diff --git a/.eil.yml b/.eil.yml
index 7cfd1fb..76164ec 100644
--- a/.eil.yml
+++ b/.eil.yml
@@ -5,6 +5,8 @@ groups:
   - common
 code_owners:
   - UncleRus
+  - quinkq
+  - trombik
 depends:
   - driver
   - freertos
@@ -25,4 +27,6 @@ targets:
 license: MIT
 copyrights:
   - name: UncleRus
-    year: 2018
\ No newline at end of file
+    year: 2018
+  - name: quinkq
+    year: 2025
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f98fc70..a7ee126 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,10 @@
 # ESP-IDF CMake component for i2cdev library
-set(req driver freertos esp_idf_lib_helpers)
+if(${IDF_VERSION_MAJOR} STREQUAL 5 AND ${IDF_VERSION_MINOR} LESS 3)
+    # Use driver component as esp_driver_gpio is not available before 5.3
+    set(req driver freertos log esp_timer)
+else()
+    set(req esp_driver_gpio esp_driver_i2c freertos esp_idf_lib_helpers)
+endif()
 
 # ESP-IDF version detection for automatic driver selection
 # Check for manual override via Kconfig
@@ -14,7 +19,7 @@ elseif(IDF_VERSION_MAJOR LESS 5)
     set(USE_LEGACY_DRIVER TRUE)
     message(STATUS "i2cdev: ESP-IDF v${IDF_VERSION_MAJOR}.x detected, using legacy driver")
 elseif(IDF_VERSION_MAJOR EQUAL 5 AND IDF_VERSION_MINOR LESS 3)
-    set(USE_LEGACY_DRIVER TRUE) 
+    set(USE_LEGACY_DRIVER TRUE)
     message(STATUS "i2cdev: ESP-IDF v${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR} detected, using legacy driver")
 else()
     set(USE_LEGACY_DRIVER FALSE)
diff --git a/i2cdev.h b/i2cdev.h
index 1cde925..4dab9ba 100644
--- a/i2cdev.h
+++ b/i2cdev.h
@@ -46,12 +46,18 @@
 #ifndef __I2CDEV_H__
 #define __I2CDEV_H__
 
-#include <driver/gpio.h>
-#include <driver/i2c.h>
 #include <esp_err.h>
 #include <esp_idf_lib_helpers.h>
 #include <freertos/FreeRTOS.h>
 #include <freertos/semphr.h>
+#include <esp_idf_version.h>
+
+#include <driver/gpio.h>
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 3, 0)
+#include <driver/i2c_master.h>
+#else
+#include <driver/i2c.h>
+#endif
 
 // Define missing types for older ESP-IDF versions
 #if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 2, 0)