diff --git a/components/esp_wifi/lib b/components/esp_wifi/lib
index 248fd630de1..11721cfefe4 160000
--- a/components/esp_wifi/lib
+++ b/components/esp_wifi/lib
@@ -1 +1 @@
-Subproject commit 248fd630de1f6e4873085e3af9af280895b42d61
+Subproject commit 11721cfefe4f9a3d8f205c87e478e2d01315c240
diff --git a/components/esp_wifi/src/wifi_default.c b/components/esp_wifi/src/wifi_default.c
index c73f4294abc..3798a647ac8 100644
--- a/components/esp_wifi/src/wifi_default.c
+++ b/components/esp_wifi/src/wifi_default.c
@@ -187,8 +187,10 @@ static void wifi_default_action_nan_started(void *arg, esp_event_base_t base, in
         /* Bring the netif up before esp_netif_create_ip6_linklocal() (a no-op unless
          * netif_is_up()). esp_netif_up() is private, so use the public action handler;
          * NAN is non-DHCP, so it only calls esp_netif_up() and ignores the event args. */
+#if CONFIG_LWIP_ND6_SUPPORT_STATIC_ENTRIES
         esp_netif_action_connected(s_wifi_netifs[WIFI_IF_NAN], NULL, 0, NULL);
         esp_netif_create_ip6_linklocal(s_wifi_netifs[WIFI_IF_NAN]);
+#endif
     }
 }
 
diff --git a/components/esp_wifi/wifi_apps/include/apps_private/wifi_apps_private.h b/components/esp_wifi/wifi_apps/include/apps_private/wifi_apps_private.h
index 95bf9465500..3d56822e010 100644
--- a/components/esp_wifi/wifi_apps/include/apps_private/wifi_apps_private.h
+++ b/components/esp_wifi/wifi_apps/include/apps_private/wifi_apps_private.h
@@ -49,6 +49,26 @@ void esp_nan_action_start(esp_netif_t *nan_netif);
   */
 void esp_nan_action_stop(void);
 
+/**
+  * @brief NAN peer-platform compatibility mode
+  */
+typedef enum {
+    NAN_COMPATIBILITY_MODE_DEFAULT = 0,  /**< Default compatibility mode for Wi-Fi Aware peers */
+    NAN_COMPATIBILITY_MODE_IOS,          /**< Interoperate with iOS Wi-Fi Aware peers */
+    NAN_COMPATIBILITY_MODE_ANDROID,      /**< Interoperate with Android Wi-Fi Aware peers */
+} nan_compatibility_mode_t;
+
+/**
+  * @brief      Set NAN peer-platform compatibility mode
+  *
+  * @param      mode  Compatibility mode to target for discovery/SSI framing.
+  *
+  * @return
+  *    - ESP_OK: succeed
+  *    - ESP_FAIL: Invalid compatibility mode
+  */
+esp_err_t esp_nan_set_compatibility_mode_internal(nan_compatibility_mode_t mode);
+
 #endif /* CONFIG_ESP_WIFI_NAN_SYNC_ENABLE */
 
 #ifdef CONFIG_ESP_WIFI_NAN_PAIRING
diff --git a/components/esp_wifi/wifi_apps/nan_app/src/nan_app.c b/components/esp_wifi/wifi_apps/nan_app/src/nan_app.c
index 6dca0787e16..c70e1f9ac5f 100644
--- a/components/esp_wifi/wifi_apps/nan_app/src/nan_app.c
+++ b/components/esp_wifi/wifi_apps/nan_app/src/nan_app.c
@@ -61,6 +61,8 @@ bool esp_nan_verify_nira_get_own_svc(uint8_t *peer_mac, uint8_t *nira_attr,
 #if defined(CONFIG_ESP_WIFI_NAN_SYNC_ENABLE) && defined(CONFIG_ESP_WIFI_PASN_SUPPORT)
 #include "esp_private/esp_supp_nan.h"
 #include "apps_private/wifi_apps_private.h"
+#elif defined(CONFIG_ESP_WIFI_NAN_SYNC_ENABLE)
+#include "apps_private/wifi_apps_private.h"
 #endif
 
 /* NAN States */
@@ -934,8 +936,6 @@ static void nan_app_service_match_cb(uint8_t sub_id, struct nan_cb_peer_info *pe
     }
     NAN_DATA_UNLOCK();
 
-    ESP_LOGI(TAG, "Service matched with capabilities: 0x%04x", capab);
-
 #ifdef CONFIG_ESP_WIFI_NAN_SECURITY
     /* Service-match security gate, keyed by the local subscribe (sub_id):
      *   1. This subscribe was created without credentials (open subscribe) ->
@@ -969,6 +969,8 @@ static void nan_app_service_match_cb(uint8_t sub_id, struct nan_cb_peer_info *pe
     }
 #endif
 
+    ESP_LOGI(TAG, "Service matched with capabilities: 0x%04x", capab);
+
     size_t evt_data_len = sizeof(wifi_event_nan_svc_match_t) + ssi_len;
     wifi_event_nan_svc_match_t *evt = (wifi_event_nan_svc_match_t *)os_zalloc(evt_data_len);
     if (!evt) {
@@ -1891,6 +1893,34 @@ void esp_nan_action_stop(void)
     os_event_group_set_bits(nan_event_group, NAN_STOPPED_BIT);
 }
 
+static int nan_set_params_ipc(void *arg)
+{
+    wifi_nan_compat_params_t *params = arg;
+
+    return esp_wifi_nan_set_params_internal(*params);
+}
+
+esp_err_t esp_nan_set_compatibility_mode_internal(nan_compatibility_mode_t mode)
+{
+    wifi_ipc_config_t cfg;
+    wifi_nan_compat_params_t params = {0};
+
+    if (mode > NAN_COMPATIBILITY_MODE_ANDROID) {
+        ESP_LOGE(TAG, "Invalid compatibility mode");
+        return ESP_ERR_INVALID_ARG;
+    }
+
+    if (mode == NAN_COMPATIBILITY_MODE_ANDROID) {
+        params.nan_gsp_in_sda = 1;
+    }
+
+    cfg.fn = nan_set_params_ipc;
+    cfg.arg = &params;
+    cfg.arg_size = sizeof(params);
+
+    return esp_wifi_ipc_internal(&cfg, false);
+}
+
 esp_err_t esp_wifi_nan_sync_start(const wifi_nan_sync_config_t *nan_cfg)
 {
     wifi_mode_t mode;
@@ -2174,6 +2204,10 @@ uint8_t esp_wifi_nan_publish_service(const wifi_nan_publish_cfg_t *publish_cfg)
         goto fail;
     }
     memcpy(cfg, publish_cfg, sizeof(*cfg));
+    if (!cfg->security_reqd && cfg->security_cfg) {
+        ESP_LOGW(TAG, "'%s': security_cfg ignored, security_reqd not set", cfg->service_name);
+        cfg->security_cfg = NULL;
+    }
     cfg->pairing = NULL;
     if (publish_cfg->pairing) {
         cfg->pairing = os_malloc(sizeof(*cfg->pairing));
@@ -2355,6 +2389,10 @@ uint8_t esp_wifi_nan_subscribe_service(const wifi_nan_subscribe_cfg_t *subscribe
         goto fail;
     }
     memcpy(cfg, subscribe_cfg, sizeof(*cfg));
+    if (!cfg->security_reqd && cfg->security_cfg) {
+        ESP_LOGW(TAG, "'%s': security_cfg ignored, security_reqd not set", cfg->service_name);
+        cfg->security_cfg = NULL;
+    }
     cfg->pairing = NULL;
     if (subscribe_cfg->pairing) {
         cfg->pairing = os_malloc(sizeof(*cfg->pairing));
diff --git a/components/wpa_supplicant/esp_supplicant/src/esp_wifi_driver.h b/components/wpa_supplicant/esp_supplicant/src/esp_wifi_driver.h
index 0b00cad906b..4e9dcdeae94 100644
--- a/components/wpa_supplicant/esp_supplicant/src/esp_wifi_driver.h
+++ b/components/wpa_supplicant/esp_supplicant/src/esp_wifi_driver.h
@@ -249,6 +249,11 @@ typedef struct {
     bool is_valid;                              /**< True if this credential entry is valid */
 } wifi_nan_peer_creds_t;
 
+typedef struct {
+    uint8_t nan_gsp_in_sda : 1;     /**< Include GSP in SDA for Android peer compatibility */
+    uint8_t reserved       : 7;
+} wifi_nan_compat_params_t;
+
 typedef wifi_scan_channel_bitmap_t channel_bitmap_t;
 
 uint8_t *esp_wifi_ap_get_prof_pmk_internal(void);
@@ -354,5 +359,5 @@ esp_err_t esp_wifi_nan_save_own_nik(const uint8_t own_nik[ESP_WIFI_NAN_NIK_LEN])
 esp_err_t esp_wifi_nan_save_creds_for_peer(const uint8_t peer_nik[ESP_WIFI_NAN_NIK_LEN],
                                            const uint8_t npk[ESP_WIFI_NAN_NPK_LEN], const uint8_t service_hash[6]);
 esp_err_t esp_wifi_nan_erase_all_creds(void);
-
+esp_err_t esp_wifi_nan_set_params_internal(wifi_nan_compat_params_t params);
 #endif /* _ESP_WIFI_DRIVER_H_ */