diff --git a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
index 2db5a9bc3e..6b8f9c498e 100644
--- a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
+++ b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
@@ -20,6 +20,7 @@
 #include "esp_twai_onchip.h"
 #include "hal/twai_periph.h"
 #include "esp_private/gpio.h"
+#include "soc/gpio_sig_map.h"
 #include "driver/uart.h" // for baudrate detection
 
 #define TEST_TX_GPIO                GPIO_NUM_4
@@ -575,6 +576,55 @@ TEST_CASE("twai bus off recovery (loopback)", "[twai]")
     TEST_ESP_OK(twai_node_delete(node_hdl));
 }
 
+static IRAM_ATTR bool test_arb_error_cb(twai_node_handle_t handle, const twai_error_event_data_t *edata, void *user_ctx)
+{
+    esp_rom_printf("bus error: 0x%lx\n", edata->err_flags.val);
+    // only arb lost or stuff err is expected, stuff_err comes from RX section after arb lost
+    // test using loopback mode, arb_lost -> switch to RX -> no one is sending -> can't receive new waves -> stuff err
+    TEST_ASSERT(edata->err_flags.arb_lost || edata->err_flags.stuff_err);
+    return true;
+}
+
+TEST_CASE("test arb lost and stuff err", "[twai]")
+{
+    twai_node_handle_t node_hdl;
+    twai_onchip_node_config_t node_config = {};
+    node_config.io_cfg.tx = TEST_TX_GPIO;
+    node_config.io_cfg.rx = TEST_TX_GPIO;   // Using same pin for test without transceiver
+    node_config.io_cfg.quanta_clk_out = GPIO_NUM_NC;
+    node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
+    node_config.bit_timing.bitrate = 50000;  //slow bitrate to ensure soft error trigger
+    node_config.tx_queue_depth = 1;
+    node_config.flags.enable_self_test = true;
+    TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
+
+    twai_event_callbacks_t user_cbs = {};
+    user_cbs.on_error = test_arb_error_cb;
+    TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, NULL));
+    TEST_ESP_OK(twai_node_enable(node_hdl));
+
+    twai_node_status_t node_status = {};
+    twai_frame_t tx_frame = {};
+    tx_frame.header.id = 0x7F0; // send high id range to easier trigger arb lost
+    gpio_set_level(TEST_TX_GPIO, 0);
+    while (node_status.state != TWAI_ERROR_BUS_OFF && (tx_frame.header.id > 0x7F0 - 10)) {
+        printf("sending frame %lx last tec %d rec %d\n", tx_frame.header.id --, node_status.tx_error_count, node_status.rx_error_count);
+        TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 500));
+        if (tx_frame.header.id < 0x7F0 - 2) {    // trigger error after 2 frames
+            printf("trigger arb lost now!\n");
+            esp_rom_delay_us(5 * (1000000 / node_config.bit_timing.bitrate)); // trigger error at 30 bits after frame start
+            gpio_matrix_output(TEST_TX_GPIO, SIG_GPIO_OUT_IDX, false, false);
+            esp_rom_delay_us(2 * (1000000 / node_config.bit_timing.bitrate)); // trigger error for 2 bits
+            gpio_matrix_output(TEST_TX_GPIO, twai_periph_signals[0].tx_sig, false, false);
+        }
+        vTaskDelay(pdMS_TO_TICKS(1000)); // some time for hardware report errors
+        twai_node_get_info(node_hdl, &node_status, NULL);
+    }
+
+    TEST_ESP_OK(twai_node_disable(node_hdl));
+    TEST_ESP_OK(twai_node_delete(node_hdl));
+}
+
 static void test_send_wait_task(void *args)
 {
     const char *task_name = pcTaskGetName(NULL);
diff --git a/components/esp_hal_twai/include/hal/twai_hal.h b/components/esp_hal_twai/include/hal/twai_hal.h
index 8216731fd0..82798d5bbc 100644
--- a/components/esp_hal_twai/include/hal/twai_hal.h
+++ b/components/esp_hal_twai/include/hal/twai_hal.h
@@ -280,7 +280,9 @@ twai_error_state_t twai_hal_get_err_state(twai_hal_context_t *hal_ctx);
 __attribute__((always_inline))
 static inline twai_error_flags_t twai_hal_get_err_flags(twai_hal_context_t *hal_ctx)
 {
-    return hal_ctx->errors;
+    twai_error_flags_t error_flags = hal_ctx->errors;
+    hal_ctx->errors.val = 0;    // clear ctx for next errors
+    return error_flags;
 }
 
 /* ------------------------------- TX and RX -------------------------------- */
diff --git a/components/esp_hal_twai/twai_hal_v1.c b/components/esp_hal_twai/twai_hal_v1.c
index dc69a8ac8f..cf01ef1a6b 100644
--- a/components/esp_hal_twai/twai_hal_v1.c
+++ b/components/esp_hal_twai/twai_hal_v1.c
@@ -276,13 +276,10 @@ uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx)
         twai_ll_err_dir_t dir;
         twai_ll_err_seg_t seg;
         twai_ll_parse_err_code_cap(hal_ctx->dev, &type, &dir, &seg);    //Decode error interrupt
-        twai_error_flags_t errors = {
-            .bit_err = (type == TWAI_LL_ERR_BIT),
-            .form_err = (type == TWAI_LL_ERR_FORM),
-            .stuff_err = (type == TWAI_LL_ERR_STUFF),
-            .ack_err = (type == TWAI_LL_ERR_OTHER) && (seg == TWAI_LL_ERR_SEG_ACK_SLOT),
-        };
-        hal_ctx->errors = errors;
+        hal_ctx->errors.bit_err = (type == TWAI_LL_ERR_BIT);
+        hal_ctx->errors.form_err = (type == TWAI_LL_ERR_FORM);
+        hal_ctx->errors.stuff_err = (type == TWAI_LL_ERR_STUFF);
+        hal_ctx->errors.ack_err = (type == TWAI_LL_ERR_OTHER) && (seg == TWAI_LL_ERR_SEG_ACK_SLOT);
 #if TWAI_LL_HAS_RX_FRAME_ISSUE
         //Check for errata condition (RX message has bus error at particular segments)
         if (dir == TWAI_LL_ERR_DIR_RX &&
@@ -293,6 +290,7 @@ uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx)
         }
 #endif
     }
+    hal_ctx->errors.arb_lost = !!(events & TWAI_HAL_EVENT_ARB_LOST);
     if (events & TWAI_HAL_EVENT_ARB_LOST) {
         twai_ll_clear_arb_lost_cap(hal_ctx->dev);
     }
diff --git a/components/esp_hal_twai/twai_hal_v2.c b/components/esp_hal_twai/twai_hal_v2.c
index 62ff17e6f6..acad4dc5df 100644
--- a/components/esp_hal_twai/twai_hal_v2.c
+++ b/components/esp_hal_twai/twai_hal_v2.c
@@ -218,6 +218,7 @@ uint32_t twai_hal_get_events(twai_hal_context_t *hal_ctx)
         hal_ctx->errors = twaifd_ll_get_err_reason(hal_ctx->dev);
         hal_events |= TWAI_HAL_EVENT_BUS_ERR;
     }
+    hal_ctx->errors.arb_lost = !!(int_stat & TWAIFD_LL_INTR_ARBIT_LOST);
     if (int_stat & TWAIFD_LL_INTR_ARBIT_LOST) {
         hal_events |= TWAI_HAL_EVENT_ARB_LOST;
     }