diff --git a/components/driver/CMakeLists.txt b/components/driver/CMakeLists.txt
index d3c3e125ed..160232ca29 100644
--- a/components/driver/CMakeLists.txt
+++ b/components/driver/CMakeLists.txt
@@ -45,7 +45,7 @@ else()
     idf_component_register(SRCS "${srcs}"
                            INCLUDE_DIRS ${includes}
                            PRIV_REQUIRES esp_timer esp_mm esp_driver_gpio esp_ringbuf esp_pm
-                           REQUIRES esp_hal_i2c esp_hal_twai
+                           REQUIRES esp_hal_i2c esp_hal_twai esp_hal_touch_sens
                            LDFRAGMENTS ${ldfragments}
                           )
 endif()
diff --git a/components/driver/test_apps/.build-test-rules.yml b/components/driver/test_apps/.build-test-rules.yml
index 79b8aef954..8d374aa1c1 100644
--- a/components/driver/test_apps/.build-test-rules.yml
+++ b/components/driver/test_apps/.build-test-rules.yml
@@ -25,13 +25,14 @@ components/driver/test_apps/touch_element:
     - if: IDF_TARGET not in ["esp32s2", "esp32s3"]
       reason: only supports esp32s2 and esp32s3
   depends_filepatterns:
-    - components/soc/**/touch_sensor_periph.h
     - components/soc/esp32s2/**/rtc_cntl_*
     - components/soc/esp32s3/**/rtc_cntl_*
     - components/soc/esp32s2/**/rtc_io_struct.h
     - components/soc/esp32s3/**/rtc_io_struct.h
     - components/soc/esp32s2/**/sens_struct.h
     - components/soc/esp32s3/**/sens_struct.h
+  depends_components:
+    - esp_hal_touch_sens
 
 components/driver/test_apps/touch_sensor_v1:
   disable:
diff --git a/components/driver/touch_sensor/esp32/touch_sensor.c b/components/driver/touch_sensor/esp32/touch_sensor.c
index 5e52782b44..4d0da393dc 100644
--- a/components/driver/touch_sensor/esp32/touch_sensor.c
+++ b/components/driver/touch_sensor/esp32/touch_sensor.c
@@ -29,7 +29,7 @@
 #endif
 #include "sys/queue.h"
 #include "hal/touch_sensor_legacy_types.h"
-#include "hal/touch_sensor_hal.h"
+#include "hal/touch_sensor_legacy_hal.h"
 
 typedef struct {
     esp_timer_handle_t timer;
@@ -52,8 +52,8 @@ static SemaphoreHandle_t rtc_touch_mux = NULL;
 
 static __attribute__((unused)) const char *TOUCH_TAG = "TOUCH_SENSOR";
 
-#define TOUCH_CHANNEL_CHECK(channel) ESP_RETURN_ON_FALSE(channel < SOC_MODULE_ATTR(TOUCH, CHAN_NUM), ESP_ERR_INVALID_ARG, TOUCH_TAG,  "Touch channel error");
-#define TOUCH_CHANNEL_CHECK_ISR(channel) ESP_RETURN_ON_FALSE_ISR(channel < SOC_MODULE_ATTR(TOUCH, CHAN_NUM), ESP_ERR_INVALID_ARG, TOUCH_TAG,  "Touch channel error");
+#define TOUCH_CHANNEL_CHECK(channel) ESP_RETURN_ON_FALSE(channel < TOUCH_LL_GET(CHAN_NUM), ESP_ERR_INVALID_ARG, TOUCH_TAG,  "Touch channel error");
+#define TOUCH_CHANNEL_CHECK_ISR(channel) ESP_RETURN_ON_FALSE_ISR(channel < TOUCH_LL_GET(CHAN_NUM), ESP_ERR_INVALID_ARG, TOUCH_TAG,  "Touch channel error");
 #define TOUCH_NULL_POINTER_CHECK(p, name) ESP_RETURN_ON_FALSE((p), ESP_ERR_INVALID_ARG, TOUCH_TAG, "input param '"name"' is NULL")
 #define TOUCH_NULL_POINTER_CHECK_ISR(p, name) ESP_RETURN_ON_FALSE_ISR((p), ESP_ERR_INVALID_ARG, TOUCH_TAG, "input param '"name"' is NULL")
 #define TOUCH_PARAM_CHECK_STR(s)     ""s" parameter error"
diff --git a/components/driver/touch_sensor/esp32s2/touch_sensor.c b/components/driver/touch_sensor/esp32s2/touch_sensor.c
index 1e92c1b4fe..4fe1cb3e5c 100644
--- a/components/driver/touch_sensor/esp32s2/touch_sensor.c
+++ b/components/driver/touch_sensor/esp32s2/touch_sensor.c
@@ -24,7 +24,7 @@
 #include "esp_check.h"
 
 #include "hal/touch_sensor_legacy_types.h"
-#include "hal/touch_sensor_hal.h"
+#include "hal/touch_sensor_legacy_hal.h"
 
 #ifndef NDEBUG
 // Enable built-in checks in queue.h in debug builds
@@ -40,8 +40,8 @@
 static __attribute__((unused)) const char *TOUCH_TAG = "TOUCH_SENSOR";
 
 #define TOUCH_CHANNEL_CHECK(channel) do { \
-        ESP_RETURN_ON_FALSE(channel < SOC_MODULE_ATTR(TOUCH, CHAN_NUM) && channel >= 0, ESP_ERR_INVALID_ARG, TOUCH_TAG,  "Touch channel error"); \
-        ESP_RETURN_ON_FALSE(channel != SOC_TOUCH_DENOISE_CHANNEL, ESP_ERR_INVALID_ARG, TOUCH_TAG,  "TOUCH0 is internal denoise channel"); \
+        ESP_RETURN_ON_FALSE(channel < TOUCH_LL_GET(CHAN_NUM) && channel >= 0, ESP_ERR_INVALID_ARG, TOUCH_TAG,  "Touch channel error"); \
+        ESP_RETURN_ON_FALSE(channel != TOUCH_LL_GET(DENOISE_CHAN_ID), ESP_ERR_INVALID_ARG, TOUCH_TAG,  "TOUCH0 is internal denoise channel"); \
     } while (0);
 #define TOUCH_CH_MASK_CHECK(mask) ESP_RETURN_ON_FALSE((mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG,  "touch channel bitmask error");
 #define TOUCH_INTR_MASK_CHECK(mask) ESP_RETURN_ON_FALSE(mask & TOUCH_PAD_INTR_MASK_ALL, ESP_ERR_INVALID_ARG, TOUCH_TAG,  "intr mask error");
@@ -422,7 +422,7 @@ esp_err_t touch_pad_filter_disable(void)
 esp_err_t touch_pad_denoise_enable(void)
 {
     TOUCH_ENTER_CRITICAL();
-    touch_hal_clear_channel_mask(BIT(SOC_TOUCH_DENOISE_CHANNEL));
+    touch_hal_clear_channel_mask(BIT(TOUCH_LL_GET(DENOISE_CHAN_ID)));
     touch_hal_denoise_enable();
     TOUCH_EXIT_CRITICAL();
     return ESP_OK;
@@ -447,7 +447,7 @@ esp_err_t touch_pad_denoise_set_config(const touch_pad_denoise_t *denoise)
         .tie_opt = TOUCH_PAD_TIE_OPT_DEFAULT,
     };
     TOUCH_ENTER_CRITICAL();
-    touch_hal_set_meas_mode(SOC_TOUCH_DENOISE_CHANNEL, &meas);
+    touch_hal_set_meas_mode(TOUCH_LL_GET(DENOISE_CHAN_ID), &meas);
     touch_hal_denoise_set_config(denoise);
     TOUCH_EXIT_CRITICAL();
 
@@ -473,7 +473,7 @@ esp_err_t touch_pad_denoise_read_data(uint32_t *data)
 esp_err_t touch_pad_waterproof_set_config(const touch_pad_waterproof_t *waterproof)
 {
     TOUCH_NULL_POINTER_CHECK(waterproof, "waterproof");
-    ESP_RETURN_ON_FALSE(waterproof->guard_ring_pad < SOC_MODULE_ATTR(TOUCH, CHAN_NUM), ESP_ERR_INVALID_ARG, TOUCH_TAG,  TOUCH_PARAM_CHECK_STR("pad"));
+    ESP_RETURN_ON_FALSE(waterproof->guard_ring_pad < TOUCH_LL_GET(CHAN_NUM), ESP_ERR_INVALID_ARG, TOUCH_TAG,  TOUCH_PARAM_CHECK_STR("pad"));
     ESP_RETURN_ON_FALSE(waterproof->shield_driver < TOUCH_PAD_SHIELD_DRV_MAX, ESP_ERR_INVALID_ARG, TOUCH_TAG,  TOUCH_PARAM_CHECK_STR("shield_driver"));
 
     TOUCH_ENTER_CRITICAL();
@@ -493,7 +493,7 @@ esp_err_t touch_pad_waterproof_get_config(touch_pad_waterproof_t *waterproof)
 
 esp_err_t touch_pad_waterproof_enable(void)
 {
-    touch_pad_io_init(SOC_TOUCH_SHIELD_CHANNEL);
+    touch_pad_io_init(TOUCH_LL_GET(SHIELD_CHAN_ID));
     TOUCH_ENTER_CRITICAL();
     touch_hal_waterproof_enable();
     TOUCH_EXIT_CRITICAL();
diff --git a/components/driver/touch_sensor/esp32s3/touch_sensor.c b/components/driver/touch_sensor/esp32s3/touch_sensor.c
index 071a114f4f..ba05743ef2 100644
--- a/components/driver/touch_sensor/esp32s3/touch_sensor.c
+++ b/components/driver/touch_sensor/esp32s3/touch_sensor.c
@@ -24,7 +24,7 @@
 #include "esp_check.h"
 
 #include "hal/touch_sensor_legacy_types.h"
-#include "hal/touch_sensor_hal.h"
+#include "hal/touch_sensor_legacy_hal.h"
 
 #ifndef NDEBUG
 // Enable built-in checks in queue.h in debug builds
@@ -40,8 +40,8 @@
 static __attribute__((unused)) const char *TOUCH_TAG = "TOUCH_SENSOR";
 
 #define TOUCH_CHANNEL_CHECK(channel) do { \
-        ESP_RETURN_ON_FALSE(channel < SOC_MODULE_ATTR(TOUCH, CHAN_NUM) && channel >= 0, ESP_ERR_INVALID_ARG, TOUCH_TAG,  "Touch channel error"); \
-        ESP_RETURN_ON_FALSE(channel != SOC_TOUCH_DENOISE_CHANNEL, ESP_ERR_INVALID_ARG, TOUCH_TAG,  "TOUCH0 is internal denoise channel"); \
+        ESP_RETURN_ON_FALSE(channel < TOUCH_LL_GET(CHAN_NUM) && channel >= 0, ESP_ERR_INVALID_ARG, TOUCH_TAG,  "Touch channel error"); \
+        ESP_RETURN_ON_FALSE(channel != TOUCH_LL_GET(DENOISE_CHAN_ID), ESP_ERR_INVALID_ARG, TOUCH_TAG,  "TOUCH0 is internal denoise channel"); \
     } while (0);
 #define TOUCH_CH_MASK_CHECK(mask) ESP_RETURN_ON_FALSE((mask <= TOUCH_PAD_BIT_MASK_ALL), ESP_ERR_INVALID_ARG, TOUCH_TAG,  "touch channel bitmask error");
 #define TOUCH_INTR_MASK_CHECK(mask) ESP_RETURN_ON_FALSE(mask & TOUCH_PAD_INTR_MASK_ALL, ESP_ERR_INVALID_ARG, TOUCH_TAG,  "intr mask error");
@@ -396,7 +396,7 @@ esp_err_t touch_pad_filter_disable(void)
 esp_err_t touch_pad_denoise_enable(void)
 {
     TOUCH_ENTER_CRITICAL();
-    touch_hal_clear_channel_mask(BIT(SOC_TOUCH_DENOISE_CHANNEL));
+    touch_hal_clear_channel_mask(BIT(TOUCH_LL_GET(DENOISE_CHAN_ID)));
     touch_hal_denoise_enable();
     TOUCH_EXIT_CRITICAL();
     return ESP_OK;
@@ -421,7 +421,7 @@ esp_err_t touch_pad_denoise_set_config(const touch_pad_denoise_t *denoise)
         .tie_opt = TOUCH_PAD_TIE_OPT_DEFAULT,
     };
     TOUCH_ENTER_CRITICAL();
-    touch_hal_set_meas_mode(SOC_TOUCH_DENOISE_CHANNEL, &meas);
+    touch_hal_set_meas_mode(TOUCH_LL_GET(DENOISE_CHAN_ID), &meas);
     touch_hal_denoise_set_config(denoise);
     TOUCH_EXIT_CRITICAL();
 
@@ -446,7 +446,7 @@ esp_err_t touch_pad_denoise_read_data(uint32_t *data)
 esp_err_t touch_pad_waterproof_set_config(const touch_pad_waterproof_t *waterproof)
 {
     TOUCH_NULL_POINTER_CHECK(waterproof, "waterproof");
-    ESP_RETURN_ON_FALSE(waterproof->guard_ring_pad < SOC_MODULE_ATTR(TOUCH, CHAN_NUM), ESP_ERR_INVALID_ARG, TOUCH_TAG,  TOUCH_PARAM_CHECK_STR("pad"));
+    ESP_RETURN_ON_FALSE(waterproof->guard_ring_pad < TOUCH_LL_GET(CHAN_NUM), ESP_ERR_INVALID_ARG, TOUCH_TAG,  TOUCH_PARAM_CHECK_STR("pad"));
     ESP_RETURN_ON_FALSE(waterproof->shield_driver < TOUCH_PAD_SHIELD_DRV_MAX, ESP_ERR_INVALID_ARG, TOUCH_TAG,  TOUCH_PARAM_CHECK_STR("shield_driver"));
 
     TOUCH_ENTER_CRITICAL();
@@ -466,7 +466,7 @@ esp_err_t touch_pad_waterproof_get_config(touch_pad_waterproof_t *waterproof)
 
 esp_err_t touch_pad_waterproof_enable(void)
 {
-    touch_pad_io_init(SOC_TOUCH_SHIELD_CHANNEL);
+    touch_pad_io_init(TOUCH_LL_GET(SHIELD_CHAN_ID));
     TOUCH_ENTER_CRITICAL();
     touch_hal_waterproof_enable();
     TOUCH_EXIT_CRITICAL();
diff --git a/components/driver/touch_sensor/touch_sensor_common.c b/components/driver/touch_sensor/touch_sensor_common.c
index 7ad4a81c3d..6b1ac26ba4 100644
--- a/components/driver/touch_sensor/touch_sensor_common.c
+++ b/components/driver/touch_sensor/touch_sensor_common.c
@@ -19,7 +19,7 @@
 #include "esp_private/rtc_ctrl.h"
 #include "esp_private/gpio.h"
 #include "hal/touch_sensor_legacy_types.h"
-#include "hal/touch_sensor_hal.h"
+#include "hal/touch_sensor_legacy_hal.h"
 
 static const char *TOUCH_TAG = "TOUCH_SENSOR";
 #define TOUCH_CHECK(a, str, ret_val) ({                                             \
@@ -30,18 +30,18 @@ static const char *TOUCH_TAG = "TOUCH_SENSOR";
 })
 #ifdef CONFIG_IDF_TARGET_ESP32
 #define TOUCH_CHANNEL_CHECK(channel) do { \
-        TOUCH_CHECK(channel < SOC_MODULE_ATTR(TOUCH, CHAN_NUM) && channel >= 0, "Touch channel error", ESP_ERR_INVALID_ARG); \
+        TOUCH_CHECK(channel < TOUCH_LL_GET(CHAN_NUM) && channel >= 0, "Touch channel error", ESP_ERR_INVALID_ARG); \
     } while (0);
 #else // !CONFIG_IDF_TARGET_ESP32
 #define TOUCH_CHANNEL_CHECK(channel) do { \
-        TOUCH_CHECK(channel < SOC_MODULE_ATTR(TOUCH, CHAN_NUM) && channel >= 0, "Touch channel error", ESP_ERR_INVALID_ARG); \
-        TOUCH_CHECK(channel != SOC_TOUCH_DENOISE_CHANNEL, "TOUCH0 is internal denoise channel", ESP_ERR_INVALID_ARG); \
+        TOUCH_CHECK(channel < TOUCH_LL_GET(CHAN_NUM) && channel >= 0, "Touch channel error", ESP_ERR_INVALID_ARG); \
+        TOUCH_CHECK(channel != TOUCH_LL_GET(DENOISE_CHAN_ID), "TOUCH0 is internal denoise channel", ESP_ERR_INVALID_ARG); \
     } while (0);
 #endif // CONFIG_IDF_TARGET_ESP32
 
 #define TOUCH_GET_IO_NUM(channel) (touch_sensor_channel_io_map[channel])
 
-_Static_assert(TOUCH_PAD_MAX == SOC_MODULE_ATTR(TOUCH, CHAN_NUM), "Touch sensor channel number not equal to chip capabilities");
+_Static_assert(TOUCH_PAD_MAX == TOUCH_LL_GET(CHAN_NUM), "Touch sensor channel number not equal to chip capabilities");
 
 extern portMUX_TYPE rtc_spinlock; //TODO: Will be placed in the appropriate position after the rtc module is finished.
 #define TOUCH_ENTER_CRITICAL()  portENTER_CRITICAL(&rtc_spinlock)
@@ -88,7 +88,7 @@ esp_err_t touch_pad_get_voltage(touch_high_volt_t *refh, touch_low_volt_t *refl,
 
 esp_err_t touch_pad_set_cnt_mode(touch_pad_t touch_num, touch_cnt_slope_t slope, touch_tie_opt_t opt)
 {
-    TOUCH_CHECK(touch_num < SOC_MODULE_ATTR(TOUCH, CHAN_NUM), "Touch channel error", ESP_ERR_INVALID_ARG);
+    TOUCH_CHECK(touch_num < TOUCH_LL_GET(CHAN_NUM), "Touch channel error", ESP_ERR_INVALID_ARG);
     TOUCH_CHECK(slope < TOUCH_PAD_SLOPE_MAX, "touch slope error", ESP_ERR_INVALID_ARG);
     TOUCH_CHECK(opt < TOUCH_PAD_TIE_OPT_MAX, "touch opt error", ESP_ERR_INVALID_ARG);
 
@@ -105,7 +105,7 @@ esp_err_t touch_pad_set_cnt_mode(touch_pad_t touch_num, touch_cnt_slope_t slope,
 
 esp_err_t touch_pad_get_cnt_mode(touch_pad_t touch_num, touch_cnt_slope_t *slope, touch_tie_opt_t *opt)
 {
-    TOUCH_CHECK(touch_num < SOC_MODULE_ATTR(TOUCH, CHAN_NUM), "Touch channel error", ESP_ERR_INVALID_ARG);
+    TOUCH_CHECK(touch_num < TOUCH_LL_GET(CHAN_NUM), "Touch channel error", ESP_ERR_INVALID_ARG);
 
     touch_hal_meas_mode_t meas = {0};
     TOUCH_ENTER_CRITICAL();
@@ -184,7 +184,7 @@ esp_err_t touch_pad_set_thresh(touch_pad_t touch_num, uint16_t threshold)
 esp_err_t touch_pad_set_thresh(touch_pad_t touch_num, uint32_t threshold)
 {
     TOUCH_CHANNEL_CHECK(touch_num);
-    TOUCH_CHECK(touch_num != SOC_TOUCH_DENOISE_CHANNEL,
+    TOUCH_CHECK(touch_num != TOUCH_LL_GET(DENOISE_CHAN_ID),
                 "TOUCH0 is internal denoise channel", ESP_ERR_INVALID_ARG);
     TOUCH_ENTER_CRITICAL();
     touch_hal_set_threshold(touch_num, threshold);
@@ -204,7 +204,7 @@ esp_err_t touch_pad_get_thresh(touch_pad_t touch_num, uint16_t *threshold)
 esp_err_t touch_pad_get_thresh(touch_pad_t touch_num, uint32_t *threshold)
 {
     TOUCH_CHANNEL_CHECK(touch_num);
-    TOUCH_CHECK(touch_num != SOC_TOUCH_DENOISE_CHANNEL,
+    TOUCH_CHECK(touch_num != TOUCH_LL_GET(DENOISE_CHAN_ID),
                 "TOUCH0 is internal denoise channel", ESP_ERR_INVALID_ARG);
     touch_hal_get_threshold(touch_num, threshold);
     return ESP_OK;
diff --git a/components/esp_driver_touch_sens/CMakeLists.txt b/components/esp_driver_touch_sens/CMakeLists.txt
index 7f77013a5e..502baa5af0 100644
--- a/components/esp_driver_touch_sens/CMakeLists.txt
+++ b/components/esp_driver_touch_sens/CMakeLists.txt
@@ -22,5 +22,6 @@ endif()
 
 idf_component_register(SRCS ${srcs}
                     PRIV_REQUIRES ${priv_require}
+                    REQUIRES esp_hal_touch_sens  # public require because hal/touch_sens_type.h needs to be public
                     INCLUDE_DIRS ${public_inc}
                     )
diff --git a/components/esp_driver_touch_sens/common/touch_sens_common.c b/components/esp_driver_touch_sens/common/touch_sens_common.c
index 39c12615c4..801a038570 100644
--- a/components/esp_driver_touch_sens/common/touch_sens_common.c
+++ b/components/esp_driver_touch_sens/common/touch_sens_common.c
@@ -11,7 +11,7 @@
 #include "soc/soc_caps.h"
 #include "soc/rtc.h"
 #include "soc/clk_tree_defs.h"
-#include "soc/touch_sensor_periph.h"
+#include "hal/touch_sensor_periph.h"
 #include "esp_private/gpio.h"
 #include "driver/touch_sens.h"
 #include "esp_private/esp_gpio_reserve.h"
diff --git a/components/esp_driver_touch_sens/common/touch_sens_private.h b/components/esp_driver_touch_sens/common/touch_sens_private.h
index 2750631667..85cce29ff5 100644
--- a/components/esp_driver_touch_sens/common/touch_sens_private.h
+++ b/components/esp_driver_touch_sens/common/touch_sens_private.h
@@ -84,7 +84,7 @@ extern portMUX_TYPE g_touch_spinlock;
  *
  */
 struct touch_sensor_s {
-    touch_channel_handle_t  ch[SOC_MODULE_ATTR(TOUCH, CHAN_NUM)];   /*!< Touch sensor channel handles, will be NULL if the channel is not registered */
+    touch_channel_handle_t  ch[TOUCH_LL_GET(CHAN_NUM)];   /*!< Touch sensor channel handles, will be NULL if the channel is not registered */
     uint32_t                chan_mask;                  /*!< Enabled channel mask, corresponding bit will be set if the channel is registered */
     uint32_t                src_freq_hz;                /*!< Source clock frequency */
     uint32_t                interval_freq_hz;           /*!< Frequency of the interval clock */
diff --git a/components/esp_driver_touch_sens/hw_ver1/touch_version_specific.c b/components/esp_driver_touch_sens/hw_ver1/touch_version_specific.c
index e85f638ba1..93b1ae8e98 100644
--- a/components/esp_driver_touch_sens/hw_ver1/touch_version_specific.c
+++ b/components/esp_driver_touch_sens/hw_ver1/touch_version_specific.c
@@ -15,7 +15,7 @@
 #include "freertos/semphr.h"
 #include "soc/soc_caps.h"
 #include "soc/clk_tree_defs.h"
-#include "soc/touch_sensor_periph.h"
+#include "hal/touch_sensor_periph.h"
 #include "soc/rtc.h"
 #include "hal/hal_utils.h"
 #include "driver/touch_sens.h"
diff --git a/components/esp_driver_touch_sens/hw_ver2/touch_version_specific.c b/components/esp_driver_touch_sens/hw_ver2/touch_version_specific.c
index 808dc8b6c8..017434b738 100644
--- a/components/esp_driver_touch_sens/hw_ver2/touch_version_specific.c
+++ b/components/esp_driver_touch_sens/hw_ver2/touch_version_specific.c
@@ -15,7 +15,7 @@
 #include "freertos/semphr.h"
 #include "soc/soc_caps.h"
 #include "soc/clk_tree_defs.h"
-#include "soc/touch_sensor_periph.h"
+#include "hal/touch_sensor_periph.h"
 #include "soc/rtc.h"
 #include "hal/hal_utils.h"
 #include "driver/touch_sens.h"
@@ -68,7 +68,7 @@ void IRAM_ATTR touch_priv_default_intr_handler(void *arg)
         return;
     }
     /* It actually won't be out of range in the real environment, but limit the range to pass the coverity check */
-    uint32_t curr_chan_offset = (curr_chan >= SOC_MODULE_ATTR(TOUCH, CHAN_NUM) ? SOC_MODULE_ATTR(TOUCH, CHAN_NUM) - 1 : curr_chan) - TOUCH_MIN_CHAN_ID;
+    uint32_t curr_chan_offset = (curr_chan >= TOUCH_LL_GET(CHAN_NUM) ? TOUCH_LL_GET(CHAN_NUM) - 1 : curr_chan) - TOUCH_MIN_CHAN_ID;
     data.chan = g_touch->ch[curr_chan_offset];
     /* If the channel is not registered, return directly */
     if (!data.chan) {
diff --git a/components/esp_driver_touch_sens/hw_ver3/touch_version_specific.c b/components/esp_driver_touch_sens/hw_ver3/touch_version_specific.c
index ce4c5f1cc4..bb5f4c1034 100644
--- a/components/esp_driver_touch_sens/hw_ver3/touch_version_specific.c
+++ b/components/esp_driver_touch_sens/hw_ver3/touch_version_specific.c
@@ -15,7 +15,7 @@
 #include "freertos/semphr.h"
 #include "soc/soc_caps.h"
 #include "soc/clk_tree_defs.h"
-#include "soc/touch_sensor_periph.h"
+#include "hal/touch_sensor_periph.h"
 #include "soc/rtc.h"
 #include "soc/chip_revision.h"
 #include "hal/efuse_hal.h"
@@ -63,7 +63,7 @@ void IRAM_ATTR touch_priv_default_intr_handler(void *arg)
     touch_base_event_data_t data;
     touch_ll_get_active_channel_mask(&data.status_mask);
     int ch_offset = touch_ll_get_current_meas_channel() - TOUCH_MIN_CHAN_ID;
-    if (ch_offset < 0 || ch_offset >= (int)SOC_MODULE_ATTR(TOUCH, CHAN_NUM)) {
+    if (ch_offset < 0 || ch_offset >= (int)TOUCH_LL_GET(CHAN_NUM)) {
         /* Not a valid channel */
         return;
     }
diff --git a/components/esp_driver_touch_sens/test_apps/touch_sens/CMakeLists.txt b/components/esp_driver_touch_sens/test_apps/touch_sens/CMakeLists.txt
index 28ce111a06..88091ad89e 100644
--- a/components/esp_driver_touch_sens/test_apps/touch_sens/CMakeLists.txt
+++ b/components/esp_driver_touch_sens/test_apps/touch_sens/CMakeLists.txt
@@ -10,9 +10,17 @@ project(touch_sens)
 
 idf_build_get_property(elf EXECUTABLE)
 if(CONFIG_COMPILER_DUMP_RTL_FILES)
+    # Collect RTL directories in a variable for readability. Join them
+    # with commas so they are passed as a single --rtl-dirs argument to the script.
+    set(TOUCH_SENS_RTL_DIRS
+        ${CMAKE_BINARY_DIR}/esp-idf/esp_driver_touch_sens
+        ${CMAKE_BINARY_DIR}/esp-idf/hal
+        ${CMAKE_BINARY_DIR}/esp-idf/esp_hal_touch_sens
+    )
+    string(JOIN "," TOUCH_SENS_RTL_DIRS_JOINED ${TOUCH_SENS_RTL_DIRS})
     add_custom_target(check_test_app_sections ALL
                       COMMAND ${PYTHON} $ENV{IDF_PATH}/tools/ci/check_callgraph.py
-                      --rtl-dirs ${CMAKE_BINARY_DIR}/esp-idf/esp_driver_touch_sens/,${CMAKE_BINARY_DIR}/esp-idf/hal/
+                      --rtl-dirs ${TOUCH_SENS_RTL_DIRS_JOINED}
                       --elf-file ${CMAKE_BINARY_DIR}/touch_sens.elf
                       find-refs
                       --from-sections=.iram0.text
diff --git a/components/esp_hal_touch_sens/CMakeLists.txt b/components/esp_hal_touch_sens/CMakeLists.txt
new file mode 100644
index 0000000000..c9d6cfa9f7
--- /dev/null
+++ b/components/esp_hal_touch_sens/CMakeLists.txt
@@ -0,0 +1,28 @@
+idf_build_get_property(target IDF_TARGET)
+
+if(${target} STREQUAL "linux")
+    return() # This component is not supported by the POSIX/Linux simulator
+endif()
+
+set(srcs)
+set(includes)
+if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/${target}/include")
+    list(APPEND includes "${target}/include")
+endif()
+# "include" should be behind "${target}/include", because `include_next` has sequence requirement
+list(APPEND includes "include")
+
+# Touch Sensor related source files
+if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
+    # Source files for the legacy touch hal driver
+    if(CONFIG_SOC_TOUCH_SENSOR_VERSION LESS 3)
+        list(APPEND srcs "${target}/touch_sensor_legacy_hal.c"
+                         "touch_sensor_legacy_hal.c"
+        )
+    endif()
+    list(APPEND srcs "touch_sens_hal.c" "${target}/touch_sensor_periph.c")
+endif()
+
+idf_component_register(SRCS ${srcs}
+                    INCLUDE_DIRS ${includes}
+                    REQUIRES soc hal)
diff --git a/components/esp_hal_touch_sens/README.md b/components/esp_hal_touch_sens/README.md
new file mode 100644
index 0000000000..86d42c1e57
--- /dev/null
+++ b/components/esp_hal_touch_sens/README.md
@@ -0,0 +1,52 @@
+# ESP Hardware Abstraction Layer for Touch Sensor Peripheral
+
+> [!NOTE]
+> This component is currently in beta. Its API, behavior, and compatibility may change at any time and without notice; backward compatibility is not guaranteed. Use caution when integrating into production systems.
+
+## Overview
+
+The `esp_hal_touch_sens` component provides a **Hardware Abstraction Layer** for Touch Sensor controller supported targets. Touch sensors detect touch events by measuring changes in capacitance when a finger or object approaches the touch pad, enabling capacitive touch interfaces for user interaction.
+
+## Architecture
+
+The Touch Sensor HAL is structured in two main sub-layers:
+
+1. **HAL Layer (Upper)**: Defines the operational steps and data structures required to control touch sensor peripherals (e.g., initialization, channel configuration, filter setup, measurement control).
+
+2. **Low-Level Layer (Bottom)**: Serves as a translation layer between the HAL and the register files defined in the `soc` component, handling target-specific register configurations.
+
+## Supported Touch Sensor Controllers
+
+This HAL supports various touch sensor controller versions depending on the ESP chip:
+
+- **Touch Sensor Version 1**: Basic touch sensor functionality (ESP32)
+- **Touch Sensor Version 2**: Enhanced features including improved filtering and denoise capabilities (ESP32-S2, ESP32-S3)
+- **Touch Sensor Version 3**: Advanced features with frequency hopping, multiple sample configurations, and enhanced waterproof support (ESP32-P4 and newer chips)
+
+## Features
+
+- **Channel Management**: Multi-channel touch pad support with independent configuration
+- **Measurement Control**: Configurable charge/discharge cycles, voltage thresholds, and measurement intervals
+- **Filtering and Signal Processing**:
+  - Benchmark filter (IIR filter, jitter filter)
+  - Smooth data filter for noise reduction
+  - Debounce and noise threshold configuration
+  - Active threshold hysteresis
+- **Denoise Function**: Internal denoise channel (T0) to filter out power supply noise and external EMI
+- **Waterproof Support**: Guard pad and shield channel configuration for water-resistant applications
+- **Proximity Sensing**: Up to three touch channels can be configured as proximity sensors
+- **Sleep Channel**: Deep sleep wake-up support with configurable sleep channel
+- **FSM Operation**: Hardware timer or software-triggered measurement modes
+- **Interrupt Handling**: Multiple interrupt types (active, inactive, done, scan done, timeout, proximity done)
+- **Sample Configuration**: Multiple sample configurations with frequency hopping support (Version 3)
+
+## Usage
+
+The HAL functions primarily serve ESP-IDF peripheral drivers such as `esp_driver_touch_sens`.
+
+Advanced developers can use these interfaces directly when implementing custom drivers, with the understanding that API stability is not guaranteed.
+
+## Dependencies
+
+- `soc`: Provides chip-specific register definitions
+- `hal`: Core hardware abstraction utilities and macros
diff --git a/components/hal/esp32/include/hal/touch_sensor_hal.h b/components/esp_hal_touch_sens/esp32/include/hal/touch_sensor_legacy_hal.h
similarity index 98%
rename from components/hal/esp32/include/hal/touch_sensor_hal.h
rename to components/esp_hal_touch_sens/esp32/include/hal/touch_sensor_legacy_hal.h
index dd91614088..033fbc28dc 100644
--- a/components/hal/esp32/include/hal/touch_sensor_hal.h
+++ b/components/esp_hal_touch_sens/esp32/include/hal/touch_sensor_legacy_hal.h
@@ -17,7 +17,7 @@
 #include "hal/touch_sensor_ll.h"
 #include "hal/touch_sensor_legacy_types.h"
 
-#include_next "hal/touch_sensor_hal.h"
+#include_next "hal/touch_sensor_legacy_hal.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/components/hal/esp32/include/hal/touch_sensor_ll.h b/components/esp_hal_touch_sens/esp32/include/hal/touch_sensor_ll.h
similarity index 98%
rename from components/hal/esp32/include/hal/touch_sensor_ll.h
rename to components/esp_hal_touch_sens/esp32/include/hal/touch_sensor_ll.h
index 31daf784af..b37b3b4514 100644
--- a/components/hal/esp32/include/hal/touch_sensor_ll.h
+++ b/components/esp_hal_touch_sens/esp32/include/hal/touch_sensor_ll.h
@@ -18,7 +18,7 @@
 #include <stdbool.h>
 #include "hal/misc.h"
 #include "hal/assert.h"
-#include "soc/touch_sensor_periph.h"
+#include "hal/touch_sensor_periph.h"
 #include "soc/sens_struct.h"
 #include "soc/rtc_io_struct.h"
 #include "soc/rtc_cntl_struct.h"
@@ -26,6 +26,9 @@
 #include "soc/soc_caps_full.h"
 #include "hal/touch_sens_types.h"
 
+#define TOUCH_LL_GET(_attr)  TOUCH_LL_ ## _attr
+#define TOUCH_LL_CHAN_NUM    10
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -34,7 +37,7 @@ extern "C" {
 #define TOUCH_LL_BIT_SWAP(data, n, m)   (((data >> n) &  0x1)  == ((data >> m) & 0x1) ? (data) : ((data) ^ ((0x1 <<n) | (0x1 << m))))
 #define TOUCH_LL_BITS_SWAP(v)  TOUCH_LL_BIT_SWAP(v, 8, 9)
 #define TOUCH_LL_CHAN_SWAP(chan)  ((chan) == 8 ? 9 : ((chan) == 9 ? 8 : (chan)))
-#define TOUCH_LL_FULL_CHANNEL_MASK          ((uint16_t)((1U << SOC_MODULE_ATTR(TOUCH, CHAN_NUM)) - 1))
+#define TOUCH_LL_FULL_CHANNEL_MASK          ((uint16_t)((1U << TOUCH_LL_GET(CHAN_NUM)) - 1))
 #define TOUCH_LL_READ_RAW                   0x0
 
 #define TOUCH_LL_CHARGE_DURATION_MAX       (0xFFFF)
@@ -392,7 +395,6 @@ static inline bool touch_ll_is_fsm_repeated_timer_enabled(void)
     return (bool)RTCCNTL.state0.touch_slp_timer_en;
 }
 
-
 /**
  * Enable the touch sensor FSM start signal from software
  */
@@ -431,7 +433,7 @@ __attribute__((always_inline))
 static inline void touch_ll_read_chan_data(uint32_t touch_num, uint8_t type, uint32_t *data)
 {
     HAL_ASSERT(type == TOUCH_LL_READ_RAW);
-    HAL_ASSERT(touch_num < SOC_MODULE_ATTR(TOUCH, CHAN_NUM));
+    HAL_ASSERT(touch_num < TOUCH_LL_GET(CHAN_NUM));
     touch_num = TOUCH_LL_CHAN_SWAP(touch_num);
     if (touch_num & 0x1) {
         *data = HAL_FORCE_READ_U32_REG_FIELD(SENS.touch_meas[touch_num >> 1], l_val);
@@ -728,9 +730,9 @@ static inline void touch_ll_get_threshold(touch_pad_t touch_num, uint16_t *thres
 {
     touch_pad_t tp_wrap = touch_ll_num_wrap(touch_num);
     if (threshold) {
-        *threshold = (tp_wrap & 0x1 ) ?
-            HAL_FORCE_READ_U32_REG_FIELD(SENS.touch_thresh[tp_wrap / 2], l_thresh) :
-            HAL_FORCE_READ_U32_REG_FIELD(SENS.touch_thresh[tp_wrap / 2], h_thresh);
+        *threshold = (tp_wrap & 0x1) ?
+                     HAL_FORCE_READ_U32_REG_FIELD(SENS.touch_thresh[tp_wrap / 2], l_thresh) :
+                     HAL_FORCE_READ_U32_REG_FIELD(SENS.touch_thresh[tp_wrap / 2], h_thresh);
     }
 }
 
@@ -911,7 +913,7 @@ static inline uint32_t touch_ll_read_raw_data(touch_pad_t touch_num)
 {
     touch_pad_t tp_wrap = touch_ll_num_wrap(touch_num);
     return ((tp_wrap & 0x1) ? HAL_FORCE_READ_U32_REG_FIELD(SENS.touch_meas[tp_wrap / 2], l_val) :
-                              HAL_FORCE_READ_U32_REG_FIELD(SENS.touch_meas[tp_wrap / 2], h_val));
+            HAL_FORCE_READ_U32_REG_FIELD(SENS.touch_meas[tp_wrap / 2], h_val));
 }
 
 #ifdef __cplusplus
diff --git a/components/hal/esp32/touch_sensor_hal.c b/components/esp_hal_touch_sens/esp32/touch_sensor_legacy_hal.c
similarity index 96%
rename from components/hal/esp32/touch_sensor_hal.c
rename to components/esp_hal_touch_sens/esp32/touch_sensor_legacy_hal.c
index b663dedaa0..b7075b8439 100644
--- a/components/hal/esp32/touch_sensor_hal.c
+++ b/components/esp_hal_touch_sens/esp32/touch_sensor_legacy_hal.c
@@ -6,7 +6,7 @@
 
 // The HAL layer for Touch sensor (common part)
 
-#include "hal/touch_sensor_hal.h"
+#include "hal/touch_sensor_legacy_hal.h"
 #include "hal/touch_sensor_legacy_types.h"
 
 void touch_hal_init(void)
diff --git a/components/soc/esp32/touch_sensor_periph.c b/components/esp_hal_touch_sens/esp32/touch_sensor_periph.c
similarity index 92%
rename from components/soc/esp32/touch_sensor_periph.c
rename to components/esp_hal_touch_sens/esp32/touch_sensor_periph.c
index 3432d64002..26fbd01c76 100644
--- a/components/soc/esp32/touch_sensor_periph.c
+++ b/components/esp_hal_touch_sens/esp32/touch_sensor_periph.c
@@ -1,7 +1,7 @@
 /*
  * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
- * SPDX-License-Identifier: Apache-2.0 OR MIT
+ * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "soc/touch_sensor_channel.h"
diff --git a/components/hal/esp32p4/include/hal/touch_sensor_ll.h b/components/esp_hal_touch_sens/esp32p4/include/hal/touch_sensor_ll.h
similarity index 90%
rename from components/hal/esp32p4/include/hal/touch_sensor_ll.h
rename to components/esp_hal_touch_sens/esp32p4/include/hal/touch_sensor_ll.h
index 4ea8d62d4a..1c45660dd8 100644
--- a/components/hal/esp32p4/include/hal/touch_sensor_ll.h
+++ b/components/esp_hal_touch_sens/esp32p4/include/hal/touch_sensor_ll.h
@@ -16,7 +16,7 @@
 #include <stdbool.h>
 #include "hal/misc.h"
 #include "hal/assert.h"
-#include "soc/touch_sensor_periph.h"
+#include "hal/touch_sensor_periph.h"
 #include "soc/lp_analog_peri_struct.h"
 #include "soc/lp_clkrst_struct.h"
 #include "soc/lp_system_struct.h"
@@ -28,6 +28,9 @@
 #include "hal/touch_sens_types.h"
 #include "hal/config.h"
 
+#define TOUCH_LL_GET(_attr)  TOUCH_LL_ ## _attr
+#define TOUCH_LL_CHAN_NUM    14
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -47,7 +50,7 @@ extern "C" {
 #define TOUCH_LL_INTR_MASK_PROX_DONE        BIT(5)
 #define TOUCH_LL_INTR_MASK_ALL              (0x3F)
 
-#define TOUCH_LL_FULL_CHANNEL_MASK          ((uint16_t)((1U << (SOC_MODULE_ATTR(TOUCH, CHAN_NUM))) - 1) << SOC_TOUCH_MIN_CHAN_ID)
+#define TOUCH_LL_FULL_CHANNEL_MASK          ((uint16_t)((1U << (TOUCH_LL_GET(CHAN_NUM))) - 1) << SOC_TOUCH_MIN_CHAN_ID)
 #define TOUCH_LL_NULL_CHANNEL               (15)  // Null Channel id. Used for disabling some functions like sleep/proximity/waterproof
 
 #define TOUCH_LL_PAD_MEASURE_WAIT_MAX      (0x7FFF)    // The timer frequency is 8Mhz, the max value is 0xff
@@ -100,17 +103,17 @@ static inline void touch_ll_set_charge_times(uint8_t sample_cfg_id, uint16_t cha
 {
     //The times of charge and discharge in each measure process of touch channels.
     switch (sample_cfg_id) {
-        case 0:
-            LP_ANA_PERI.touch_work_meas_num.touch_meas_num0 = charge_times;
-            break;
-        case 1:
-            LP_ANA_PERI.touch_work_meas_num.touch_meas_num1 = charge_times;
-            break;
-        case 2:
-            LP_ANA_PERI.touch_work_meas_num.touch_meas_num2 = charge_times;
-            break;
-        default:
-            abort();
+    case 0:
+        LP_ANA_PERI.touch_work_meas_num.touch_meas_num0 = charge_times;
+        break;
+    case 1:
+        LP_ANA_PERI.touch_work_meas_num.touch_meas_num1 = charge_times;
+        break;
+    case 2:
+        LP_ANA_PERI.touch_work_meas_num.touch_meas_num2 = charge_times;
+        break;
+    default:
+        abort();
     }
 }
 
@@ -122,17 +125,17 @@ static inline void touch_ll_set_charge_times(uint8_t sample_cfg_id, uint16_t cha
 static inline void touch_ll_get_charge_times(uint8_t sample_cfg_id, uint16_t *charge_times)
 {
     switch (sample_cfg_id) {
-        case 0:
-            *charge_times = LP_ANA_PERI.touch_work_meas_num.touch_meas_num0;
-            break;
-        case 1:
-            *charge_times = LP_ANA_PERI.touch_work_meas_num.touch_meas_num1;
-            break;
-        case 2:
-            *charge_times = LP_ANA_PERI.touch_work_meas_num.touch_meas_num2;
-            break;
-        default:
-            abort();
+    case 0:
+        *charge_times = LP_ANA_PERI.touch_work_meas_num.touch_meas_num0;
+        break;
+    case 1:
+        *charge_times = LP_ANA_PERI.touch_work_meas_num.touch_meas_num1;
+        break;
+    case 2:
+        *charge_times = LP_ANA_PERI.touch_work_meas_num.touch_meas_num2;
+        break;
+    default:
+        abort();
     }
 }
 
@@ -203,8 +206,8 @@ static inline void touch_ll_force_done_curr_measurement(void)
     PMU.touch_pwr_cntl.force_done = 1;
     // Force done signal should last at least one slow clock tick, wait until tick interrupt triggers
     LP_SYS.int_clr.slow_clk_tick_int_clr = 1;
-    while(LP_SYS.int_clr.slow_clk_tick_int_clr);
-    while(!LP_SYS.int_raw.slow_clk_tick_int_raw);
+    while (LP_SYS.int_clr.slow_clk_tick_int_clr);
+    while (!LP_SYS.int_raw.slow_clk_tick_int_raw);
     // Clear `force done` signal
     PMU.touch_pwr_cntl.force_done = 0;
     // Disable event tick
@@ -451,18 +454,18 @@ static inline void touch_ll_enable_out_gate(bool enable)
 static inline void touch_ll_set_clock_div(uint8_t sample_cfg_id, uint32_t div_num)
 {
     switch (sample_cfg_id) {
-        case 0:
-            LP_ANA_PERI.touch_work.div_num0 = div_num - 1;
-            break;
-        case 1:
-            LP_ANA_PERI.touch_work.div_num1 = div_num - 1;
-            break;
-        case 2:
-            LP_ANA_PERI.touch_work.div_num2 = div_num - 1;
-            break;
-        default:
-            // invalid sample_cfg_id
-            abort();
+    case 0:
+        LP_ANA_PERI.touch_work.div_num0 = div_num - 1;
+        break;
+    case 1:
+        LP_ANA_PERI.touch_work.div_num1 = div_num - 1;
+        break;
+    case 2:
+        LP_ANA_PERI.touch_work.div_num2 = div_num - 1;
+        break;
+    default:
+        // invalid sample_cfg_id
+        abort();
     }
 }
 
@@ -829,18 +832,18 @@ static inline void touch_ll_waterproof_set_shield_driver(touch_chan_shield_cap_t
 static inline void touch_ll_set_proximity_sensing_channel(uint8_t prox_chan, uint32_t touch_num)
 {
     switch (prox_chan) {
-        case 0:
-            LP_ANA_PERI.touch_approach.touch_approach_pad0 = touch_num;
-            break;
-        case 1:
-            LP_ANA_PERI.touch_approach.touch_approach_pad1 = touch_num;
-            break;
-        case 2:
-            LP_ANA_PERI.touch_approach.touch_approach_pad2 = touch_num;
-            break;
-        default:
-            // invalid proximity channel
-            abort();
+    case 0:
+        LP_ANA_PERI.touch_approach.touch_approach_pad0 = touch_num;
+        break;
+    case 1:
+        LP_ANA_PERI.touch_approach.touch_approach_pad1 = touch_num;
+        break;
+    case 2:
+        LP_ANA_PERI.touch_approach.touch_approach_pad2 = touch_num;
+        break;
+    default:
+        // invalid proximity channel
+        abort();
     }
 }
 
@@ -863,18 +866,18 @@ static inline void touch_ll_proximity_set_total_scan_times(uint32_t scan_times)
 static inline void touch_ll_proximity_set_charge_times(uint8_t sample_cfg_id, uint32_t charge_times)
 {
     switch (sample_cfg_id) {
-        case 0:
-            LP_ANA_PERI.touch_approach_work_meas_num.touch_approach_meas_num0 = charge_times;
-            break;
-        case 1:
-            LP_ANA_PERI.touch_approach_work_meas_num.touch_approach_meas_num1 = charge_times;
-            break;
-        case 2:
-            LP_ANA_PERI.touch_approach_work_meas_num.touch_approach_meas_num2 = charge_times;
-            break;
-        default:
-            // invalid sample_cfg_id
-            abort();
+    case 0:
+        LP_ANA_PERI.touch_approach_work_meas_num.touch_approach_meas_num0 = charge_times;
+        break;
+    case 1:
+        LP_ANA_PERI.touch_approach_work_meas_num.touch_approach_meas_num1 = charge_times;
+        break;
+    case 2:
+        LP_ANA_PERI.touch_approach_work_meas_num.touch_approach_meas_num2 = charge_times;
+        break;
+    default:
+        // invalid sample_cfg_id
+        abort();
     }
 }
 
@@ -887,18 +890,18 @@ static inline void touch_ll_proximity_set_charge_times(uint8_t sample_cfg_id, ui
 static inline void touch_ll_proximity_read_measure_cnt(uint8_t prox_chan, uint32_t *cnt)
 {
     switch (prox_chan) {
-        case 0:
-            *cnt = HAL_FORCE_READ_U32_REG_FIELD(LP_TOUCH.aprch_ch_data, approach_pad0_cnt);
-            break;
-        case 1:
-            *cnt = HAL_FORCE_READ_U32_REG_FIELD(LP_TOUCH.aprch_ch_data, approach_pad1_cnt);
-            break;
-        case 2:
-            *cnt = HAL_FORCE_READ_U32_REG_FIELD(LP_TOUCH.aprch_ch_data, approach_pad2_cnt);
-            break;
-        default:  // sleep channel
-            *cnt = HAL_FORCE_READ_U32_REG_FIELD(LP_TOUCH.aprch_ch_data, slp_approach_cnt);
-            break;
+    case 0:
+        *cnt = HAL_FORCE_READ_U32_REG_FIELD(LP_TOUCH.aprch_ch_data, approach_pad0_cnt);
+        break;
+    case 1:
+        *cnt = HAL_FORCE_READ_U32_REG_FIELD(LP_TOUCH.aprch_ch_data, approach_pad1_cnt);
+        break;
+    case 2:
+        *cnt = HAL_FORCE_READ_U32_REG_FIELD(LP_TOUCH.aprch_ch_data, approach_pad2_cnt);
+        break;
+    default:  // sleep channel
+        *cnt = HAL_FORCE_READ_U32_REG_FIELD(LP_TOUCH.aprch_ch_data, slp_approach_cnt);
+        break;
     }
 }
 
@@ -910,8 +913,8 @@ static inline void touch_ll_proximity_read_measure_cnt(uint8_t prox_chan, uint32
 static inline bool touch_ll_is_proximity_sensing_channel(uint32_t touch_num)
 {
     if ((LP_ANA_PERI.touch_approach.touch_approach_pad0 != touch_num)
-        && (LP_ANA_PERI.touch_approach.touch_approach_pad1 != touch_num)
-        && (LP_ANA_PERI.touch_approach.touch_approach_pad2 != touch_num)) {
+            && (LP_ANA_PERI.touch_approach.touch_approach_pad1 != touch_num)
+            && (LP_ANA_PERI.touch_approach.touch_approach_pad2 != touch_num)) {
         return false;
     }
     return true;
@@ -951,18 +954,18 @@ static inline void touch_ll_sleep_get_channel_num(uint32_t *touch_num)
 static inline void touch_ll_sleep_set_threshold(uint8_t sample_cfg_id, uint32_t touch_thresh)
 {
     switch (sample_cfg_id) {
-        case 0:
-            HAL_FORCE_MODIFY_U32_REG_FIELD(LP_ANA_PERI.touch_slp0, touch_slp_th0, touch_thresh);
-            break;
-        case 1:
-            HAL_FORCE_MODIFY_U32_REG_FIELD(LP_ANA_PERI.touch_slp1, touch_slp_th1, touch_thresh);
-            break;
-        case 2:
-            HAL_FORCE_MODIFY_U32_REG_FIELD(LP_ANA_PERI.touch_slp1, touch_slp_th2, touch_thresh);
-            break;
-        default:
-            // invalid sample_cfg_id
-            abort();
+    case 0:
+        HAL_FORCE_MODIFY_U32_REG_FIELD(LP_ANA_PERI.touch_slp0, touch_slp_th0, touch_thresh);
+        break;
+    case 1:
+        HAL_FORCE_MODIFY_U32_REG_FIELD(LP_ANA_PERI.touch_slp1, touch_slp_th1, touch_thresh);
+        break;
+    case 2:
+        HAL_FORCE_MODIFY_U32_REG_FIELD(LP_ANA_PERI.touch_slp1, touch_slp_th2, touch_thresh);
+        break;
+    default:
+        // invalid sample_cfg_id
+        abort();
     }
 }
 
diff --git a/components/soc/esp32p4/touch_sensor_periph.c b/components/esp_hal_touch_sens/esp32p4/touch_sensor_periph.c
similarity index 94%
rename from components/soc/esp32p4/touch_sensor_periph.c
rename to components/esp_hal_touch_sens/esp32p4/touch_sensor_periph.c
index 755261ecf7..0bf598389a 100644
--- a/components/soc/esp32p4/touch_sensor_periph.c
+++ b/components/esp_hal_touch_sens/esp32p4/touch_sensor_periph.c
@@ -1,7 +1,7 @@
 /*
  * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
- * SPDX-License-Identifier: Apache-2.0 OR MIT
+ * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "soc/touch_sensor_channel.h"
diff --git a/components/hal/esp32s2/include/hal/touch_sensor_hal.h b/components/esp_hal_touch_sens/esp32s2/include/hal/touch_sensor_legacy_hal.h
similarity index 99%
rename from components/hal/esp32s2/include/hal/touch_sensor_hal.h
rename to components/esp_hal_touch_sens/esp32s2/include/hal/touch_sensor_legacy_hal.h
index d74b83b937..73ccbf184a 100644
--- a/components/hal/esp32s2/include/hal/touch_sensor_hal.h
+++ b/components/esp_hal_touch_sens/esp32s2/include/hal/touch_sensor_legacy_hal.h
@@ -17,7 +17,7 @@
 #include "hal/touch_sensor_ll.h"
 #include "hal/touch_sensor_legacy_types.h"
 
-#include_next "hal/touch_sensor_hal.h"
+#include_next "hal/touch_sensor_legacy_hal.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/components/hal/esp32s2/include/hal/touch_sensor_ll.h b/components/esp_hal_touch_sens/esp32s2/include/hal/touch_sensor_ll.h
similarity index 98%
rename from components/hal/esp32s2/include/hal/touch_sensor_ll.h
rename to components/esp_hal_touch_sens/esp32s2/include/hal/touch_sensor_ll.h
index 09e4bf0b39..85e81612e3 100644
--- a/components/hal/esp32s2/include/hal/touch_sensor_ll.h
+++ b/components/esp_hal_touch_sens/esp32s2/include/hal/touch_sensor_ll.h
@@ -19,7 +19,7 @@
 #include "esp_bit_defs.h"
 #include "hal/misc.h"
 #include "hal/assert.h"
-#include "soc/touch_sensor_periph.h"
+#include "hal/touch_sensor_periph.h"
 #include "soc/soc_caps.h"
 #include "soc/soc_caps_full.h"
 #include "soc/sens_struct.h"
@@ -27,6 +27,13 @@
 #include "soc/rtc_io_struct.h"
 #include "hal/touch_sens_types.h"
 
+#define TOUCH_LL_GET(_attr)  TOUCH_LL_ ## _attr
+#define TOUCH_LL_CHAN_NUM    15
+#define TOUCH_LL_SHIELD_CHAN_ID     14  /*!< The waterproof function includes a shielded channel (TOUCH_PAD_NUM14) */
+#define TOUCH_LL_DENOISE_CHAN_ID    0   /*!< T0 is an internal channel that does not have a corresponding external GPIO.
+                                             T0 will work simultaneously with the measured channel Tn. Finally, the actual
+                                             measured value of Tn is the value after subtracting lower bits of T0. */
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -54,7 +61,7 @@ extern "C" {
                                              TOUCH_LL_INTR_MASK_INACTIVE | \
                                              TOUCH_LL_INTR_MASK_TIMEOUT)
 
-#define TOUCH_LL_FULL_CHANNEL_MASK          ((uint16_t)((1U << SOC_MODULE_ATTR(TOUCH, CHAN_NUM)) - 1))
+#define TOUCH_LL_FULL_CHANNEL_MASK          ((uint16_t)((1U << TOUCH_LL_GET(CHAN_NUM)) - 1))
 #define TOUCH_LL_NULL_CHANNEL               (0)  // Null Channel id. Used for disabling some functions like sleep/proximity/waterproof
 
 #define TOUCH_LL_PAD_MEASURE_WAIT_MAX      (0xFF)      // The timer frequency is 8Mhz, the max value is 0xff
@@ -234,7 +241,7 @@ static inline void touch_ll_set_power_on_wait_cycle(uint32_t wait_cycles)
  * @param charge_times The times of charge and discharge in each measure process of touch channels.
  *                     The timer frequency is RTC_FAST (about 16M). Range: 0 ~ 0xffff.
  */
-static inline void touch_ll_set_charge_times( uint16_t charge_times)
+static inline void touch_ll_set_charge_times(uint16_t charge_times)
 {
     HAL_FORCE_MODIFY_U32_REG_FIELD(RTCCNTL.touch_ctrl1, touch_meas_num, charge_times);
 }
@@ -441,7 +448,6 @@ static inline bool touch_ll_is_fsm_repeated_timer_enabled(void)
     return (bool)RTCCNTL.touch_ctrl2.touch_slp_timer_en;
 }
 
-
 /**
  * Enable the touch sensor FSM start signal from software
  */
@@ -688,18 +694,18 @@ static inline void touch_ll_waterproof_set_shield_driver(touch_chan_shield_cap_t
 static inline void touch_ll_set_proximity_sensing_channel(uint8_t prox_chan, uint32_t touch_num)
 {
     switch (prox_chan) {
-        case 0:
-            SENS.sar_touch_conf.touch_approach_pad0 = touch_num;
-            break;
-        case 1:
-            SENS.sar_touch_conf.touch_approach_pad1 = touch_num;
-            break;
-        case 2:
-            SENS.sar_touch_conf.touch_approach_pad2 = touch_num;
-            break;
-        default:
-            // invalid proximity channel
-            abort();
+    case 0:
+        SENS.sar_touch_conf.touch_approach_pad0 = touch_num;
+        break;
+    case 1:
+        SENS.sar_touch_conf.touch_approach_pad1 = touch_num;
+        break;
+    case 2:
+        SENS.sar_touch_conf.touch_approach_pad2 = touch_num;
+        break;
+    default:
+        // invalid proximity channel
+        abort();
     }
 }
 
diff --git a/components/hal/esp32s2/touch_sensor_hal.c b/components/esp_hal_touch_sens/esp32s2/touch_sensor_legacy_hal.c
similarity index 95%
rename from components/hal/esp32s2/touch_sensor_hal.c
rename to components/esp_hal_touch_sens/esp32s2/touch_sensor_legacy_hal.c
index fe0ad605a6..4c11f843c1 100644
--- a/components/hal/esp32s2/touch_sensor_hal.c
+++ b/components/esp_hal_touch_sens/esp32s2/touch_sensor_legacy_hal.c
@@ -7,8 +7,7 @@
 // The HAL layer for Touch Sensor (common part)
 
 #include "soc/soc_pins.h"
-#include "soc/touch_sensor_pins.h"
-#include "hal/touch_sensor_hal.h"
+#include "hal/touch_sensor_legacy_hal.h"
 #include "hal/touch_sensor_legacy_types.h"
 
 static int s_sleep_cycle = -1;
@@ -50,7 +49,7 @@ void touch_hal_deinit(void)
     touch_ll_timeout_disable();
     touch_ll_waterproof_enable(false);
     touch_ll_denoise_enable(false);
-    touch_pad_t prox_pad[SOC_TOUCH_PROXIMITY_CHANNEL_NUM] = {[0 ... (SOC_TOUCH_PROXIMITY_CHANNEL_NUM - 1)] = 0};
+    touch_pad_t prox_pad[SOC_TOUCH_PROXIMITY_CHANNEL_NUM] = {[0 ...(SOC_TOUCH_PROXIMITY_CHANNEL_NUM - 1)] = 0};
     touch_ll_proximity_set_channel_num((const touch_pad_t *)prox_pad);
     touch_ll_sleep_set_channel_num(0);
     touch_ll_sleep_enable_proximity_sensing(false);
@@ -89,7 +88,7 @@ void touch_hal_denoise_get_config(touch_pad_denoise_t *denoise)
 
 void touch_hal_denoise_enable(void)
 {
-    touch_ll_clear_channel_mask(1U << SOC_TOUCH_DENOISE_CHANNEL);
+    touch_ll_clear_channel_mask(1U << TOUCH_LL_GET(DENOISE_CHAN_ID));
     touch_ll_denoise_enable(true);
 }
 
@@ -107,7 +106,7 @@ void touch_hal_waterproof_get_config(touch_pad_waterproof_t *waterproof)
 
 void touch_hal_waterproof_enable(void)
 {
-    touch_ll_clear_channel_mask(1U << SOC_TOUCH_SHIELD_CHANNEL);
+    touch_ll_clear_channel_mask(1U << TOUCH_LL_GET(SHIELD_CHAN_ID));
     touch_ll_waterproof_enable(true);
 }
 
diff --git a/components/soc/esp32s2/touch_sensor_periph.c b/components/esp_hal_touch_sens/esp32s2/touch_sensor_periph.c
similarity index 94%
rename from components/soc/esp32s2/touch_sensor_periph.c
rename to components/esp_hal_touch_sens/esp32s2/touch_sensor_periph.c
index 21d217b1e2..dc02e62ba6 100644
--- a/components/soc/esp32s2/touch_sensor_periph.c
+++ b/components/esp_hal_touch_sens/esp32s2/touch_sensor_periph.c
@@ -1,7 +1,7 @@
 /*
  * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
- * SPDX-License-Identifier: Apache-2.0 OR MIT
+ * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "soc/touch_sensor_channel.h"
diff --git a/components/hal/esp32s3/include/hal/touch_sensor_hal.h b/components/esp_hal_touch_sens/esp32s3/include/hal/touch_sensor_legacy_hal.h
similarity index 99%
rename from components/hal/esp32s3/include/hal/touch_sensor_hal.h
rename to components/esp_hal_touch_sens/esp32s3/include/hal/touch_sensor_legacy_hal.h
index 94219cfb57..1260447e4d 100644
--- a/components/hal/esp32s3/include/hal/touch_sensor_hal.h
+++ b/components/esp_hal_touch_sens/esp32s3/include/hal/touch_sensor_legacy_hal.h
@@ -17,7 +17,7 @@
 #include "hal/touch_sensor_ll.h"
 #include "hal/touch_sensor_legacy_types.h"
 
-#include_next "hal/touch_sensor_hal.h"
+#include_next "hal/touch_sensor_legacy_hal.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/components/hal/esp32s3/include/hal/touch_sensor_ll.h b/components/esp_hal_touch_sens/esp32s3/include/hal/touch_sensor_ll.h
similarity index 98%
rename from components/hal/esp32s3/include/hal/touch_sensor_ll.h
rename to components/esp_hal_touch_sens/esp32s3/include/hal/touch_sensor_ll.h
index 5926d39b50..519e1106d9 100644
--- a/components/hal/esp32s3/include/hal/touch_sensor_ll.h
+++ b/components/esp_hal_touch_sens/esp32s3/include/hal/touch_sensor_ll.h
@@ -19,7 +19,7 @@
 #include "esp_bit_defs.h"
 #include "hal/misc.h"
 #include "hal/assert.h"
-#include "soc/touch_sensor_periph.h"
+#include "hal/touch_sensor_periph.h"
 #include "soc/rtc_cntl_struct.h"
 #include "soc/rtc_io_struct.h"
 #include "soc/sens_struct.h"
@@ -27,6 +27,13 @@
 #include "soc/soc_caps_full.h"
 #include "hal/touch_sens_types.h"
 
+#define TOUCH_LL_GET(_attr)  TOUCH_LL_ ## _attr
+#define TOUCH_LL_CHAN_NUM    15
+#define TOUCH_LL_SHIELD_CHAN_ID     14  /*!< The waterproof function includes a shielded channel (TOUCH_PAD_NUM14) */
+#define TOUCH_LL_DENOISE_CHAN_ID    0   /*!< T0 is an internal channel that does not have a corresponding external GPIO.
+                                             T0 will work simultaneously with the measured channel Tn. Finally, the actual
+                                             measured value of Tn is the value after subtracting lower bits of T0. */
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -50,7 +57,7 @@ extern "C" {
                                              TOUCH_LL_INTR_MASK_TIMEOUT | \
                                              TOUCH_LL_INTR_MASK_PROX_DONE)
 
-#define TOUCH_LL_FULL_CHANNEL_MASK          ((uint16_t)((1U << SOC_MODULE_ATTR(TOUCH, CHAN_NUM)) - 1))
+#define TOUCH_LL_FULL_CHANNEL_MASK          ((uint16_t)((1U << TOUCH_LL_GET(CHAN_NUM)) - 1))
 #define TOUCH_LL_NULL_CHANNEL               (0)  // Null Channel id. Used for disabling some functions like sleep/proximity/waterproof
 
 #define TOUCH_LL_PAD_MEASURE_WAIT_MAX      (0xFF)      // The timer frequency is 8Mhz, the max value is 0xff
@@ -230,7 +237,7 @@ static inline void touch_ll_set_power_on_wait_cycle(uint32_t wait_cycles)
  * @param charge_times The times of charge and discharge in each measure process of touch channels.
  *                     The timer frequency is RTC_FAST (about 16M). Range: 0 ~ 0xffff.
  */
-static inline void touch_ll_set_charge_times( uint16_t charge_times)
+static inline void touch_ll_set_charge_times(uint16_t charge_times)
 {
     HAL_FORCE_MODIFY_U32_REG_FIELD(RTCCNTL.touch_ctrl1, touch_meas_num, charge_times);
 }
@@ -368,7 +375,6 @@ static inline void touch_ll_clear_active_channel_status(void)
     SENS.sar_touch_conf.touch_status_clr = 1;
 }
 
-
 /**
  * Select touch sensor dbias to save power in sleep mode.
  *
@@ -521,7 +527,6 @@ static inline void touch_ll_filter_enable(bool enable)
     RTCCNTL.touch_filter_ctrl.touch_filter_en = enable;
 }
 
-
 /**
  * Set filter mode. The input of the filter is the raw value of touch reading,
  * and the output of the filter is involved in the judgment of the touch state.
@@ -699,18 +704,18 @@ static inline void touch_ll_waterproof_set_shield_driver(touch_chan_shield_cap_t
 static inline void touch_ll_set_proximity_sensing_channel(uint8_t prox_chan, uint32_t touch_num)
 {
     switch (prox_chan) {
-        case 0:
-            SENS.sar_touch_conf.touch_approach_pad0 = touch_num;
-            break;
-        case 1:
-            SENS.sar_touch_conf.touch_approach_pad1 = touch_num;
-            break;
-        case 2:
-            SENS.sar_touch_conf.touch_approach_pad2 = touch_num;
-            break;
-        default:
-            // invalid proximity channel
-            abort();
+    case 0:
+        SENS.sar_touch_conf.touch_approach_pad0 = touch_num;
+        break;
+    case 1:
+        SENS.sar_touch_conf.touch_approach_pad1 = touch_num;
+        break;
+    case 2:
+        SENS.sar_touch_conf.touch_approach_pad2 = touch_num;
+        break;
+    default:
+        // invalid proximity channel
+        abort();
     }
 }
 
@@ -1757,7 +1762,6 @@ static inline void touch_ll_sleep_read_chan_data(uint8_t type, uint32_t *data)
     }
 }
 
-
 /**
  * Select touch sensor dbias to save power in sleep mode.
  *
diff --git a/components/hal/esp32s3/touch_sensor_hal.c b/components/esp_hal_touch_sens/esp32s3/touch_sensor_legacy_hal.c
similarity index 96%
rename from components/hal/esp32s3/touch_sensor_hal.c
rename to components/esp_hal_touch_sens/esp32s3/touch_sensor_legacy_hal.c
index f4a662af59..ed667f0b81 100644
--- a/components/hal/esp32s3/touch_sensor_hal.c
+++ b/components/esp_hal_touch_sens/esp32s3/touch_sensor_legacy_hal.c
@@ -7,7 +7,7 @@
 // The HAL layer for Touch Sensor (common part)
 
 #include "soc/soc_pins.h"
-#include "hal/touch_sensor_hal.h"
+#include "hal/touch_sensor_legacy_hal.h"
 #include "hal/touch_sensor_ll.h"
 #include "hal/touch_sensor_legacy_types.h"
 #include "soc/soc_caps.h"
@@ -51,7 +51,7 @@ void touch_hal_deinit(void)
     touch_ll_timeout_disable();
     touch_ll_waterproof_enable(false);
     touch_ll_denoise_enable(false);
-    touch_pad_t prox_pad[SOC_TOUCH_PROXIMITY_CHANNEL_NUM] = {[0 ... (SOC_TOUCH_PROXIMITY_CHANNEL_NUM - 1)] = 0};
+    touch_pad_t prox_pad[SOC_TOUCH_PROXIMITY_CHANNEL_NUM] = {[0 ...(SOC_TOUCH_PROXIMITY_CHANNEL_NUM - 1)] = 0};
     touch_ll_proximity_set_channel_num((const touch_pad_t *)prox_pad);
     touch_ll_sleep_set_channel_num(0);
     touch_ll_sleep_enable_proximity_sensing(false);
@@ -90,7 +90,7 @@ void touch_hal_denoise_get_config(touch_pad_denoise_t *denoise)
 
 void touch_hal_denoise_enable(void)
 {
-    touch_ll_clear_channel_mask(1U << SOC_TOUCH_DENOISE_CHANNEL);
+    touch_ll_clear_channel_mask(1U << TOUCH_LL_GET(DENOISE_CHAN_ID));
     touch_ll_denoise_enable(true);
 }
 
@@ -108,7 +108,7 @@ void touch_hal_waterproof_get_config(touch_pad_waterproof_t *waterproof)
 
 void touch_hal_waterproof_enable(void)
 {
-    touch_ll_clear_channel_mask(1U << SOC_TOUCH_SHIELD_CHANNEL);
+    touch_ll_clear_channel_mask(1U << TOUCH_LL_GET(SHIELD_CHAN_ID));
     touch_ll_waterproof_enable(true);
 }
 
diff --git a/components/soc/esp32s3/touch_sensor_periph.c b/components/esp_hal_touch_sens/esp32s3/touch_sensor_periph.c
similarity index 94%
rename from components/soc/esp32s3/touch_sensor_periph.c
rename to components/esp_hal_touch_sens/esp32s3/touch_sensor_periph.c
index 21d217b1e2..dc02e62ba6 100644
--- a/components/soc/esp32s3/touch_sensor_periph.c
+++ b/components/esp_hal_touch_sens/esp32s3/touch_sensor_periph.c
@@ -1,7 +1,7 @@
 /*
  * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
- * SPDX-License-Identifier: Apache-2.0 OR MIT
+ * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "soc/touch_sensor_channel.h"
diff --git a/components/hal/include/hal/touch_sens_hal.h b/components/esp_hal_touch_sens/include/hal/touch_sens_hal.h
similarity index 99%
rename from components/hal/include/hal/touch_sens_hal.h
rename to components/esp_hal_touch_sens/include/hal/touch_sens_hal.h
index 84fbdad205..6f0bc56629 100644
--- a/components/hal/include/hal/touch_sens_hal.h
+++ b/components/esp_hal_touch_sens/include/hal/touch_sens_hal.h
@@ -10,7 +10,6 @@
  * See readme.md in hal/include/hal/readme.md
  ******************************************************************************/
 
-
 #pragma once
 
 #include "soc/soc_caps.h"
@@ -105,7 +104,7 @@ typedef struct {
                                                              *   of the sample configurations below.
                                                              */
     touch_out_mode_t                output_mode;            /*!< Touch channel counting mode of the binarized touch output */
-    #endif  // SOC_TOUCH_SENSOR_VERSION == 3
+#endif  // SOC_TOUCH_SENSOR_VERSION == 3
     uint32_t                        sample_cfg_num;         /*!< The sample configuration number that used for sampling */
     uint32_t                        trigger_rise_cnt;       /*!< The counter of triggered frequency points to judge whether a channel active.
                                                              *   For example, there are 3 sample configurations activated, and the trigger_rise_cnt is 2,
diff --git a/components/hal/include/hal/touch_sens_types.h b/components/esp_hal_touch_sens/include/hal/touch_sens_types.h
similarity index 100%
rename from components/hal/include/hal/touch_sens_types.h
rename to components/esp_hal_touch_sens/include/hal/touch_sens_types.h
diff --git a/components/hal/include/hal/touch_sensor_hal.h b/components/esp_hal_touch_sens/include/hal/touch_sensor_legacy_hal.h
similarity index 100%
rename from components/hal/include/hal/touch_sensor_hal.h
rename to components/esp_hal_touch_sens/include/hal/touch_sensor_legacy_hal.h
diff --git a/components/hal/include/hal/touch_sensor_legacy_types.h b/components/esp_hal_touch_sens/include/hal/touch_sensor_legacy_types.h
similarity index 100%
rename from components/hal/include/hal/touch_sensor_legacy_types.h
rename to components/esp_hal_touch_sens/include/hal/touch_sensor_legacy_types.h
diff --git a/components/soc/include/soc/touch_sensor_periph.h b/components/esp_hal_touch_sens/include/hal/touch_sensor_periph.h
similarity index 84%
rename from components/soc/include/soc/touch_sensor_periph.h
rename to components/esp_hal_touch_sens/include/hal/touch_sensor_periph.h
index da4376382e..1e6c7d6db1 100644
--- a/components/soc/include/soc/touch_sensor_periph.h
+++ b/components/esp_hal_touch_sens/include/hal/touch_sensor_periph.h
@@ -1,7 +1,7 @@
 /*
  * SPDX-FileCopyrightText: 2019-2025 Espressif Systems (Shanghai) CO LTD
  *
- * SPDX-License-Identifier: Apache-2.0 OR MIT
+ * SPDX-License-Identifier: Apache-2.0
  */
 
 #pragma once
diff --git a/components/hal/touch_sens_hal.c b/components/esp_hal_touch_sens/touch_sens_hal.c
similarity index 95%
rename from components/hal/touch_sens_hal.c
rename to components/esp_hal_touch_sens/touch_sens_hal.c
index 31353bdc53..54b7572919 100644
--- a/components/hal/touch_sens_hal.c
+++ b/components/esp_hal_touch_sens/touch_sens_hal.c
@@ -10,7 +10,6 @@
 #include "hal/touch_sens_hal.h"
 #include "hal/touch_sens_types.h"
 
-
 typedef struct {
     bool deep_slp_allow_pd;
     int deep_slp_chan;
@@ -81,14 +80,14 @@ static void s_touch_hal_apply_sleep_config(void)
     /* Apply the particular configuration for deep sleep */
     if (s_touch_slp_obj.apply_slp_cfg) {
         /* Save the current channel threshold first, because they will be reset by hardware after the recofniguration */
-        uint32_t chan_thresh[SOC_MODULE_ATTR(TOUCH, CHAN_NUM)] = {};
-        for (int i = 0; i < SOC_MODULE_ATTR(TOUCH, CHAN_NUM); i++) {
+        uint32_t chan_thresh[TOUCH_LL_GET(CHAN_NUM)] = {};
+        for (int i = 0; i < TOUCH_LL_GET(CHAN_NUM); i++) {
             chan_thresh[i] = touch_ll_get_chan_active_threshold(i);
         }
         /* Reconfigure the touch sensor to use the sleep configuration */
         touch_hal_config_controller(&s_touch_slp_obj.slp_cfg);
         /* Restore the channel threshold */
-        for (int i = 0; i < SOC_MODULE_ATTR(TOUCH, CHAN_NUM); i++) {
+        for (int i = 0; i < TOUCH_LL_GET(CHAN_NUM); i++) {
             touch_ll_set_chan_active_threshold(i, chan_thresh[i]);
         }
     }
diff --git a/components/hal/touch_sensor_hal.c b/components/esp_hal_touch_sens/touch_sensor_legacy_hal.c
similarity index 96%
rename from components/hal/touch_sensor_hal.c
rename to components/esp_hal_touch_sens/touch_sensor_legacy_hal.c
index 3121f03e2d..91e3dbb880 100644
--- a/components/hal/touch_sensor_hal.c
+++ b/components/esp_hal_touch_sens/touch_sensor_legacy_hal.c
@@ -6,7 +6,7 @@
 
 // The HAL layer for Touch Sensor (common part)
 
-#include "hal/touch_sensor_hal.h"
+#include "hal/touch_sensor_legacy_hal.h"
 #include "hal/touch_sensor_legacy_types.h"
 #include "soc/soc_caps.h"
 
diff --git a/components/esp_hw_support/CMakeLists.txt b/components/esp_hw_support/CMakeLists.txt
index 7944e3c0d7..fd44895642 100644
--- a/components/esp_hw_support/CMakeLists.txt
+++ b/components/esp_hw_support/CMakeLists.txt
@@ -73,6 +73,7 @@ if(NOT non_os_build)
     # [refactor-todo]
     list(APPEND priv_requires esp_driver_gpio   # for GPIO and RTC (by sleep_gpio and sleep_modes)
                               esp_timer
+                              esp_hal_touch_sens # for touch sensor wakeup (introduced in sleep_modes.c)
                               esp_pm)
 
     list(APPEND priv_requires esp_mm
diff --git a/components/esp_hw_support/include/esp_sleep.h b/components/esp_hw_support/include/esp_sleep.h
index 72c872c703..19e9462cf4 100644
--- a/components/esp_hw_support/include/esp_sleep.h
+++ b/components/esp_hw_support/include/esp_sleep.h
@@ -9,7 +9,6 @@
 #include <stdint.h>
 #include "esp_err.h"
 
-#include "hal/touch_sensor_legacy_types.h"
 #include "hal/gpio_types.h"
 
 #include "soc/soc_caps.h"
diff --git a/components/hal/CMakeLists.txt b/components/hal/CMakeLists.txt
index f12b0ea905..0f3ae8796e 100644
--- a/components/hal/CMakeLists.txt
+++ b/components/hal/CMakeLists.txt
@@ -197,16 +197,6 @@ elseif(NOT BOOTLOADER_BUILD)
         list(APPEND srcs "ds_hal.c")
     endif()
 
-    if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
-        # Source files for the legacy touch hal driver
-        if(CONFIG_SOC_TOUCH_SENSOR_VERSION LESS 3)
-            list(APPEND srcs "${target}/touch_sensor_hal.c")
-            list(APPEND srcs "touch_sensor_hal.c")
-        endif()
-        # Source files for the new touch hal driver
-        list(APPEND srcs "touch_sens_hal.c")
-    endif()
-
     if(CONFIG_SOC_TEMP_SENSOR_SUPPORTED)
         list(APPEND srcs "temperature_sensor_hal.c")
     endif()
diff --git a/components/soc/CMakeLists.txt b/components/soc/CMakeLists.txt
index 6a8087fad0..de4d8f97a1 100644
--- a/components/soc/CMakeLists.txt
+++ b/components/soc/CMakeLists.txt
@@ -105,10 +105,6 @@ if(CONFIG_SOC_SDMMC_HOST_SUPPORTED)
     list(APPEND srcs "${target_folder}/sdmmc_periph.c")
 endif()
 
-if(CONFIG_SOC_TOUCH_SENSOR_SUPPORTED)
-    list(APPEND srcs "${target_folder}/touch_sensor_periph.c")
-endif()
-
 if(CONFIG_SOC_IEEE802154_SUPPORTED)
     list(APPEND srcs "${target_folder}/ieee802154_periph.c")
 endif()
diff --git a/components/soc/esp32/include/soc/soc_caps_full.h b/components/soc/esp32/include/soc/soc_caps_full.h
index 386e4ae0b4..f031101adc 100644
--- a/components/soc/esp32/include/soc/soc_caps_full.h
+++ b/components/soc/esp32/include/soc/soc_caps_full.h
@@ -8,6 +8,3 @@
 
 #include "soc/soc_caps.h"
 #include "soc/soc_caps_eval.h"
-
-/*------------------------------- Touch Sensor ------------------------------------*/
-#define _SOC_CAPS_TOUCH_CHAN_NUM                  10 // Number of touch sensor channels
diff --git a/components/soc/esp32p4/include/soc/soc_caps_full.h b/components/soc/esp32p4/include/soc/soc_caps_full.h
index 0fd0d6108d..f031101adc 100644
--- a/components/soc/esp32p4/include/soc/soc_caps_full.h
+++ b/components/soc/esp32p4/include/soc/soc_caps_full.h
@@ -8,6 +8,3 @@
 
 #include "soc/soc_caps.h"
 #include "soc/soc_caps_eval.h"
-
-/*------------------------------- Touch Sensor ------------------------------------*/
-#define _SOC_CAPS_TOUCH_CHAN_NUM                  14  // Number of touch sensor channels
diff --git a/components/soc/esp32s2/include/soc/soc_caps_full.h b/components/soc/esp32s2/include/soc/soc_caps_full.h
index 018f254fb9..f031101adc 100644
--- a/components/soc/esp32s2/include/soc/soc_caps_full.h
+++ b/components/soc/esp32s2/include/soc/soc_caps_full.h
@@ -8,6 +8,3 @@
 
 #include "soc/soc_caps.h"
 #include "soc/soc_caps_eval.h"
-
-/*------------------------------- Touch Sensor ------------------------------------*/
-#define _SOC_CAPS_TOUCH_CHAN_NUM                  15  // Number of touch sensor channels
diff --git a/components/soc/esp32s2/include/soc/soc_pins.h b/components/soc/esp32s2/include/soc/soc_pins.h
index 9ca62586a7..aa5d337198 100644
--- a/components/soc/esp32s2/include/soc/soc_pins.h
+++ b/components/soc/esp32s2/include/soc/soc_pins.h
@@ -9,4 +9,3 @@
 #include "soc/usb_pins.h"
 #include "soc/gpio_pins.h"
 #include "soc/spi_pins.h"
-#include "soc/touch_sensor_pins.h"
diff --git a/components/soc/esp32s2/include/soc/touch_sensor_pins.h b/components/soc/esp32s2/include/soc/touch_sensor_pins.h
deleted file mode 100644
index 6ec17be72a..0000000000
--- a/components/soc/esp32s2/include/soc/touch_sensor_pins.h
+++ /dev/null
@@ -1,28 +0,0 @@
-// Copyright 2019 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define SOC_TOUCH_SHIELD_CHANNEL            (14) /*!< The waterproof function includes a shielded channel (TOUCH_PAD_NUM14) */
-#define SOC_TOUCH_DENOISE_CHANNEL           (0)  /*!< T0 is an internal channel that does not have a corresponding external GPIO.
-                                                    T0 will work simultaneously with the measured channel Tn. Finally, the actual
-                                                    measured value of Tn is the value after subtracting lower bits of T0. */
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/components/soc/esp32s3/include/soc/soc_caps_full.h b/components/soc/esp32s3/include/soc/soc_caps_full.h
index 018f254fb9..f031101adc 100644
--- a/components/soc/esp32s3/include/soc/soc_caps_full.h
+++ b/components/soc/esp32s3/include/soc/soc_caps_full.h
@@ -8,6 +8,3 @@
 
 #include "soc/soc_caps.h"
 #include "soc/soc_caps_eval.h"
-
-/*------------------------------- Touch Sensor ------------------------------------*/
-#define _SOC_CAPS_TOUCH_CHAN_NUM                  15  // Number of touch sensor channels
diff --git a/components/soc/esp32s3/include/soc/soc_pins.h b/components/soc/esp32s3/include/soc/soc_pins.h
index 7411d4b365..c726129608 100644
--- a/components/soc/esp32s3/include/soc/soc_pins.h
+++ b/components/soc/esp32s3/include/soc/soc_pins.h
@@ -16,4 +16,3 @@
 #include "soc/gpio_pins.h"
 #include "soc/spi_pins.h"
 #include "soc/sdmmc_pins.h"
-#include "soc/touch_sensor_pins.h"
diff --git a/components/soc/esp32s3/include/soc/touch_sensor_pins.h b/components/soc/esp32s3/include/soc/touch_sensor_pins.h
deleted file mode 100644
index 4c553f84b3..0000000000
--- a/components/soc/esp32s3/include/soc/touch_sensor_pins.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Apache-2.0 OR MIT
- */
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define SOC_TOUCH_SHIELD_CHANNEL            (14) /*!< The waterproof function includes a shielded channel (TOUCH_PAD_NUM14) */
-#define SOC_TOUCH_DENOISE_CHANNEL           (0)  /*!< T0 is an internal channel that does not have a corresponding external GPIO.
-                                                    T0 will work simultaneously with the measured channel Tn. Finally, the actual
-                                                    measured value of Tn is the value after subtracting lower bits of T0. */
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/components/ulp/CMakeLists.txt b/components/ulp/CMakeLists.txt
index 53bbed2899..9a6c0ae019 100644
--- a/components/ulp/CMakeLists.txt
+++ b/components/ulp/CMakeLists.txt
@@ -96,4 +96,9 @@ endif()
 
 idf_component_register(SRCS ${srcs}
                        INCLUDE_DIRS ${includes}
-                       REQUIRES esp_adc esp_driver_gpio esp_driver_uart esp_driver_i2s esp_hal_i2c)
+                       REQUIRES esp_adc
+                                esp_driver_gpio
+                                esp_driver_uart
+                                esp_driver_i2s
+                                esp_hal_i2c
+                                esp_hal_touch_sens)
diff --git a/tools/ci/check_copyright_ignore.txt b/tools/ci/check_copyright_ignore.txt
index 17f3ad58e8..b4adc77965 100644
--- a/tools/ci/check_copyright_ignore.txt
+++ b/tools/ci/check_copyright_ignore.txt
@@ -495,7 +495,6 @@ components/soc/esp32s2/include/soc/fe_reg.h
 components/soc/esp32s2/include/soc/memprot_defs.h
 components/soc/esp32s2/include/soc/nrx_reg.h
 components/soc/esp32s2/include/soc/soc_ulp.h
-components/soc/esp32s2/include/soc/touch_sensor_pins.h
 components/spi_flash/include/spi_flash_chip_generic.h
 components/spi_flash/spi_flash_chip_boya.c
 components/spi_flash/spi_flash_chip_issi.c