diff --git a/components/driver/test_apps/legacy_twai/README.md b/components/driver/test_apps/legacy_twai/README.md
index 5edaa3c4ca..2c46f54aa0 100644
--- a/components/driver/test_apps/legacy_twai/README.md
+++ b/components/driver/test_apps/legacy_twai/README.md
@@ -4,5 +4,5 @@
 # Enable Socket CAN Device with bitrate 250Kbps
 
 ```bash
-sudo ip link set can0 up type can bitrate 250000 restart-ms 100
+sudo ip link set can0 up type can bitrate 250000
 ```
diff --git a/components/driver/test_apps/legacy_twai/pytest_twai.py b/components/driver/test_apps/legacy_twai/pytest_twai.py
index f8d4b70a7a..e0ab973e77 100644
--- a/components/driver/test_apps/legacy_twai/pytest_twai.py
+++ b/components/driver/test_apps/legacy_twai/pytest_twai.py
@@ -54,7 +54,7 @@ def esp_reset_and_wait_ready(dut: Dut) -> None:
 @pytest.fixture(name='socket_can')
 def fixture_create_socket_can() -> Bus:
     # Set up the socket CAN with the bitrate
-    start_command = 'sudo -n ip link set can0 up type can bitrate 250000 restart-ms 100'
+    start_command = 'sudo -n ip link set can0 up type can bitrate 250000'
     stop_command = 'sudo -n ip link set can0 down'
     status_command = 'sudo -n ip -details link show can0'
 
diff --git a/components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py b/components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py
index 62e945d92d..261a0e37a2 100644
--- a/components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py
+++ b/components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py
@@ -47,16 +47,10 @@ def esp_enter_flash_mode(dut: Dut) -> None:
     ser.setDTR(False)  # Back RTS/DTR to 1/1 to avoid affect to esptool
 
 
-def esp_reset_and_wait_ready(dut: Dut) -> None:
-    dut.serial.hard_reset()
-    time.sleep(0.5)
-    dut.expect_exact('Press ENTER to see the list of tests')
-
-
 @pytest.fixture(name='socket_can')
 def fixture_create_socket_can() -> Bus:
     # Set up the socket CAN with the bitrate
-    start_command = 'sudo -n ip link set can0 up type can bitrate 250000 restart-ms 100'
+    start_command = 'sudo -n ip link set can0 up type can bitrate 250000'
     stop_command = 'sudo -n ip link set can0 down'
     status_command = 'sudo -n ip -details link show can0'
 
@@ -88,8 +82,7 @@ def fixture_create_socket_can() -> Bus:
 @pytest.mark.parametrize('config', ['release'], indirect=True)
 @idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
 def test_driver_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
-    esp_reset_and_wait_ready(dut)
-
+    dut.expect_exact('Press ENTER to see the list of tests')
     dut.write('"twai_listen_only"')
 
     # wait the DUT to finish initialize
@@ -110,8 +103,7 @@ def test_driver_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
 @pytest.mark.parametrize('config', ['release'], indirect=True)
 @idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
 def test_driver_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
-    esp_reset_and_wait_ready(dut)
-
+    dut.expect_exact('Press ENTER to see the list of tests')
     dut.write('"twai_remote_request"')
 
     print('Waiting remote frame ...')