diff --git a/components/esp_netif/esp_netif_defaults.c b/components/esp_netif/esp_netif_defaults.c
index e98105b1ae..895594f0de 100644
--- a/components/esp_netif/esp_netif_defaults.c
+++ b/components/esp_netif/esp_netif_defaults.c
@@ -28,7 +28,7 @@ const esp_netif_ip_info_t _g_esp_netif_soft_ap_ip = {
 const esp_netif_inherent_config_t _g_esp_netif_inherent_ap_config = ESP_NETIF_INHERENT_DEFAULT_WIFI_AP();
 #endif
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 const esp_netif_inherent_config_t _g_esp_netif_inherent_nan_config = ESP_NETIF_INHERENT_DEFAULT_WIFI_NAN();
 #endif
 
diff --git a/components/esp_netif/include/esp_netif_defaults.h b/components/esp_netif/include/esp_netif_defaults.h
index b215aca1dc..8bce84aea4 100644
--- a/components/esp_netif/include/esp_netif_defaults.h
+++ b/components/esp_netif/include/esp_netif_defaults.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -158,7 +158,7 @@ extern "C" {
     }
 #endif
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 /**
 * @brief  Default configuration reference of WIFI NAN
 */
@@ -204,7 +204,7 @@ extern "C" {
 #define ESP_NETIF_BASE_DEFAULT_WIFI_AP         &_g_esp_netif_inherent_ap_config
 #endif
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 /**
  * @brief  Default base config (esp-netif inherent) of WIFI NAN
  */
@@ -230,7 +230,7 @@ extern "C" {
 #ifdef CONFIG_ESP_WIFI_SOFTAP_SUPPORT
 #define ESP_NETIF_NETSTACK_DEFAULT_WIFI_AP      _g_esp_netif_netstack_default_wifi_ap
 #endif
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 #define ESP_NETIF_NETSTACK_DEFAULT_WIFI_NAN     _g_esp_netif_netstack_default_wifi_nan
 #endif
 #ifdef CONFIG_PPP_SUPPORT
@@ -249,7 +249,7 @@ extern const esp_netif_netstack_config_t *_g_esp_netif_netstack_default_wifi_sta
 #ifdef CONFIG_ESP_WIFI_SOFTAP_SUPPORT
 extern const esp_netif_netstack_config_t *_g_esp_netif_netstack_default_wifi_ap;
 #endif
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 extern const esp_netif_netstack_config_t *_g_esp_netif_netstack_default_wifi_nan;
 #endif
 #ifdef CONFIG_PPP_SUPPORT
@@ -264,7 +264,7 @@ extern const esp_netif_inherent_config_t _g_esp_netif_inherent_sta_config;
 #ifdef CONFIG_ESP_WIFI_SOFTAP_SUPPORT
 extern const esp_netif_inherent_config_t _g_esp_netif_inherent_ap_config;
 #endif
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 extern const esp_netif_inherent_config_t _g_esp_netif_inherent_nan_config;
 #endif
 extern const esp_netif_inherent_config_t _g_esp_netif_inherent_eth_config;
diff --git a/components/esp_wifi/CMakeLists.txt b/components/esp_wifi/CMakeLists.txt
index 9886f0f07e..1a9e8094ba 100644
--- a/components/esp_wifi/CMakeLists.txt
+++ b/components/esp_wifi/CMakeLists.txt
@@ -48,7 +48,7 @@ if(CONFIG_ESP_WIFI_ENABLED OR CONFIG_ESP_HOST_WIFI_ENABLED)
             "src/smartconfig_ack.c")
     endif()
 
-    if(CONFIG_ESP_WIFI_NAN_ENABLE OR CONFIG_ESP_WIFI_NAN_USD_ENABLE)
+    if(CONFIG_ESP_WIFI_NAN_SYNC_ENABLE OR CONFIG_ESP_WIFI_NAN_USD_ENABLE)
         list(APPEND srcs "wifi_apps/nan_app/src/nan_app.c")
     endif()
     if(CONFIG_ESP_WIFI_ENABLE_ROAMING_APP)
diff --git a/components/esp_wifi/Kconfig b/components/esp_wifi/Kconfig
index 24cea7102b..bceb21fe32 100644
--- a/components/esp_wifi/Kconfig
+++ b/components/esp_wifi/Kconfig
@@ -576,19 +576,20 @@ menu "Wi-Fi"
                 Maximum espnow encrypted peers number + maximum number of connections of SoftAP = Max hardware
                 keys number. When using ESP mesh, this value should be set to a maximum of 6.
 
-        config ESP_WIFI_NAN_ENABLE
-            bool "WiFi Aware"
+        config ESP_WIFI_NAN_SYNC_ENABLE
+            bool "Enable Wi-Fi Aware: Synchronization (NAN-Sync)"
             default n
             depends on SOC_WIFI_NAN_SUPPORT
             select LWIP_IPV6
             help
-                Enable WiFi Aware (NAN) feature.
+                Enable Wi-Fi Aware: Synchronization feature (NAN-Sync).
 
         config ESP_WIFI_NAN_USD_ENABLE
-            bool "Enable NAN USD"
+            bool "Enable Wi-Fi Aware: Unsynchronized service discovery (NAN-USD)"
+            depends on IDF_EXPERIMENTAL_FEATURES
             default n
             help
-                Enable NAN(WiFi Aware) Unsynchronized service discovery
+                Enable Wi-Fi Aware: Unsynchronized service discovery (NAN-USD)
 
         config ESP_WIFI_MBEDTLS_CRYPTO
             bool "Use MbedTLS crypto APIs"
diff --git a/components/esp_wifi/include/esp_private/wifi.h b/components/esp_wifi/include/esp_private/wifi.h
index aca83b7e4a..e8e6dc2830 100644
--- a/components/esp_wifi/include/esp_private/wifi.h
+++ b/components/esp_wifi/include/esp_private/wifi.h
@@ -39,7 +39,7 @@ typedef struct {
     void *storage;        /**< storage for FreeRTOS queue */
 } wifi_static_queue_t;
 
-struct nan_callbacks {
+struct nan_sync_callbacks {
     void (* service_match)(uint8_t sub_id, uint8_t pub_id, uint8_t pub_mac[6], uint16_t capab,
                            uint8_t ssi_ver, uint8_t *ssi, uint16_t ssi_len);
     void (* replied)(uint8_t pub_id, uint8_t sub_id, uint8_t pub_mac[6], uint8_t *ssi, uint16_t ssi_len);
@@ -780,7 +780,7 @@ esp_err_t esp_nan_internal_datapath_end(wifi_nan_datapath_end_req_t *req);
   *    - ESP_OK: succeed
   *    - others: failed
   */
-esp_err_t esp_nan_internal_register_callbacks(struct nan_callbacks *cb);
+esp_err_t esp_nan_internal_register_callbacks(struct nan_sync_callbacks *cb);
 
 /**
   * @brief     Connect WiFi station to the AP.
diff --git a/components/esp_wifi/include/esp_wifi.h b/components/esp_wifi/include/esp_wifi.h
index 7a50c8b011..787ec9d9b3 100644
--- a/components/esp_wifi/include/esp_wifi.h
+++ b/components/esp_wifi/include/esp_wifi.h
@@ -1788,6 +1788,8 @@ esp_err_t esp_wifi_action_tx_req(wifi_action_tx_req_t *req);
 /**
   * @brief      Remain on the target channel for required duration
   *
+  * @attention 1. The API returns ESP_ERR_INVALID_ARG when `req->allow_broadcast` is true and the device operates in AP+STA mode.
+  *
   * @param    req  roc request structure containing relevant fields
   *
   * @return
diff --git a/components/esp_wifi/include/esp_wifi_types_generic.h b/components/esp_wifi/include/esp_wifi_types_generic.h
index dcb0699e6c..f5694c19cf 100644
--- a/components/esp_wifi/include/esp_wifi_types_generic.h
+++ b/components/esp_wifi/include/esp_wifi_types_generic.h
@@ -592,8 +592,7 @@ typedef struct {
     uint8_t master_pref;   /**< Device's preference value to serve as NAN Master */
     uint8_t scan_time;     /**< Scan time in seconds while searching for a NAN cluster */
     uint16_t warm_up_sec;  /**< Warm up time before assuming NAN Anchor Master role */
-    bool discovery_flag;   /**< False in case of NAN Synchronization, True in case of Unsynchronized service discovery (USD)*/
-} wifi_nan_config_t;
+} wifi_nan_sync_config_t;
 
 /**
   * @brief Configuration data for device's AP or STA or NAN.
@@ -605,7 +604,7 @@ typedef struct {
 typedef union {
     wifi_ap_config_t  ap;  /**< Configuration of AP */
     wifi_sta_config_t sta; /**< Configuration of STA */
-    wifi_nan_config_t nan; /**< Configuration of NAN */
+    wifi_nan_sync_config_t nan; /**< Configuration of NAN */
 } wifi_config_t;
 
 /**
@@ -799,8 +798,8 @@ typedef struct {
     bool no_ack;                /**< Indicates no ack required */
     wifi_action_rx_cb_t rx_cb;  /**< Rx Callback to receive action frames */
     uint8_t op_id;              /**< Unique Identifier for operation provided by wifi driver */
-    uint32_t data_len;          /**< Length of the appended Data */
     uint8_t bssid[6];           /**< BSSID (A3) address. If all zeroes, broadcast address will be used */
+    uint32_t data_len;          /**< Length of the appended Data */
     uint8_t data[0];            /**< Appended Data payload */
 } wifi_action_tx_req_t;
 
@@ -835,10 +834,11 @@ typedef struct {
     wifi_action_rx_cb_t rx_cb;         /**< Rx Callback to receive action mgmt frames */
     uint8_t op_id;                     /**< ID of this specific ROC operation provided by wifi driver */
     wifi_action_roc_done_cb_t done_cb; /**< Callback to function that will be called upon ROC done. If assigned, WIFI_EVENT_ROC_DONE event will not be posted */
-    bool allow_broadcast;              /**< If set to true, broadcast/multicast action frames will be received
-                                            in the ROC Rx callback, enabling peer discovery.
-                                            If false (default), broadcast/multicast action frames will be filtered out
-                                            and not passed to the Rx callback, reducing CPU usage. */
+    bool allow_broadcast;              /**< If set to true, broadcast/multicast action frames from any network (Address3/BSSID=ANY)
+                                            will be received in the ROC Rx callback, enabling peer discovery.
+                                            If false (default), broadcast/multicast action frames from other networks
+                                            will be filtered out in hardware and not passed to the Rx callback, reducing CPU usage.
+                                            Frames whose Address3/BSSID is already broadcast are always delivered. */
 } wifi_roc_req_t;
 
 /**
@@ -1125,8 +1125,8 @@ typedef enum {
     WIFI_EVENT_BTWT_SETUP,              /**< bTWT setup */
     WIFI_EVENT_BTWT_TEARDOWN,           /**< bTWT teardown*/
 
-    WIFI_EVENT_NAN_STARTED,              /**< NAN Discovery has started */
-    WIFI_EVENT_NAN_STOPPED,              /**< NAN Discovery has stopped */
+    WIFI_EVENT_NAN_SYNC_STARTED,         /**< NAN Synchronization Discovery has started */
+    WIFI_EVENT_NAN_SYNC_STOPPED,         /**< NAN Synchronization Discovery has stopped */
     WIFI_EVENT_NAN_SVC_MATCH,            /**< NAN Service Discovery match found */
     WIFI_EVENT_NAN_REPLIED,              /**< Replied to a NAN peer with Service Discovery match */
     WIFI_EVENT_NAN_RECEIVE,              /**< Received a Follow-up message */
diff --git a/components/esp_wifi/sdkconfig.rename b/components/esp_wifi/sdkconfig.rename
index 273b291fb5..c4b403e54b 100644
--- a/components/esp_wifi/sdkconfig.rename
+++ b/components/esp_wifi/sdkconfig.rename
@@ -28,6 +28,7 @@ CONFIG_ESP32_WIFI_IRAM_OPT              CONFIG_ESP_WIFI_IRAM_OPT
 CONFIG_ESP32_WIFI_RX_IRAM_OPT           CONFIG_ESP_WIFI_RX_IRAM_OPT
 CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE       CONFIG_ESP_WIFI_ENABLE_WPA3_SAE
 CONFIG_ESP32_WIFI_ENABLE_WPA3_OWE_STA   CONFIG_ESP_WIFI_ENABLE_WPA3_OWE_STA
+CONFIG_ESP_WIFI_NAN_ENABLE              CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 
 # renaming supplicant kconfig to esp_wifi kconfig
 CONFIG_WPA_MBEDTLS_CRYPTO               CONFIG_ESP_WIFI_MBEDTLS_CRYPTO
diff --git a/components/esp_wifi/src/wifi_default.c b/components/esp_wifi/src/wifi_default.c
index d5d07855e2..3773618cdf 100644
--- a/components/esp_wifi/src/wifi_default.c
+++ b/components/esp_wifi/src/wifi_default.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2019-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2019-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -12,7 +12,7 @@
 #include "esp_wifi_netif.h"
 #include <string.h>
 #include <inttypes.h>
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 #include "apps_private/wifi_apps_private.h"
 #endif
 #if CONFIG_ESP_WIFI_ENABLE_ROAMING_APP
@@ -170,7 +170,7 @@ static void wifi_default_action_sta_got_ip(void *arg, esp_event_base_t base, int
     }
 }
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 static void wifi_default_action_nan_started(void *arg, esp_event_base_t base, int32_t event_id, void *data)
 {
     if (s_wifi_netifs[WIFI_IF_NAN] != NULL) {
@@ -202,9 +202,9 @@ static esp_err_t clear_default_wifi_handlers(void)
     esp_event_handler_unregister(WIFI_EVENT, WIFI_EVENT_AP_STOP, wifi_default_action_ap_stop);
 #endif
     esp_event_handler_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, wifi_default_action_sta_got_ip);
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
-    esp_event_handler_unregister(WIFI_EVENT, WIFI_EVENT_NAN_STARTED, wifi_default_action_nan_started);
-    esp_event_handler_unregister(WIFI_EVENT, WIFI_EVENT_NAN_STOPPED, wifi_default_action_nan_stopped);
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
+    esp_event_handler_unregister(WIFI_EVENT, WIFI_EVENT_NAN_SYNC_STARTED, wifi_default_action_nan_started);
+    esp_event_handler_unregister(WIFI_EVENT, WIFI_EVENT_NAN_SYNC_STOPPED, wifi_default_action_nan_stopped);
 #endif
     esp_unregister_shutdown_handler((shutdown_handler_t)esp_wifi_stop);
     wifi_default_handlers_set = false;
@@ -258,13 +258,13 @@ static esp_err_t set_default_wifi_handlers(void)
         goto fail;
     }
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
-    err = esp_event_handler_register(WIFI_EVENT, WIFI_EVENT_NAN_STARTED, wifi_default_action_nan_started, NULL);
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
+    err = esp_event_handler_register(WIFI_EVENT, WIFI_EVENT_NAN_SYNC_STARTED, wifi_default_action_nan_started, NULL);
     if (err != ESP_OK) {
         goto fail;
     }
 
-    err = esp_event_handler_register(WIFI_EVENT, WIFI_EVENT_NAN_STOPPED, wifi_default_action_nan_stopped, NULL);
+    err = esp_event_handler_register(WIFI_EVENT, WIFI_EVENT_NAN_SYNC_STOPPED, wifi_default_action_nan_stopped, NULL);
     if (err != ESP_OK) {
         goto fail;
     }
@@ -364,7 +364,7 @@ static inline esp_err_t esp_netif_attach_wifi(esp_netif_t *esp_netif, wifi_inter
 #ifdef CONFIG_ESP_WIFI_SOFTAP_SUPPORT
                               && wifi_if != WIFI_IF_AP
 #endif
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
                               && wifi_if != WIFI_IF_NAN
 #endif
                              )) {
@@ -386,7 +386,7 @@ esp_err_t esp_netif_attach_wifi_ap(esp_netif_t *esp_netif)
 }
 #endif
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 esp_err_t esp_netif_attach_wifi_nan(esp_netif_t *esp_netif)
 {
     return esp_netif_attach_wifi(esp_netif, WIFI_IF_NAN);
@@ -425,7 +425,7 @@ esp_netif_t* esp_netif_create_default_wifi_sta(void)
     return netif;
 }
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 /**
  * @brief User init default NAN (official API)
  */
@@ -465,7 +465,7 @@ esp_netif_t* esp_netif_create_wifi(wifi_interface_t wifi_if, const esp_netif_inh
     } else if (wifi_if == WIFI_IF_AP) {
         cfg.stack = ESP_NETIF_NETSTACK_DEFAULT_WIFI_AP;
 #endif
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
     } else if (wifi_if == WIFI_IF_NAN) {
         cfg.stack = ESP_NETIF_NETSTACK_DEFAULT_WIFI_NAN;
 #endif
diff --git a/components/esp_wifi/src/wifi_init.c b/components/esp_wifi/src/wifi_init.c
index ea050fe0ab..2bf79c6f9e 100644
--- a/components/esp_wifi/src/wifi_init.c
+++ b/components/esp_wifi/src/wifi_init.c
@@ -27,7 +27,7 @@
 #if __has_include("esp_psram.h")
 #include "esp_psram.h"
 #endif
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 #include "apps_private/wifi_apps_private.h"
 #endif
 #ifdef CONFIG_ESP_WIFI_FTM_ENABLE
@@ -187,7 +187,7 @@ static esp_err_t wifi_deinit_internal(void)
         ESP_LOGW(TAG, "Failed to unregister Rx callbacks");
     }
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
     esp_nan_app_deinit();
 #endif
 
@@ -484,7 +484,7 @@ esp_err_t esp_wifi_init(const wifi_init_config_t *config)
 
     esp_wifi_config_info();
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
     esp_nan_app_init();
 #endif
 
@@ -649,7 +649,7 @@ void create_new_bss_for_sa_query_failed_sta(uint8_t arg)
 }
 #endif /* CONFIG_ESP_WIFI_SOFTAP_SUPPORT */
 
-#ifndef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifndef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 
 esp_err_t nan_start(void)
 {
@@ -680,7 +680,7 @@ int wifi_create_nan(void)
     return 0;
 }
 
-int wifi_nan_set_config_local(wifi_nan_config_t *p)
+int wifi_nan_set_config_local(wifi_nan_sync_config_t *p)
 {
     /* Do not remove, stub to overwrite weak link in Wi-Fi Lib */
     return 0;
@@ -707,7 +707,7 @@ void nan_ndp_resp_timeout_process(void *p)
 {
     /* Do not remove, stub to overwrite weak link in Wi-Fi Lib */
 }
-#endif /* CONFIG_ESP_WIFI_NAN_ENABLE */
+#endif /* CONFIG_ESP_WIFI_NAN_SYNC_ENABLE */
 
 #if CONFIG_IDF_TARGET_ESP32C2
 #if CONFIG_ESP32C2_REV_MIN_FULL < 200
diff --git a/components/esp_wifi/src/wifi_netif.c b/components/esp_wifi/src/wifi_netif.c
index f42ff6bd52..96d4135dd2 100644
--- a/components/esp_wifi/src/wifi_netif.c
+++ b/components/esp_wifi/src/wifi_netif.c
@@ -46,7 +46,7 @@ static esp_err_t wifi_ap_receive(void *buffer, uint16_t len, void *eb)
 }
 #endif
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 static esp_err_t wifi_nan_receive(void *buffer, uint16_t len, void *eb)
 {
     return s_wifi_rxcbs[WIFI_IF_NAN](s_wifi_netifs[WIFI_IF_NAN], buffer, len, eb);
@@ -158,7 +158,7 @@ esp_err_t esp_wifi_register_if_rxcb(wifi_netif_driver_t ifx, esp_netif_receive_t
         break;
 #endif
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
     case WIFI_IF_NAN:
         rxcb = wifi_nan_receive;
         break;
diff --git a/components/esp_wifi/test_apps/bin_size_apsta/sdkconfig.ci.enable_nan b/components/esp_wifi/test_apps/bin_size_apsta/sdkconfig.ci.enable_nan
index be625a880c..3d8f4d4657 100644
--- a/components/esp_wifi/test_apps/bin_size_apsta/sdkconfig.ci.enable_nan
+++ b/components/esp_wifi/test_apps/bin_size_apsta/sdkconfig.ci.enable_nan
@@ -1 +1 @@
-CONFIG_ESP_WIFI_NAN_ENABLE=y
+CONFIG_ESP_WIFI_NAN_SYNC_ENABLE=y
diff --git a/components/esp_wifi/wifi_apps/include/apps_private/wifi_apps_private.h b/components/esp_wifi/wifi_apps/include/apps_private/wifi_apps_private.h
index 5fe106f289..df2b9883cf 100644
--- a/components/esp_wifi/wifi_apps/include/apps_private/wifi_apps_private.h
+++ b/components/esp_wifi/wifi_apps/include/apps_private/wifi_apps_private.h
@@ -15,7 +15,7 @@
 extern "C" {
 #endif
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 
 /**
   * @brief      Initialize the NAN App and required Data Structures
@@ -35,7 +35,7 @@ void esp_nan_app_deinit(void);
   * @brief      NAN App action handler for NAN Started event. Sets up other event handlers and
   *             initializes NAN App context
   *
-  * @attention  This API should be called in WIFI_EVENT_NAN_STARTED event handler
+  * @attention  This API should be called in WIFI_EVENT_NAN_SYNC_STARTED event handler
   *
   * @param      nan_netif  Netif handle corresponding to NAN interface.
   */
@@ -45,11 +45,11 @@ void esp_nan_action_start(esp_netif_t *nan_netif);
   * @brief      NAN App action handler for NAN Stopped event. Clears other event handlers and
   *             resets NAN App context
   *
-  * @attention  This API should be called in WIFI_EVENT_NAN_STOPPED event handler
+  * @attention  This API should be called in WIFI_EVENT_NAN_SYNC_STOPPED event handler
   */
 void esp_nan_action_stop(void);
 
-#endif /* CONFIG_ESP_WIFI_NAN_ENABLE */
+#endif /* CONFIG_ESP_WIFI_NAN_SYNC_ENABLE */
 
 #ifdef __cplusplus
 }
diff --git a/components/esp_wifi/wifi_apps/nan_app/include/esp_nan.h b/components/esp_wifi/wifi_apps/nan_app/include/esp_nan.h
index 2dd65d7fcc..98391602c0 100644
--- a/components/esp_wifi/wifi_apps/nan_app/include/esp_nan.h
+++ b/components/esp_wifi/wifi_apps/nan_app/include/esp_nan.h
@@ -15,17 +15,12 @@
 extern "C" {
 #endif
 
-#define WIFI_NAN_CONFIG_DEFAULT() { \
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
+#define WIFI_NAN_SYNC_CONFIG_DEFAULT() { \
     .op_channel = 6, \
     .master_pref = 2, \
     .scan_time = 3, \
     .warm_up_sec = 5, \
-    .discovery_flag = 0, \
-};
-
-/* For USD, all parameters other than discovery_flag are ignored */
-#define WIFI_USD_NAN_CONFIG_DEFAULT() { \
-    .discovery_flag = 1, \
 };
 
 #define NDP_STATUS_ACCEPTED     1
@@ -46,7 +41,8 @@ struct nan_peer_record {
 };
 
 /**
-  * @brief      Start NAN Discovery or Unsynchronized service discovery (USD) with provided configuration
+  * @brief      Start NAN Synchronization using the provided parameters.
+  * @note       Discovery traffic begins only after publish/subscribe services are started.
   *
   * @attention  This API should be called after esp_wifi_init().
   *
@@ -56,30 +52,132 @@ struct nan_peer_record {
   *    - ESP_OK: succeed
   *    - others: failed
   */
-esp_err_t esp_wifi_nan_start(const wifi_nan_config_t *nan_cfg);
+esp_err_t esp_wifi_nan_sync_start(const wifi_nan_sync_config_t *nan_cfg);
 
 /**
-  * @brief      Stop NAN Discovery or USD and end publish/subscribe services
+  * @brief      Stop NAN Synchronization discovery and end publish/subscribe services
   *
   * @attention  This API will end datapaths if any in NAN synchronization
-  * @attention  This API will stop USD if discovery_flag is set to true, else it will stop NAN Discovery
   *
   * @return
   *    - ESP_OK: succeed
   *    - others: failed
   */
-esp_err_t esp_wifi_nan_stop(void);
+esp_err_t esp_wifi_nan_sync_stop(void);
 
 /**
-  * @brief      Start Publishing a service to the NAN/USD Peers in vicinity
+  * @brief      Send a NAN datapath request to a matched publisher within the synchronized NAN cluster
   *
-  * @attention  This API should be called after esp_wifi_nan_start().
-  * @attention  This API will start a publisher in USD if discovery_flag is true
+  * @attention  This API should be called by the Subscriber after a match occurs with a Publisher.
+  *
+  * @param      req  NAN Datapath Request parameters.
+  *
+  * @return
+  *    - non-zero NAN Datapath identifier: If NAN datapath req was accepted by publisher
+  *    - zero: If NAN datapath req was rejected by publisher or a timeout occurs
+  */
+uint8_t esp_wifi_nan_datapath_req(wifi_nan_datapath_req_t *req);
+
+/**
+  * @brief      Respond to a NAN datapath request within the synchronized NAN cluster
+  *
+  * @attention  This API should be called if ndp_resp_needed is set 1 in wifi_nan_publish_cfg_t and
+  *             a WIFI_EVENT_NDP_INDICATION event is received due to an incoming NDP request.
+  *
+  * @param      resp  NAN Datapath Response parameters.
+  *
+  * @return
+  *    - ESP_OK: succeed
+  *    - others: failed
+  */
+esp_err_t esp_wifi_nan_datapath_resp(wifi_nan_datapath_resp_t *resp);
+
+/**
+  * @brief      Terminate an active NAN datapath within the synchronized NAN cluster
+  *
+  * @param      req  NAN Datapath end request parameters.
+  *
+  * @return
+  *    - ESP_OK: succeed
+  *    - others: failed
+  */
+esp_err_t esp_wifi_nan_datapath_end(wifi_nan_datapath_end_req_t *req);
+
+/**
+  * @brief      Get IPv6 Link Local address using MAC address
+  *
+  * @param[out]      ip6  Derived IPv6 Link Local address.
+  * @param[in]       mac_addr  Input MAC Address.
+  */
+void esp_wifi_nan_get_ipv6_linklocal_from_mac(ip6_addr_t *ip6, uint8_t *mac_addr);
+
+/**
+ * brief         Get own Service information from Service ID OR Name.
+ *
+ * @attention    If service information is to be fetched from service name, set own_svc_id as zero.
+ * @note         Returns records discovered while participating in a synchronized NAN cluster.
+ *
+ * @param[inout] own_svc_id As input, it indicates Service ID to search for.
+ *                          As output, it indicates Service ID of the service found using Service Name.
+ * @param[inout] svc_name   As input, it indicates Service Name to search for.
+ *                          As output, it indicates Service Name of the service found using Service ID.
+ * @param[out]   num_peer_records  Number of peers discovered by corresponding service.
+ * @return
+ *   - ESP_OK: succeed
+ *   - ESP_FAIL: failed
+ */
+
+esp_err_t esp_wifi_nan_get_own_svc_info(uint8_t *own_svc_id, char *svc_name, int *num_peer_records);
+
+/**
+ * brief         Get a list of Peers discovered by the given Service.
+ *
+ * @note         Reports peers discovered via synchronized NAN operations.
+ *
+ * @param[inout] num_peer_records As input param, it stores max peers peer_record can hold.
+ *               As output param, it specifies the actual number of peers this API returns.
+ * @param        own_svc_id  Service ID of own service.
+ * @param[out]   peer_record Pointer to first peer record.
+ * @return
+ *   - ESP_OK: succeed
+ *   - ESP_FAIL: failed
+ */
+
+esp_err_t esp_wifi_nan_get_peer_records(int *num_peer_records, uint8_t own_svc_id, struct nan_peer_record *peer_record);
+
+/**
+ * brief         Find Peer's Service information using Peer MAC and optionally Service Name.
+ *
+ * @note         Provides peer information available from synchronized NAN discovery.
+ *
+ * @param       svc_name    Service Name of the published/subscribed service.
+ * @param       peer_mac    Peer's NAN Management Interface MAC address.
+ * @param[out]  peer_info   Peer's service information structure.
+ * @return
+ *   - ESP_OK: succeed
+ *   - ESP_FAIL: failed
+ */
+
+esp_err_t esp_wifi_nan_get_peer_info(char *svc_name, uint8_t *peer_mac, struct nan_peer_record *peer_info);
+
+#endif /* CONFIG_ESP_WIFI_NAN_SYNC_ENABLE */
+
+#if defined(CONFIG_ESP_WIFI_NAN_SYNC_ENABLE) ||  defined(CONFIG_ESP_WIFI_NAN_USD_ENABLE)
+/**
+  * @brief      Start publishing a service to NAN peers within a synchronized cluster or to NAN-USD peers
+  *
+  * @attention  Call after `esp_wifi_nan_sync_start()` when operating in NAN-Sync, or after
+  *             `esp_wifi_nan_usd_start()` when operating in NAN-USD.
+  * @attention  When NAN-USD discovery is active the publish request is routed through the
+  *             USD engine, otherwise it uses NAN synchronization.
   * @attention  A maximum of two services is allowed simultaneously
   *             (e.g., one publish and one subscribe, or two publish/subscribe).
   *             This limit is defined by the ESP_WIFI_NAN_MAX_SVC_SUPPORTED.
   *
   * @param      publish_cfg  Configuration parameters for publishing a service.
+  *                          When operating in NAN-USD, populate `publish_cfg->usd_publish_config`
+  *                          (for example using `esp_wifi_usd_get_default_publish_cfg()`) to tune
+  *                          the USD dwell and channel parameters.
   *
   * @return
   *    - non-zero: Publish service identifier
@@ -88,15 +186,20 @@ esp_err_t esp_wifi_nan_stop(void);
 uint8_t esp_wifi_nan_publish_service(const wifi_nan_publish_cfg_t *publish_cfg);
 
 /**
-  * @brief      Subscribe to a service published by a NAN peer within a cluster or a USD peer
+  * @brief      Subscribe to a service published by a NAN peer within a synchronized cluster or by a NAN-USD peer
   *
-  * @attention  This API should be called after esp_wifi_nan_start().
-  * @attention  This API will start a subscriber in USD if discovery_flag is true
+  * @attention  Call after `esp_wifi_nan_sync_start()` when operating in NAN-Sync, or after
+  *             `esp_wifi_nan_usd_start()` when operating in NAN-USD.
+  * @attention  With NAN-USD discovery enabled the subscribe request is handled by the USD
+  *             engine, otherwise it uses NAN synchronization.
   * @attention  A maximum of two services is allowed simultaneously
   *             (e.g., one publish and one subscribe, or two publish/subscribe).
   *             This limit is defined by the ESP_WIFI_NAN_MAX_SVC_SUPPORTED.
   *
   * @param      subscribe_cfg  Configuration parameters for subscribing for a service.
+  *                            When operating in NAN-USD, populate `subscribe_cfg->usd_subscribe_config`
+  *                            (for example using `esp_wifi_usd_get_default_subscribe_cfg()`) to tune
+  *                            the USD dwell and channel parameters.
   *
   * @return
   *    - non-zero: Subscribe service identifier
@@ -128,92 +231,29 @@ esp_err_t esp_wifi_nan_send_message(wifi_nan_followup_params_t *fup_params);
   */
 esp_err_t esp_wifi_nan_cancel_service(uint8_t service_id);
 
-/**
-  * @brief      Send NAN Datapath Request to a NAN Publisher with matched service
-  *
-  * @attention  This API should be called by the Subscriber after a match occurs with a Publisher.
-  *
-  * @param      req  NAN Datapath Request parameters.
-  *
-  * @return
-  *    - non-zero NAN Datapath identifier: If NAN datapath req was accepted by publisher
-  *    - zero: If NAN datapath req was rejected by publisher or a timeout occurs
-  */
-uint8_t esp_wifi_nan_datapath_req(wifi_nan_datapath_req_t *req);
+#endif /* NAN-Sync || NAN-USD */
 
+#ifdef CONFIG_ESP_WIFI_NAN_USD_ENABLE
 /**
-  * @brief      Respond to a NAN Datapath request with Accept or Reject
+  * @brief      Start NAN Unsynchronized service discovery (USD)
   *
-  * @attention  This API should be called if ndp_resp_needed is set 1 in wifi_nan_publish_cfg_t and
-  *             a WIFI_EVENT_NDP_INDICATION event is received due to an incoming NDP request.
-  *
-  * @param      resp  NAN Datapath Response parameters.
+  * @attention  This API should be called after esp_wifi_start().
+  * @note       USD currently operates over the Station interface; this may change in future releases.
   *
   * @return
   *    - ESP_OK: succeed
   *    - others: failed
   */
-esp_err_t esp_wifi_nan_datapath_resp(wifi_nan_datapath_resp_t *resp);
+esp_err_t esp_wifi_nan_usd_start(void);
 
 /**
-  * @brief      Terminate a NAN Datapath
-  *
-  * @param      req  NAN Datapath end request parameters.
+  * @brief      Stop NAN Unsynchronized service discovery (USD) and end publish/subscribe services
   *
   * @return
   *    - ESP_OK: succeed
   *    - others: failed
   */
-esp_err_t esp_wifi_nan_datapath_end(wifi_nan_datapath_end_req_t *req);
-
-/**
-  * @brief      Get IPv6 Link Local address using MAC address
-  *
-  * @param[out]      ip6  Derived IPv6 Link Local address.
-  * @param[in]       mac_addr  Input MAC Address.
-  */
-void esp_wifi_nan_get_ipv6_linklocal_from_mac(ip6_addr_t *ip6, uint8_t *mac_addr);
-
-/**
- * brief         Get own Service information from Service ID OR Name.
- *
- * @attention    If service information is to be fetched from service name, set own_svc_id as zero.
- *
- * @param[inout] own_svc_id As input, it indicates Service ID to search for.
- *                          As output, it indicates Service ID of the service found using Service Name.
- * @param[inout] svc_name   As input, it indicates Service Name to search for.
- *                          As output, it indicates Service Name of the service found using Service ID.
- * @param[out]   num_peer_records  Number of peers discovered by corresponding service.
- * @return
- *   - ESP_OK: succeed
- *   - ESP_FAIL: failed
- */
-esp_err_t esp_wifi_nan_get_own_svc_info(uint8_t *own_svc_id, char *svc_name, int *num_peer_records);
-
-/**
- * brief         Get a list of Peers discovered by the given Service.
- *
- * @param[inout] num_peer_records As input param, it stores max peers peer_record can hold.
- *               As output param, it specifies the actual number of peers this API returns.
- * @param        own_svc_id  Service ID of own service.
- * @param[out]   peer_record Pointer to first peer record.
- * @return
- *   - ESP_OK: succeed
- *   - ESP_FAIL: failed
- */
-esp_err_t esp_wifi_nan_get_peer_records(int *num_peer_records, uint8_t own_svc_id, struct nan_peer_record *peer_record);
-
-/**
- * brief         Find Peer's Service information using Peer MAC and optionally Service Name.
- *
- * @param       svc_name    Service Name of the published/subscribed service.
- * @param       peer_mac    Peer's NAN Management Interface MAC address.
- * @param[out]  peer_info   Peer's service information structure.
- * @return
- *   - ESP_OK: succeed
- *   - ESP_FAIL: failed
- */
-esp_err_t esp_wifi_nan_get_peer_info(char *svc_name, uint8_t *peer_mac, struct nan_peer_record *peer_info);
+esp_err_t esp_wifi_nan_usd_stop(void);
 
 /**
   * @brief      Get default configuration for USD publish operation.
@@ -250,6 +290,8 @@ wifi_nan_usd_config_t esp_wifi_usd_get_default_publish_cfg(void);
  */
 wifi_nan_usd_config_t esp_wifi_usd_get_default_subscribe_cfg(void);
 
+#endif /* CONFIG_ESP_WIFI_NAN_USD_ENABLE */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp_wifi/wifi_apps/nan_app/src/nan_app.c b/components/esp_wifi/wifi_apps/nan_app/src/nan_app.c
index cfe32d10cf..be4818c62c 100644
--- a/components/esp_wifi/wifi_apps/nan_app/src/nan_app.c
+++ b/components/esp_wifi/wifi_apps/nan_app/src/nan_app.c
@@ -45,13 +45,13 @@
 
 /* Global Variables */
 static const char *TAG = "nan_app";
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 static EventGroupHandle_t nan_event_group;
 static bool s_app_default_handlers_set = false;
 static uint8_t null_mac[MACADDR_LEN] = {0};
 static void *s_nan_data_lock = NULL;
 static uint32_t s_fup_context;
-#endif /* CONFIG_ESP_WIFI_NAN_ENABLE */
+#endif /* CONFIG_ESP_WIFI_NAN_SYNC_ENABLE */
 #ifdef CONFIG_ESP_WIFI_NAN_USD_ENABLE
 #endif /* CONFIG_ESP_WIFI_NAN_USD_ENABLE */
 static bool s_usd_in_progress = false;
@@ -62,7 +62,7 @@ static const uint8_t s_wfa_oui[3] = {0x50, 0x6f, 0x9a};
 #define NAN_SDEA_CTRL_FSD_GAS       BIT(1)
 #define NAN_SDEA_CTRL_DATAPATH_REQD BIT(2)
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 #define NAN_DATA_LOCK() os_mutex_lock(s_nan_data_lock)
 #define NAN_DATA_UNLOCK() os_mutex_unlock(s_nan_data_lock)
 
@@ -760,7 +760,7 @@ void esp_nan_action_start(esp_netif_t *nan_netif)
     s_nan_ctx.state = NAN_STARTED_BIT;
     NAN_DATA_UNLOCK();
 
-    struct nan_callbacks nan_cb = {
+    struct nan_sync_callbacks nan_cb = {
         .service_match = nan_app_service_match_cb,
         .replied = nan_app_replied_cb,
         .receive = nan_app_receive_cb,
@@ -794,13 +794,10 @@ void esp_nan_action_stop(void)
     os_event_group_set_bits(nan_event_group, NAN_STOPPED_BIT);
 }
 
-#endif /* CONFIG_ESP_WIFI_NAN_ENABLE */
-
-esp_err_t esp_wifi_nan_start(const wifi_nan_config_t *nan_cfg)
+esp_err_t esp_wifi_nan_sync_start(const wifi_nan_sync_config_t *nan_cfg)
 {
     wifi_mode_t mode;
     esp_err_t ret;
-    s_usd_in_progress = false;
 
     ret = esp_wifi_get_mode(&mode);
     if (ret == ESP_ERR_WIFI_NOT_INIT) {
@@ -811,89 +808,48 @@ esp_err_t esp_wifi_nan_start(const wifi_nan_config_t *nan_cfg)
         return ret;
     }
 
-#if (!CONFIG_ESP_WIFI_NAN_ENABLE)
-    if (!nan_cfg->discovery_flag) {
-        ESP_LOGE(TAG, "discovery_flag must be set when"
-                "ESP_WIFI_NAN_USD_ENABLE is enabled");
-        return ESP_FAIL;
-    }
-#endif
 
     /* XXX: For now, NAN-USD and NAN-Sync can not coexist. */
-#ifdef CONFIG_ESP_WIFI_NAN_USD_ENABLE
-    if (nan_cfg->discovery_flag) {
-        /* NAN-USD Only */
-        ESP_RETURN_ON_ERROR(esp_wifi_set_mode(WIFI_MODE_STA), "NAN-USD", "Setting STA mode failed");
-        ESP_RETURN_ON_ERROR(esp_wifi_start(), "NAN-USD", "Starting WiFi failed");
-        ESP_RETURN_ON_ERROR(esp_nan_usd_init(), "NAN-USD", "Failed to initialise NAN USD engine");
-        s_usd_in_progress = true;
-        ESP_LOGI(TAG, "NaN-USD Started");
-        return ESP_OK;
+    /* NAN-Synchronization Only */
+    wifi_config_t config = {0};
+    if (!s_nan_data_lock) {
+        ESP_LOGE(TAG, "NAN Data lock doesn't exist");
+        return ESP_FAIL;
     }
-#endif /* CONFIG_ESP_WIFI_NAN_USD_ENABLE */
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
-    else {
-        if (nan_cfg->discovery_flag) {
-            /* Should reach here only if ESP_WIFI_NAN_USD_ENABLE is disabled */
-            ESP_LOGE(TAG, "Can not set discovery_flag without "
-                    "ESP_WIFI_NAN_USD_ENABLE enabled");
-            return ESP_FAIL;
-        }
 
-        /* NAN-Synchronization Only */
-        wifi_config_t config = {0};
-        if (!s_nan_data_lock) {
-            ESP_LOGE(TAG, "NAN Data lock doesn't exist");
-            return ESP_FAIL;
-        }
-
-        NAN_DATA_LOCK();
-        if (s_nan_ctx.state & NAN_STARTED_BIT) {
-            ESP_LOGI(TAG, "NAN already started");
-            NAN_DATA_UNLOCK();
-            return ESP_OK;
-        }
+    NAN_DATA_LOCK();
+    if (s_nan_ctx.state & NAN_STARTED_BIT) {
+        ESP_LOGI(TAG, "NAN already started");
         NAN_DATA_UNLOCK();
-
-        ESP_RETURN_ON_ERROR(esp_wifi_set_mode(WIFI_MODE_NAN), TAG, "Set mode NAN failed");
-
-        memcpy(&config.nan, nan_cfg, sizeof(wifi_nan_config_t));
-        ESP_RETURN_ON_ERROR(esp_wifi_set_config(WIFI_IF_NAN, &config), TAG, "Setting NAN config failed");
-
-        if (esp_wifi_start() != ESP_OK) {
-            ESP_LOGE(TAG, "Starting wifi failed");
-            NAN_DATA_LOCK();
-            s_nan_ctx.nan_netif = NULL;
-            NAN_DATA_UNLOCK();
-            return ESP_FAIL;
-        }
-
-        EventBits_t bits = os_event_group_wait_bits(nan_event_group, NAN_STARTED_BIT, pdFALSE, pdFALSE, portMAX_DELAY);
-        if (!(bits & NAN_STARTED_BIT)) {
-            NAN_DATA_LOCK();
-            s_nan_ctx.nan_netif = NULL;
-            NAN_DATA_UNLOCK();
-            return ESP_FAIL;
-        }
         return ESP_OK;
     }
-#endif /* CONFIG_ESP_WIFI_NAN_ENABLE */
-    return ESP_FAIL;
+    NAN_DATA_UNLOCK();
+
+    ESP_RETURN_ON_ERROR(esp_wifi_set_mode(WIFI_MODE_NAN), TAG, "Set mode NAN failed");
+
+    memcpy(&config.nan, nan_cfg, sizeof(wifi_nan_sync_config_t));
+    ESP_RETURN_ON_ERROR(esp_wifi_set_config(WIFI_IF_NAN, &config), TAG, "Setting NAN config failed");
+
+    if (esp_wifi_start() != ESP_OK) {
+        ESP_LOGE(TAG, "Starting wifi failed");
+        NAN_DATA_LOCK();
+        s_nan_ctx.nan_netif = NULL;
+        NAN_DATA_UNLOCK();
+        return ESP_FAIL;
+    }
+
+    EventBits_t bits = os_event_group_wait_bits(nan_event_group, NAN_STARTED_BIT, pdFALSE, pdFALSE, portMAX_DELAY);
+    if (!(bits & NAN_STARTED_BIT)) {
+        NAN_DATA_LOCK();
+        s_nan_ctx.nan_netif = NULL;
+        NAN_DATA_UNLOCK();
+        return ESP_FAIL;
+    }
+    return ESP_OK;
 }
 
-esp_err_t esp_wifi_nan_stop(void)
+esp_err_t esp_wifi_nan_sync_stop(void)
 {
-#ifdef CONFIG_ESP_WIFI_NAN_USD_ENABLE
-    if (s_usd_in_progress) {
-        s_usd_in_progress = false;
-        esp_nan_usd_deinit();
-        ESP_RETURN_ON_ERROR(esp_wifi_stop(), TAG, "Stopping NAN-USD failed");
-        ESP_LOGI(TAG, "NaN-USD Stopped");
-        return ESP_OK;
-    }
-#endif /* CONFIG_ESP_WIFI_NAN_USD_ENABLE */
-
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
     NAN_DATA_LOCK();
     if (!(s_nan_ctx.state & NAN_STARTED_BIT)) {
         ESP_LOGE(TAG, "NAN isn't started");
@@ -930,9 +886,9 @@ esp_err_t esp_wifi_nan_stop(void)
     NAN_DATA_LOCK();
     memset(&s_nan_ctx, 0, sizeof(nan_ctx_t));
     NAN_DATA_UNLOCK();
-#endif /* CONFIG_ESP_WIFI_NAN_ENABLE */
     return ESP_OK;
 }
+#endif /* CONFIG_ESP_WIFI_NAN_SYNC_ENABLE */
 
 uint8_t esp_wifi_nan_publish_service(const wifi_nan_publish_cfg_t *publish_cfg)
 {
@@ -983,7 +939,7 @@ uint8_t esp_wifi_nan_publish_service(const wifi_nan_publish_cfg_t *publish_cfg)
     }
 #endif /* CONFIG_ESP_WIFI_NAN_USD_ENABLE */
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
     NAN_DATA_LOCK();
     if (!(s_nan_ctx.state & NAN_STARTED_BIT)) {
         ESP_LOGE(TAG, "NAN not started!");
@@ -1015,7 +971,7 @@ uint8_t esp_wifi_nan_publish_service(const wifi_nan_publish_cfg_t *publish_cfg)
 fail:
     NAN_DATA_UNLOCK();
     return 0;
-#endif /* CONFIG_ESP_WIFI_NAN_ENABLE */
+#endif /* CONFIG_ESP_WIFI_NAN_SYNC_ENABLE */
     return 0;
 }
 
@@ -1063,7 +1019,7 @@ uint8_t esp_wifi_nan_subscribe_service(const wifi_nan_subscribe_cfg_t *subscribe
     }
 #endif /* CONFIG_ESP_WIFI_NAN_USD_ENABLE */
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
     NAN_DATA_LOCK();
     if (!(s_nan_ctx.state & NAN_STARTED_BIT)) {
         ESP_LOGE(TAG, "NAN not started!");
@@ -1093,7 +1049,7 @@ uint8_t esp_wifi_nan_subscribe_service(const wifi_nan_subscribe_cfg_t *subscribe
 fail:
     NAN_DATA_UNLOCK();
     return 0;
-#endif /* CONFIG_ESP_WIFI_NAN_ENABLE */
+#endif /* CONFIG_ESP_WIFI_NAN_SYNC_ENABLE */
     return 0;
 }
 
@@ -1132,7 +1088,7 @@ esp_err_t esp_wifi_nan_send_message(wifi_nan_followup_params_t *fup_params)
     }
 #endif /* CONFIG_ESP_WIFI_NAN_USD_ENABLE */
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
     struct peer_svc_info *p_peer_svc;
     NAN_DATA_LOCK();
     p_peer_svc = nan_find_peer_svc(fup_params->inst_id,
@@ -1178,7 +1134,7 @@ esp_err_t esp_wifi_nan_send_message(wifi_nan_followup_params_t *fup_params)
         ESP_LOGE(TAG, "Timeout, failed to send Follow-up message!");
         ret = ESP_FAIL;
     }
-#endif /* CONFIG_ESP_WIFI_NAN_ENABLE */
+#endif /* CONFIG_ESP_WIFI_NAN_SYNC_ENABLE */
 
     return ret;
 }
@@ -1189,9 +1145,8 @@ esp_err_t esp_wifi_nan_cancel_service(uint8_t service_id)
     if (s_usd_in_progress) {
         return esp_nan_usd_cancel_service(service_id);
     }
-    else
 #endif /* CONFIG_ESP_WIFI_NAN_USD_ENABLE */
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
     NAN_DATA_LOCK();
     struct own_svc_info *p_own_svc = nan_find_own_svc(service_id);
 
@@ -1223,12 +1178,12 @@ fail:
 done:
     NAN_DATA_UNLOCK();
     return ESP_OK;
-#endif /* CONFIG_ESP_WIFI_NAN_ENABLE */
+#endif /* CONFIG_ESP_WIFI_NAN_SYNC_ENABLE */
     return ESP_FAIL;
 }
 
 
-#ifdef CONFIG_ESP_WIFI_NAN_ENABLE
+#ifdef CONFIG_ESP_WIFI_NAN_SYNC_ENABLE
 uint8_t esp_wifi_nan_datapath_req(wifi_nan_datapath_req_t *req)
 {
     uint8_t ndp_id = 0;
@@ -1497,9 +1452,32 @@ esp_err_t esp_wifi_nan_get_peer_info(char *svc_name, uint8_t *peer_mac, struct n
         return ESP_FAIL;
     }
 }
-#endif /* CONFIG_ESP_WIFI_NAN_ENABLE */
+#endif /* CONFIG_ESP_WIFI_NAN_SYNC_ENABLE */
 
 #ifdef CONFIG_ESP_WIFI_NAN_USD_ENABLE
+esp_err_t esp_wifi_nan_usd_start(void)
+{
+    if (!s_usd_in_progress) {
+        ESP_RETURN_ON_ERROR(esp_wifi_set_mode(WIFI_MODE_STA), "NAN-USD", "Setting STA mode failed");
+        ESP_RETURN_ON_ERROR(esp_nan_usd_init(), "NAN-USD", "Failed to initialise NAN USD engine");
+        s_usd_in_progress = true;
+        ESP_LOGI(TAG, "NaN-USD Started");
+        return ESP_OK;
+    }
+    return ESP_OK;
+}
+
+esp_err_t esp_wifi_nan_usd_stop(void)
+{
+    if (s_usd_in_progress) {
+        s_usd_in_progress = false;
+        esp_nan_usd_deinit();
+        ESP_LOGI(TAG, "NaN-USD Stopped");
+        return ESP_OK;
+    }
+    return ESP_OK;
+}
+
 wifi_nan_usd_config_t esp_wifi_usd_get_default_publish_cfg(void)
 {
     wifi_country_t country;
diff --git a/components/wpa_supplicant/esp_supplicant/src/esp_nan_usd.c b/components/wpa_supplicant/esp_supplicant/src/esp_nan_usd.c
index bfa4e8076e..f4a4d94134 100644
--- a/components/wpa_supplicant/esp_supplicant/src/esp_nan_usd.c
+++ b/components/wpa_supplicant/esp_supplicant/src/esp_nan_usd.c
@@ -38,7 +38,7 @@ static void nan_sta_stop_handler(void *arg, esp_event_base_t event_base,
                                  int32_t event_id, void *event_data)
 {
     if (event_id == WIFI_EVENT_STA_STOP) {
-        esp_wifi_nan_stop();
+        esp_wifi_nan_usd_stop();
     }
 }
 
diff --git a/docs/en/api-reference/network/esp_nan.rst b/docs/en/api-reference/network/esp_nan.rst
index 56d2afa18b..42c7cdfd11 100644
--- a/docs/en/api-reference/network/esp_nan.rst
+++ b/docs/en/api-reference/network/esp_nan.rst
@@ -18,6 +18,10 @@ Application Examples
 
 - :example:`wifi/wifi_aware/nan_subscriber` demonstrates how to use the NAN protocol to discover other devices that publishes the required service in the proximity, and communicate with them either by sending a message or initiating a datapath.
 
+- :example:`wifi/wifi_aware/usd_publisher` demonstrates how to use lightweight NAN Unsynchronized Service Discovery (NAN-USD) to advertise a service to nearby devices without forming NAN clusters. It walks through bringing up USD, publishing a service, responding to subscribers with follow-up messages, and returning to the idle state once discovery completes.
+
+- :example:`wifi/wifi_aware/usd_subscriber` demonstrates how to use the lightweight NAN Unsynchronized Service Discovery (NAN-USD) protocol to discover services advertised by nearby devices and interact with them. It covers enabling USD discovery, subscribing to services, handling follow-up exchanges, and terminating discovery after the session ends.
+
 API Reference
 -------------
 
diff --git a/docs/en/migration-guides/release-6.x/6.0/wifi.rst b/docs/en/migration-guides/release-6.x/6.0/wifi.rst
index 129eaf2c67..bf81351511 100644
--- a/docs/en/migration-guides/release-6.x/6.0/wifi.rst
+++ b/docs/en/migration-guides/release-6.x/6.0/wifi.rst
@@ -46,4 +46,18 @@ The following Wi-Fi functions have been modified.
 
 - **WPS:** The function ``esp_wifi_wps_start`` no longer accepts a ``timeout_ms`` argument. It should now be called as ``esp_wifi_wps_start(void)``.
 
-- **NAN:** The function argument ``ndp_resp_needed`` of ``esp_wifi_nan_publish_service`` has been moved to structure ``wifi_nan_publish_cfg_t``.
+- **NAN:**
+    - NAN API's are modified so that they can be shared between two separate NAN modes of operation called NAN Synchronization (NAN-Sync) and NAN Unsynchronized Discovery (NAN-USD) roles:
+        - ``esp_wifi_nan_sync_start`` and ``esp_wifi_nan_sync_stop`` replace the previous ``esp_wifi_nan_start`` / ``esp_wifi_nan_stop`` pair.
+        - Functions starting with prefix ``esp_wifi_nan_*`` are shared by both NAN-Sync and NAN-USD modes (for example ``esp_wifi_nan_publish_service`` and ``esp_wifi_nan_subscribe_service``).
+        - Use ``WIFI_NAN_SYNC_CONFIG_DEFAULT()`` instead of the former ``WIFI_NAN_CONFIG_DEFAULT()`` macro when initialising synchronized NAN configuration.
+        - The structure ``wifi_nan_config_t`` has been renamed to ``wifi_nan_sync_config_t``; update declarations such as ``wifi_config_t.nan`` to use the new type.
+        - NAN datapath APIs and associated structures are valid for NAN Synchronization (NAN-Sync) clusters only.
+    - Wi-Fi events ``WIFI_EVENT_NAN_STARTED`` / ``WIFI_EVENT_NAN_STOPPED`` have been renamed to ``WIFI_EVENT_NAN_SYNC_STARTED`` / ``WIFI_EVENT_NAN_SYNC_STOPPED``.
+    - The function argument ``ndp_resp_needed`` of ``esp_wifi_nan_publish_service`` has been moved to structure ``wifi_nan_publish_cfg_t``.
+    - The structure ``wifi_nan_wfa_ssi_t`` now declares its ``proto`` field as ``uint8_t`` (previously ``wifi_nan_svc_proto_t``). Update code that stores pointers to this field or relies on its size to treat it as a single octet.
+    - The structures ``wifi_nan_publish_cfg_t`` and ``wifi_nan_subscribe_cfg_t`` now include a ``usd_discovery_flag`` bitfield together with corresponding ``wifi_nan_usd_config_t`` members. Add designated initialisers for these fields when constructing the structures to avoid accidental field shifts.
+
+- **Off-Channel Operations:**
+    - The structure :cpp:struct:`wifi_action_tx_req_t` now includes a ``bssid`` field that is placed in Address3 of the transmitted action frame. Initialise this field explicitly; leaving it all zeros retains the previous behaviour where the Wi-Fi driver inserts the broadcast address, so frames do not carry unintended BSSID values.
+    - The structure :cpp:struct:`wifi_roc_req_t` now includes an ``allow_broadcast`` flag that controls whether broadcast and multicast action frames are passed to the ``rx_cb`` callback during remain-on-channel operations. Existing applications should review the default ``false`` value and enable it when discovery of broadcast peers is required. Frames whose Address3/BSSID is already broadcast continue to reach the callback even when ``allow_broadcast`` remains ``false``.
diff --git a/docs/zh_CN/migration-guides/release-6.x/6.0/wifi.rst b/docs/zh_CN/migration-guides/release-6.x/6.0/wifi.rst
index 797a38bb2d..68cb03ad4c 100644
--- a/docs/zh_CN/migration-guides/release-6.x/6.0/wifi.rst
+++ b/docs/zh_CN/migration-guides/release-6.x/6.0/wifi.rst
@@ -46,5 +46,18 @@ Wi-Fi
 
 - **WPS：** 函数 ``esp_wifi_wps_start`` 不再接受 ``timeout_ms`` 参数。现在应调用为 ``esp_wifi_wps_start(void)``。
 
-- **NAN：** 函数 ``esp_wifi_nan_publish_service`` 的参数 ``ndp_resp_needed`` 已移至结构体 ``wifi_nan_publish_cfg_t``。
+- **NAN：**
+    -  已调整 NAN API，使其可在两个独立的 NAN 工作模式间共享：NAN 同步（NAN-Sync）与 NAN 非同步发现（NAN-USD）：
+        - ``esp_wifi_nan_sync_start`` 与 ``esp_wifi_nan_sync_stop`` 取代原有的 ``esp_wifi_nan_start`` / ``esp_wifi_nan_stop``。
+        - 以 ``esp_wifi_nan_*`` 为前缀的函数在 NAN-Sync 与 NAN 非同步发现（NAN-USD） 模式间通用（例如 ``esp_wifi_nan_publish_service``、``esp_wifi_nan_subscribe_service``）。
+        - 初始化 NAN 同步配置时，请使用 ``WIFI_NAN_SYNC_CONFIG_DEFAULT()``，原 ``WIFI_NAN_CONFIG_DEFAULT()`` 已停用。
+        - 结构体 ``wifi_nan_config_t`` 已重命名为 ``wifi_nan_sync_config_t``，例如需将 ``wifi_config_t.nan`` 等声明更新为新类型。
+        - NAN 数据通道相关的 API 与结构体目前仅适用于 NAN 同步（NAN-Sync）集群。
+    - Wi-Fi 事件 ``WIFI_EVENT_NAN_STARTED`` / ``WIFI_EVENT_NAN_STOPPED`` 已重命名为 ``WIFI_EVENT_NAN_SYNC_STARTED`` / ``WIFI_EVENT_NAN_SYNC_STOPPED``。
+    - 函数 ``esp_wifi_nan_publish_service`` 的参数 ``ndp_resp_needed`` 已移至结构体 ``wifi_nan_publish_cfg_t``。
+    - 结构体 ``wifi_nan_wfa_ssi_t`` 中的 ``proto`` 字段类型现为 ``uint8_t`` （之前为 ``wifi_nan_svc_proto_t``）。如果代码存储该字段的指针或依赖其大小，请按单个八位字节处理。
+    - 结构体 ``wifi_nan_publish_cfg_t`` 和 ``wifi_nan_subscribe_cfg_t`` 新增 ``usd_discovery_flag`` 位域及对应的 ``wifi_nan_usd_config_t`` 成员。构造这些结构体时，请为新增字段提供指定初始化器，以避免字段偏移。
 
+- **离信道操作：**
+    - 结构体 :cpp:struct:`wifi_action_tx_req_t` 新增 ``bssid`` 字段，该字段会写入发送动作帧的 Address3。请显式初始化该字段；保持全零时将沿用之前的行为，由 Wi-Fi 驱动填入广播地址，从而避免帧携带意外的 BSSID。
+    - 结构体 :cpp:struct:`wifi_roc_req_t` 新增 ``allow_broadcast`` 标志，用于控制在驻留信道期间是否将广播/组播动作帧传递给 ``rx_cb`` 回调。现有应用应结合默认值 ``false`` 评估是否需要启用该选项，以便在需要时进行广播节点发现。若动作帧的 Address3/BSSID 本身为广播地址，即便 ``allow_broadcast`` 保持 ``false``，回调仍会收到该帧。
diff --git a/examples/wifi/wifi_aware/nan_console/main/nan_main.c b/examples/wifi/wifi_aware/nan_console/main/nan_main.c
index b32f1db288..8c91fcf09d 100644
--- a/examples/wifi/wifi_aware/nan_console/main/nan_main.c
+++ b/examples/wifi/wifi_aware/nan_console/main/nan_main.c
@@ -234,7 +234,7 @@ static int wifi_cmd_nan_disc(int argc, char **argv)
     }
 
     if (nan_args.init->count) {
-        wifi_nan_config_t nan_cfg = WIFI_NAN_CONFIG_DEFAULT();
+        wifi_nan_sync_config_t nan_cfg = WIFI_NAN_SYNC_CONFIG_DEFAULT();
 
         if (nan_args.master_pref->count) {
             nan_cfg.master_pref = nan_args.master_pref->ival[0];
@@ -250,7 +250,7 @@ static int wifi_cmd_nan_disc(int argc, char **argv)
             g_nan_netif = esp_netif_create_default_wifi_nan();
         }
 
-        if ((esp_wifi_nan_start(&nan_cfg)) != ESP_OK) {
+        if ((esp_wifi_nan_sync_start(&nan_cfg)) != ESP_OK) {
             ESP_LOGI(TAG, "Failed to start NAN");
             esp_netif_destroy_default_wifi(g_nan_netif);
             g_nan_netif = NULL;
@@ -266,7 +266,7 @@ static int wifi_cmd_nan_disc(int argc, char **argv)
     }
 
     if (nan_args.deinit->count) {
-        ret = esp_wifi_nan_stop();
+        ret = esp_wifi_nan_sync_stop();
 
         if (ret != ESP_OK) {
             ESP_LOGI(TAG, "Failed to stop NAN");
diff --git a/examples/wifi/wifi_aware/nan_console/sdkconfig.defaults b/examples/wifi/wifi_aware/nan_console/sdkconfig.defaults
index be625a880c..3d8f4d4657 100644
--- a/examples/wifi/wifi_aware/nan_console/sdkconfig.defaults
+++ b/examples/wifi/wifi_aware/nan_console/sdkconfig.defaults
@@ -1 +1 @@
-CONFIG_ESP_WIFI_NAN_ENABLE=y
+CONFIG_ESP_WIFI_NAN_SYNC_ENABLE=y
diff --git a/examples/wifi/wifi_aware/nan_publisher/main/publisher_main.c b/examples/wifi/wifi_aware/nan_publisher/main/publisher_main.c
index 7a7cad7cdc..2ea6cd3cc4 100644
--- a/examples/wifi/wifi_aware/nan_publisher/main/publisher_main.c
+++ b/examples/wifi/wifi_aware/nan_publisher/main/publisher_main.c
@@ -81,10 +81,10 @@ void wifi_nan_publish(void)
                     &instance_any_id));
 
     /* Start NAN Discovery */
-    wifi_nan_config_t nan_cfg = WIFI_NAN_CONFIG_DEFAULT();
+    wifi_nan_sync_config_t nan_cfg = WIFI_NAN_SYNC_CONFIG_DEFAULT();
 
     esp_netif_create_default_wifi_nan();
-    esp_wifi_nan_start(&nan_cfg);
+    esp_wifi_nan_sync_start(&nan_cfg);
 
     ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
                     WIFI_EVENT_NDP_INDICATION,
diff --git a/examples/wifi/wifi_aware/nan_publisher/sdkconfig.defaults b/examples/wifi/wifi_aware/nan_publisher/sdkconfig.defaults
index be625a880c..3d8f4d4657 100644
--- a/examples/wifi/wifi_aware/nan_publisher/sdkconfig.defaults
+++ b/examples/wifi/wifi_aware/nan_publisher/sdkconfig.defaults
@@ -1 +1 @@
-CONFIG_ESP_WIFI_NAN_ENABLE=y
+CONFIG_ESP_WIFI_NAN_SYNC_ENABLE=y
diff --git a/examples/wifi/wifi_aware/nan_subscriber/main/subscriber_main.c b/examples/wifi/wifi_aware/nan_subscriber/main/subscriber_main.c
index 44aa622301..88fbca9807 100644
--- a/examples/wifi/wifi_aware/nan_subscriber/main/subscriber_main.c
+++ b/examples/wifi/wifi_aware/nan_subscriber/main/subscriber_main.c
@@ -177,10 +177,10 @@ void wifi_nan_subscribe(void)
 #endif
 
     /* Start NAN Discovery */
-    wifi_nan_config_t nan_cfg = WIFI_NAN_CONFIG_DEFAULT();
+    wifi_nan_sync_config_t nan_cfg = WIFI_NAN_SYNC_CONFIG_DEFAULT();
     esp_netif_t *nan_netif = esp_netif_create_default_wifi_nan();
     (void) nan_netif;
-    esp_wifi_nan_start(&nan_cfg);
+    esp_wifi_nan_sync_start(&nan_cfg);
 
     /* Subscribe a service */
     uint8_t sub_id;
diff --git a/examples/wifi/wifi_aware/nan_subscriber/sdkconfig.defaults b/examples/wifi/wifi_aware/nan_subscriber/sdkconfig.defaults
index be625a880c..3d8f4d4657 100644
--- a/examples/wifi/wifi_aware/nan_subscriber/sdkconfig.defaults
+++ b/examples/wifi/wifi_aware/nan_subscriber/sdkconfig.defaults
@@ -1 +1 @@
-CONFIG_ESP_WIFI_NAN_ENABLE=y
+CONFIG_ESP_WIFI_NAN_SYNC_ENABLE=y
diff --git a/examples/wifi/wifi_aware/usd_publisher/main/usd_publisher_example_main.c b/examples/wifi/wifi_aware/usd_publisher/main/usd_publisher_example_main.c
index 8426737e87..09dec2dbde 100644
--- a/examples/wifi/wifi_aware/usd_publisher/main/usd_publisher_example_main.c
+++ b/examples/wifi/wifi_aware/usd_publisher/main/usd_publisher_example_main.c
@@ -59,9 +59,10 @@ void wifi_usd_publish(void)
                     NULL,
                     &instance_any_id));
 
+    ESP_RETURN_VOID_ON_ERROR(esp_wifi_start(), TAG, "NAN-USD failed to start Wi-Fi");
+
     /* Start USD-NAN Discovery */
-    wifi_nan_config_t usd_nan_cfg = WIFI_USD_NAN_CONFIG_DEFAULT();
-    ESP_RETURN_VOID_ON_ERROR(esp_wifi_nan_start(&usd_nan_cfg), TAG, "NAN-USD initialization failed");
+    ESP_RETURN_VOID_ON_ERROR(esp_wifi_nan_usd_start(), TAG, "NAN-USD initialization failed");
 
     wifi_nan_publish_cfg_t publish_cfg = {
         .service_name = EXAMPLE_USD_SVC_NAME,
@@ -101,7 +102,7 @@ void wifi_usd_publish(void)
     }
 
     esp_wifi_nan_cancel_service(g_publish_id);
-    esp_wifi_nan_stop();
+    esp_wifi_nan_usd_stop();
 }
 
 void initialise_wifi(void)
@@ -110,6 +111,7 @@ void initialise_wifi(void)
     wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
     ESP_ERROR_CHECK(esp_wifi_init(&cfg));
     ESP_ERROR_CHECK(esp_wifi_set_storage(WIFI_STORAGE_RAM) );
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_NULL));
 }
 
 void app_main(void)
diff --git a/examples/wifi/wifi_aware/usd_publisher/sdkconfig.defaults b/examples/wifi/wifi_aware/usd_publisher/sdkconfig.defaults
index 47d739bb22..d0ffed238e 100644
--- a/examples/wifi/wifi_aware/usd_publisher/sdkconfig.defaults
+++ b/examples/wifi/wifi_aware/usd_publisher/sdkconfig.defaults
@@ -1 +1,2 @@
 CONFIG_ESP_WIFI_NAN_USD_ENABLE=y
+CONFIG_IDF_EXPERIMENTAL_FEATURES=y
diff --git a/examples/wifi/wifi_aware/usd_subscriber/main/usd_subscriber_example_main.c b/examples/wifi/wifi_aware/usd_subscriber/main/usd_subscriber_example_main.c
index af7a65b8bf..32dc713277 100644
--- a/examples/wifi/wifi_aware/usd_subscriber/main/usd_subscriber_example_main.c
+++ b/examples/wifi/wifi_aware/usd_subscriber/main/usd_subscriber_example_main.c
@@ -87,9 +87,10 @@ void wifi_usd_subscribe(void)
                     NULL,
                     &instance_any_id));
 
+    ESP_RETURN_VOID_ON_ERROR(esp_wifi_start(), TAG, "NAN-USD failed to start Wi-Fi");
+
     /* Start NAN-USD Discovery */
-    wifi_nan_config_t nan_usd_cfg = WIFI_USD_NAN_CONFIG_DEFAULT();
-    esp_wifi_nan_start(&nan_usd_cfg);
+    ESP_RETURN_VOID_ON_ERROR(esp_wifi_nan_usd_start(), TAG, "NAN-USD initialization failed");
 
     wifi_nan_subscribe_cfg_t subscribe_cfg = {
         .service_name = EXAMPLE_USD_SVC_NAME,
@@ -134,6 +135,7 @@ void initialise_wifi(void)
     wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
     ESP_ERROR_CHECK(esp_wifi_init(&cfg));
     ESP_ERROR_CHECK(esp_wifi_set_storage(WIFI_STORAGE_RAM) );
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_NULL));
 }
 
 void app_main(void)
diff --git a/examples/wifi/wifi_aware/usd_subscriber/sdkconfig.defaults b/examples/wifi/wifi_aware/usd_subscriber/sdkconfig.defaults
index 47d739bb22..d0ffed238e 100644
--- a/examples/wifi/wifi_aware/usd_subscriber/sdkconfig.defaults
+++ b/examples/wifi/wifi_aware/usd_subscriber/sdkconfig.defaults
@@ -1 +1,2 @@
 CONFIG_ESP_WIFI_NAN_USD_ENABLE=y
+CONFIG_IDF_EXPERIMENTAL_FEATURES=y
diff --git a/tools/idf_py_actions/hints.yml b/tools/idf_py_actions/hints.yml
index ce4385d366..c7af7f187d 100644
--- a/tools/idf_py_actions/hints.yml
+++ b/tools/idf_py_actions/hints.yml
@@ -624,6 +624,10 @@
     re: "error: implicit declaration of function 'esp_wifi_config_espnow_rate'"
     hint: "The function 'esp_wifi_config_espnow_rate' has been removed. Use 'esp_now_set_peer_rate_config' instead."
 
+-
+    re: "(initialization|assignment) of 'wifi_nan_svc_proto_t \\*' from incompatible pointer type 'uint8_t \\*'"
+    hint: "The field 'proto' in structure 'wifi_nan_wfa_ssi_t' is now declared as 'uint8_t'. Update pointer usage accordingly, for example by using a 'uint8_t *' or copying the enum value into a separate variable."
+
 -
     re: "error: too many arguments to function 'esp_wifi_wps_start'"
     hint: "The function 'esp_wifi_wps_start' no longer accepts a 'timeout_ms' argument."
@@ -656,10 +660,36 @@
     re: "error: 'peer_svc_info' undeclared"
     hint: "The field 'peer_svc_info' from structure 'wifi_event_nan_receive_t' has been removed. Please use the equivalent fields 'ssi' and 'ssi_len' instead."
 
+-
+    re: "error: 'WIFI_EVENT_NAN_STARTED' undeclared"
+    hint: "The Wi-Fi NAN event 'WIFI_EVENT_NAN_STARTED' has been renamed to 'WIFI_EVENT_NAN_SYNC_STARTED'."
+
+-
+    re: "error: 'WIFI_EVENT_NAN_STOPPED' undeclared"
+    hint: "The Wi-Fi NAN event 'WIFI_EVENT_NAN_STOPPED' has been renamed to 'WIFI_EVENT_NAN_SYNC_STOPPED'."
+
 -
     re: "error: too few arguments to function 'esp_wifi_nan_publish_service'"
     hint: "The function argument 'ndp_resp_needed' of 'esp_wifi_nan_publish_service' has been moved to structure 'wifi_nan_publish_cfg_t'."
 
+-
+    re: "error: implicit declaration of function '{}'"
+    hint: "The NAN synchronization API '{}' has been renamed to '{}'."
+    variables:
+        -
+            re_variables: ['esp_wifi_nan_start']
+            hint_variables: ['esp_wifi_nan_start', 'esp_wifi_nan_sync_start']
+        -
+            re_variables: ['esp_wifi_nan_stop']
+            hint_variables: ['esp_wifi_nan_stop', 'esp_wifi_nan_sync_stop']
+        -
+            re_variables: ['WIFI_NAN_CONFIG_DEFAULT']
+            hint_variables: ['WIFI_NAN_CONFIG_DEFAULT', 'WIFI_NAN_SYNC_CONFIG_DEFAULT']
+
+-
+    re: "error: unknown type name 'wifi_nan_config_t'"
+    hint: "The structure 'wifi_nan_config_t' has been renamed to 'wifi_nan_sync_config_t'."
+
 -
     re: "error: '(WIFI_REASON_ASSOC_EXPIRE|WIFI_REASON_NOT_AUTHED|WIFI_REASON_NOT_ASSOCED)' undeclared"
     hint: "The Wi-Fi disconnection reason codes '{0}' have been removed. Please use '{1}', '{2}', and '{3}' respectively."