diff --git a/components/driver/parlio/include/driver/parlio_tx.h b/components/driver/parlio/include/driver/parlio_tx.h
index 43b606ba42..060aa6f636 100644
--- a/components/driver/parlio/include/driver/parlio_tx.h
+++ b/components/driver/parlio/include/driver/parlio_tx.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -150,6 +150,9 @@ esp_err_t parlio_tx_unit_register_event_callbacks(parlio_tx_unit_handle_t tx_uni
  */
 typedef struct {
     uint32_t idle_value; /*!< The value on the data line when the parallel IO is in idle state */
+    struct {
+        uint32_t queue_nonblocking : 1; /*!< If set, when the transaction queue is full, driver will not block the thread but return directly */
+    } flags;                            /*!< Transmit specific config flags */
 } parlio_transmit_config_t;
 
 /**
diff --git a/components/driver/parlio/parlio_common.c b/components/driver/parlio/parlio_common.c
index f3450ff79d..09cdad4c18 100644
--- a/components/driver/parlio/parlio_common.c
+++ b/components/driver/parlio/parlio_common.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -43,8 +43,6 @@ parlio_group_t *parlio_acquire_group_handle(int group_id)
         if (group) {
             new_group = true;
             s_platform.groups[group_id] = group;
-            group->group_id = group_id;
-            group->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
             // enable APB access PARLIO registers
             periph_module_enable(parlio_periph_signals.groups[group_id].module);
             periph_module_reset(parlio_periph_signals.groups[group_id].module);
@@ -61,6 +59,8 @@ parlio_group_t *parlio_acquire_group_handle(int group_id)
     _lock_release(&s_platform.mutex);
 
     if (new_group) {
+        portMUX_INITIALIZE(&group->spinlock);
+        group->group_id = group_id;
         ESP_LOGD(TAG, "new group(%d) at %p", group_id, group);
     }
     return group;
@@ -79,11 +79,11 @@ void parlio_release_group_handle(parlio_group_t *group)
         // hal layer deinitialize
         parlio_hal_deinit(&group->hal);
         periph_module_disable(parlio_periph_signals.groups[group_id].module);
-        free(group);
     }
     _lock_release(&s_platform.mutex);
 
     if (do_deinitialize) {
+        free(group);
         ESP_LOGD(TAG, "del group(%d)", group_id);
     }
 }
diff --git a/components/driver/parlio/parlio_private.h b/components/driver/parlio/parlio_private.h
index 1eabbe81cc..619ba5d8d8 100644
--- a/components/driver/parlio/parlio_private.h
+++ b/components/driver/parlio/parlio_private.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -38,12 +38,12 @@
 extern "C" {
 #endif
 
-enum {
+typedef enum {
     PARLIO_TX_QUEUE_READY,
     PARLIO_TX_QUEUE_PROGRESS,
     PARLIO_TX_QUEUE_COMPLETE,
     PARLIO_TX_QUEUE_MAX,
-};
+} parlio_tx_queue_status_t;
 
 typedef enum {
     PARLIO_TX_FSM_INIT_WAIT,
diff --git a/components/driver/parlio/parlio_tx.c b/components/driver/parlio/parlio_tx.c
index ee7c3cbefe..194f7f1be1 100644
--- a/components/driver/parlio/parlio_tx.c
+++ b/components/driver/parlio/parlio_tx.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -271,22 +271,22 @@ esp_err_t parlio_new_tx_unit(const parlio_tx_unit_config_t *config, parlio_tx_un
 #endif
     esp_err_t ret = ESP_OK;
     parlio_tx_unit_t *unit = NULL;
-    ESP_GOTO_ON_FALSE(config && ret_unit, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
+    ESP_RETURN_ON_FALSE(config && ret_unit, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
     size_t data_width = config->data_width;
     // data_width must be power of 2 and less than or equal to SOC_PARLIO_TX_UNIT_MAX_DATA_WIDTH
-    ESP_GOTO_ON_FALSE(data_width && (data_width <= SOC_PARLIO_TX_UNIT_MAX_DATA_WIDTH) && ((data_width & (data_width - 1)) == 0),
-                      ESP_ERR_INVALID_ARG, err, TAG, "invalid data width");
+    ESP_RETURN_ON_FALSE(data_width && (data_width <= SOC_PARLIO_TX_UNIT_MAX_DATA_WIDTH) && ((data_width & (data_width - 1)) == 0),
+                        ESP_ERR_INVALID_ARG, TAG, "invalid data width");
     // data_width must not conflict with the valid signal
-    ESP_GOTO_ON_FALSE(!(config->valid_gpio_num >= 0 && data_width > PARLIO_LL_TX_DATA_LINE_AS_VALID_SIG),
-                      ESP_ERR_INVALID_ARG, err, TAG, "valid signal conflicts with data signal");
-    ESP_GOTO_ON_FALSE(config->max_transfer_size && config->max_transfer_size <= PARLIO_LL_TX_MAX_BITS_PER_FRAME / 8,
-                      ESP_ERR_INVALID_ARG, err, TAG, "invalid max transfer size");
+    ESP_RETURN_ON_FALSE(!(config->valid_gpio_num >= 0 && data_width > PARLIO_LL_TX_DATA_LINE_AS_VALID_SIG),
+                        ESP_ERR_INVALID_ARG, TAG, "valid signal conflicts with data signal");
+    ESP_RETURN_ON_FALSE(config->max_transfer_size && config->max_transfer_size <= PARLIO_LL_TX_MAX_BITS_PER_FRAME / 8,
+                        ESP_ERR_INVALID_ARG, TAG, "invalid max transfer size");
 #if SOC_PARLIO_TX_CLK_SUPPORT_GATING
     // clock gating is controlled by either the MSB bit of data bus or the valid signal
-    ESP_GOTO_ON_FALSE(!(config->flags.clk_gate_en && config->valid_gpio_num < 0 && config->data_width <= PARLIO_LL_TX_DATA_LINE_AS_CLK_GATE),
-                      ESP_ERR_INVALID_ARG, err, TAG, "no gpio can control the clock gating");
+    ESP_RETURN_ON_FALSE(!(config->flags.clk_gate_en && config->valid_gpio_num < 0 && config->data_width <= PARLIO_LL_TX_DATA_LINE_AS_CLK_GATE),
+                        ESP_ERR_INVALID_ARG, TAG, "no gpio can control the clock gating");
 #else
-    ESP_GOTO_ON_FALSE(config->flags.clk_gate_en == 0, ESP_ERR_NOT_SUPPORTED, err, TAG, "clock gating is not supported");
+    ESP_RETURN_ON_FALSE(config->flags.clk_gate_en == 0, ESP_ERR_NOT_SUPPORTED, TAG, "clock gating is not supported");
 #endif // SOC_PARLIO_TX_CLK_SUPPORT_GATING
 
     // malloc unit memory
@@ -539,10 +539,14 @@ esp_err_t parlio_tx_unit_transmit(parlio_tx_unit_handle_t tx_unit, const void *p
     ESP_RETURN_ON_FALSE((payload_bits % 8) == 0, ESP_ERR_INVALID_ARG, TAG, "payload bit length must be multiple of 8");
 #endif // !SOC_PARLIO_TRANS_BIT_ALIGN
 
-    // acquire one transaction description from ready queue or complete queue
+    TickType_t queue_wait_ticks = portMAX_DELAY;
+    if (config->flags.queue_nonblocking) {
+        queue_wait_ticks = 0;
+    }
     parlio_tx_trans_desc_t *t = NULL;
+    // acquire one transaction description from ready queue or complete queue
     if (xQueueReceive(tx_unit->trans_queues[PARLIO_TX_QUEUE_READY], &t, 0) != pdTRUE) {
-        if (xQueueReceive(tx_unit->trans_queues[PARLIO_TX_QUEUE_COMPLETE], &t, 0) == pdTRUE) {
+        if (xQueueReceive(tx_unit->trans_queues[PARLIO_TX_QUEUE_COMPLETE], &t, queue_wait_ticks) == pdTRUE) {
             tx_unit->num_trans_inflight--;
         }
     }