diff --git a/components/esp_driver_twai/esp_twai_onchip.c b/components/esp_driver_twai/esp_twai_onchip.c
index a6ed9f358f9..925bc8879eb 100644
--- a/components/esp_driver_twai/esp_twai_onchip.c
+++ b/components/esp_driver_twai/esp_twai_onchip.c
@@ -371,23 +371,12 @@ static esp_err_t _node_register_callbacks(twai_node_handle_t node, const twai_ev
     return ESP_OK;
 }
 
-static esp_err_t _node_check_timing_valid(twai_onchip_ctx_t *twai_ctx, const twai_timing_advanced_config_t *timing)
-{
-    if (timing) {
-        ESP_RETURN_ON_FALSE(twai_hal_check_brp_validation(twai_ctx->hal, timing->brp), ESP_ERR_INVALID_ARG, TAG, "invalid brp");
-        ESP_RETURN_ON_FALSE((timing->tseg_1 >= TWAI_LL_TSEG1_MIN) && (timing->tseg_1 <= TWAI_LL_TSEG1_MAX), ESP_ERR_INVALID_ARG, TAG, "invalid tseg1");
-        ESP_RETURN_ON_FALSE((timing->tseg_2 >= TWAI_LL_TSEG2_MIN) && (timing->tseg_2 <= TWAI_LL_TSEG2_MAX), ESP_ERR_INVALID_ARG, TAG, "invalid tseg_2");
-        ESP_RETURN_ON_FALSE((timing->sjw >= 1) && (timing->sjw <= TWAI_LL_SJW_MAX), ESP_ERR_INVALID_ARG, TAG, "invalid swj");
-    }
-    return ESP_OK;
-}
-
 static esp_err_t _node_set_bit_timing(twai_node_handle_t node, const twai_timing_advanced_config_t *timing, const twai_timing_advanced_config_t *timing_fd)
 {
     twai_onchip_ctx_t *twai_ctx = __containerof(node, twai_onchip_ctx_t, api_base);
     ESP_RETURN_ON_FALSE(atomic_load(&twai_ctx->state) == TWAI_ERROR_BUS_OFF, ESP_ERR_INVALID_STATE, TAG, "config timing must when node stopped");
-    ESP_RETURN_ON_ERROR(_node_check_timing_valid(twai_ctx, timing), TAG, "invalid param");
-    ESP_RETURN_ON_ERROR(_node_check_timing_valid(twai_ctx, timing_fd), TAG, "invalid fd param");
+    ESP_RETURN_ON_FALSE(twai_hal_check_timing_valid(twai_ctx->hal, timing, false), ESP_ERR_INVALID_ARG, TAG, "invalid param");
+    ESP_RETURN_ON_FALSE(twai_hal_check_timing_valid(twai_ctx->hal, timing_fd, true), ESP_ERR_INVALID_ARG, TAG, "invalid fd param");
 
     if (timing) {
         twai_hal_configure_timing(twai_ctx->hal, timing);
@@ -429,6 +418,10 @@ static esp_err_t _node_calc_set_bit_timing(twai_node_handle_t node, const twai_t
 #if SOC_TWAI_SUPPORT_FD
     twai_timing_advanced_config_t timing_adv_fd = {};
     if (timing_fd->bitrate) {
+        hw_const.brp_max = TWAI_LL_BRP_MAX_FD;
+        hw_const.tseg1_max = TWAI_LL_TSEG1_MAX_FD;
+        hw_const.tseg2_max = TWAI_LL_TSEG2_MAX_FD;
+        hw_const.sjw_max = TWAI_LL_SJW_MAX_FD;
         real_baud = twai_node_timing_calc_param(twai_ctx->src_freq_hz, timing_fd, &hw_const, &timing_adv_fd);
         ESP_LOGD(TAG, "timing_fd: src %ld brp %ld prop %d seg1 %d seg2 %d sjw %d ssp %d", twai_ctx->src_freq_hz, timing_adv_fd.brp, timing_adv_fd.prop_seg, timing_adv_fd.tseg_1, timing_adv_fd.tseg_2, timing_adv_fd.sjw, timing_adv_fd.ssp_offset);
         ESP_RETURN_ON_FALSE(real_baud, ESP_ERR_INVALID_ARG, TAG, "bitrate can't achieve!");
diff --git a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c
index acd5935c66f..0ba5d5dbf54 100644
--- a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c
+++ b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.c
@@ -164,9 +164,9 @@ TEST_CASE("twai baudrate measurement", "[twai]")
     uint32_t source_freq = 0;
     for (size_t i = 0; i < sizeof(twai_available_clk_srcs) / sizeof(twai_available_clk_srcs[0]); i++) {
         TEST_ESP_OK(esp_clk_tree_src_get_freq_hz(twai_available_clk_srcs[i], ESP_CLK_TREE_SRC_FREQ_PRECISION_APPROX, &source_freq));
-        printf("Test clock source %d frequency: %ld Hz\n", twai_available_clk_srcs[i], source_freq);
-        test_twai_baudrate_correctness(twai_available_clk_srcs[i], 200000);
+        printf("\nTest clock source %d frequency: %ld Hz\n", twai_available_clk_srcs[i], source_freq);
 
+        test_twai_baudrate_correctness(twai_available_clk_srcs[i], 200000);
         test_twai_baudrate_correctness(twai_available_clk_srcs[i], 1000000);
     }
 }
diff --git a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.c b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.c
index dd6e35dc06c..0042b054e67 100644
--- a/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.c
+++ b/components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -161,8 +161,8 @@ TEST_CASE("twai fd transmit time (loopback)", "[twai]")
     };
     TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, &rx_frame));
     TEST_ESP_OK(twai_node_enable(node_hdl));
-    printf("%-12s %-14s %-14s %-7s %-15s %s\n", "pkg_len", "frame_len", "frame_num", "brs", "trans_time/ms", "result");
-    printf("-------------------------------------------------------------------------\n");
+    printf("%-12s %-14s %-14s %-7s %-15s %-15s %s\n", "pkg_len", "frame_len", "frame_num", "brs", "trans_time/ms", "predict/ms", "result");
+    printf("-----------------------------------------------------------------------------------------\n");
 
     uint64_t time1, time2;
     for (uint8_t test_mode = 0; test_mode < 3; test_mode ++) {
@@ -184,22 +184,38 @@ TEST_CASE("twai fd transmit time (loopback)", "[twai]")
             TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_msgs[tx_cnt], 1000));
         }
 
+        // roughly estimate frame time with fixed frame overhead, ignoring dynamic bit stuffing
+        // 47: classic standard data frame overhead;
+        // 70: FD standard data frame overhead with CRC21
+        uint32_t arb_bits = frame_len * 8 + ((frame_len == 64) ? 70 : 47);
+        uint32_t data_bits = 0;
+        if (test_mode == 2) {
+            // BRS roughly splits the frame into 30 arbitration bits and payload + 40 FD data phase bits
+            arb_bits = 30;
+            data_bits = frame_len * 8 + 40;
+        }
+        uint64_t predict_time_ms = (uint64_t)trans_num * arb_bits * 1000 / node_config.bit_timing.bitrate;
+        predict_time_ms += (uint64_t)trans_num * data_bits * 1000 / node_config.data_timing.bitrate;
+        predict_time_ms += (trans_num * 10) / 1000; // add about 10 us interrupt overhead per frame
+
         //waiting pkg receive finish
         TEST_ESP_OK(twai_node_transmit_wait_all_done(node_hdl, -1));
         time2 = esp_timer_get_time();
         free(tx_msgs);
 
         // check if pkg receive correct
-        printf("%-12d %-14d %-14d %-7d %-15.2f %-s\n",
+        printf("%-12d %-14d %-14d %-7d %-15.2f %-15llu %-s\n",
                TEST_TRANS_TIME_BUF_LEN,
                frame_len,
                trans_num,
                (test_mode == 2),
                (time2 - time1) / 1000.f,
+               (unsigned long long)predict_time_ms,
                memcmp(recv_pkg_ptr, send_pkg_ptr, TEST_TRANS_TIME_BUF_LEN) ? "failed" : "ok");
         TEST_ASSERT_EQUAL_HEX8_ARRAY(send_pkg_ptr, recv_pkg_ptr, TEST_TRANS_TIME_BUF_LEN);
+        TEST_ASSERT_LESS_THAN((predict_time_ms / 5), abs((int)((time2 - time1) / 1000 - predict_time_ms)));
     }
-    printf("-------------------------------------------------------------------------\n");
+    printf("-----------------------------------------------------------------------------------------\n");
 
     free(send_pkg_ptr);
     free(recv_pkg_ptr);
diff --git a/components/hal/esp32c5/include/hal/twaifd_ll.h b/components/hal/esp32c5/include/hal/twaifd_ll.h
index b2822ceb5c1..0d4dfee467e 100644
--- a/components/hal/esp32c5/include/hal/twaifd_ll.h
+++ b/components/hal/esp32c5/include/hal/twaifd_ll.h
@@ -30,9 +30,15 @@ extern "C" {
 #define TWAI_LL_TSEG1_MIN               0
 #define TWAI_LL_TSEG2_MIN               1
 #define TWAI_LL_BRP_MAX                 TWAIFD_BRP
+#define TWAI_LL_PROP_MAX                TWAIFD_PROP
 #define TWAI_LL_TSEG1_MAX               TWAIFD_PH1
 #define TWAI_LL_TSEG2_MAX               TWAIFD_PH2
 #define TWAI_LL_SJW_MAX                 TWAIFD_SJW
+#define TWAI_LL_BRP_MAX_FD              TWAIFD_BRP_FD
+#define TWAI_LL_PROP_MAX_FD             TWAIFD_PROP_FD
+#define TWAI_LL_TSEG1_MAX_FD            TWAIFD_PH1_FD
+#define TWAI_LL_TSEG2_MAX_FD            TWAIFD_PH2_FD
+#define TWAI_LL_SJW_MAX_FD              TWAIFD_SJW_FD
 #define TWAI_LL_TIMER_DIV_MAX           TWAIFD_TIMER_STEP
 
 #define TWAIFD_IDENTIFIER_BASE_S        18      // Start bit of std_id in IDENTIFIER_W of TX buffer or RX buffer
@@ -306,17 +312,6 @@ static inline void twaifd_ll_clr_intr_status(twaifd_dev_t *hw, uint32_t intr_mas
 }
 
 /* ------------------------ Bus Timing Registers --------------------------- */
-/**
- * @brief Check if the brp value valid
- *
- * @param brp Bit rate prescaler value
- * @return true or False
- */
-static inline bool twaifd_ll_check_brp_validation(uint32_t brp)
-{
-    return (brp >= TWAI_LL_BRP_MIN) && (brp <= TWAI_LL_BRP_MAX);
-}
-
 /**
  * @brief Set bus timing nominal bit rate
  *
diff --git a/components/hal/include/hal/twai_hal.h b/components/hal/include/hal/twai_hal.h
index ec42ecd2eef..d6ecfef4cc9 100644
--- a/components/hal/include/hal/twai_hal.h
+++ b/components/hal/include/hal/twai_hal.h
@@ -128,13 +128,14 @@ void twai_hal_deinit(twai_hal_context_t *hal_ctx);
 void twai_hal_configure(twai_hal_context_t *hal_ctx, const twai_timing_config_t *t_config, const twai_filter_config_t *f_config, uint32_t clkout_divider);
 
 /**
- * @brief Check if the brp value valid for hardware register
+ * @brief Check if the timing value valid for hardware register
  *
  * @param hal_ctx Context of the HAL layer
- * @param brp Bit rate prescaler value
+ * @param t_config Pointer to timing configuration structure
+ * @param is_fd True if the timing is for FD data, false for classic TWAI
  * @return true or False
  */
-bool twai_hal_check_brp_validation(twai_hal_context_t *hal_ctx, uint32_t brp);
+bool twai_hal_check_timing_valid(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config, bool is_fd);
 
 /**
  * @brief Configure the TWAI timing
diff --git a/components/hal/twai_hal_v1.c b/components/hal/twai_hal_v1.c
index 311c3a0385e..6d405898023 100644
--- a/components/hal/twai_hal_v1.c
+++ b/components/hal/twai_hal_v1.c
@@ -89,9 +89,17 @@ void twai_hal_configure(twai_hal_context_t *hal_ctx, const twai_timing_config_t
     twai_ll_set_clkout(hal_ctx->dev, clkout_divider);
 }
 
-bool twai_hal_check_brp_validation(twai_hal_context_t *hal_ctx, uint32_t brp)
+bool twai_hal_check_timing_valid(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config, bool is_fd)
 {
-    return twai_ll_check_brp_validation(brp);
+    (void) is_fd;
+    bool valid = true;
+    if (t_config) {
+        valid &= twai_ll_check_brp_validation(t_config->brp);
+        valid &= (t_config->sjw >= 1) && (t_config->sjw <= TWAI_LL_SJW_MAX);
+        valid &= (t_config->tseg_1 >= TWAI_LL_TSEG1_MIN) && (t_config->tseg_1 <= TWAI_LL_TSEG1_MAX);
+        valid &= (t_config->tseg_2 >= TWAI_LL_TSEG2_MIN) && (t_config->tseg_2 <= TWAI_LL_TSEG2_MAX);
+    }
+    return valid;
 }
 
 void twai_hal_configure_timing(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config)
diff --git a/components/hal/twai_hal_v2.c b/components/hal/twai_hal_v2.c
index 43e0af370e9..ebe9ca7ab13 100644
--- a/components/hal/twai_hal_v2.c
+++ b/components/hal/twai_hal_v2.c
@@ -43,9 +43,25 @@ void twai_hal_deinit(twai_hal_context_t *hal_ctx)
     memset(hal_ctx, 0, sizeof(twai_hal_context_t));
 }
 
-bool twai_hal_check_brp_validation(twai_hal_context_t *hal_ctx, uint32_t brp)
+bool twai_hal_check_timing_valid(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config, bool is_fd)
 {
-    return twaifd_ll_check_brp_validation(brp);
+    bool valid = true;
+    if (t_config) {
+        if (is_fd) {
+            valid &= (t_config->brp >= TWAI_LL_BRP_MIN) && (t_config->brp <= TWAI_LL_BRP_MAX_FD);
+            valid &= (t_config->prop_seg <= TWAI_LL_PROP_MAX_FD);
+            valid &= (t_config->tseg_1 <= TWAI_LL_TSEG1_MAX_FD);
+            valid &= (t_config->tseg_2 >= TWAI_LL_TSEG2_MIN) && (t_config->tseg_2 <= TWAI_LL_TSEG2_MAX_FD);
+            valid &= (t_config->sjw >= 1) && (t_config->sjw <= TWAI_LL_SJW_MAX_FD);
+        } else {
+            valid &= (t_config->brp >= TWAI_LL_BRP_MIN) && (t_config->brp <= TWAI_LL_BRP_MAX);
+            valid &= (t_config->prop_seg <= TWAI_LL_PROP_MAX);
+            valid &= (t_config->tseg_1 <= TWAI_LL_TSEG1_MAX);
+            valid &= (t_config->tseg_2 >= TWAI_LL_TSEG2_MIN) && (t_config->tseg_2 <= TWAI_LL_TSEG2_MAX);
+            valid &= (t_config->sjw >= 1) && (t_config->sjw <= TWAI_LL_SJW_MAX);
+        }
+    }
+    return valid;
 }
 
 void twai_hal_configure_timing(twai_hal_context_t *hal_ctx, const twai_timing_advanced_config_t *t_config)