diff --git a/components/hal/include/hal/twai_types_deprecated.h b/components/hal/include/hal/twai_types_deprecated.h
index 3dfe57d5225..1752c786665 100644
--- a/components/hal/include/hal/twai_types_deprecated.h
+++ b/components/hal/include/hal/twai_types_deprecated.h
@@ -8,9 +8,9 @@
 
 #include <stdint.h>
 #include <stdbool.h>
-#include "sdkconfig.h"
 #include "soc/soc_caps.h"
 #include "soc/clk_tree_defs.h"
+#include "hal/config.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -56,11 +56,11 @@ extern "C" {
 #define TWAI_TIMING_CONFIG_10KBITS()    {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 200000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
 #endif // SOC_TWAI_BRP_MAX > 256
 
-#if (SOC_TWAI_BRP_MAX > 128) || (CONFIG_ESP32_REV_MIN_FULL >= 200)
+#if (SOC_TWAI_BRP_MAX > 128) || (SOC_IS(ESP32) && (HAL_CONFIG(CHIP_SUPPORT_MIN_REV) >= 200))
 #define TWAI_TIMING_CONFIG_12_5KBITS()  {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 312500, .brp = 0, .prop_seg = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_16KBITS()    {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 400000, .brp = 0, .prop_seg = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_20KBITS()    {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 400000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
-#endif // (SOC_TWAI_BRP_MAX > 128) || (CONFIG_ESP32_REV_MIN_FULL >= 200)
+#endif
 
 #if SOC_TWAI_CLK_SUPPORT_XTAL
 #define TWAI_TIMING_CONFIG_25KBITS()    {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 500000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
@@ -71,7 +71,7 @@ extern "C" {
 #define TWAI_TIMING_CONFIG_100KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_125KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 2000000, .brp = 0, .prop_seg = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_250KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 4000000, .brp = 0, .prop_seg = 0, .tseg_1 = 11, .tseg_2 = 4, .sjw = 2, .ssp_offset = 0, .triple_sampling = false}
-#if SOC_TWAI_CLK_SUPPORT_XTAL && CONFIG_XTAL_FREQ == 40   // TWAI_CLK_SRC_XTAL = 40M
+#if SOC_TWAI_CLK_SUPPORT_XTAL && HAL_CONFIG(XTAL_HINT_FREQ_MHZ) == 40   // TWAI_CLK_SRC_XTAL = 40M
 #define TWAI_TIMING_CONFIG_500KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 10000000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_800KBITS()   {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000000, .brp = 0, .prop_seg = 0, .tseg_1 = 16, .tseg_2 = 8, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
 #define TWAI_TIMING_CONFIG_1MBITS()     {.clk_src = TWAI_CLK_SRC_DEFAULT, .quanta_resolution_hz = 20000000, .brp = 0, .prop_seg = 0, .tseg_1 = 15, .tseg_2 = 4, .sjw = 3, .ssp_offset = 0, .triple_sampling = false}
diff --git a/components/hal/twai_hal_v1.c b/components/hal/twai_hal_v1.c
index 570db8be366..a3590816eb9 100644
--- a/components/hal/twai_hal_v1.c
+++ b/components/hal/twai_hal_v1.c
@@ -5,7 +5,6 @@
  */
 
 #include <stddef.h>
-#include "sdkconfig.h"
 #include "esp_compiler.h"
 #include "hal/log.h"
 #include "hal/twai_hal.h"
diff --git a/tools/ci/sg_rules/no_kconfig_in_hal_component.yml b/tools/ci/sg_rules/no_kconfig_in_hal_component.yml
index b505efbf435..87ed8167825 100644
--- a/tools/ci/sg_rules/no_kconfig_in_hal_component.yml
+++ b/tools/ci/sg_rules/no_kconfig_in_hal_component.yml
@@ -12,10 +12,6 @@ ignores:
   - "components/hal/platform_port/**/*"
   - "components/hal/test_apps/**/*"
   - "components/esp_hal*/test_apps/**/*"
-  # the following files should be refactored to remove Kconfig macros
-  - "components/hal/twai_hal_v1.c"
-  - "components/hal/esp32/include/hal/twai_ll.h"
-  - "components/hal/include/hal/twai_types_deprecated.h"
 rule:
   any:
     - kind: argument_list
@@ -47,9 +43,6 @@ ignores:
   - "components/hal/platform_port/**/*"
   - "components/hal/test_apps/**/*"
   - "components/esp_hal*/test_apps/**/*"
-  # the following files should be refactored to remove sdkconfig.h
-  - "components/hal/twai_hal_v1.c"
-  - "components/hal/include/hal/twai_types_deprecated.h"
 rule:
   kind: preproc_include
   has: