diff --git a/cores/esp32/esp32-hal-uart.c b/cores/esp32/esp32-hal-uart.c
index 5311aff4f37..3c9e6bf178b 100644
--- a/cores/esp32/esp32-hal-uart.c
+++ b/cores/esp32/esp32-hal-uart.c
@@ -32,10 +32,11 @@
 #include "driver/gpio.h"
 #include "hal/gpio_hal.h"
 #include "esp_rom_gpio.h"
+#include "esp_private/gpio.h"
 
 #include "driver/rtc_io.h"
 #include "driver/lp_io.h"
-#include "soc/uart_periph.h"
+#include "soc/uart_pins.h"
 #include "esp_private/uart_share_hw_ctrl.h"
 
 static int s_uart_debug_nr = 0;         // UART number for debug output
@@ -1383,39 +1384,9 @@ unsigned long uartDetectBaudrate(uart_t *uart) {
 }
 
 /*
-    These functions are for testing purpose only and can be used in Arduino Sketches
-    Those are used in the UART examples
-*/
-
-/*
-    This is intended to make an internal loopback connection using IOMUX
-    The function uart_internal_loopback() shall be used right after Arduino Serial.begin(...)
-    This code "replaces" the physical wiring for connecting TX <--> RX in a loopback
-*/
-
-// gets the right TX or RX SIGNAL, based on the UART number from gpio_sig_map.h
-#ifdef CONFIG_IDF_TARGET_ESP32P4
-#define UART_TX_SIGNAL(uartNumber) \
-  (uartNumber == UART_NUM_0        \
-     ? UART0_TXD_PAD_OUT_IDX       \
-     : (uartNumber == UART_NUM_1   \
-          ? UART1_TXD_PAD_OUT_IDX  \
-          : (uartNumber == UART_NUM_2 ? UART2_TXD_PAD_OUT_IDX : (uartNumber == UART_NUM_3 ? UART3_TXD_PAD_OUT_IDX : UART4_TXD_PAD_OUT_IDX))))
-#define UART_RX_SIGNAL(uartNumber) \
-  (uartNumber == UART_NUM_0        \
-     ? UART0_RXD_PAD_IN_IDX        \
-     : (uartNumber == UART_NUM_1   \
-          ? UART1_RXD_PAD_IN_IDX   \
-          : (uartNumber == UART_NUM_2 ? UART2_RXD_PAD_IN_IDX : (uartNumber == UART_NUM_3 ? UART3_RXD_PAD_IN_IDX : UART4_RXD_PAD_IN_IDX))))
-#else
-#if SOC_UART_HP_NUM > 2
-#define UART_TX_SIGNAL(uartNumber) (uartNumber == UART_NUM_0 ? U0TXD_OUT_IDX : (uartNumber == UART_NUM_1 ? U1TXD_OUT_IDX : U2TXD_OUT_IDX))
-#define UART_RX_SIGNAL(uartNumber) (uartNumber == UART_NUM_0 ? U0RXD_IN_IDX : (uartNumber == UART_NUM_1 ? U1RXD_IN_IDX : U2RXD_IN_IDX))
-#else
-#define UART_TX_SIGNAL(uartNumber) (uartNumber == UART_NUM_0 ? U0TXD_OUT_IDX : U1TXD_OUT_IDX)
-#define UART_RX_SIGNAL(uartNumber) (uartNumber == UART_NUM_0 ? U0RXD_IN_IDX : U1RXD_IN_IDX)
-#endif
-#endif  // ifdef CONFIG_IDF_TARGET_ESP32P4
+ * These functions are for testing purposes only and can be used in Arduino Sketches.
+ * They are utilized in the UART examples and CI.
+ */
 
 /*
    This function internally binds defined UARTs TX signal with defined RX pin of any UART (same or different).
@@ -1427,7 +1398,12 @@ void uart_internal_loopback(uint8_t uartNum, int8_t rxPin) {
     log_e("UART%d is not supported for loopback or RX pin %d is invalid.", uartNum, rxPin);
     return;
   }
-  esp_rom_gpio_connect_out_signal(rxPin, UART_TX_SIGNAL(uartNum), false, false);
+  // forces rxPin to use GPIO Matrix and setup the pin to receive UART TX Signal - IDF 5.4.1 Change with uart_release_pin()
+  gpio_func_sel((gpio_num_t)rxPin, PIN_FUNC_GPIO);
+  gpio_pullup_en((gpio_num_t)rxPin);
+  gpio_input_enable((gpio_num_t)rxPin);
+  esp_rom_gpio_connect_in_signal(rxPin, uart_periph_signal[uartNum].pins[SOC_UART_RX_PIN_IDX].signal, false);
+  esp_rom_gpio_connect_out_signal(rxPin, uart_periph_signal[uartNum].pins[SOC_UART_TX_PIN_IDX].signal, false, false);
 }
 
 /*