diff --git a/components/esp_hw_support/include/esp_private/rtc_clk.h b/components/esp_hw_support/include/esp_private/rtc_clk.h
index 7edf69be069..17c1a939b68 100644
--- a/components/esp_hw_support/include/esp_private/rtc_clk.h
+++ b/components/esp_hw_support/include/esp_private/rtc_clk.h
@@ -44,6 +44,12 @@ void rtc_clk_bbpll_add_consumer(void);
  */
 void rtc_clk_bbpll_remove_consumer(void);
 
+/**
+ * @brief Workaround for C2, S3, C6, H2. Trigger the calibration of PLL. Should be called when the bootloader doesn't provide a good enough PLL accuracy.
+*/
+void rtc_clk_recalib_bbpll(void);
+
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp_hw_support/port/esp32c2/rtc_clk.c b/components/esp_hw_support/port/esp32c2/rtc_clk.c
index c065b4476ab..2501c2f6df4 100644
--- a/components/esp_hw_support/port/esp32c2/rtc_clk.c
+++ b/components/esp_hw_support/port/esp32c2/rtc_clk.c
@@ -128,6 +128,7 @@ static void rtc_clk_bbpll_configure(rtc_xtal_freq_t xtal_freq, int pll_freq)
     clk_ll_bbpll_set_config(pll_freq, xtal_freq);
     /* WAIT CALIBRATION DONE */
     while(!regi2c_ctrl_ll_bbpll_calibration_is_done());
+    esp_rom_delay_us(10);
     /* BBPLL CALIBRATION STOP */
     regi2c_ctrl_ll_bbpll_calibration_stop();
 
@@ -357,6 +358,24 @@ bool rtc_dig_8m_enabled(void)
     return clk_ll_rc_fast_digi_is_enabled();
 }
 
+// Workaround for bootloader not calibrated well issue.
+// Placed in IRAM because disabling BBPLL may influence the cache
+void rtc_clk_recalib_bbpll(void)
+{
+    rtc_cpu_freq_config_t old_config;
+    rtc_clk_cpu_freq_get_config(&old_config);
+
+    // There are two paths we arrive here: 1. CPU reset. 2. Other reset reasons.
+    // - For other reasons, the bootloader will set CPU source to BBPLL and enable it. But there are calibration issues.
+    //   Turn off the BBPLL and do calibration again to fix the issue.
+    // - For CPU reset, the CPU source will be set to XTAL, while the BBPLL is kept to meet USB Serial JTAG's
+    //   requirements. In this case, we don't touch BBPLL to avoid USJ disconnection.
+    if (old_config.source == SOC_CPU_CLK_SRC_PLL) {
+        rtc_clk_cpu_freq_set_xtal();
+        rtc_clk_cpu_freq_set_config(&old_config);
+    }
+}
+
 /* Name used in libphy.a:phy_chip_v7.o
  * TODO: update the library to use rtc_clk_xtal_freq_get
  */
diff --git a/components/esp_hw_support/port/esp32c6/rtc_clk.c b/components/esp_hw_support/port/esp32c6/rtc_clk.c
index 53644617ca3..da6ab452f12 100644
--- a/components/esp_hw_support/port/esp32c6/rtc_clk.c
+++ b/components/esp_hw_support/port/esp32c6/rtc_clk.c
@@ -168,6 +168,7 @@ static void rtc_clk_bbpll_configure(rtc_xtal_freq_t xtal_freq, int pll_freq)
     clk_ll_bbpll_set_config(pll_freq, xtal_freq);
     /* WAIT CALIBRATION DONE */
     while(!regi2c_ctrl_ll_bbpll_calibration_is_done());
+    esp_rom_delay_us(10);
     /* BBPLL CALIBRATION STOP */
     regi2c_ctrl_ll_bbpll_calibration_stop();
     rtc_clk_enable_i2c_ana_master_clock(false);
@@ -421,6 +422,25 @@ bool rtc_dig_8m_enabled(void)
     return clk_ll_rc_fast_digi_is_enabled();
 }
 
+// Workaround for bootloader not calibrated well issue.
+// Placed in IRAM because disabling BBPLL may influence the cache
+void rtc_clk_recalib_bbpll(void)
+{
+    rtc_cpu_freq_config_t old_config;
+    rtc_clk_cpu_freq_get_config(&old_config);
+
+    // There are two paths we arrive here: 1. CPU reset. 2. Other reset reasons.
+    // - For other reasons, the bootloader will set CPU source to BBPLL and enable it. But there are calibration issues.
+    //   Turn off the BBPLL and do calibration again to fix the issue.
+    // - For CPU reset, the CPU source will be set to XTAL, while the BBPLL is kept to meet USB Serial JTAG's
+    //   requirements. In this case, we don't touch BBPLL to avoid USJ disconnection.
+    if (old_config.source == SOC_CPU_CLK_SRC_PLL) {
+        rtc_clk_cpu_freq_set_xtal();
+        rtc_clk_cpu_freq_set_config(&old_config);
+    }
+}
+
+
 /* Name used in libphy.a:phy_chip_v7.o
  * TODO: update the library to use rtc_clk_xtal_freq_get
  */
diff --git a/components/esp_hw_support/port/esp32h2/rtc_clk.c b/components/esp_hw_support/port/esp32h2/rtc_clk.c
index bb8e288b53b..1f6fd3b8feb 100644
--- a/components/esp_hw_support/port/esp32h2/rtc_clk.c
+++ b/components/esp_hw_support/port/esp32h2/rtc_clk.c
@@ -185,6 +185,7 @@ static void rtc_clk_bbpll_configure(rtc_xtal_freq_t xtal_freq, int pll_freq)
     clk_ll_bbpll_set_config(pll_freq, xtal_freq);
     /* WAIT CALIBRATION DONE */
     while(!regi2c_ctrl_ll_bbpll_calibration_is_done());
+    esp_rom_delay_us(10);
     /* BBPLL CALIBRATION STOP */
     regi2c_ctrl_ll_bbpll_calibration_stop();
     rtc_clk_enable_i2c_ana_master_clock(false);
@@ -474,3 +475,21 @@ bool rtc_dig_8m_enabled(void)
 {
     return clk_ll_rc_fast_digi_is_enabled();
 }
+
+// Workaround for bootloader not calibrated well issue.
+// Placed in IRAM because disabling BBPLL may influence the cache
+void rtc_clk_recalib_bbpll(void)
+{
+    rtc_cpu_freq_config_t old_config;
+    rtc_clk_cpu_freq_get_config(&old_config);
+
+    // There are two paths we arrive here: 1. CPU reset. 2. Other reset reasons.
+    // - For other reasons, the bootloader will set CPU source to BBPLL and enable it. But there are calibration issues.
+    //   Turn off the BBPLL and do calibration again to fix the issue. Flash_PLL comes from the same source as PLL.
+    // - For CPU reset, the CPU source will be set to XTAL, while the BBPLL is kept to meet USB Serial JTAG's
+    //   requirements. In this case, we don't touch BBPLL to avoid USJ disconnection.
+    if (old_config.source == SOC_CPU_CLK_SRC_PLL || old_config.source == SOC_CPU_CLK_SRC_FLASH_PLL) {
+        rtc_clk_cpu_freq_set_xtal();
+        rtc_clk_cpu_freq_set_config(&old_config);
+    }
+}
diff --git a/components/esp_hw_support/port/esp32s3/rtc_clk.c b/components/esp_hw_support/port/esp32s3/rtc_clk.c
index a17ccc80ed0..07f609c5f30 100644
--- a/components/esp_hw_support/port/esp32s3/rtc_clk.c
+++ b/components/esp_hw_support/port/esp32s3/rtc_clk.c
@@ -172,6 +172,7 @@ static void rtc_clk_bbpll_configure(rtc_xtal_freq_t xtal_freq, int pll_freq)
     clk_ll_bbpll_set_config(pll_freq, xtal_freq);
     /* WAIT CALIBRATION DONE */
     while(!regi2c_ctrl_ll_bbpll_calibration_is_done());
+    esp_rom_delay_us(10);
     /* BBPLL CALIBRATION STOP */
     regi2c_ctrl_ll_bbpll_calibration_stop();
 
@@ -459,6 +460,25 @@ bool rtc_dig_8m_enabled(void)
     return clk_ll_rc_fast_digi_is_enabled();
 }
 
+// Workaround for bootloader not calibrated well issue.
+// Placed in IRAM because disabling BBPLL may influence the cache
+void rtc_clk_recalib_bbpll(void)
+{
+    rtc_cpu_freq_config_t old_config;
+    rtc_clk_cpu_freq_get_config(&old_config);
+
+    // There are two paths we arrive here: 1. CPU reset. 2. Other reset reasons.
+    // - For other reasons, the bootloader will set CPU source to BBPLL and enable it. But there are calibration issues.
+    //   Turn off the BBPLL and do calibration again to fix the issue.
+    // - For CPU reset, the CPU source will be set to XTAL, while the BBPLL is kept to meet USB Serial JTAG's
+    //   requirements. In this case, we don't touch BBPLL to avoid USJ disconnection.
+    if (old_config.source == SOC_CPU_CLK_SRC_PLL) {
+        rtc_clk_cpu_freq_set_xtal();
+        rtc_clk_cpu_freq_set_config(&old_config);
+    }
+}
+
+
 /* Name used in libphy.a:phy_chip_v7.o
  * TODO: update the library to use rtc_clk_xtal_freq_get
  */
diff --git a/components/esp_system/Kconfig b/components/esp_system/Kconfig
index 3006f40b601..f3ab7b0c803 100644
--- a/components/esp_system/Kconfig
+++ b/components/esp_system/Kconfig
@@ -561,6 +561,15 @@ menu "ESP System Settings"
             (2). For special workflow, the chip needs do more things instead of restarting directly. This part
                  needs to be done in callback function of interrupt.
 
+    config ESP_SYSTEM_BBPLL_RECALIB
+        bool "Re-calibration BBPLL at startup"
+        depends on IDF_TARGET_ESP32C2 || IDF_TARGET_ESP32S3 || IDF_TARGET_ESP32C6 || IDF_TARGET_ESP32H2
+        default y
+        help
+            This configuration helps to address an BBPLL inaccurate issue when boot from certain bootloader version,
+            which may increase about the boot-up time by about 200 us. Disable this when your bootloader is built with
+            ESP-IDF version v5.2 and above.
+
 endmenu  # ESP System Settings
 
 menu "IPC (Inter-Processor Call)"
diff --git a/components/esp_system/port/cpu_start.c b/components/esp_system/port/cpu_start.c
index 97a3f767f52..085d37686f0 100644
--- a/components/esp_system/port/cpu_start.c
+++ b/components/esp_system/port/cpu_start.c
@@ -17,6 +17,8 @@
 #include "esp_efuse.h"
 #include "esp_private/cache_err_int.h"
 #include "esp_clk_internal.h"
+// For workaround `rtc_clk_recalib_bbpll()`
+#include "esp_private/rtc_clk.h"
 
 #include "esp_rom_efuse.h"
 #include "esp_rom_uart.h"
@@ -454,7 +456,14 @@ void IRAM_ATTR call_start_cpu0(void)
      * In this stage, we re-configure the Flash (and MSPI) to required configuration
      */
     spi_flash_init_chip_state();
+
+    // In earlier version of ESP-IDF, the PLL provided by bootloader is not stable enough.
+    // Do calibration again here so that we can use better clock for the timing tuning.
+#if CONFIG_ESP_SYSTEM_BBPLL_RECALIB
+    rtc_clk_recalib_bbpll();
+#endif
 #if SOC_MEMSPI_SRC_FREQ_120M
+    // This function needs to be called when PLL is enabled
     mspi_timing_flash_tuning();
 #endif