diff --git a/components/esp_driver_dac/dac_common.c b/components/esp_driver_dac/dac_common.c
index 18b7c716ae5..afcb15c7345 100644
--- a/components/esp_driver_dac/dac_common.c
+++ b/components/esp_driver_dac/dac_common.c
@@ -28,8 +28,6 @@ static dac_channel_info_t s_dac_chan[SOC_DAC_CHAN_NUM] = {
         .mode = NULL,
     }
 };
-/* Global dac spin lock for the whole DAC driver */
-portMUX_TYPE dac_spinlock = portMUX_INITIALIZER_UNLOCKED;
 
 static const char *TAG = "dac_common";
 
diff --git a/examples/peripherals/gpio/matrix_keyboard/components/matrix_keyboard/src/matrix_keyboard.c b/examples/peripherals/gpio/matrix_keyboard/components/matrix_keyboard/src/matrix_keyboard.c
index 48b7a23506e..156f0512124 100644
--- a/examples/peripherals/gpio/matrix_keyboard/components/matrix_keyboard/src/matrix_keyboard.c
+++ b/examples/peripherals/gpio/matrix_keyboard/components/matrix_keyboard/src/matrix_keyboard.c
@@ -11,7 +11,6 @@
 #include "esp_check.h"
 #include "driver/dedic_gpio.h"
 #include "driver/gpio.h"
-#include "esp_private/gpio.h"
 #include "matrix_keyboard.h"
 
 static const char *TAG = "mkbd";
diff --git a/examples/peripherals/mcpwm/mcpwm_bdc_speed_control/main/idf_component.yml b/examples/peripherals/mcpwm/mcpwm_bdc_speed_control/main/idf_component.yml
index aaa5f704b6a..9400a25447c 100644
--- a/examples/peripherals/mcpwm/mcpwm_bdc_speed_control/main/idf_component.yml
+++ b/examples/peripherals/mcpwm/mcpwm_bdc_speed_control/main/idf_component.yml
@@ -1,3 +1,3 @@
 dependencies:
-  pid_ctrl: "^0.1.1"
+  pid_ctrl: "^0.3.0"
   bdc_motor: "^0.2.0"
diff --git a/examples/peripherals/mcpwm/mcpwm_bdc_speed_control/main/mcpwm_bdc_control_example_main.c b/examples/peripherals/mcpwm/mcpwm_bdc_speed_control/main/mcpwm_bdc_control_example_main.c
index 228f03fd154..6e256c3e37a 100644
--- a/examples/peripherals/mcpwm/mcpwm_bdc_speed_control/main/mcpwm_bdc_control_example_main.c
+++ b/examples/peripherals/mcpwm/mcpwm_bdc_speed_control/main/mcpwm_bdc_control_example_main.c
@@ -17,7 +17,7 @@
 
 static const char *TAG = "example";
 
-// Enable this config,  we will print debug formated string, which in return can be captured and parsed by Serial-Studio
+// Enable this config,  we will print debug formatted string, which in return can be captured and parsed by Serial-Studio
 #define SERIAL_STUDIO_DEBUG           CONFIG_SERIAL_STUDIO_DEBUG
 
 #define BDC_MCPWM_TIMER_RESOLUTION_HZ 10000000 // 10MHz, 1 tick = 0.1us
@@ -37,7 +37,7 @@ static const char *TAG = "example";
 typedef struct {
     bdc_motor_handle_t motor;
     pcnt_unit_handle_t pcnt_encoder;
-    pid_ctrl_block_handle_t pid_ctrl;
+    pid_ctrl_block_handle_f_t pid_ctrl;
     int report_pulses;
 } motor_control_context_t;
 
@@ -46,7 +46,7 @@ static void pid_loop_cb(void *args)
     static int last_pulse_count = 0;
     motor_control_context_t *ctx = (motor_control_context_t *)args;
     pcnt_unit_handle_t pcnt_unit = ctx->pcnt_encoder;
-    pid_ctrl_block_handle_t pid_ctrl = ctx->pid_ctrl;
+    pid_ctrl_block_handle_f_t pid_ctrl = ctx->pid_ctrl;
     bdc_motor_handle_t motor = ctx->motor;
 
     // get the result from rotary encoder
@@ -121,7 +121,7 @@ void app_main(void)
     motor_ctrl_ctx.pcnt_encoder = pcnt_unit;
 
     ESP_LOGI(TAG, "Create PID control block");
-    pid_ctrl_parameter_t pid_runtime_param = {
+    pid_ctrl_parameter_f_t pid_runtime_param = {
         .kp = 0.6,
         .ki = 0.4,
         .kd = 0.2,
@@ -131,8 +131,8 @@ void app_main(void)
         .max_integral = 1000,
         .min_integral = -1000,
     };
-    pid_ctrl_block_handle_t pid_ctrl = NULL;
-    pid_ctrl_config_t pid_config = {
+    pid_ctrl_block_handle_f_t pid_ctrl = NULL;
+    pid_ctrl_config_f_t pid_config = {
         .init_param = pid_runtime_param,
     };
     ESP_ERROR_CHECK(pid_new_control_block(&pid_config, &pid_ctrl));
diff --git a/examples/peripherals/mcpwm/mcpwm_capture_hc_sr04/main/mcpwm_capture_hc_sr04.c b/examples/peripherals/mcpwm/mcpwm_capture_hc_sr04/main/mcpwm_capture_hc_sr04.c
index 6e635af2ca5..1be04a7254d 100644
--- a/examples/peripherals/mcpwm/mcpwm_capture_hc_sr04/main/mcpwm_capture_hc_sr04.c
+++ b/examples/peripherals/mcpwm/mcpwm_capture_hc_sr04/main/mcpwm_capture_hc_sr04.c
@@ -7,7 +7,6 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_log.h"
-#include "esp_private/esp_clk.h"
 #include "driver/mcpwm_cap.h"
 #include "driver/gpio.h"
 
@@ -99,13 +98,16 @@ void app_main(void)
     ESP_ERROR_CHECK(mcpwm_capture_timer_enable(cap_timer));
     ESP_ERROR_CHECK(mcpwm_capture_timer_start(cap_timer));
 
+    uint32_t cap_timer_resolution;
+    ESP_ERROR_CHECK(mcpwm_capture_timer_get_resolution(cap_timer, &cap_timer_resolution));
+
     uint32_t tof_ticks;
     while (1) {
         // trigger the sensor to start a new sample
         gen_trig_output();
         // wait for echo done signal
         if (xTaskNotifyWait(0x00, ULONG_MAX, &tof_ticks, pdMS_TO_TICKS(1000)) == pdTRUE) {
-            float pulse_width_us = tof_ticks * (1000000.0 / esp_clk_apb_freq());
+            float pulse_width_us = tof_ticks * (1000000.0 / cap_timer_resolution);
             if (pulse_width_us > 35000) {
                 // out of range
                 continue;
diff --git a/tools/ci/sg_rules/no_esp_private_header_in_examples.yml b/tools/ci/sg_rules/no_esp_private_header_in_examples.yml
new file mode 100644
index 00000000000..eb0f461b650
--- /dev/null
+++ b/tools/ci/sg_rules/no_esp_private_header_in_examples.yml
@@ -0,0 +1,40 @@
+# Refer to https://ast-grep.github.io/guide/rule-config.html for Rule Essentials
+id: no-esp-private-header-in-c-examples
+message: Don't include esp_private headers in the examples
+severity: error # error, warning, info, hint
+note: esp_private headers are internal to ESP-IDF and are not guaranteed to be stable across versions.
+language: C
+files:
+  - "examples/**/*"
+ignores:
+  - "examples/network/eth2ap/main/ethernet_example_main.c"
+  - "examples/network/sta2eth/main/sta2eth_main.c"
+  - "examples/openthread/ot_sleepy_device/light_sleep/main/esp_ot_sleepy_device.c"
+  - "examples/peripherals/usb/device/tusb_ncm/main/tusb_ncm_main.c"
+  - "examples/wifi/itwt/main/wifi_stats_cmd.c"
+  - "examples/wifi/wifi_aware/nan_console/main/nan_main.c"
+  - "examples/peripherals/usb/device/tusb_cdc_acm_wakeup/main/tusb_cdc_acm_wakeup_main.c"
+rule:
+  kind: preproc_include
+  has:
+    field: path
+    regex: "esp_private/.*h"
+    pattern: $N
+fix: ''
+
+---
+
+id: no-esp-private-header-in-cpp-examples
+message: Don't include esp_private headers in the examples
+severity: error # error, warning, info, hint
+note: esp_private headers are internal to ESP-IDF and are not guaranteed to be stable across versions.
+language: Cpp
+files:
+  - "examples/**/*"
+rule:
+  kind: preproc_include
+  has:
+    field: path
+    regex: "esp_private/.*h"
+    pattern: $N
+fix: ''