cff4b 100644
--- a/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
@@ -1334,3 +1334,7 @@ config SOC_BLE_MULTI_CONN_OPTIMIZATION
 config SOC_BLE_PERIODIC_ADV_ENH_SUPPORTED
     bool
     default y
+
+config SOC_BLE_CTE_SUPPORTED
+    bool
+    default y
diff --git a/components/soc/esp32h2/include/soc/soc_caps.h b/components/soc/esp32h2/include/soc/soc_caps.h
index 515cc13a53..83d70bef0f 100644
--- a/components/soc/esp32h2/include/soc/soc_caps.h
+++ b/components/soc/esp32h2/include/soc/soc_caps.h
@@ -559,3 +559,4 @@
 #define SOC_BLE_POWER_CONTROL_SUPPORTED (1)    /*!< Support Bluetooth Power Control */
 #define SOC_BLE_MULTI_CONN_OPTIMIZATION (1)    /*!< Support multiple connections optimization */
 #define SOC_BLE_PERIODIC_ADV_ENH_SUPPORTED  (1)    /*!< Support For BLE Periodic Adv Enhancements */
+#define SOC_BLE_CTE_SUPPORTED           (1)    /*!< Support Bluetooth LE Constant Tone Extension (CTE) */