diff --git a/components/esp_driver_uart/src/uhci.c b/components/esp_driver_uart/src/uhci.c
index c5538acae33..94b9ac6ec18 100644
--- a/components/esp_driver_uart/src/uhci.c
+++ b/components/esp_driver_uart/src/uhci.c
@@ -301,13 +301,13 @@ esp_err_t uhci_receive(uhci_controller_handle_t uhci_ctrl, uint8_t *read_buffer,
 
     size_t node_count = uhci_ctrl->rx_dir.rx_num_dma_nodes;
 
-    // Initialize the mount configurations for each DMA node, making sure every no
+    // Initialize the mount configurations for each DMA node, making sure every node is properly aligned.
     size_t usable_size = (max_alignment_needed == 0) ? buffer_size : (buffer_size / max_alignment_needed) * max_alignment_needed;
     size_t base_size = (max_alignment_needed == 0) ? usable_size / node_count : (usable_size / node_count / max_alignment_needed) * max_alignment_needed;
     size_t remaining_size = usable_size - (base_size * node_count);
 
     gdma_buffer_mount_config_t mount_configs[node_count];
-    memset(mount_configs, 0, node_count);
+    memset(mount_configs, 0, node_count * sizeof(gdma_buffer_mount_config_t));
 
     for (size_t i = 0; i < node_count; i++) {
         uhci_ctrl->rx_dir.buffer_size_per_desc_node[i] = base_size;
diff --git a/examples/peripherals/.build-test-rules.yml b/examples/peripherals/.build-test-rules.yml
index 32a8ef212ba..fd1a55caf3a 100644
--- a/examples/peripherals/.build-test-rules.yml
+++ b/examples/peripherals/.build-test-rules.yml
@@ -480,10 +480,6 @@ examples/peripherals/twai/twai_self_test:
 examples/peripherals/uart/uart_dma_ota:
   disable:
     - if: SOC_UHCI_SUPPORTED != 1
-  disable_test:
-    - if: IDF_TARGET in ["esp32p4", "esp32c5"]
-      temporary: true
-      reason: Lack runners
 
 examples/peripherals/uart/uart_echo_rs485:
   enable:
diff --git a/examples/peripherals/uart/uart_dma_ota/pytest_uart_dma_ota.py b/examples/peripherals/uart/uart_dma_ota/pytest_uart_dma_ota.py
index 9937ac17af4..bfd4e0ec782 100644
--- a/examples/peripherals/uart/uart_dma_ota/pytest_uart_dma_ota.py
+++ b/examples/peripherals/uart/uart_dma_ota/pytest_uart_dma_ota.py
@@ -42,7 +42,7 @@ def send_file_via_uart(port: str, baud_rate: int, file_path: str, packet_size: i
     ],
     indirect=True,
 )
-@idf_parametrize('target', ['esp32c6', 'esp32c3', 'esp32s3', 'esp32h2'], indirect=['target'])
+@idf_parametrize('target', ['esp32c6', 'esp32c3', 'esp32c5', 'esp32s3', 'esp32h2', 'esp32p4'], indirect=['target'])
 def test_uart_dma_ota(dut: Dut) -> None:
     dut.expect_exact('uhci-example: OTA process started')
     # We OTA the same binary to another partition and switch to there.
diff --git a/examples/peripherals/uart/uart_dma_ota/sdkconfig.ci.defaults.esp32c5 b/examples/peripherals/uart/uart_dma_ota/sdkconfig.ci.defaults.esp32c5
new file mode 100644
index 00000000000..76d2b45314b
--- /dev/null
+++ b/examples/peripherals/uart/uart_dma_ota/sdkconfig.ci.defaults.esp32c5
@@ -0,0 +1,2 @@
+CONFIG_IDF_TARGET="esp32c5"
+CONFIG_UART_RX_IO=12
diff --git a/examples/peripherals/uart/uart_dma_ota/sdkconfig.ci.defaults.esp32p4 b/examples/peripherals/uart/uart_dma_ota/sdkconfig.ci.defaults.esp32p4
new file mode 100644
index 00000000000..d112a82a586
--- /dev/null
+++ b/examples/peripherals/uart/uart_dma_ota/sdkconfig.ci.defaults.esp32p4
@@ -0,0 +1,2 @@
+CONFIG_IDF_TARGET="esp32p4"
+CONFIG_UART_RX_IO=38