diff --git a/.github/workflows/build_py_tools.yml b/.github/workflows/build_py_tools.yml
index 48e7f2c82d3..250d18ab6c0 100644
--- a/.github/workflows/build_py_tools.yml
+++ b/.github/workflows/build_py_tools.yml
@@ -12,7 +12,7 @@ on:
 jobs:
   find-changed-tools:
     name: Check if tools have been changed
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     outputs:
       any_changed: ${{ steps.verify-changed-files.outputs.any_changed }}
       all_changed_files: ${{ steps.verify-changed-files.outputs.all_changed_files }}
@@ -55,7 +55,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [windows-latest, macos-latest, ubuntu-20.04, ARM]
+        os: [windows-latest, macos-latest, ubuntu-latest, ARM]
         include:
           - os: windows-latest
             TARGET: win64
@@ -64,7 +64,7 @@ jobs:
           - os: macos-latest
             TARGET: macos
             SEPARATOR: ":"
-          - os: ubuntu-20.04
+          - os: ubuntu-latest
             TARGET: linux-amd64
             SEPARATOR: ":"
           - os: ARM
diff --git a/.github/workflows/push.yml b/.github/workflows/push.yml
index 2ca9e52e48d..3ef4e7edbe3 100644
--- a/.github/workflows/push.yml
+++ b/.github/workflows/push.yml
@@ -237,7 +237,7 @@ jobs:
       needs.gen-chunks.outputs.build_all == 'true' ||
       needs.gen-chunks.outputs.build_libraries == 'true' ||
       needs.gen-chunks.outputs.build_idf == 'true'
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
diff --git a/cores/esp32/esp32-hal-i2c-slave.c b/cores/esp32/esp32-hal-i2c-slave.c
index 85eddcdfcf4..edaa15aaab5 100644
--- a/cores/esp32/esp32-hal-i2c-slave.c
+++ b/cores/esp32/esp32-hal-i2c-slave.c
@@ -335,7 +335,12 @@ esp_err_t i2cSlaveInit(uint8_t num, int sda, int scl, uint16_t slaveID, uint32_t
   }
 #endif  // !defined(CONFIG_IDF_TARGET_ESP32P4)
 
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 3, 3)
+  i2c_ll_set_mode(i2c->dev, I2C_BUS_MODE_SLAVE);
+  i2c_ll_enable_pins_open_drain(i2c->dev, true);
+#else
   i2c_ll_slave_init(i2c->dev);
+#endif
   i2c_ll_slave_set_fifo_mode(i2c->dev, true);
   i2c_ll_set_slave_addr(i2c->dev, slaveID, false);
   i2c_ll_set_tout(i2c->dev, I2C_LL_MAX_TIMEOUT);