diff --git a/cores/esp32/HardwareSerial.cpp b/cores/esp32/HardwareSerial.cpp
index e2b12bda3f4..03e4164644c 100644
--- a/cores/esp32/HardwareSerial.cpp
+++ b/cores/esp32/HardwareSerial.cpp
@@ -97,14 +97,18 @@ void serialEvent2(void) {}
 
 #if !defined(NO_GLOBAL_INSTANCES) && !defined(NO_GLOBAL_SERIAL)
 #if ARDUINO_USB_CDC_ON_BOOT //Serial used for USB CDC
-HardwareSerial Serial0(0);
+// sets UART0 (default console) RX/TX default pins already configured in boot
+HardwareSerial Serial0(0, SOC_RX0, SOC_TX0);
 #else
-HardwareSerial Serial(0);
+// sets UART0 (default console) RX/TX default pins already configured in boot
+HardwareSerial Serial(0, SOC_RX0, SOC_TX0);
 #endif
 #if SOC_UART_NUM > 1
+// UART1 is not initialized in boot
 HardwareSerial Serial1(1);
 #endif
 #if SOC_UART_NUM > 2
+// UART2 is not initialized in boot
 HardwareSerial Serial2(2);
 #endif
 
@@ -132,7 +136,11 @@ void serialEventRun(void)
 #define HSERIAL_MUTEX_UNLOCK()  
 #endif
 
-HardwareSerial::HardwareSerial(int uart_nr) : 
+// Adds the default rxPin and txPin whenever it is already initialized in Boot Time (UART0)
+// default values are -1, -1 for UART1 and UART2
+// This will allow user to call HardwareSerial::end() with no previous HardwareSerial::begin()
+// detahing RX and TX attached in boot time. It also shall detach console pins when using HardwareSerial::setPins()
+HardwareSerial::HardwareSerial(int uart_nr, int8_t rxPin, int8_t txPin) : 
 _uart_nr(uart_nr), 
 _uart(NULL),
 _rxBufferSize(256),
@@ -146,8 +154,8 @@ _eventTask(NULL)
 #if !CONFIG_DISABLE_HAL_LOCKS
     ,_lock(NULL)
 #endif
-,_rxPin(-1) 
-,_txPin(-1)
+,_rxPin(rxPin) 
+,_txPin(txPin)
 ,_ctsPin(-1)
 ,_rtsPin(-1)
 {
@@ -340,28 +348,36 @@ void HardwareSerial::begin(unsigned long baud, uint32_t config, int8_t rxPin, in
 #endif
 
     HSERIAL_MUTEX_LOCK();
+    // make sure that if rxPin|txPin has changed, the previous GPIOs (_rxPin|_txPin) are detached
+    // Example: Serial.begin(115200); Serial.begin(115200, 2, 5); ==> second begin() shall detach RX/TX from first one
+    if (_uart != NULL && rxPin >= 0 && rxPin != _rxPin) {
+        uartDetachPins(_uart, _rxPin, -1, -1, -1);
+    }
+    if (_uart != NULL && txPin >= 0 && txPin != _txPin) {
+        uartDetachPins(_uart, -1, _txPin, -1, -1);
+    }
     // First Time or after end() --> set default Pins
     if (!uartIsDriverInstalled(_uart)) {
         switch (_uart_nr) {
             case UART_NUM_0:
                 if (rxPin < 0 && txPin < 0) {
-                    rxPin = SOC_RX0;
-                    txPin = SOC_TX0;
+                    rxPin = _rxPin < 0 ? SOC_RX0 : _rxPin;
+                    txPin = _txPin < 0 ? SOC_TX0 : _txPin;
                 }
             break;
 #if SOC_UART_NUM > 1                   // may save some flash bytes...
             case UART_NUM_1:
                if (rxPin < 0 && txPin < 0) {
-                    rxPin = RX1;
-                    txPin = TX1;
+                    rxPin = _rxPin < 0 ? RX1 : _rxPin;
+                    txPin = _txPin < 0 ? TX1 : _txPin;
                 }
             break;
 #endif
 #if SOC_UART_NUM > 2                   // may save some flash bytes...
             case UART_NUM_2:
                if (rxPin < 0 && txPin < 0) {
-                    rxPin = RX2;
-                    txPin = TX2;
+                    rxPin = _rxPin < 0 ? RX2 : _rxPin;
+                    txPin = _txPin < 0 ? TX2 : _txPin;
                 }
             break;
 #endif
@@ -417,10 +433,11 @@ void HardwareSerial::begin(unsigned long baud, uint32_t config, int8_t rxPin, in
       uartSetRxFIFOFull(_uart, fifoFull);
       _rxFIFOFull = fifoFull;
     }
-
-    _rxPin = rxPin;
-    _txPin = txPin;
-
+    // all fine, set the new pins
+    if (_uart != NULL) {
+        _rxPin = rxPin >= 0 ? rxPin : _rxPin;
+        _txPin = txPin >= 0 ? txPin : _txPin;
+    }
     HSERIAL_MUTEX_UNLOCK();
 }
 
diff --git a/cores/esp32/HardwareSerial.h b/cores/esp32/HardwareSerial.h
index 6291d241778..0296df1da7f 100644
--- a/cores/esp32/HardwareSerial.h
+++ b/cores/esp32/HardwareSerial.h
@@ -71,7 +71,9 @@ typedef std::function<void(hardwareSerial_error_t)> OnReceiveErrorCb;
 class HardwareSerial: public Stream
 {
 public:
-    HardwareSerial(int uart_nr);
+    // UART0 (cosole) has its RX/TX pins initialized in boot
+    // it shall set default pins when user calls HardwareSerial.end() with no previous begin()
+    HardwareSerial(int uart_nr, int8_t rxPin = -1, int8_t txPin = -1);
     ~HardwareSerial();
 
     // setRxTimeout sets the timeout after which onReceive callback will be called (after receiving data, it waits for this time of UART rx inactivity to call the callback fnc)