diff --git a/cores/esp32/esp32-hal-i2c-slave.c b/cores/esp32/esp32-hal-i2c-slave.c
index 0e01259da61..8586db36e29 100644
--- a/cores/esp32/esp32-hal-i2c-slave.c
+++ b/cores/esp32/esp32-hal-i2c-slave.c
@@ -337,12 +337,8 @@ esp_err_t i2cSlaveInit(uint8_t num, int sda, int scl, uint16_t slaveID, uint32_t
   }
 #endif  // !defined(CONFIG_IDF_TARGET_ESP32P4)
 
-  i2c_ll_slave_init(i2c->dev);
-#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 4, 0)
+  i2c_ll_enable_arbitration(i2c->dev, true);
   i2c_ll_enable_fifo_mode(i2c->dev, true);
-#else
-  i2c_ll_slave_set_fifo_mode(i2c->dev, true);
-#endif
   i2c_ll_set_slave_addr(i2c->dev, slaveID, false);
   i2c_ll_set_tout(i2c->dev, I2C_LL_MAX_TIMEOUT);
   i2c_slave_set_frequency(i2c, frequency);
@@ -363,11 +359,7 @@ esp_err_t i2cSlaveInit(uint8_t num, int sda, int scl, uint16_t slaveID, uint32_t
 
   i2c_ll_disable_intr_mask(i2c->dev, I2C_LL_INTR_MASK);
   i2c_ll_clear_intr_mask(i2c->dev, I2C_LL_INTR_MASK);
-#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 4, 0)
   i2c_ll_enable_fifo_mode(i2c->dev, true);
-#else
-  i2c_ll_slave_set_fifo_mode(i2c->dev, true);
-#endif
 
   if (!i2c->intr_handle) {
     uint32_t flags = ESP_INTR_FLAG_LOWMED | ESP_INTR_FLAG_SHARED;