diff --git a/.github/workflows/build_and_run_esp_usb_test_apps.yml b/.github/workflows/build_and_run_esp_usb_test_apps.yml
index abd3e02619..f249c742f6 100644
--- a/.github/workflows/build_and_run_esp_usb_test_apps.yml
+++ b/.github/workflows/build_and_run_esp_usb_test_apps.yml
@@ -53,8 +53,8 @@ jobs:
           # Config and manifest files for idf-build-apps are used from the esp-usb repository automatically
           # Here we only overload path using CLI parameter -p to build only device test apps
           cd ${{ env.ESP_USB_PATH }}
-          idf-build-apps find -p device --disable-targets esp32s31
-          idf-build-apps build -p device --disable-targets esp32s31
+          idf-build-apps find -p device
+          idf-build-apps build -p device
       - uses: actions/upload-artifact@v6
         with:
           # Test apps builds live under the repository workspace, we use workspace-relative glob
diff --git a/.github/workflows/build_and_run_idf_examples.yml b/.github/workflows/build_and_run_idf_examples.yml
index 217b7128db..dcc9dcd263 100644
--- a/.github/workflows/build_and_run_idf_examples.yml
+++ b/.github/workflows/build_and_run_idf_examples.yml
@@ -58,8 +58,8 @@ jobs:
           . ${IDF_PATH}/export.sh
           cd ${IDF_PATH}
 
-          idf-build-apps find --config-file ${CONFIG_PATH} --manifest-file ${MANIFEST_PATH} --disable-targets esp32s31
-          idf-build-apps build --config-file ${CONFIG_PATH} --manifest-file ${MANIFEST_PATH} --disable-targets esp32s31
+          idf-build-apps find --config-file ${CONFIG_PATH} --manifest-file ${MANIFEST_PATH}
+          idf-build-apps build --config-file ${CONFIG_PATH} --manifest-file ${MANIFEST_PATH}
       - uses: actions/upload-artifact@v6
         with:
           # We upload only USB Device example binaries to run them on the target
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b868f49b61..ba3975f758 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,16 +2,14 @@ idf_build_get_property(target IDF_TARGET)
 
 if(${target} STREQUAL "esp32s3")
     set(tusb_mcu "OPT_MCU_ESP32S3")
-    set(tusb_family "esp32sx")
 elseif(${target} STREQUAL "esp32s2")
     set(tusb_mcu "OPT_MCU_ESP32S2")
-    set(tusb_family "esp32sx")
 elseif(${target} STREQUAL "esp32p4")
     set(tusb_mcu "OPT_MCU_ESP32P4")
-    set(tusb_family "esp32px")
 elseif(${target} STREQUAL "esp32h4")
     set(tusb_mcu "OPT_MCU_ESP32H4")
-    set(tusb_family "esp32sx")
+elseif(${target} STREQUAL "esp32s31")
+    set(tusb_mcu "OPT_MCU_ESP32S31")
 endif()
 
 set(compile_options
diff --git a/README.rst b/README.rst
index 03ad3744cb..901a5c3440 100644
--- a/README.rst
+++ b/README.rst
@@ -127,6 +127,8 @@ Supported CPUs
 |              | P4                          | ✔      | ✔    | ✔         | dwc2                   |                   |
 |              +-----------------------------+--------+------+-----------+------------------------+-------------------+
 |              | H4                          | ✔      | ✔    | ✖         | dwc2                   |                   |
+|              +-----------------------------+--------+------+-----------+------------------------+-------------------+
+|              | S31                         | ✔      | ✔    | ✔         | dwc2                   |                   |
 +--------------+-----------------------------+--------+------+-----------+------------------------+-------------------+
 | GigaDevice   | GD32VF103                   | ✔      |      | ✖         | dwc2                   |                   |
 +--------------+-----------------------------+--------+------+-----------+------------------------+-------------------+
diff --git a/docs/info/changelog.rst b/docs/info/changelog.rst
index b4423f81e1..3719d3b506 100644
--- a/docs/info/changelog.rst
+++ b/docs/info/changelog.rst
@@ -10,6 +10,7 @@ General
 
 - New MCUs and Boards:
 
+  - Add ESP32-S31 OTG high-speed support
   - Add ESP32-H4, ESP32-C5, ESP32-C61 support
   - Add STM32U0, STM32WBA, STM32N6
   - Add AT32F405, AT32F403A, AT32F415, AT32F423 support
diff --git a/hw/bsp/espressif/boards/family.c b/hw/bsp/espressif/boards/family.c
index a29415cc0e..9e337da6a9 100644
--- a/hw/bsp/espressif/boards/family.c
+++ b/hw/bsp/espressif/boards/family.c
@@ -49,7 +49,7 @@ static led_strip_handle_t led_strip;
 static void max3421_init(void);
 #endif
 
-#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4, OPT_MCU_ESP32P4)
+#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4, OPT_MCU_ESP32P4, OPT_MCU_ESP32S31)
 static bool usb_init(void);
 #endif
 
@@ -90,7 +90,7 @@ void board_init(void) {
   gpio_set_direction(BUTTON_PIN, GPIO_MODE_INPUT);
   gpio_set_pull_mode(BUTTON_PIN, BUTTON_STATE_ACTIVE ? GPIO_PULLDOWN_ONLY : GPIO_PULLUP_ONLY);
 
-#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4, OPT_MCU_ESP32P4)
+#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4, OPT_MCU_ESP32P4, OPT_MCU_ESP32S31)
   usb_init();
 #endif
 
@@ -105,10 +105,6 @@ void board_init(void) {
 #endif
 }
 
-#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4)
-
-#endif
-
 //--------------------------------------------------------------------+
 // Board porting API
 //--------------------------------------------------------------------+
@@ -172,7 +168,7 @@ void board_reset_to_bootloader(void) {
 // PHY Init
 //--------------------------------------------------------------------
 
-#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4, OPT_MCU_ESP32P4)
+#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4, OPT_MCU_ESP32P4, OPT_MCU_ESP32S31)
 #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 3, 0)
 
 #include "esp_private/usb_phy.h"
@@ -183,7 +179,11 @@ bool usb_init(void) {
   // Configure USB PHY
   usb_phy_config_t phy_conf = {
     .controller = USB_PHY_CTRL_OTG,
+#if TU_CHECK_MCU(OPT_MCU_ESP32S31)
+    .target = USB_PHY_TARGET_UTMI,
+#else
     .target = USB_PHY_TARGET_INT,
+#endif
 
     // maybe we can use USB_OTG_MODE_DEFAULT and switch using dwc2 driver
 #if CFG_TUD_ENABLED
diff --git a/hw/bsp/espressif/family.cmake b/hw/bsp/espressif/family.cmake
index ca9eadaf62..30d5a6ac97 100644
--- a/hw/bsp/espressif/family.cmake
+++ b/hw/bsp/espressif/family.cmake
@@ -2,7 +2,10 @@
 include("${CMAKE_CURRENT_LIST_DIR}/boards/${BOARD}/board.cmake")
 string(TOUPPER ${IDF_TARGET} FAMILY_MCUS)
 
-# Device port default to Port1 for P4 (highspeed), Port0 for others (fullspeed)
+# Device/host port defaults:
+# - ESP32-P4 uses Port1 (highspeed)
+# - ESP32-S31 uses Port0 (highspeed)
+# - Other targets use Port0 and derive the default speed from RHPORT_SPEED
 set(RHPORT_SPEED OPT_MODE_FULL_SPEED OPT_MODE_HIGH_SPEED)
 
 if (NOT DEFINED RHPORT_DEVICE)
@@ -22,10 +25,18 @@ if (NOT DEFINED RHPORT_HOST)
 endif()
 
 if (NOT DEFINED RHPORT_DEVICE_SPEED)
-  list(GET RHPORT_SPEED ${RHPORT_DEVICE} RHPORT_DEVICE_SPEED)
+  if (IDF_TARGET STREQUAL "esp32s31")
+    set(RHPORT_DEVICE_SPEED OPT_MODE_HIGH_SPEED)
+  else ()
+    list(GET RHPORT_SPEED ${RHPORT_DEVICE} RHPORT_DEVICE_SPEED)
+  endif ()
 endif ()
 if (NOT DEFINED RHPORT_HOST_SPEED)
-  list(GET RHPORT_SPEED ${RHPORT_HOST} RHPORT_HOST_SPEED)
+  if (IDF_TARGET STREQUAL "esp32s31")
+    set(RHPORT_HOST_SPEED OPT_MODE_HIGH_SPEED)
+  else ()
+    list(GET RHPORT_SPEED ${RHPORT_HOST} RHPORT_HOST_SPEED)
+  endif ()
 endif ()
 
 # Add example src and bsp directories
diff --git a/idf_component.yml b/idf_component.yml
index 0ebcb65f01..7b4f9ef8ca 100644
--- a/idf_component.yml
+++ b/idf_component.yml
@@ -17,6 +17,7 @@ targets:
   - esp32s3
   - esp32p4
   - esp32h4
+  - esp32s31
 tags:
   - usb
   - usb_device
diff --git a/src/common/tusb_mcu.h b/src/common/tusb_mcu.h
index 1c11df114c..dd37868429 100644
--- a/src/common/tusb_mcu.h
+++ b/src/common/tusb_mcu.h
@@ -393,7 +393,7 @@
   #define TUP_DCD_ENDPOINT_MAX    7 // only 5 TX FIFO for endpoint IN
   #define CFG_TUSB_OS_INC_PATH_DEFAULT   freertos/
 
-  #if CFG_TUSB_MCU == OPT_MCU_ESP32S3
+  #if CFG_TUSB_MCU == OPT_MCU_ESP32S3 || CFG_TUSB_MCU == OPT_MCU_ESP32H4
     #define TUP_MCU_MULTIPLE_CORE 1
   #endif
 
@@ -420,6 +420,20 @@
   #define CFG_TUH_MEM_DCACHE_ENABLE_DEFAULT      CFG_TUH_DWC2_DMA_ENABLE
   #define CFG_TUSB_MEM_DCACHE_LINE_SIZE_DEFAULT  64
 
+#elif TU_CHECK_MCU(OPT_MCU_ESP32S31)
+  #define TUP_USBIP_DWC2
+  #define TUP_USBIP_DWC2_ESP32
+  #define TUP_RHPORT_HIGHSPEED    1
+  #define TUP_DCD_ENDPOINT_MAX    16
+
+  #define CFG_TUSB_OS_INC_PATH_DEFAULT   freertos/
+
+  #define TUP_MCU_MULTIPLE_CORE   1
+
+  // Disable slave if DMA is enabled
+  #define CFG_TUD_DWC2_SLAVE_ENABLE_DEFAULT  !CFG_TUD_DWC2_DMA_ENABLE
+  #define CFG_TUH_DWC2_SLAVE_ENABLE_DEFAULT  !CFG_TUH_DWC2_DMA_ENABLE
+
 #elif TU_CHECK_MCU(OPT_MCU_ESP32, OPT_MCU_ESP32C2, OPT_MCU_ESP32C3, OPT_MCU_ESP32C5, OPT_MCU_ESP32C6, OPT_MCU_ESP32C61, OPT_MCU_ESP32H2)
   #if (CFG_TUD_ENABLED || !(defined(CFG_TUH_MAX3421) && CFG_TUH_MAX3421))
   #error "MCUs are only supported with CFG_TUH_MAX3421 enabled"
diff --git a/src/portable/synopsys/dwc2/dcd_dwc2.c b/src/portable/synopsys/dwc2/dcd_dwc2.c
index 1cb7e6e201..e9fb847aa7 100644
--- a/src/portable/synopsys/dwc2/dcd_dwc2.c
+++ b/src/portable/synopsys/dwc2/dcd_dwc2.c
@@ -488,7 +488,7 @@ void dcd_connect(uint8_t rhport) {
   (void) rhport;
   dwc2_regs_t* dwc2 = DWC2_REG(rhport);
 
-#ifdef TUP_USBIP_DWC2_ESP32
+#if defined(TUP_USBIP_DWC2_ESP32) && !TU_CHECK_MCU(OPT_MCU_ESP32S31)
   usb_wrap_otg_conf_reg_t conf = USB_WRAP.otg_conf;
   conf.pad_pull_override = 0;
   conf.dp_pullup = 0;
@@ -505,7 +505,7 @@ void dcd_disconnect(uint8_t rhport) {
   (void) rhport;
   dwc2_regs_t* dwc2 = DWC2_REG(rhport);
 
-#ifdef TUP_USBIP_DWC2_ESP32
+#if defined(TUP_USBIP_DWC2_ESP32) && !TU_CHECK_MCU(OPT_MCU_ESP32S31)
   usb_wrap_otg_conf_reg_t conf = USB_WRAP.otg_conf;
   conf.pad_pull_override = 1;
   conf.dp_pullup = 0;
diff --git a/src/portable/synopsys/dwc2/dwc2_esp32.h b/src/portable/synopsys/dwc2/dwc2_esp32.h
index a4e0d1770e..66f99c377e 100644
--- a/src/portable/synopsys/dwc2/dwc2_esp32.h
+++ b/src/portable/synopsys/dwc2/dwc2_esp32.h
@@ -37,7 +37,11 @@
 
 #include "esp_intr_alloc.h"
 #include "soc/periph_defs.h"
+
+// ESP32-S31 does not have USB_WRAP peripheral (HS-only with UTMI PHY)
+#if !TU_CHECK_MCU(OPT_MCU_ESP32S31)
 #include "soc/usb_wrap_struct.h"
+#endif
 
 #if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
 #define DWC2_FS_REG_BASE   0x60080000UL
@@ -75,6 +79,14 @@ static const dwc2_controller_t _dwc2_controller[] = {
   { .reg_base = DWC2_FS_REG_BASE, .irqnum = ETS_USB_OTG11_CH0_INTR_SOURCE, .ep_count = 7, .ep_in_count = 5, .ep_fifo_size = 1024 },
   { .reg_base = DWC2_HS_REG_BASE, .irqnum = ETS_USB_OTG_INTR_SOURCE, .ep_count = 16, .ep_in_count = 8, .ep_fifo_size = 4096 }
 };
+
+#elif TU_CHECK_MCU(OPT_MCU_ESP32S31)
+#define DWC2_HS_REG_BASE   0x20300000UL
+#define DWC2_EP_MAX        16
+
+static const dwc2_controller_t _dwc2_controller[] = {
+  { .reg_base = DWC2_HS_REG_BASE, .irqnum = ETS_USB_OTGHS_INTR_SOURCE, .ep_count = 16, .ep_in_count = 8, .ep_fifo_size = 4096 }
+};
 #endif
 
 //--------------------------------------------------------------------+
diff --git a/src/tusb_option.h b/src/tusb_option.h
index 378b5607eb..38f71650ef 100644
--- a/src/tusb_option.h
+++ b/src/tusb_option.h
@@ -132,6 +132,7 @@
 #define OPT_MCU_ESP32C5           908 ///< Espressif ESP32-C5
 #define OPT_MCU_ESP32C61          909 ///< Espressif ESP32-C61
 #define OPT_MCU_ESP32H4           910 ///< Espressif ESP32-H4
+#define OPT_MCU_ESP32S31          911 ///< Espressif ESP32-S31
 #define TUSB_MCU_VENDOR_ESPRESSIF (CFG_TUSB_MCU >= 900 && CFG_TUSB_MCU < 1000) // check if Espressif MCU
 #define TUP_MCU_ESPRESSIF        TUSB_MCU_VENDOR_ESPRESSIF //  for backward compatibility