diff --git a/drivers/usb/udc/Kconfig.dwc2 b/drivers/usb/udc/Kconfig.dwc2
index 1bb0e99fedd..ff3b169e66a 100644
--- a/drivers/usb/udc/Kconfig.dwc2
+++ b/drivers/usb/udc/Kconfig.dwc2
@@ -12,23 +12,22 @@ config UDC_DWC2
 	help
 	  DWC2 USB device controller driver.
 
+if UDC_DWC2
+
 config UDC_DWC2_DMA
 	bool "DWC2 USB DMA support"
 	default y
-	depends on UDC_DWC2
 	help
 	  Enable Buffer DMA if DWC2 USB controller supports Internal DMA.
 
 config UDC_DWC2_HIBERNATION
 	bool "DWC2 USB Hibernation support"
 	default y
-	depends on UDC_DWC2
 	help
 	  Enable Hibernation if DWC2 USB controller supports hibernation.
 
 config UDC_DWC2_PTI
 	bool "DWC2 USB Periodic Transfer Interrupt"
-	depends on UDC_DWC2
 	help
 	  Ignore frame number when scheduling isochronous endpoints. Use this
 	  when isochronous transfers should finish only after receiving token
@@ -38,24 +37,23 @@ config UDC_DWC2_PTI
 
 config UDC_DWC2_STACK_SIZE
 	int "UDC DWC2 driver internal thread stack size"
-	depends on UDC_DWC2
 	default 512
 	help
 	  DWC2 driver internal thread stack size.
 
 config UDC_DWC2_THREAD_PRIORITY
 	int "UDC DWC2 driver thread priority"
-	depends on UDC_DWC2
 	default 8
 	help
 	  DWC2 driver thread priority.
 
 config UDC_DWC2_USBHS_VBUS_READY_TIMEOUT
 	int "UDC DWC2 USBHS VBUS ready event timeout in ms"
-	depends on UDC_DWC2
-	depends on NRFS_HAS_VBUS_DETECTOR_SERVICE
+	depends on SOC_SERIES_NRF54HX || SOC_SERIES_NRF54LX || SOC_SERIES_NRF92X
 	default 0
 	help
 	  UDC DWC2 USBHS VBUS ready event timeout. If the VBUS is not ready
 	  and the Nordic USBHS controller is used, the udc_enable() is
 	  blocked for this amount of time. Set it to zero to wait forever.
+
+endif # UDC_DWC2
diff --git a/drivers/usb/udc/udc_dwc2.c b/drivers/usb/udc/udc_dwc2.c
index 35fb78adecf..eb7368e1178 100644
--- a/drivers/usb/udc/udc_dwc2.c
+++ b/drivers/usb/udc/udc_dwc2.c
@@ -434,6 +434,11 @@ static void dwc2_ensure_setup_ready(const struct device *dev)
 	} else {
 		struct udc_dwc2_data *const priv = udc_get_private(dev);
 
+		if (udc_ep_is_busy(udc_get_ep_cfg(dev, USB_CONTROL_EP_OUT))) {
+			/* There is already buffer queued */
+			return;
+		}
+
 		/* Enable EP0 OUT only if there is no pending EP0 IN transfer
 		 * after which the stack has to enable EP0 OUT.
 		 */
@@ -1581,9 +1586,11 @@ static int dwc2_unset_dedicated_fifo(const struct device *dev,
 	*diepctl &= ~USB_DWC2_DEPCTL_TXFNUM_MASK;
 
 	if (priv->dynfifosizing) {
-		if (priv->txf_set & ~BIT_MASK(ep_idx)) {
-			LOG_WRN("Some of the FIFOs higher than %u are set, %lx",
-				ep_idx, priv->txf_set & ~BIT_MASK(ep_idx));
+		uint16_t higher_mask = ~BIT_MASK(ep_idx + 1);
+
+		if (priv->txf_set & higher_mask) {
+			LOG_WRN("Some of the FIFOs higher than %u are set, %x",
+				ep_idx, priv->txf_set & higher_mask);
 			return 0;
 		}
 
@@ -1723,7 +1730,19 @@ static int udc_dwc2_ep_deactivate(const struct device *dev,
 	mem_addr_t dxepctl_reg;
 	uint32_t dxepctl;
 
-	dxepctl_reg = dwc2_get_dxepctl_reg(dev, cfg->addr);
+	if (priv->hibernated) {
+		/* If usbd_disable() is called when core is hibernated, modify
+		 * backup registers instead of real ones.
+		 */
+		if (USB_EP_DIR_IS_OUT(cfg->addr)) {
+			dxepctl_reg = (mem_addr_t)&priv->backup.doepctl[ep_idx];
+		} else {
+			dxepctl_reg = (mem_addr_t)&priv->backup.diepctl[ep_idx];
+		}
+	} else {
+		dxepctl_reg = dwc2_get_dxepctl_reg(dev, cfg->addr);
+	}
+
 	dxepctl = sys_read32(dxepctl_reg);
 
 	if (dxepctl & USB_DWC2_DEPCTL_USBACTEP) {
diff --git a/drivers/usb/udc/udc_dwc2_vendor_quirks.h b/drivers/usb/udc/udc_dwc2_vendor_quirks.h
index 330ff8d113f..cd25f0ec9d3 100644
--- a/drivers/usb/udc/udc_dwc2_vendor_quirks.h
+++ b/drivers/usb/udc/udc_dwc2_vendor_quirks.h
@@ -381,6 +381,10 @@ static inline int usbhs_enable_core(const struct device *dev)
 	k_timeout_t timeout = K_FOREVER;
 	int err;
 
+	if (CONFIG_UDC_DWC2_USBHS_VBUS_READY_TIMEOUT) {
+		timeout = K_MSEC(CONFIG_UDC_DWC2_USBHS_VBUS_READY_TIMEOUT);
+	}
+
 	if (!k_event_wait(&usbhs_events, USBHS_VBUS_READY, false, K_NO_WAIT)) {
 		LOG_WRN("VBUS is not ready, block udc_enable()");
 		if (!k_event_wait(&usbhs_events, USBHS_VBUS_READY, false, timeout)) {
diff --git a/include/zephyr/usb/class/usbd_hid.h b/include/zephyr/usb/class/usbd_hid.h
index 5539369d5b0..79b52dd8fd9 100644
--- a/include/zephyr/usb/class/usbd_hid.h
+++ b/include/zephyr/usb/class/usbd_hid.h
@@ -212,6 +212,38 @@ int hid_device_register(const struct device *dev,
 int hid_device_submit_report(const struct device *dev,
 			     const uint16_t size, const uint8_t *const report);
 
+/**
+ * @brief Set input report polling period
+ *
+ * Similar to devicetree property in-polling-period-us, but it allows setting
+ * different polling periods at runtime.
+ *
+ * @kconfig_dep{CONFIG_USBD_HID_SET_POLLING_PERIOD}
+ *
+ * @param[in] dev       Pointer to HID device
+ * @param[in] period_us Polling period in microseconds
+ *
+ * @return 0 on success, negative errno code on failure.
+ * @retval -ENOTSUP If API is not enabled.
+ */
+int hid_device_set_in_polling(const struct device *dev, const unsigned int period_us);
+
+/**
+ * @brief Set output report polling period
+ *
+ * Similar to devicetree property out-polling-period-us, but it allows setting
+ * different polling periods at runtime.
+ *
+ * @kconfig_dep{CONFIG_USBD_HID_SET_POLLING_PERIOD}
+ *
+ * @param[in] dev       Pointer to HID device
+ * @param[in] period_us Polling period in microseconds
+ *
+ * @return 0 on success, negative errno code on failure.
+ * @retval -ENOTSUP If API is not enabled.
+ */
+int hid_device_set_out_polling(const struct device *dev, const unsigned int period_us);
+
 /**
  * @}
  */
diff --git a/samples/subsys/usb/hid-keyboard/sample.yaml b/samples/subsys/usb/hid-keyboard/sample.yaml
index f53ae514f97..2998f84807d 100644
--- a/samples/subsys/usb/hid-keyboard/sample.yaml
+++ b/samples/subsys/usb/hid-keyboard/sample.yaml
@@ -33,3 +33,5 @@ tests:
   sample.usbd.hid-keyboard.large-out-report:
     extra_args:
       - EXTRA_DTC_OVERLAY_FILE="large_out_report.overlay"
+    extra_configs:
+      - CONFIG_USBD_HID_SET_POLLING_PERIOD=y
diff --git a/samples/subsys/usb/hid-keyboard/src/main.c b/samples/subsys/usb/hid-keyboard/src/main.c
index 45580c95a84..39ce8836ff6 100644
--- a/samples/subsys/usb/hid-keyboard/src/main.c
+++ b/samples/subsys/usb/hid-keyboard/src/main.c
@@ -206,6 +206,18 @@ int main(void)
 		return ret;
 	}
 
+	if (IS_ENABLED(CONFIG_USBD_HID_SET_POLLING_PERIOD)) {
+		ret = hid_device_set_in_polling(hid_dev, 1000);
+		if (ret) {
+			LOG_WRN("Failed to set IN report polling period, %d", ret);
+		}
+
+		ret = hid_device_set_out_polling(hid_dev, 1000);
+		if (ret != 0 && ret != -ENOTSUP) {
+			LOG_WRN("Failed to set OUT report polling period, %d", ret);
+		}
+	}
+
 	sample_usbd = sample_usbd_init_device(msg_cb);
 	if (sample_usbd == NULL) {
 		LOG_ERR("Failed to initialize USB device");
diff --git a/subsys/usb/device_next/class/Kconfig.hid b/subsys/usb/device_next/class/Kconfig.hid
index 8e3133a1dde..a6f2980ec3a 100644
--- a/subsys/usb/device_next/class/Kconfig.hid
+++ b/subsys/usb/device_next/class/Kconfig.hid
@@ -30,6 +30,11 @@ config USBD_HID_INIT_PRIORITY
 	help
 	  HID device initialization priority
 
+config USBD_HID_SET_POLLING_PERIOD
+	bool "Allow to set polling period at runtime"
+	help
+	  Allow to set input or output report polling period at runtime.
+
 module = USBD_HID
 module-str = usbd hid
 source "subsys/logging/Kconfig.template.log_config"
diff --git a/subsys/usb/device_next/class/usbd_hid.c b/subsys/usb/device_next/class/usbd_hid.c
index d978aea0d27..2ea3a08db76 100644
--- a/subsys/usb/device_next/class/usbd_hid.c
+++ b/subsys/usb/device_next/class/usbd_hid.c
@@ -57,6 +57,7 @@ struct usbd_hid_descriptor {
 };
 
 enum {
+	HID_DEV_CLASS_INITIALIZED,
 	HID_DEV_CLASS_ENABLED,
 };
 
@@ -503,7 +504,14 @@ static int usbd_hid_init(struct usbd_class_data *const c_data)
 	const struct device *dev = usbd_class_get_private(c_data);
 	const struct hid_device_config *dcfg = dev->config;
 	struct usbd_hid_descriptor *const desc = dcfg->desc;
+	struct hid_device_data *const ddata = dev->data;
 
+	if (ddata->ops == NULL ||  ddata->rdesc == NULL || !ddata->rsize) {
+		LOG_ERR("HID device does not seem to be registered");
+		return -EINVAL;
+	}
+
+	atomic_set_bit(&ddata->state, HID_DEV_CLASS_INITIALIZED);
 	LOG_DBG("HID class %s init", c_data->name);
 
 	if (dcfg->if_desc_data != NULL && desc->if0.iInterface == 0) {
@@ -519,6 +527,10 @@ static int usbd_hid_init(struct usbd_class_data *const c_data)
 
 static void usbd_hid_shutdown(struct usbd_class_data *const c_data)
 {
+	const struct device *dev = usbd_class_get_private(c_data);
+	struct hid_device_data *const ddata = dev->data;
+
+	atomic_clear_bit(&ddata->state, HID_DEV_CLASS_INITIALIZED);
 	LOG_DBG("HID class %s shutdown", c_data->name);
 }
 
@@ -620,6 +632,56 @@ static int hid_dev_submit_report(const struct device *dev,
 	return 0;
 }
 
+static inline int hid_dev_set_out_polling(const struct device *dev,
+					  const unsigned int period_us)
+{
+	const struct hid_device_config *const dcfg = dev->config;
+	struct hid_device_data *const ddata = dev->data;
+	struct usbd_hid_descriptor *const desc = dcfg->desc;
+
+	if (atomic_test_bit(&ddata->state, HID_DEV_CLASS_INITIALIZED)) {
+		return -EBUSY;
+	}
+
+	if (USBD_SUPPORTS_HIGH_SPEED) {
+		if (desc->hs_out_ep.bLength == 0) {
+			/* This device does not have output reports. */
+			return -ENOTSUP;
+		}
+
+		desc->hs_out_ep.bInterval = USB_HS_INT_EP_INTERVAL(period_us);
+	}
+
+	if (desc->out_ep.bLength == 0) {
+		/* This device does not have output reports. */
+		return -ENOTSUP;
+	}
+
+	desc->out_ep.bInterval = USB_FS_INT_EP_INTERVAL(period_us);
+
+	return 0;
+}
+
+static inline int hid_dev_set_in_polling(const struct device *dev,
+					 const unsigned int period_us)
+{
+	const struct hid_device_config *const dcfg = dev->config;
+	struct hid_device_data *const ddata = dev->data;
+	struct usbd_hid_descriptor *const desc = dcfg->desc;
+
+	if (atomic_test_bit(&ddata->state, HID_DEV_CLASS_INITIALIZED)) {
+		return -EBUSY;
+	}
+
+	if (USBD_SUPPORTS_HIGH_SPEED) {
+		desc->hs_in_ep.bInterval = USB_HS_INT_EP_INTERVAL(period_us);
+	}
+
+	desc->in_ep.bInterval = USB_FS_INT_EP_INTERVAL(period_us);
+
+	return 0;
+}
+
 static int hid_dev_register(const struct device *dev,
 			    const uint8_t *const rdesc, const uint16_t rsize,
 			    const struct hid_device_ops *const ops)
@@ -628,7 +690,7 @@ static int hid_dev_register(const struct device *dev,
 	struct hid_device_data *const ddata = dev->data;
 	struct usbd_hid_descriptor *const desc = dcfg->desc;
 
-	if (atomic_test_bit(&ddata->state, HID_DEV_CLASS_ENABLED)) {
+	if (atomic_test_bit(&ddata->state, HID_DEV_CLASS_INITIALIZED)) {
 		return -EALREADY;
 	}
 
@@ -694,6 +756,10 @@ struct usbd_class_api usbd_hid_api = {
 static const struct hid_device_driver_api hid_device_api = {
 	.submit_report = hid_dev_submit_report,
 	.dev_register = hid_dev_register,
+#if CONFIG_USBD_HID_SET_POLLING_PERIOD
+	.set_out_polling = hid_dev_set_out_polling,
+	.set_in_polling = hid_dev_set_in_polling,
+#endif
 };
 
 #include "usbd_hid_macros.h"
diff --git a/subsys/usb/device_next/class/usbd_hid_api.c b/subsys/usb/device_next/class/usbd_hid_api.c
index f2efa4e3cb1..fd9f27a23ba 100644
--- a/subsys/usb/device_next/class/usbd_hid_api.c
+++ b/subsys/usb/device_next/class/usbd_hid_api.c
@@ -34,6 +34,28 @@ int hid_device_register(const struct device *dev,
 	return api->dev_register(dev, rdesc, rsize, ops);
 }
 
+int hid_device_set_in_polling(const struct device *dev, const unsigned int period_us)
+{
+	const struct hid_device_driver_api *const api = dev->api;
+
+	if (IS_ENABLED(CONFIG_USBD_HID_SET_POLLING_PERIOD)) {
+		return api->set_in_polling(dev, period_us);
+	}
+
+	return -ENOTSUP;
+}
+
+int hid_device_set_out_polling(const struct device *dev, const unsigned int period_us)
+{
+	const struct hid_device_driver_api *const api = dev->api;
+
+	if (IS_ENABLED(CONFIG_USBD_HID_SET_POLLING_PERIOD)) {
+		return api->set_out_polling(dev, period_us);
+	}
+
+	return -ENOTSUP;
+}
+
 /* Legacy HID API wrapper below */
 
 struct legacy_wrapper {
diff --git a/subsys/usb/device_next/class/usbd_hid_internal.h b/subsys/usb/device_next/class/usbd_hid_internal.h
index d049b0c22a3..dcb74748627 100644
--- a/subsys/usb/device_next/class/usbd_hid_internal.h
+++ b/subsys/usb/device_next/class/usbd_hid_internal.h
@@ -20,4 +20,6 @@ struct hid_device_driver_api {
 	int (*dev_register)(const struct device *dev,
 			    const uint8_t *const rdesc, const uint16_t rsize,
 			    const struct hid_device_ops *const ops);
+	int (*set_in_polling)(const struct device *dev, const unsigned int period_us);
+	int (*set_out_polling)(const struct device *dev, const unsigned int period_us);
 };