diff --git a/components/esp_driver_twai/esp_twai.c b/components/esp_driver_twai/esp_twai.c
index 9d2a086b4aa..26d86a5174b 100644
--- a/components/esp_driver_twai/esp_twai.c
+++ b/components/esp_driver_twai/esp_twai.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -33,7 +33,7 @@ uint32_t twai_node_timing_calc_param(const uint32_t source_freq, const twai_timi
         if (total_div != tseg * pre_div) {
             continue;   // no integer tseg
         }
-        if ((tseg <= (hw_limit->tseg1_max + hw_limit->tseg2_max + 1)) && (tseg >= (hw_limit->tseg1_min + hw_limit->tseg2_min))) {
+        if ((tseg <= (hw_limit->tseg1_max + hw_limit->tseg2_max + hw_limit->prop_max + 1)) && (tseg >= (hw_limit->tseg1_min + hw_limit->tseg2_min + 1))) {
             break;
         }
     }
@@ -44,20 +44,21 @@ uint32_t twai_node_timing_calc_param(const uint32_t source_freq, const twai_timi
     uint16_t default_point = (in_param->bitrate >= 800000) ? 750 : ((in_param->bitrate >= 500000) ? 800 : 875);
     uint16_t sample_point = in_param->sp_permill ? in_param->sp_permill : default_point;  // default sample point based on bitrate if not configured
     uint16_t tseg_1 = (tseg * sample_point) / 1000 - 1;
-    tseg_1 = MAX(hw_limit->tseg1_min, MIN(tseg_1, hw_limit->tseg1_max));
-    uint16_t tseg_2 = tseg - tseg_1 - 1;
-    tseg_2 = MAX(hw_limit->tseg2_min, MIN(tseg_2, hw_limit->tseg2_max));
-    uint16_t prop = MAX(1, tseg_1 / 4); // prop_seg is usually shorter than tseg_1 and at least 1
-    tseg_1 -= prop;
+    tseg_1 = MAX(hw_limit->tseg1_min, MIN(tseg_1, hw_limit->tseg1_max + hw_limit->prop_max));
+    uint16_t phase_seg2 = tseg - tseg_1 - 1;
+    phase_seg2 = MAX(hw_limit->tseg2_min, MIN(phase_seg2, hw_limit->tseg2_max));
+    uint16_t phase_seg1 = (tseg_1 * 3) / 4;   // phase_seg1 is usually larger than prop_seg
+    phase_seg1 = MAX(hw_limit->tseg1_min, MIN(phase_seg1, hw_limit->tseg1_max));
+    uint16_t prop = tseg_1 - phase_seg1;
 
     out_param->brp = pre_div;
     out_param->prop_seg = prop;
-    out_param->tseg_1 = tseg_1;
-    out_param->tseg_2 = tseg_2;
-    out_param->sjw = MAX(1, MIN(tseg_2 >> 1, hw_limit->sjw_max));
+    out_param->tseg_1 = phase_seg1;
+    out_param->tseg_2 = phase_seg2;
+    out_param->sjw = MAX(1, MIN(phase_seg2 >> 1, hw_limit->sjw_max));
     out_param->ssp_offset = (tseg * in_param->ssp_permill) / 1000;  // ssp is optional, default 0 if not configured
 
-    return source_freq / (pre_div * (prop + tseg_1 + tseg_2 + 1));
+    return source_freq / (pre_div * (prop + phase_seg1 + phase_seg2 + 1));
 }
 
 esp_err_t twai_node_enable(twai_node_handle_t node)
diff --git a/components/esp_driver_twai/esp_twai_onchip.c b/components/esp_driver_twai/esp_twai_onchip.c
index 5652749bc6e..407bac7d42c 100644
--- a/components/esp_driver_twai/esp_twai_onchip.c
+++ b/components/esp_driver_twai/esp_twai_onchip.c
@@ -399,6 +399,7 @@ static esp_err_t _node_calc_set_bit_timing(twai_node_handle_t node, const twai_t
     twai_timing_constraint_t hw_const = {
         .brp_min = TWAI_LL_BRP_MIN,
         .brp_max = TWAI_LL_BRP_MAX,
+        .prop_max = TWAI_LL_PROP_MAX,
         .tseg1_min = TWAI_LL_TSEG1_MIN,
         .tseg1_max = TWAI_LL_TSEG1_MAX,
         .tseg2_min = TWAI_LL_TSEG2_MIN,
@@ -417,6 +418,7 @@ static esp_err_t _node_calc_set_bit_timing(twai_node_handle_t node, const twai_t
     twai_timing_advanced_config_t timing_adv_fd = {};
     if (timing_fd->bitrate) {
         hw_const.brp_max = TWAI_LL_BRP_MAX_FD;
+        hw_const.prop_max = TWAI_LL_PROP_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;
diff --git a/components/esp_driver_twai/include/esp_private/twai_utils.h b/components/esp_driver_twai/include/esp_private/twai_utils.h
index 0b49a66d89d..587fc8a45f6 100644
--- a/components/esp_driver_twai/include/esp_private/twai_utils.h
+++ b/components/esp_driver_twai/include/esp_private/twai_utils.h
@@ -19,6 +19,7 @@ extern "C" {
 typedef struct {
     uint32_t brp_min;   /* Bit-rate prescaler */
     uint32_t brp_max;
+    uint8_t prop_max;   /* Propagation segment */
     uint8_t tseg1_min;  /* Time segment 1 = prop_seg + phase_seg1 */
     uint8_t tseg1_max;
     uint8_t tseg2_min;  /* Time segment 2 = phase_seg2 */
diff --git a/components/hal/esp32/include/hal/twai_ll.h b/components/hal/esp32/include/hal/twai_ll.h
index 84ad9c3c06c..f3d49f5b9ef 100644
--- a/components/hal/esp32/include/hal/twai_ll.h
+++ b/components/hal/esp32/include/hal/twai_ll.h
@@ -40,6 +40,7 @@ static uint32_t twai_ll_get_brp_max(void);
 #define TWAI_LL_BRP_MAX         twai_ll_get_brp_max()   // max brp of esp32 is depends on chip version
 #define TWAI_LL_TSEG1_MIN       1
 #define TWAI_LL_TSEG2_MIN       1
+#define TWAI_LL_PROP_MAX        0   //hardware don't support prop_seg
 #define TWAI_LL_TSEG1_MAX       16  //the max register value
 #define TWAI_LL_TSEG2_MAX       8
 #define TWAI_LL_SJW_MAX         4
diff --git a/components/hal/esp32c3/include/hal/twai_ll.h b/components/hal/esp32c3/include/hal/twai_ll.h
index 57613762f22..10a342abe93 100644
--- a/components/hal/esp32c3/include/hal/twai_ll.h
+++ b/components/hal/esp32c3/include/hal/twai_ll.h
@@ -36,6 +36,7 @@ extern "C" {
 #define TWAI_LL_BRP_MAX         16384
 #define TWAI_LL_TSEG1_MIN       1
 #define TWAI_LL_TSEG2_MIN       1
+#define TWAI_LL_PROP_MAX        0   //hardware don't support prop_seg
 #define TWAI_LL_TSEG1_MAX       16  //the max register value
 #define TWAI_LL_TSEG2_MAX       8
 #define TWAI_LL_SJW_MAX         4
diff --git a/components/hal/esp32c6/include/hal/twai_ll.h b/components/hal/esp32c6/include/hal/twai_ll.h
index 86a947a4a22..cf6a9357ba4 100644
--- a/components/hal/esp32c6/include/hal/twai_ll.h
+++ b/components/hal/esp32c6/include/hal/twai_ll.h
@@ -37,6 +37,7 @@ extern "C" {
 #define TWAI_LL_BRP_MAX         32768
 #define TWAI_LL_TSEG1_MIN       1
 #define TWAI_LL_TSEG2_MIN       1
+#define TWAI_LL_PROP_MAX        0   //hardware don't support prop_seg
 #define TWAI_LL_TSEG1_MAX       (TWAI_TIME_SEGMENT1 + 1)
 #define TWAI_LL_TSEG2_MAX       (TWAI_TIME_SEGMENT2 + 1)
 #define TWAI_LL_SJW_MAX         (TWAI_SYNC_JUMP_WIDTH + 1)
diff --git a/components/hal/esp32h2/include/hal/twai_ll.h b/components/hal/esp32h2/include/hal/twai_ll.h
index d8910ee7b39..67a9da0a101 100644
--- a/components/hal/esp32h2/include/hal/twai_ll.h
+++ b/components/hal/esp32h2/include/hal/twai_ll.h
@@ -37,6 +37,7 @@ extern "C" {
 #define TWAI_LL_BRP_MAX         32768
 #define TWAI_LL_TSEG1_MIN       1
 #define TWAI_LL_TSEG2_MIN       1
+#define TWAI_LL_PROP_MAX        0   //hardware don't support prop_seg
 #define TWAI_LL_TSEG1_MAX       (TWAI_TIME_SEGMENT1 + 1)
 #define TWAI_LL_TSEG2_MAX       (TWAI_TIME_SEGMENT2 + 1)
 #define TWAI_LL_SJW_MAX         (TWAI_SYNC_JUMP_WIDTH + 1)
diff --git a/components/hal/esp32p4/include/hal/twai_ll.h b/components/hal/esp32p4/include/hal/twai_ll.h
index 386cef3af93..fa3cf86a82b 100644
--- a/components/hal/esp32p4/include/hal/twai_ll.h
+++ b/components/hal/esp32p4/include/hal/twai_ll.h
@@ -37,6 +37,7 @@ extern "C" {
 #define TWAI_LL_BRP_MAX         32768
 #define TWAI_LL_TSEG1_MIN       1
 #define TWAI_LL_TSEG2_MIN       1
+#define TWAI_LL_PROP_MAX        0   //hardware don't support prop_seg
 #define TWAI_LL_TSEG1_MAX       (TWAI_TIME_SEGMENT1 + 1)
 #define TWAI_LL_TSEG2_MAX       (TWAI_TIME_SEGMENT2 + 1)
 #define TWAI_LL_SJW_MAX         (TWAI_SYNC_JUMP_WIDTH + 1)
diff --git a/components/hal/esp32s2/include/hal/twai_ll.h b/components/hal/esp32s2/include/hal/twai_ll.h
index d0c67714c1b..0437fbe48b0 100644
--- a/components/hal/esp32s2/include/hal/twai_ll.h
+++ b/components/hal/esp32s2/include/hal/twai_ll.h
@@ -36,6 +36,7 @@ extern "C" {
 #define TWAI_LL_BRP_MAX         32768
 #define TWAI_LL_TSEG1_MIN       1
 #define TWAI_LL_TSEG2_MIN       1
+#define TWAI_LL_PROP_MAX        0   //hardware don't support prop_seg
 #define TWAI_LL_TSEG1_MAX       16  //the max register value
 #define TWAI_LL_TSEG2_MAX       8
 #define TWAI_LL_SJW_MAX         4
diff --git a/components/hal/esp32s3/include/hal/twai_ll.h b/components/hal/esp32s3/include/hal/twai_ll.h
index aba9e7d8fd7..0c1a2250f2f 100644
--- a/components/hal/esp32s3/include/hal/twai_ll.h
+++ b/components/hal/esp32s3/include/hal/twai_ll.h
@@ -36,6 +36,7 @@ extern "C" {
 #define TWAI_LL_BRP_MAX         16384
 #define TWAI_LL_TSEG1_MIN       1
 #define TWAI_LL_TSEG2_MIN       1
+#define TWAI_LL_PROP_MAX        0   //hardware don't support prop_seg
 #define TWAI_LL_TSEG1_MAX       16  //the max register value
 #define TWAI_LL_TSEG2_MAX       8
 #define TWAI_LL_SJW_MAX         4