diff --git a/components/driver/twai/Kconfig.twai b/components/driver/twai/Kconfig.twai
index b6de8caa44..6e98a87ef4 100644
--- a/components/driver/twai/Kconfig.twai
+++ b/components/driver/twai/Kconfig.twai
@@ -42,15 +42,4 @@ menu "Legacy TWAI Driver Configurations"
             on detection of this errata condition. Note that if a frame is being sent on the bus during the reset
             bus during the reset, the message will be lost.
 
-    config TWAI_ERRATA_FIX_LISTEN_ONLY_DOM
-        bool "Add SW workaround for listen only transmits dominant bit errata"
-        depends on IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3 || IDF_TARGET_ESP32C3
-        default y
-        help
-            When in the listen only mode, the TWAI controller must not influence the TWAI bus (i.e., must not send
-            any dominant bits). However, while in listen only mode on the ESP32/ESP32-S2/ESP32-S3/ESP32-C3, the
-            TWAI controller will still transmit dominant bits when it detects an error (i.e., as part of an active
-            error frame). Enabling this option will add a workaround that forces the TWAI controller into an error
-            passive state on initialization, thus preventing any dominant bits from being sent.
-
 endmenu # TWAI Configuration
diff --git a/components/hal/esp32/include/hal/twai_ll.h b/components/hal/esp32/include/hal/twai_ll.h
index ba5e6556d1..2f8d0a75cb 100644
--- a/components/hal/esp32/include/hal/twai_ll.h
+++ b/components/hal/esp32/include/hal/twai_ll.h
@@ -40,6 +40,11 @@
 // cycle, the transmit interrupt could be lost.
 #define TWAI_LL_HAS_INTR_LOST_ISSUE     1
 
+// When in the listen only mode, the TWAI controller must not influence the TWAI bus (i.e., must not send
+// any dominant bits). However, while in listen only mode, the TWAI controller will still transmit dominant
+// bits when it detects an error (i.e., as part of an active error frame).
+#define TWAI_LL_HAS_LOM_DOM_ISSUE       1
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/components/hal/esp32c3/include/hal/twai_ll.h b/components/hal/esp32c3/include/hal/twai_ll.h
index a1a7c3d059..c1a19c68c2 100644
--- a/components/hal/esp32c3/include/hal/twai_ll.h
+++ b/components/hal/esp32c3/include/hal/twai_ll.h
@@ -27,6 +27,11 @@
 
 #define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
 
+// When in the listen only mode, the TWAI controller must not influence the TWAI bus (i.e., must not send
+// any dominant bits). However, while in listen only mode, the TWAI controller will still transmit dominant
+// bits when it detects an error (i.e., as part of an active error frame).
+#define TWAI_LL_HAS_LOM_DOM_ISSUE       1
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/components/hal/esp32s2/include/hal/twai_ll.h b/components/hal/esp32s2/include/hal/twai_ll.h
index a46717c2c5..a224b9523f 100644
--- a/components/hal/esp32s2/include/hal/twai_ll.h
+++ b/components/hal/esp32s2/include/hal/twai_ll.h
@@ -27,6 +27,11 @@
 
 #define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
 
+// When in the listen only mode, the TWAI controller must not influence the TWAI bus (i.e., must not send
+// any dominant bits). However, while in listen only mode, the TWAI controller will still transmit dominant
+// bits when it detects an error (i.e., as part of an active error frame).
+#define TWAI_LL_HAS_LOM_DOM_ISSUE       1
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/components/hal/esp32s3/include/hal/twai_ll.h b/components/hal/esp32s3/include/hal/twai_ll.h
index 965f162859..538a40e129 100644
--- a/components/hal/esp32s3/include/hal/twai_ll.h
+++ b/components/hal/esp32s3/include/hal/twai_ll.h
@@ -27,6 +27,11 @@
 
 #define TWAI_LL_GET_HW(controller_id) ((controller_id == 0) ? (&TWAI) : NULL)
 
+// When in the listen only mode, the TWAI controller must not influence the TWAI bus (i.e., must not send
+// any dominant bits). However, while in listen only mode, the TWAI controller will still transmit dominant
+// bits when it detects an error (i.e., as part of an active error frame).
+#define TWAI_LL_HAS_LOM_DOM_ISSUE       1
+
 #ifdef __cplusplus
 extern "C" {
 #endif
diff --git a/components/hal/twai_hal_v1.c b/components/hal/twai_hal_v1.c
index 8f677fb99a..3224c2d1bf 100644
--- a/components/hal/twai_hal_v1.c
+++ b/components/hal/twai_hal_v1.c
@@ -143,12 +143,10 @@ void twai_hal_start(twai_hal_context_t *hal_ctx)
     twai_ll_set_mode(hal_ctx->dev, hal_ctx->enable_listen_only, hal_ctx->enable_self_test, hal_ctx->enable_loopback);
     //Clear the TEC and REC
     twai_ll_set_tec(hal_ctx->dev, 0);
-#ifdef CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM
-    /*
-    Errata workaround: Prevent transmission of dominant error frame while in listen only mode by setting REC to 128
-    before exiting reset mode. This forces the controller to be error passive (thus only transmits recessive bits).
-    The TEC/REC remain frozen in listen only mode thus ensuring we remain error passive.
-    */
+#if TWAI_LL_HAS_LOM_DOM_ISSUE
+    // Errata workaround: Prevent transmission of dominant error frame while in listen only mode by setting REC to 128
+    // before exiting reset mode. This forces the controller to be error passive (thus only transmits recessive bits).
+    // The TEC/REC remain frozen in listen only mode thus ensuring we remain error passive.
     if (hal_ctx->enable_listen_only) {
         twai_ll_set_rec(hal_ctx->dev, 128);
     } else