diff --git a/ports/esp32s2/Makefile b/ports/esp32s2/Makefile
index f8818eca01..935ced7cc0 100644
--- a/ports/esp32s2/Makefile
+++ b/ports/esp32s2/Makefile
@@ -271,7 +271,7 @@ menuconfig: $(BUILD)/esp-idf/config
 $(HEADER_BUILD)/qstr.i.last: | $(BUILD)/esp-idf/config/sdkconfig.h
 
 # Order here matters
-ESP_IDF_COMPONENTS_LINK = freertos log esp_system esp32s2 bootloader_support pthread esp_timer vfs spi_flash app_update esp_common esp32s2 heap newlib driver xtensa soc esp_ringbuf esp_wifi esp_event wpa_supplicant mbedtls efuse nvs_flash esp_netif lwip esp_rom esp-tls
+ESP_IDF_COMPONENTS_LINK = freertos log hal esp_system esp32s2 bootloader_support pthread esp_timer vfs spi_flash app_update esp_common esp32s2 heap newlib driver xtensa soc esp_ringbuf esp_wifi esp_event wpa_supplicant mbedtls efuse nvs_flash esp_netif lwip esp_rom esp-tls
 
 ESP_IDF_COMPONENTS_INCLUDE = driver freertos log soc
 
@@ -283,11 +283,11 @@ ESP_IDF_WIFI_COMPONENTS_EXPANDED = $(foreach component, $(ESP_IDF_WIFI_COMPONENT
 MBEDTLS_COMPONENTS_LINK = crypto tls x509
 MBEDTLS_COMPONENTS_LINK_EXPANDED = $(foreach component, $(MBEDTLS_COMPONENTS_LINK), $(BUILD)/esp-idf/esp-idf/mbedtls/mbedtls/library/libmbed$(component).a)
 
-BINARY_BLOBS = esp-idf/components/xtensa/esp32s2/libhal.a
+BINARY_BLOBS = esp-idf/components/xtensa/esp32s2/libxt_hal.a
 BINARY_WIFI_BLOBS = libcoexist.a libcore.a libespnow.a libmesh.a libnet80211.a libpp.a librtc.a libsmartconfig.a libphy.a
 BINARY_BLOBS += $(addprefix esp-idf/components/esp_wifi/lib/esp32s2/, $(BINARY_WIFI_BLOBS))
 
-ESP_IDF_COMPONENTS_EXPANDED += $(BUILD)/esp-idf/esp-idf/soc/soc/esp32s2/libsoc_esp32s2.a esp-idf/components/xtensa/esp32s2/libhal.a
+ESP_IDF_COMPONENTS_EXPANDED += $(BUILD)/esp-idf/esp-idf/soc/soc/esp32s2/libsoc_esp32s2.a esp-idf/components/xtensa/esp32s2/libxt_hal.a
 ESP_AUTOGEN_LD = $(BUILD)/esp-idf/esp-idf/esp32s2/esp32s2_out.ld $(BUILD)/esp-idf/esp-idf/esp32s2/ld/esp32s2.project.ld
 
 FLASH_FLAGS = --flash_mode $(CIRCUITPY_ESP_FLASH_MODE) --flash_freq $(CIRCUITPY_ESP_FLASH_FREQ) --flash_size $(CIRCUITPY_ESP_FLASH_SIZE)
diff --git a/ports/esp32s2/supervisor/usb.c b/ports/esp32s2/supervisor/usb.c
index c91c2ec4b0..1ad6af0470 100644
--- a/ports/esp32s2/supervisor/usb.c
+++ b/ports/esp32s2/supervisor/usb.c
@@ -33,6 +33,8 @@
 #include "components/driver/include/driver/periph_ctrl.h"
 #include "components/driver/include/driver/gpio.h"
 #include "components/esp_rom/include/esp32s2/rom/gpio.h"
+#include "components/esp_rom/include/esp_rom_gpio.h"
+#include "components/hal/esp32s2/include/hal/gpio_ll.h"
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
@@ -68,6 +70,33 @@ void usb_device_task(void* param)
   }
 }
 
+static void configure_pins (usb_hal_context_t *usb)
+{
+    /* usb_periph_iopins currently configures USB_OTG as USB Device.
+     * Introduce additional parameters in usb_hal_context_t when adding support
+     * for USB Host.
+     */
+    for ( const usb_iopin_dsc_t *iopin = usb_periph_iopins; iopin->pin != -1; ++iopin ) {
+        if ( (usb->use_external_phy) || (iopin->ext_phy_only == 0) ) {
+            esp_rom_gpio_pad_select_gpio(iopin->pin);
+            if ( iopin->is_output ) {
+                esp_rom_gpio_connect_out_signal(iopin->pin, iopin->func, false, false);
+            }
+            else {
+                esp_rom_gpio_connect_in_signal(iopin->pin, iopin->func, false);
+                if ( (iopin->pin != GPIO_FUNC_IN_LOW) && (iopin->pin != GPIO_FUNC_IN_HIGH) ) {
+                    gpio_ll_input_enable(&GPIO, iopin->pin);
+                }
+            }
+            esp_rom_gpio_pad_unhold(iopin->pin);
+        }
+    }
+    if ( !usb->use_external_phy ) {
+        gpio_set_drive_capability(USBPHY_DM_NUM, GPIO_DRIVE_CAP_3);
+        gpio_set_drive_capability(USBPHY_DP_NUM, GPIO_DRIVE_CAP_3);
+    }
+}
+
 void init_usb_hardware(void) {
     periph_module_reset(PERIPH_USB_MODULE);
     periph_module_enable(PERIPH_USB_MODULE);
@@ -75,10 +104,7 @@ void init_usb_hardware(void) {
         .use_external_phy = false // use built-in PHY
     };
     usb_hal_init(&hal);
-
-    // Initialize the pin drive strength.
-    gpio_set_drive_capability(USBPHY_DM_NUM, GPIO_DRIVE_CAP_3);
-    gpio_set_drive_capability(USBPHY_DP_NUM, GPIO_DRIVE_CAP_3);
+    configure_pins(&hal);
 
     (void) xTaskCreateStatic(usb_device_task,
                              "usbd",