diff --git a/examples/peripherals/twai/twai_alert_and_recovery/pytest_twai_alert_recovery_example.py b/examples/peripherals/twai/twai_alert_and_recovery/pytest_twai_alert_recovery_example.py
index 35d9f7b5b8c..2ba9af33f9a 100644
--- a/examples/peripherals/twai/twai_alert_and_recovery/pytest_twai_alert_recovery_example.py
+++ b/examples/peripherals/twai/twai_alert_and_recovery/pytest_twai_alert_recovery_example.py
@@ -1,12 +1,27 @@
 # SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
+import time
+
 import pytest
 from pytest_embedded import Dut
 from pytest_embedded_idf.utils import idf_parametrize
 
 
+def esp_enter_flash_mode(dut: Dut) -> None:
+    ser = dut.serial.proc
+    ser.setRTS(True)  # EN Low
+    time.sleep(0.5)
+    ser.setDTR(True)  # GPIO0 Low
+    ser.setRTS(False)  # EN High
+    dut.expect('waiting for download', timeout=2)
+    ser.setDTR(False)  # Back RTS/DTR to 1/1 to avoid affect to esptool
+
+
 @pytest.mark.twai_adapter
 @idf_parametrize('target', ['esp32'], indirect=['target'])
 def test_twai_alert_recovery_example(dut: Dut) -> None:
-    dut.expect_exact('TWAI Alert and Recovery: Driver installed')
-    dut.expect_exact('TWAI Alert and Recovery: Driver uninstalled')
+    try:
+        dut.expect_exact('TWAI Alert and Recovery: Driver installed')
+        dut.expect_exact('TWAI Alert and Recovery: Driver uninstalled')
+    finally:
+        esp_enter_flash_mode(dut)
diff --git a/examples/peripherals/twai/twai_self_test/pytest_twai_self_test_example.py b/examples/peripherals/twai/twai_self_test/pytest_twai_self_test_example.py
index a4c1537a5cb..cd1b0fa45e1 100644
--- a/examples/peripherals/twai/twai_self_test/pytest_twai_self_test_example.py
+++ b/examples/peripherals/twai/twai_self_test/pytest_twai_self_test_example.py
@@ -1,12 +1,27 @@
 # SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
+import time
+
 import pytest
 from pytest_embedded import Dut
 from pytest_embedded_idf.utils import idf_parametrize
 
 
+def esp_enter_flash_mode(dut: Dut) -> None:
+    ser = dut.serial.proc
+    ser.setRTS(True)  # EN Low
+    time.sleep(0.5)
+    ser.setDTR(True)  # GPIO0 Low
+    ser.setRTS(False)  # EN High
+    dut.expect('waiting for download', timeout=2)
+    ser.setDTR(False)  # Back RTS/DTR to 1/1 to avoid affect to esptool
+
+
 @pytest.mark.twai_adapter
 @idf_parametrize('target', ['esp32'], indirect=['target'])
 def test_twai_self_test_example(dut: Dut) -> None:
-    dut.expect_exact('TWAI Self Test: Driver installed')
-    dut.expect_exact('TWAI Self Test: Driver uninstalled')
+    try:
+        dut.expect_exact('TWAI Self Test: Driver installed')
+        dut.expect_exact('TWAI Self Test: Driver uninstalled')
+    finally:
+        esp_enter_flash_mode(dut)