diff --git a/.gitlab/ci/target-test.yml b/.gitlab/ci/target-test.yml
index eaf1d76124..4dba21edf4 100644
--- a/.gitlab/ci/target-test.yml
+++ b/.gitlab/ci/target-test.yml
@@ -335,7 +335,7 @@ component_ut_test_001:
 
 UT_001:
   extends: .unit_test_esp32_template
-  parallel: 48
+  parallel: 49
   tags:
     - ESP32_IDF
     - UT_T1_1
@@ -551,7 +551,7 @@ UT_046:
 
 UT_047:
   extends: .unit_test_esp32s2_template
-  parallel: 2
+  parallel: 3
   tags:
     - ESP32S2_IDF
     - UT_T1_1
diff --git a/components/esp32c3/esp_crypto_lock.c b/components/esp32c3/esp_crypto_lock.c
index ca6c3c49b9..46a90ca08b 100644
--- a/components/esp32c3/esp_crypto_lock.c
+++ b/components/esp32c3/esp_crypto_lock.c
@@ -17,8 +17,8 @@
 #include "esp_crypto_lock.h"
 
 /* Lock overview:
-SHA: independent
-AES: independent
+SHA: peripheral independent, but DMA is shared with AES
+AES: peripheral independent, but DMA is shared with SHA
 MPI/RSA: independent
 HMAC: needs SHA
 DS: needs HMAC (which needs SHA), AES and MPI
@@ -30,24 +30,21 @@ static _lock_t s_crypto_ds_lock;
 /* Lock for HMAC peripheral */
 static _lock_t s_crypto_hmac_lock;
 
-/* Lock for the SHA peripheral, also used by the HMAC and DS peripheral */
-static _lock_t s_crypto_sha_lock;
-
-/* Lock for the AES peripheral, also used by DS peripheral */
-static _lock_t s_crypto_aes_lock;
-
 /* Lock for the MPI/RSA peripheral, also used by the DS peripheral */
 static _lock_t s_crypto_mpi_lock;
 
+/* Single lock for SHA and AES, sharing a reserved GDMA channel */
+static _lock_t s_crypto_sha_aes_lock;
+
 void esp_crypto_hmac_lock_acquire(void)
 {
     _lock_acquire(&s_crypto_hmac_lock);
-    esp_crypto_sha_lock_acquire();
+    esp_crypto_sha_aes_lock_acquire();
 }
 
 void esp_crypto_hmac_lock_release(void)
 {
-    esp_crypto_sha_lock_release();
+    esp_crypto_sha_aes_lock_release();
     _lock_release(&s_crypto_hmac_lock);
 }
 
@@ -55,36 +52,24 @@ void esp_crypto_ds_lock_acquire(void)
 {
     _lock_acquire(&s_crypto_ds_lock);
     esp_crypto_hmac_lock_acquire();
-    esp_crypto_aes_lock_acquire();
     esp_crypto_mpi_lock_acquire();
 }
 
 void esp_crypto_ds_lock_release(void)
 {
     esp_crypto_mpi_lock_release();
-    esp_crypto_aes_lock_release();
     esp_crypto_hmac_lock_release();
     _lock_release(&s_crypto_ds_lock);
 }
 
-void esp_crypto_sha_lock_acquire(void)
+void esp_crypto_sha_aes_lock_acquire(void)
 {
-    _lock_acquire(&s_crypto_sha_lock);
+    _lock_acquire(&s_crypto_sha_aes_lock);
 }
 
-void esp_crypto_sha_lock_release(void)
+void esp_crypto_sha_aes_lock_release(void)
 {
-    _lock_release(&s_crypto_sha_lock);
-}
-
-void esp_crypto_aes_lock_acquire(void)
-{
-    _lock_acquire(&s_crypto_aes_lock);
-}
-
-void esp_crypto_aes_lock_release(void)
-{
-    _lock_release(&s_crypto_aes_lock);
+    _lock_release(&s_crypto_sha_aes_lock);
 }
 
 void esp_crypto_mpi_lock_acquire(void)
diff --git a/components/esp32c3/include/esp_crypto_lock.h b/components/esp32c3/include/esp_crypto_lock.h
index cd0e7e3203..3149d34692 100644
--- a/components/esp32c3/include/esp_crypto_lock.h
+++ b/components/esp32c3/include/esp_crypto_lock.h
@@ -47,28 +47,17 @@ void esp_crypto_ds_lock_acquire(void);
 void esp_crypto_ds_lock_release(void);
 
 /**
- * @brief Acquire lock for the SHA cryptography peripheral.
+ * @brief Acquire lock for the SHA and AES cryptography peripheral.
  *
  */
-void esp_crypto_sha_lock_acquire(void);
+void esp_crypto_sha_aes_lock_acquire(void);
 
 /**
- * @brief Release lock for the SHA cryptography peripheral.
+ * @brief Release lock for the SHA and AES cryptography peripheral.
  *
  */
-void esp_crypto_sha_lock_release(void);
+void esp_crypto_sha_aes_lock_release(void);
 
-/**
- * @brief Acquire lock for the aes cryptography peripheral.
- *
- */
-void esp_crypto_aes_lock_acquire(void);
-
-/**
- * @brief Release lock for the aes cryptography peripheral.
- *
- */
-void esp_crypto_aes_lock_release(void);
 
 /**
  * @brief Acquire lock for the mpi cryptography peripheral.
diff --git a/components/esp32s3/esp_crypto_lock.c b/components/esp32s3/esp_crypto_lock.c
index 86fcbab449..98fa6296ce 100644
--- a/components/esp32s3/esp_crypto_lock.c
+++ b/components/esp32s3/esp_crypto_lock.c
@@ -16,33 +16,28 @@
 
 #include "esp_crypto_lock.h"
 
-/* Lock for the SHA peripheral, also used by the HMAC and DS peripheral */
-static _lock_t s_crypto_sha_lock;
+/* Lock overview:
+SHA: peripheral independent, but DMA is shared with AES
+AES: peripheral independent, but DMA is shared with SHA
+MPI/RSA: independent
+HMAC: needs SHA
+DS: needs HMAC (which needs SHA), AES and MPI
+*/
 
-/* Lock for the AES peripheral, also used by DS peripheral */
-static _lock_t s_crypto_aes_lock;
+/* Single lock for SHA and AES, sharing a reserved GDMA channel */
+static _lock_t s_crypto_sha_aes_lock;
 
 /* Lock for the MPI/RSA peripheral, also used by the DS peripheral */
 static _lock_t s_crypto_mpi_lock;
 
-void esp_crypto_sha_lock_acquire(void)
+void esp_crypto_sha_aes_lock_acquire(void)
 {
-    _lock_acquire(&s_crypto_sha_lock);
+    _lock_acquire(&s_crypto_sha_aes_lock);
 }
 
-void esp_crypto_sha_lock_release(void)
+void esp_crypto_sha_aes_lock_release(void)
 {
-    _lock_release(&s_crypto_sha_lock);
-}
-
-void esp_crypto_aes_lock_acquire(void)
-{
-    _lock_acquire(&s_crypto_aes_lock);
-}
-
-void esp_crypto_aes_lock_release(void)
-{
-    _lock_release(&s_crypto_aes_lock);
+    _lock_release(&s_crypto_sha_aes_lock);
 }
 
 void esp_crypto_mpi_lock_acquire(void)
diff --git a/components/esp32s3/include/esp_crypto_lock.h b/components/esp32s3/include/esp_crypto_lock.h
index bf30ba318c..781ac07780 100644
--- a/components/esp32s3/include/esp_crypto_lock.h
+++ b/components/esp32s3/include/esp_crypto_lock.h
@@ -27,24 +27,16 @@ extern "C" {
  */
 
 /**
- * Acquire lock for the SHA cryptography peripheral
+ * @brief Acquire lock for the SHA and AES cryptography peripheral.
+ *
  */
-void esp_crypto_sha_lock_acquire(void);
+void esp_crypto_sha_aes_lock_acquire(void);
 
 /**
- * Release lock for the SHA cryptography peripheral
+ * @brief Release lock for the SHA and AES cryptography peripheral.
+ *
  */
-void esp_crypto_sha_lock_release(void);
-
-/**
- * Acquire lock for the AES cryptography peripheral
- */
-void esp_crypto_aes_lock_acquire(void);
-
-/**
- * Release lock for the AES cryptography peripheral
- */
-void esp_crypto_aes_lock_release(void);
+void esp_crypto_sha_aes_lock_release(void);
 
 /**
  * Acquire lock for the MPI/RSA cryptography peripheral
diff --git a/components/mbedtls/CMakeLists.txt b/components/mbedtls/CMakeLists.txt
index 8817b9fa36..ce4298fc75 100644
--- a/components/mbedtls/CMakeLists.txt
+++ b/components/mbedtls/CMakeLists.txt
@@ -96,7 +96,8 @@ if(SHA_PERIPHERAL_TYPE STREQUAL "dma")
     if(CONFIG_IDF_TARGET_ESP32S2)
         set(SHA_DMA_SRCS "${COMPONENT_DIR}/port/sha/dma/esp_sha_crypto_dma_impl.c")
     else()
-        set(SHA_DMA_SRCS "${COMPONENT_DIR}/port/sha/dma/esp_sha_gdma_impl.c")
+        set(SHA_DMA_SRCS "${COMPONENT_DIR}/port/sha/dma/esp_sha_gdma_impl.c"
+                         "${COMPONENT_DIR}/port/crypto_shared_gdma/esp_crypto_shared_gdma.c")
     endif()
 endif()
 
diff --git a/components/mbedtls/port/aes/dma/esp_aes.c b/components/mbedtls/port/aes/dma/esp_aes.c
index 52c46d1b00..a0b9af4ca5 100644
--- a/components/mbedtls/port/aes/dma/esp_aes.c
+++ b/components/mbedtls/port/aes/dma/esp_aes.c
@@ -54,8 +54,8 @@
 #endif
 
 #if SOC_AES_GDMA
-#define AES_LOCK() esp_crypto_aes_lock_acquire()
-#define AES_RELEASE() esp_crypto_aes_lock_release()
+#define AES_LOCK() esp_crypto_sha_aes_lock_acquire()
+#define AES_RELEASE() esp_crypto_sha_aes_lock_release()
 #elif SOC_AES_CRYPTO_DMA
 #define AES_LOCK() esp_crypto_dma_lock_acquire()
 #define AES_RELEASE() esp_crypto_dma_lock_release()
diff --git a/components/mbedtls/port/aes/dma/esp_aes_gdma_impl.c b/components/mbedtls/port/aes/dma/esp_aes_gdma_impl.c
index 0c25bc4a32..94e970709a 100644
--- a/components/mbedtls/port/aes/dma/esp_aes_gdma_impl.c
+++ b/components/mbedtls/port/aes/dma/esp_aes_gdma_impl.c
@@ -11,157 +11,16 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+
 #include "esp_aes_dma_priv.h"
-
-#include <sys/lock.h>
-
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-
-#include "driver/periph_ctrl.h"
 #include "hal/gdma_ll.h"
-#include "soc/soc_caps.h"
-#include "esp_private/gdma.h"
-#include "esp_log.h"
-
-#define NEW_CHANNEL_TIMEOUT_MS  1000
-#define NEW_CHANNEL_DELAY_MS    100
-
-static const char *TAG = "esp_aes_gdma";
-
-static _lock_t gdma_ch_lock;
-/* For GDMA we allocate and reserve a single DMA pair for AES at esp_aes_init
-   and release it esp_aes_free
-   This is done to avoid the GDMA associated overhead when doing multiple AES transforms in a row.
-
-    The channel is shared between any AES operations that are running in parallel,
-    access will be limited by the peripheral lock
- */
-static uint8_t ref_counts;
-
-/* The GDMA channel is protected from concurrent access by the general AES peripheral lock */
-static gdma_channel_handle_t tx_channel;
-static gdma_channel_handle_t rx_channel;
-
-/* Allocate a new GDMA channel, will keep trying until NEW_CHANNEL_TIMEOUT_MS */
-static inline esp_err_t esp_aes_gdma_new_channel(gdma_channel_alloc_config_t *channel_config, gdma_channel_handle_t *channel)
-{
-    esp_err_t ret;
-    int time_waited_ms = 0;
-
-    while(1) {
-        ret = gdma_new_channel(channel_config, channel);
-
-        if (ret == ESP_OK) {
-            break;
-        } else if (time_waited_ms >= NEW_CHANNEL_TIMEOUT_MS) {
-            *channel = NULL;
-            break;
-        }
-
-        time_waited_ms += NEW_CHANNEL_DELAY_MS;
-        vTaskDelay(NEW_CHANNEL_DELAY_MS / portTICK_PERIOD_MS);
-    }
-    return ret;
-}
-
-/* Initialize GDMA module and channels */
-static inline void esp_aes_gdma_init(void)
-{
-    esp_err_t ret;
-
-    gdma_channel_alloc_config_t channel_config = {
-        .direction = GDMA_CHANNEL_DIRECTION_TX,
-    };
-
-    ret = esp_aes_gdma_new_channel(&channel_config, &tx_channel);
-    if (ret != ESP_OK) {
-        goto err;
-    }
-
-    channel_config.direction = GDMA_CHANNEL_DIRECTION_RX;
-    ret = esp_aes_gdma_new_channel(&channel_config, &rx_channel);
-    if (ret != ESP_OK) {
-        gdma_del_channel(tx_channel); // Clean up already allocated TX channel
-        goto err;
-    }
-
-    gdma_connect(tx_channel, GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_AES, 0));
-    gdma_connect(rx_channel, GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_AES, 0));
-
-    return;
-
-err:
-    /* mbedtls_aes_init do not have a way of signaling errors to the caller
-       so we set the channel to NULL and detect it in esp_aes_dma_start */
-    ESP_LOGE(TAG, "Failed to acquire DMA channel, Err=0x%X", ret);
-    tx_channel = NULL;
-    rx_channel = NULL;
-}
-
-void esp_aes_dma_init()
-{
-
-    _lock_acquire(&gdma_ch_lock);
-    if (ref_counts == 0) {
-        esp_aes_gdma_init();
-    }
-    ref_counts++;
-    _lock_release(&gdma_ch_lock);
-}
-
-static inline void esp_aes_gdma_free(void)
-{
-    gdma_disconnect(tx_channel);
-    gdma_disconnect(rx_channel);
-    gdma_del_channel(tx_channel);
-    gdma_del_channel(rx_channel);
-
-    tx_channel = NULL;
-    rx_channel = NULL;
-}
-
-void esp_aes_dma_free()
-{
-    _lock_acquire(&gdma_ch_lock);
-    ref_counts--;
-    if (ref_counts == 0) {
-        esp_aes_gdma_free();
-    }
-    _lock_release(&gdma_ch_lock);
-}
-
+#include "esp_crypto_shared_gdma.h"
 
 esp_err_t esp_aes_dma_start(const lldesc_t *input, const lldesc_t *output)
 {
-#if SOC_GDMA_SUPPORT_EXTMEM
-    int tx_ch_id = 0;
-    int rx_ch_id = 0;
-#endif //SOC_GDMA_SUPPORT_EXTMEM
-
-    if (!tx_channel || !rx_channel) {
-        /* Will happen if no channel was acquired before timeout */
-        return ESP_FAIL;
-    }
-
-#if SOC_GDMA_SUPPORT_EXTMEM
-    gdma_get_channel_id(tx_channel, &tx_ch_id);
-    gdma_get_channel_id(rx_channel, &rx_ch_id);
-    /* An L2 FIFO bigger than 40 bytes is need when accessing external ram */
-    gdma_ll_tx_extend_fifo_size_to(&GDMA, tx_ch_id, 40);
-    gdma_ll_rx_extend_l2_fifo_size_to(&GDMA, rx_ch_id, 40);
-    gdma_ll_tx_set_block_size_psram(&GDMA, tx_ch_id, GDMA_OUT_EXT_MEM_BK_SIZE_16B);
-    gdma_ll_rx_set_block_size_psram(&GDMA, rx_ch_id, GDMA_OUT_EXT_MEM_BK_SIZE_16B);
-#endif //SOC_GDMA_SUPPORT_EXTMEM
-
-    gdma_start(tx_channel, (intptr_t)input);
-    gdma_start(rx_channel, (intptr_t)output);
-
-    return ESP_OK;
+    return esp_crypto_shared_gdma_start(input, output, GDMA_TRIG_PERIPH_AES);
 }
 
-
-
 bool esp_aes_dma_done(const lldesc_t *output)
 {
     return (output->owner == 0);
diff --git a/components/mbedtls/port/aes/dma/include/esp_aes_dma_priv.h b/components/mbedtls/port/aes/dma/include/esp_aes_dma_priv.h
index 7dc1e6a6b0..7880f18806 100644
--- a/components/mbedtls/port/aes/dma/include/esp_aes_dma_priv.h
+++ b/components/mbedtls/port/aes/dma/include/esp_aes_dma_priv.h
@@ -22,27 +22,6 @@
 extern "C" {
 #endif
 
-#if SOC_AES_GDMA
-
-/**
- * @brief Initialize the GDMA channel
- *
- * @note Allocate and initialize a DMA channel (rx and tx) for the AES peripheral
- *       Only one channel will be initialized at any given time. If two or more AES operations are
- *       run in parallel the channel will be shared sequentially.
- *
- */
-void esp_aes_dma_init(void);
-
-/**
- * @brief Free the GDMA channel
- *
- * @note The channel will only be freed if there are no other AES operations currently using it
- *
- */
-void esp_aes_dma_free(void);
-#endif //SOC_AES_GDMA
-
 /**
  * @brief Start the DMA engine
  *
diff --git a/components/mbedtls/port/aes/esp_aes_common.c b/components/mbedtls/port/aes/esp_aes_common.c
index 55b873bac1..c0dd78a968 100644
--- a/components/mbedtls/port/aes/esp_aes_common.c
+++ b/components/mbedtls/port/aes/esp_aes_common.c
@@ -54,10 +54,6 @@ bool valid_key_length(const esp_aes_context *ctx)
 void esp_aes_init( esp_aes_context *ctx )
 {
     bzero( ctx, sizeof( esp_aes_context ) );
-
-#if SOC_AES_GDMA
-    esp_aes_dma_init();
-#endif
 }
 
 void esp_aes_free( esp_aes_context *ctx )
@@ -66,10 +62,6 @@ void esp_aes_free( esp_aes_context *ctx )
         return;
     }
 
-#if SOC_AES_GDMA
-    esp_aes_dma_free();
-#endif
-
     bzero( ctx, sizeof( esp_aes_context ) );
 }
 
diff --git a/components/mbedtls/port/crypto_shared_gdma/esp_crypto_shared_gdma.c b/components/mbedtls/port/crypto_shared_gdma/esp_crypto_shared_gdma.c
new file mode 100644
index 0000000000..118fee0a4f
--- /dev/null
+++ b/components/mbedtls/port/crypto_shared_gdma/esp_crypto_shared_gdma.c
@@ -0,0 +1,170 @@
+// Copyright 2021 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "esp_crypto_shared_gdma.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include "hal/gdma_ll.h"
+#include "soc/soc_caps.h"
+#include "esp_log.h"
+#include "esp_err.h"
+#include "esp_crypto_lock.h"
+
+#define NEW_CHANNEL_TIMEOUT_MS  1000
+#define NEW_CHANNEL_DELAY_MS    100
+
+static const char *TAG = "crypto_shared_gdma";
+
+static gdma_channel_handle_t rx_channel;
+static gdma_channel_handle_t tx_channel;
+
+/* Allocate a new GDMA channel, will keep trying until NEW_CHANNEL_TIMEOUT_MS */
+static inline esp_err_t crypto_shared_gdma_new_channel(gdma_channel_alloc_config_t *channel_config, gdma_channel_handle_t *channel)
+{
+    esp_err_t ret;
+    int time_waited_ms = 0;
+
+    while(1) {
+        ret = gdma_new_channel(channel_config, channel);
+
+        if (ret == ESP_OK) {
+            break;
+        } else if (time_waited_ms >= NEW_CHANNEL_TIMEOUT_MS) {
+            *channel = NULL;
+            break;
+        }
+
+        time_waited_ms += NEW_CHANNEL_DELAY_MS;
+        vTaskDelay(NEW_CHANNEL_DELAY_MS / portTICK_PERIOD_MS);
+    }
+    return ret;
+}
+
+
+#if SOC_GDMA_SUPPORT_EXTMEM
+/* Initialize external memory specific DMA configs */
+static void esp_crypto_shared_dma_init_extmem(void)
+{
+    int tx_ch_id = 0;
+    int rx_ch_id = 0;
+
+    gdma_get_channel_id(tx_channel, &tx_ch_id);
+    gdma_get_channel_id(rx_channel, &rx_ch_id);
+
+    /* An L2 FIFO bigger than 40 bytes is need when accessing external ram */
+    gdma_ll_tx_extend_fifo_size_to(&GDMA, tx_ch_id, 40);
+    gdma_ll_rx_extend_l2_fifo_size_to(&GDMA, rx_ch_id, 40);
+    gdma_ll_tx_set_block_size_psram(&GDMA, tx_ch_id, GDMA_OUT_EXT_MEM_BK_SIZE_16B);
+    gdma_ll_rx_set_block_size_psram(&GDMA, rx_ch_id, GDMA_OUT_EXT_MEM_BK_SIZE_16B);
+}
+#endif //SOC_GDMA_SUPPORT_EXTMEM
+
+/* Initialize GDMA module and channels */
+static esp_err_t crypto_shared_gdma_init(void)
+{
+    esp_err_t ret;
+
+    gdma_channel_alloc_config_t channel_config_tx = {
+        .direction = GDMA_CHANNEL_DIRECTION_TX,
+    };
+
+    gdma_channel_alloc_config_t channel_config_rx = {
+        .direction = GDMA_CHANNEL_DIRECTION_RX,
+    };
+
+    ret = crypto_shared_gdma_new_channel(&channel_config_tx, &tx_channel);
+    if (ret != ESP_OK) {
+        goto err;
+    }
+
+    ret = crypto_shared_gdma_new_channel(&channel_config_rx, &rx_channel);
+    if (ret != ESP_OK) {
+        gdma_del_channel(tx_channel); // Clean up already allocated TX channel
+        goto err;
+    }
+
+#if SOC_GDMA_SUPPORT_EXTMEM
+    esp_crypto_shared_dma_init_extmem();
+#endif //SOC_GDMA_SUPPORT_EXTMEM
+
+    gdma_connect(rx_channel, GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_AES, 0));
+    gdma_connect(tx_channel, GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_AES, 0));
+
+    return ESP_OK;
+
+err:
+    ESP_LOGE(TAG, "Failed to acquire DMA channel, Err=0x%X", ret);
+    tx_channel = NULL;
+    rx_channel = NULL;
+
+    return ret;
+}
+
+
+esp_err_t esp_crypto_shared_gdma_start(const lldesc_t *input, const lldesc_t *output, gdma_trigger_peripheral_t peripheral)
+{
+    int rx_ch_id = 0;
+    esp_err_t ret = ESP_OK;
+
+    if (tx_channel == NULL) {
+        /* Allocate a pair of RX and TX for crypto, should only happen the first time we use the GMDA
+           or if user called esp_crypto_shared_gdma_release */
+        ret = crypto_shared_gdma_init();
+    }
+
+    if (ret != ESP_OK) {
+        return ret;
+    }
+
+    /* Tx channel is shared between AES and SHA, need to connect to peripheral every time */
+    gdma_disconnect(tx_channel);
+
+    if (peripheral == GDMA_TRIG_PERIPH_SHA) {
+        gdma_connect(tx_channel, GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_SHA, 0));
+    } else if (peripheral == GDMA_TRIG_PERIPH_AES) {
+        gdma_connect(tx_channel, GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_AES, 0));
+    } else {
+        return ESP_ERR_INVALID_ARG;
+    }
+
+  /* tx channel is reset by gdma_connect(), also reset rx to ensure a known state */
+    gdma_get_channel_id(tx_channel, &rx_ch_id);
+    gdma_ll_rx_reset_channel(&GDMA, rx_ch_id);
+
+    gdma_start(tx_channel, (intptr_t)input);
+    gdma_start(rx_channel, (intptr_t)output);
+
+    return ESP_OK;
+}
+
+void esp_crypto_shared_gdma_free()
+{
+    esp_crypto_sha_aes_lock_acquire();
+
+    if (rx_channel != NULL) {
+        gdma_disconnect(rx_channel);
+        gdma_del_channel(rx_channel);
+        rx_channel = NULL;
+    }
+
+    if (tx_channel != NULL) {
+        gdma_disconnect(tx_channel);
+        gdma_del_channel(tx_channel);
+        tx_channel = NULL;
+    }
+
+    esp_crypto_sha_aes_lock_release();
+}
diff --git a/components/mbedtls/port/include/esp_crypto_shared_gdma.h b/components/mbedtls/port/include/esp_crypto_shared_gdma.h
new file mode 100644
index 0000000000..46aa0383b1
--- /dev/null
+++ b/components/mbedtls/port/include/esp_crypto_shared_gdma.h
@@ -0,0 +1,55 @@
+// Copyright 2021 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include "soc/lldesc.h"
+#include "esp_private/gdma.h"
+#include "esp_err.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Start a GDMA transfer on the shared crypto DMA channel
+ *
+ * @note Will allocate a GDMA channel for AES & SHA if no such channel is already allocated
+ *
+ * @param input Input linked list descriptor
+ * @param output Output linked list descriptor
+ * @param peripheral Crypto peripheral to connect the DMA to, either GDMA_TRIG_PERIPH_AES or
+ *                   GDMA_TRIG_PERIPH_SHA
+ * @return esp_err_t ESP_FAIL if no GDMA channel available
+ */
+esp_err_t esp_crypto_shared_gdma_start(const lldesc_t *input, const lldesc_t *output, gdma_trigger_peripheral_t peripheral);
+
+
+/**
+ * @brief Frees any shared crypto DMA channel, if esp_crypto_shared_gdma_start is called after
+ *        this, new GDMA channels will be allocated.
+ *
+ * @note Function is meant to be called from user code, and thus takes AES/SHA lock.
+ *       This means this function should not be called from code which already takes these locks,
+ *       i.e. inside our AES/SHA code.
+ *
+ *       If you are continously using AES/SHA (e.g. because of a wifi connection) then it's not recommended
+ *       to use this API. Freeing the channel is mainly for use cases where you are finished with the crypto peripherals
+ *       and need the DMA channel for other peripherals. An example would be doing some processing after disconnecting WiFi
+ */
+void esp_crypto_shared_gdma_free(void);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/mbedtls/port/sha/dma/esp_sha1.c b/components/mbedtls/port/sha/dma/esp_sha1.c
index 5d22de58f6..91b011f386 100644
--- a/components/mbedtls/port/sha/dma/esp_sha1.c
+++ b/components/mbedtls/port/sha/dma/esp_sha1.c
@@ -47,10 +47,6 @@
 
 #include "sha/sha_dma.h"
 
-#if SOC_SHA_GDMA
-#include "esp_sha_dma_priv.h"
-#endif
-
 /* Implementation that should never be optimized out by the compiler */
 static void mbedtls_zeroize( void *v, size_t n )
 {
@@ -77,10 +73,6 @@ static void mbedtls_zeroize( void *v, size_t n )
 void mbedtls_sha1_init( mbedtls_sha1_context *ctx )
 {
     memset( ctx, 0, sizeof( mbedtls_sha1_context ) );
-
-#if SOC_SHA_GDMA
-    esp_sha_dma_init();
-#endif
 }
 
 void mbedtls_sha1_free( mbedtls_sha1_context *ctx )
@@ -88,10 +80,6 @@ void mbedtls_sha1_free( mbedtls_sha1_context *ctx )
     if ( ctx == NULL ) {
         return;
     }
-#if SOC_SHA_GDMA
-    esp_sha_dma_free();
-#endif
-
     mbedtls_zeroize( ctx, sizeof( mbedtls_sha1_context ) );
 }
 
diff --git a/components/mbedtls/port/sha/dma/esp_sha256.c b/components/mbedtls/port/sha/dma/esp_sha256.c
index 3797cd28f3..307b338498 100644
--- a/components/mbedtls/port/sha/dma/esp_sha256.c
+++ b/components/mbedtls/port/sha/dma/esp_sha256.c
@@ -48,10 +48,6 @@
 
 #include "sha/sha_dma.h"
 
-#if SOC_SHA_GDMA
-#include "esp_sha_dma_priv.h"
-#endif
-
 /* Implementation that should never be optimized out by the compiler */
 static void mbedtls_zeroize( void *v, size_t n )
 {
@@ -87,10 +83,6 @@ do {                                                    \
 void mbedtls_sha256_init( mbedtls_sha256_context *ctx )
 {
     memset( ctx, 0, sizeof( mbedtls_sha256_context ) );
-
-#if SOC_SHA_GDMA
-    esp_sha_dma_init();
-#endif
 }
 
 void mbedtls_sha256_free( mbedtls_sha256_context *ctx )
@@ -99,10 +91,6 @@ void mbedtls_sha256_free( mbedtls_sha256_context *ctx )
         return;
     }
 
-#if SOC_SHA_GDMA
-    esp_sha_dma_free();
-#endif
-
     mbedtls_zeroize( ctx, sizeof( mbedtls_sha256_context ) );
 }
 
diff --git a/components/mbedtls/port/sha/dma/esp_sha512.c b/components/mbedtls/port/sha/dma/esp_sha512.c
index 950c9298bc..fa4465d0f8 100644
--- a/components/mbedtls/port/sha/dma/esp_sha512.c
+++ b/components/mbedtls/port/sha/dma/esp_sha512.c
@@ -54,10 +54,6 @@
 
 #include "sha/sha_dma.h"
 
-#if SOC_SHA_GDMA
-#include "esp_sha_dma_priv.h"
-#endif
-
 /* Implementation that should never be optimized out by the compiler */
 static void mbedtls_zeroize( void *v, size_t n )
 {
@@ -109,10 +105,6 @@ void esp_sha512_set_t( mbedtls_sha512_context *ctx, uint16_t t_val)
 void mbedtls_sha512_init( mbedtls_sha512_context *ctx )
 {
     memset( ctx, 0, sizeof( mbedtls_sha512_context ) );
-
-#if SOC_SHA_GDMA
-    esp_sha_dma_init();
-#endif
 }
 
 void mbedtls_sha512_free( mbedtls_sha512_context *ctx )
@@ -121,10 +113,6 @@ void mbedtls_sha512_free( mbedtls_sha512_context *ctx )
         return;
     }
 
-#if SOC_SHA_GDMA
-    esp_sha_dma_free();
-#endif
-
     mbedtls_zeroize( ctx, sizeof( mbedtls_sha512_context ) );
 }
 
diff --git a/components/mbedtls/port/sha/dma/esp_sha_gdma_impl.c b/components/mbedtls/port/sha/dma/esp_sha_gdma_impl.c
index 31fe219a70..0dc827fec2 100644
--- a/components/mbedtls/port/sha/dma/esp_sha_gdma_impl.c
+++ b/components/mbedtls/port/sha/dma/esp_sha_gdma_impl.c
@@ -11,130 +11,11 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
+
 #include "esp_sha_dma_priv.h"
-
-#include <sys/lock.h>
-
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-
-#include "driver/periph_ctrl.h"
-#include "hal/gdma_ll.h"
-#include "soc/soc_caps.h"
-#include "esp_private/gdma.h"
-#include "esp_log.h"
-
-#define NEW_CHANNEL_TIMEOUT_MS  1000
-#define NEW_CHANNEL_DELAY_MS    100
-
-static const char *TAG = "esp_sha_gdma";
-
-static _lock_t gdma_ch_lock;
-/* For GDMA we allocate and reserve a single DMA pair for sha at esp_sha_init
-   and release it esp_sha_free
-   This is done to avoid the GDMA associated overhead when doing multiple sha transforms in a row.
-
-    The channel is shared between any sha operations that are running in parallel,
-    access will be limited by the peripheral lock
- */
-static uint8_t ref_counts;
-
-/* The GDMA channel is protected from concurrent access by the general sha peripheral lock */
-static gdma_channel_handle_t tx_channel;
-
-/* Allocate a new GDMA channel, will keep trying until NEW_CHANNEL_TIMEOUT_MS */
-static inline esp_err_t esp_sha_gdma_new_channel(gdma_channel_alloc_config_t *channel_config, gdma_channel_handle_t *channel)
-{
-    esp_err_t ret;
-    int time_waited_ms = 0;
-
-    while(1) {
-        ret = gdma_new_channel(channel_config, channel);
-
-        if (ret == ESP_OK) {
-            break;
-        } else if (time_waited_ms >= 1
-        ) {
-            *channel = NULL;
-            break;
-        }
-
-        time_waited_ms += NEW_CHANNEL_DELAY_MS;
-        vTaskDelay(NEW_CHANNEL_DELAY_MS / portTICK_PERIOD_MS);
-    }
-    return ret;
-}
-
-/* Initialize GDMA module and channels */
-static inline void esp_sha_gdma_init(void)
-{
-    esp_err_t ret;
-
-    gdma_channel_alloc_config_t channel_config = {
-        .direction = GDMA_CHANNEL_DIRECTION_TX,
-    };
-
-    ret = esp_sha_gdma_new_channel(&channel_config, &tx_channel);
-    if (ret != ESP_OK) {
-
-        /* mbedtls_sha_init do not have a way of signaling errors to the caller
-        so we set the channel to NULL and detect it in esp_sha_dma_start */
-        ESP_LOGE(TAG, "Failed to acquire DMA channel, Err=0x%X", ret);
-        tx_channel = NULL;
-        return;
-    }
-
-    gdma_connect(tx_channel, GDMA_MAKE_TRIGGER(GDMA_TRIG_PERIPH_SHA, 0));
-}
-
-void esp_sha_dma_init()
-{
-
-    _lock_acquire(&gdma_ch_lock);
-    if (ref_counts == 0) {
-        esp_sha_gdma_init();
-    }
-    ref_counts++;
-    _lock_release(&gdma_ch_lock);
-}
-
-static inline void esp_sha_gdma_free(void)
-{
-    gdma_disconnect(tx_channel);
-    gdma_del_channel(tx_channel);
-    tx_channel = NULL;
-}
-
-void esp_sha_dma_free()
-{
-    _lock_acquire(&gdma_ch_lock);
-    ref_counts--;
-    if (ref_counts == 0) {
-        esp_sha_gdma_free();
-    }
-    _lock_release(&gdma_ch_lock);
-}
-
+#include "esp_crypto_shared_gdma.h"
 
 esp_err_t esp_sha_dma_start(const lldesc_t *input)
 {
-#if SOC_GDMA_SUPPORT_EXTMEM
-    int tx_ch_id = 0;
-#endif //SOC_GDMA_SUPPORT_EXTMEM
-
-    if (!tx_channel) {
-        /* Will happen if no channel was acquired before timeout */
-        return ESP_FAIL;
-    }
-
-#if SOC_GDMA_SUPPORT_EXTMEM
-    gdma_get_channel_id(tx_channel, &tx_ch_id);
-    /* An L2 FIFO bigger than 40 bytes is need when accessing external ram */
-    gdma_ll_tx_extend_fifo_size_to(&GDMA, tx_ch_id, 40);
-    gdma_ll_tx_set_block_size_psram(&GDMA, tx_ch_id, GDMA_OUT_EXT_MEM_BK_SIZE_16B);
-#endif //SOC_GDMA_SUPPORT_EXTMEM
-
-    gdma_start(tx_channel, (intptr_t)input);
-
-    return ESP_OK;
+    return esp_crypto_shared_gdma_start(input, NULL, GDMA_TRIG_PERIPH_SHA);
 }
diff --git a/components/mbedtls/port/sha/dma/include/esp_sha_dma_priv.h b/components/mbedtls/port/sha/dma/include/esp_sha_dma_priv.h
index 6909a6f91e..fdb758fc3c 100644
--- a/components/mbedtls/port/sha/dma/include/esp_sha_dma_priv.h
+++ b/components/mbedtls/port/sha/dma/include/esp_sha_dma_priv.h
@@ -22,27 +22,6 @@
 extern "C" {
 #endif
 
-#if SOC_SHA_GDMA
-
-/**
- * @brief Initialize the GDMA channel
- *
- * @note Allocate and initialize a DMA channel (tx) for the SHA peripheral
- *       Only one channel will be initialized at any given time. If two or more SHA operations are
- *       run in parallel the channel will be shared sequentially.
- *
- */
-void esp_sha_dma_init(void);
-
-/**
- * @brief Free the GDMA channel
- *
- * @note The channel will only be freed if there are no other SHA operations currently using it
- *
- */
-void esp_sha_dma_free(void);
-#endif //SOC_SHA_GDMA
-
 /**
  * @brief Start the DMA engine
  *
diff --git a/components/mbedtls/port/sha/dma/sha.c b/components/mbedtls/port/sha/dma/sha.c
index e17e6ce232..91f098411c 100644
--- a/components/mbedtls/port/sha/dma/sha.c
+++ b/components/mbedtls/port/sha/dma/sha.c
@@ -55,13 +55,11 @@
 #endif
 
 #if SOC_SHA_GDMA
-#define SHA_LOCK() esp_crypto_sha_lock_acquire()
-#define SHA_RELEASE() esp_crypto_sha_lock_release()
+#define SHA_LOCK() esp_crypto_sha_aes_lock_acquire()
+#define SHA_RELEASE() esp_crypto_sha_aes_lock_release()
 #elif SOC_SHA_CRYPTO_DMA
 #define SHA_LOCK() esp_crypto_dma_lock_acquire()
 #define SHA_RELEASE() esp_crypto_dma_lock_release()
-#else
-#define SHA_LOCK() ()
 #endif
 
 const static char *TAG = "esp-sha";
diff --git a/components/mbedtls/test/test_aes_sha_parallel.c b/components/mbedtls/test/test_aes_sha_parallel.c
new file mode 100644
index 0000000000..6b2744d0a7
--- /dev/null
+++ b/components/mbedtls/test/test_aes_sha_parallel.c
@@ -0,0 +1,127 @@
+#include <string.h>
+#include <stdbool.h>
+#include <esp_system.h>
+#include "mbedtls/aes.h"
+#include "mbedtls/sha256.h"
+#include "unity.h"
+#include "sdkconfig.h"
+#include "esp_heap_caps.h"
+#include "test_utils.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+
+static xSemaphoreHandle done_sem;
+
+static const unsigned char *one_hundred_bs =  (unsigned char *)
+        "bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb";
+
+static const uint8_t sha256_thousand_bs[32] = {
+    0xf6, 0xf1, 0x18, 0xe1, 0x20, 0xe5, 0x2b, 0xe0, 0xbd, 0x0c, 0xfd, 0xf2, 0x79, 0x4c, 0xd1, 0x2c, 0x07, 0x68, 0x6c, 0xc8, 0x71, 0x23, 0x5a, 0xc2, 0xf1, 0x14, 0x59, 0x37, 0x8e, 0x6d, 0x23, 0x5b
+};
+
+static void tskRunSHA256Test(void *pvParameters)
+{
+    mbedtls_sha256_context sha256_ctx;
+    unsigned char sha256[32];
+
+    for (int i = 0; i < 1000; i++) {
+
+        mbedtls_sha256_init(&sha256_ctx);
+        TEST_ASSERT_EQUAL(0, mbedtls_sha256_starts_ret(&sha256_ctx, false));
+        for (int j = 0; j < 10; j++) {
+            TEST_ASSERT_EQUAL(0, mbedtls_sha256_update_ret(&sha256_ctx, (unsigned char *)one_hundred_bs, 100));
+        }
+        TEST_ASSERT_EQUAL(0, mbedtls_sha256_finish_ret(&sha256_ctx, sha256));
+        mbedtls_sha256_free(&sha256_ctx);
+        TEST_ASSERT_EQUAL_MEMORY_MESSAGE(sha256_thousand_bs, sha256, 32, "SHA256 calculation");
+    }
+    xSemaphoreGive(done_sem);
+    vTaskDelete(NULL);
+}
+
+
+static void tskRunAES256Test(void *pvParameters)
+{
+    static const uint8_t iv[] = {
+        0x10, 0x0f, 0x0e, 0x0d, 0x0c, 0x0b, 0x0a, 0x09,
+        0x08, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x01,
+    };
+
+    static const uint8_t key_256[] = {
+        0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07,
+        0x08, 0x09, 0x0a, 0x0b, 0x0c, 0x0d, 0x0e, 0x0f,
+        0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17,
+        0x18, 0x19, 0x1a, 0x1b, 0x1c, 0x1d, 0x1e, 0x1f,
+    };
+
+    for (int i = 0; i <1000; i++)
+    {
+        const unsigned SZ = 1600;
+        mbedtls_aes_context ctx;
+        uint8_t nonce[16];
+
+        const uint8_t expected_cipher_end[] = {
+            0x3e, 0x68, 0x8a, 0x02, 0xe6, 0xf2, 0x6a, 0x9e,
+            0x9b, 0xb2, 0xc0, 0xc4, 0x63, 0x63, 0xd9, 0x25,
+            0x51, 0xdc, 0xc2, 0x71, 0x96, 0xb3, 0xe5, 0xcd,
+            0xbd, 0x0e, 0xf2, 0xef, 0xa9, 0xab, 0xab, 0x2d,
+        };
+
+        memcpy(nonce, iv, 16);
+
+        // allocate internal memory
+        uint8_t *chipertext = heap_caps_malloc(SZ, MALLOC_CAP_8BIT|MALLOC_CAP_INTERNAL);
+        uint8_t *plaintext = heap_caps_malloc(SZ, MALLOC_CAP_8BIT|MALLOC_CAP_INTERNAL);
+        uint8_t *decryptedtext = heap_caps_malloc(SZ, MALLOC_CAP_8BIT|MALLOC_CAP_INTERNAL);
+
+        TEST_ASSERT_NOT_NULL(chipertext);
+        TEST_ASSERT_NOT_NULL(plaintext);
+        TEST_ASSERT_NOT_NULL(decryptedtext);
+
+        mbedtls_aes_init(&ctx);
+        mbedtls_aes_setkey_enc(&ctx, key_256, 256);
+
+        memset(plaintext, 0x3A, SZ);
+        memset(decryptedtext, 0x0, SZ);
+
+        // Encrypt
+        mbedtls_aes_crypt_cbc(&ctx, MBEDTLS_AES_ENCRYPT, SZ, nonce, plaintext, chipertext);
+        TEST_ASSERT_EQUAL_HEX8_ARRAY(expected_cipher_end, chipertext + SZ - 32, 32);
+
+        // Decrypt
+        memcpy(nonce, iv, 16);
+        mbedtls_aes_setkey_dec(&ctx, key_256, 256);
+        mbedtls_aes_crypt_cbc(&ctx, MBEDTLS_AES_DECRYPT, SZ, nonce, chipertext, decryptedtext);
+
+        TEST_ASSERT_EQUAL_HEX8_ARRAY(plaintext, decryptedtext, SZ);
+
+        mbedtls_aes_free(&ctx);
+        free(plaintext);
+        free(chipertext);
+        free(decryptedtext);
+    }
+    xSemaphoreGive(done_sem);
+    vTaskDelete(NULL);
+
+}
+
+#include "esp_crypto_shared_gdma.h"
+
+#define TASK_STACK_SIZE (20*1024)
+
+TEST_CASE("mbedtls AES/SHA multithreading", "[mbedtls]")
+{
+    done_sem = xSemaphoreCreateCounting(2, 0);
+
+    xTaskCreate(tskRunSHA256Test, "SHA256Task", TASK_STACK_SIZE, NULL, 3, NULL);
+    xTaskCreate(tskRunAES256Test, "AES256Task", TASK_STACK_SIZE, NULL, 3, NULL);
+
+    for (int i = 0; i < 2; i++) {
+        if (!xSemaphoreTake(done_sem, 10000 / portTICK_PERIOD_MS)) {
+            TEST_FAIL_MESSAGE("done_sem not released by test task");
+        }
+    }
+
+    vSemaphoreDelete(done_sem);
+}
diff --git a/components/soc/esp32s3/include/soc/soc.h b/components/soc/esp32s3/include/soc/soc.h
index 7aaa424cd3..dcc0572303 100644
--- a/components/soc/esp32s3/include/soc/soc.h
+++ b/components/soc/esp32s3/include/soc/soc.h
@@ -261,8 +261,9 @@
 #define SOC_DMA_HIGH 0x3FD00000
 
 // Region of memory accessible via DMA in external memory. See esp_ptr_dma_ext_capable().
-#define SOC_DMA_EXT_LOW     0x3C000000
-#define SOC_DMA_EXT_HIGH    0x3DFFFFFF
+#define SOC_DMA_EXT_LOW     SOC_EXTRAM_DATA_LOW
+#define SOC_DMA_EXT_HIGH    SOC_EXTRAM_DATA_HIGH
+
 
 // Region of memory that is byte-accessible. See esp_ptr_byte_accessible().
 #define SOC_BYTE_ACCESSIBLE_LOW     0x3FC88000