diff --git a/drivers/serial/Kconfig.esp32 b/drivers/serial/Kconfig.esp32
index e4ea9b5d6eeeb..0ade8d1ca9b09 100644
--- a/drivers/serial/Kconfig.esp32
+++ b/drivers/serial/Kconfig.esp32
@@ -7,7 +7,8 @@ config UART_ESP32
 	depends on DT_HAS_ESPRESSIF_ESP32_UART_ENABLED
 	select SERIAL_HAS_DRIVER
 	select SERIAL_SUPPORT_INTERRUPT
-	select SERIAL_SUPPORT_ASYNC if (SOC_SERIES_ESP32C3 || SOC_SERIES_ESP32C6 || SOC_SERIES_ESP32S3)
+	select SERIAL_SUPPORT_ASYNC if (SOC_SERIES_ESP32C3 || SOC_SERIES_ESP32C6 || \
+	                                SOC_SERIES_ESP32H2 || SOC_SERIES_ESP32S3)
 	select GPIO_ESP32
 	help
 	  Enable the ESP32 UART.
diff --git a/tests/drivers/uart/uart_async_api/socs/esp32h2.conf b/tests/drivers/uart/uart_async_api/socs/esp32h2.conf
new file mode 100644
index 0000000000000..76f7644d89652
--- /dev/null
+++ b/tests/drivers/uart/uart_async_api/socs/esp32h2.conf
@@ -0,0 +1,2 @@
+CONFIG_HEAP_MEM_POOL_SIZE=32768
+CONFIG_DMA=y
diff --git a/tests/drivers/uart/uart_async_api/socs/esp32h2.overlay b/tests/drivers/uart/uart_async_api/socs/esp32h2.overlay
new file mode 100644
index 0000000000000..a874fb78d3564
--- /dev/null
+++ b/tests/drivers/uart/uart_async_api/socs/esp32h2.overlay
@@ -0,0 +1,31 @@
+/*
+ * Copyright (c) 2025 Espressif Systems (Shanghai) Co., Ltd.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+&pinctrl {
+	uart1_test: uart1_test {
+		group1 {
+			pinmux = <UART1_TX_GPIO2>;
+			input-enable;
+		};
+		group2 {
+			pinmux = <UART1_RX_GPIO2>;
+			output-enable;
+		};
+	};
+};
+
+dut: &uart1 {
+	status = "okay";
+	current-speed = <115200>;
+	pinctrl-0 = <&uart1_test>;
+	pinctrl-names = "default";
+	dmas = <&dma 0>, <&dma 1>;
+	dma-names = "rx", "tx";
+};
+
+&dma {
+	status = "okay";
+};
diff --git a/west.yml b/west.yml
index b056e39ed50d9..79b45809df534 100644
--- a/west.yml
+++ b/west.yml
@@ -169,7 +169,7 @@ manifest:
       groups:
         - hal
     - name: hal_espressif
-      revision: 167cd7166041794a06128f61bf83934c15348b1c
+      revision: 6e7cda96b98780bc75544ac06d075a2908868fd9
       path: modules/hal/espressif
       west-commands: west/west-commands.yml
       groups: