diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
index 224d81239b0..b056d84a6de 100644
--- a/esp-hal/CHANGELOG.md
+++ b/esp-hal/CHANGELOG.md
@@ -171,6 +171,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - SPI transactions are now cancelled if the transfer object (or async Future) is dropped. (#2216)
 - The DMA channel types have been removed from peripherals (#2261)
 - `I2C` driver renamed to `I2c` (#2320)
+- The GPIO pins are now accessible via `Peripherals` and are no longer part of the `Io` struct (#2508)
 
 ### Fixed
 
@@ -215,6 +216,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Removed `esp_hal::spi::slave::WithDmaSpiN` traits (#2260)
 - The `WithDmaAes` trait has been removed (#2261)
 - The `I2s::new_i2s1` constructor has been removed (#2261)
+- `Peripherals.GPIO` has been removed (#2508)
 
 ## [0.20.1] - 2024-08-30
 
diff --git a/esp-hal/MIGRATING-0.21.md b/esp-hal/MIGRATING-0.21.md
index 57460bd8037..9304bddd0b6 100644
--- a/esp-hal/MIGRATING-0.21.md
+++ b/esp-hal/MIGRATING-0.21.md
@@ -1,5 +1,23 @@
 # Migration Guide from 0.21.x to v0.22.x
 
+## IO changes
+
+### GPIO pins are now accessible via `Peripherals`
+
+```diff
+ let peripherals = esp_hal::init(Default::default());
+-let io = Io::new(peripherals.GPIO, peripherals.IOMUX);
+-let pin = io.pins.gpio5;
++let pin = peripherals.GPIO5;
+```
+
+### `Io` constructor changes
+
+- `new_with_priority` and `new_no_bind_interrupts` have been removed.
+  Use `set_priority` to configure the GPIO interrupt priority.
+  We no longer overwrite interrupt handlers set by user code during initialization.
+- `new` no longer takes `peripherals.GPIO`
+
 ## Removed `async`-specific constructors
 
 The following async-specific constuctors have been removed:
diff --git a/esp-hal/src/analog/adc/mod.rs b/esp-hal/src/analog/adc/mod.rs
index b7d4e58d2a8..0f8f76067c5 100644
--- a/esp-hal/src/analog/adc/mod.rs
+++ b/esp-hal/src/analog/adc/mod.rs
@@ -31,13 +31,11 @@
 //! # use esp_hal::analog::adc::Attenuation;
 //! # use esp_hal::analog::adc::Adc;
 //! # use esp_hal::delay::Delay;
-//! # use esp_hal::gpio::Io;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-#![cfg_attr(esp32, doc = "let analog_pin = io.pins.gpio32;")]
-#![cfg_attr(any(esp32s2, esp32s3), doc = "let analog_pin = io.pins.gpio3;")]
+#![cfg_attr(esp32, doc = "let analog_pin = peripherals.GPIO32;")]
+#![cfg_attr(any(esp32s2, esp32s3), doc = "let analog_pin = peripherals.GPIO3;")]
 #![cfg_attr(
     not(any(esp32, esp32s2, esp32s3)),
-    doc = "let analog_pin = io.pins.gpio2;"
+    doc = "let analog_pin = peripherals.GPIO2;"
 )]
 //! let mut adc1_config = AdcConfig::new();
 //! let mut pin = adc1_config.enable_pin(
diff --git a/esp-hal/src/analog/dac.rs b/esp-hal/src/analog/dac.rs
index 8cb1e859db3..246dfa796c0 100644
--- a/esp-hal/src/analog/dac.rs
+++ b/esp-hal/src/analog/dac.rs
@@ -17,14 +17,11 @@
 //! ### Write a value to a DAC channel
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::analog::dac::Dac;
 //! # use esp_hal::delay::Delay;
 //! # use embedded_hal::delay::DelayNs;
-//!
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-#![cfg_attr(esp32, doc = "let dac1_pin = io.pins.gpio25;")]
-#![cfg_attr(esp32s2, doc = "let dac1_pin = io.pins.gpio17;")]
+#![cfg_attr(esp32, doc = "let dac1_pin = peripherals.GPIO25;")]
+#![cfg_attr(esp32s2, doc = "let dac1_pin = peripherals.GPIO17;")]
 //! let mut dac1 = Dac::new(peripherals.DAC1, dac1_pin);
 //!
 //! let mut delay = Delay::new();
diff --git a/esp-hal/src/dma/mod.rs b/esp-hal/src/dma/mod.rs
index 0cfbb2e5269..e88776e423b 100644
--- a/esp-hal/src/dma/mod.rs
+++ b/esp-hal/src/dma/mod.rs
@@ -18,17 +18,15 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::dma_buffers;
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::spi::{master::{Config, Spi}, SpiMode};
 //! # use esp_hal::dma::{Dma, DmaPriority};
 //! let dma = Dma::new(peripherals.DMA);
 #![cfg_attr(any(esp32, esp32s2), doc = "let dma_channel = dma.spi2channel;")]
 #![cfg_attr(not(any(esp32, esp32s2)), doc = "let dma_channel = dma.channel0;")]
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! let sclk = io.pins.gpio0;
-//! let miso = io.pins.gpio2;
-//! let mosi = io.pins.gpio4;
-//! let cs = io.pins.gpio5;
+//! let sclk = peripherals.GPIO0;
+//! let miso = peripherals.GPIO2;
+//! let mosi = peripherals.GPIO4;
+//! let cs = peripherals.GPIO5;
 //!
 //! let mut spi = Spi::new_with_config(
 //!     peripherals.SPI2,
diff --git a/esp-hal/src/etm.rs b/esp-hal/src/etm.rs
index f2c603a67e7..5276eadcccf 100644
--- a/esp-hal/src/etm.rs
+++ b/esp-hal/src/etm.rs
@@ -23,15 +23,13 @@
 //! ## Examples
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::gpio::etm::{Channels, InputConfig, OutputConfig};
 //! # use esp_hal::etm::Etm;
 //! # use esp_hal::gpio::Pull;
 //! # use esp_hal::gpio::Level;
 //!
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! let mut led = io.pins.gpio1;
-//! let button = io.pins.gpio9;
+//! let mut led = peripherals.GPIO1;
+//! let button = peripherals.GPIO9;
 //!
 //! // setup ETM
 //! let gpio_ext = Channels::new(peripherals.GPIO_SD);
diff --git a/esp-hal/src/gpio/etm.rs b/esp-hal/src/gpio/etm.rs
index 1cae2982a79..4ff74e67804 100644
--- a/esp-hal/src/gpio/etm.rs
+++ b/esp-hal/src/gpio/etm.rs
@@ -25,7 +25,6 @@
 //! ### Toggle an LED When a Button is Pressed
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::gpio::etm::Channels;
 //! # use esp_hal::etm::Etm;
 //! # use esp_hal::gpio::etm::InputConfig;
@@ -33,9 +32,8 @@
 //! # use esp_hal::gpio::Pull;
 //! # use esp_hal::gpio::Level;
 //! #
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let mut led = io.pins.gpio1;
-//! # let button = io.pins.gpio9;
+//! # let mut led = peripherals.GPIO1;
+//! # let button = peripherals.GPIO9;
 //!
 //! let gpio_ext = Channels::new(peripherals.GPIO_SD);
 //! let led_task = gpio_ext.channel0_task.toggle(
diff --git a/esp-hal/src/gpio/lp_io.rs b/esp-hal/src/gpio/lp_io.rs
index 4eb849f83c0..947a9efc7e8 100644
--- a/esp-hal/src/gpio/lp_io.rs
+++ b/esp-hal/src/gpio/lp_io.rs
@@ -15,14 +15,15 @@
 //! chip from Deep-sleep.
 //!
 //! # Example
+//!
 //! ## Configure a LP Pin as Output
+//!
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
-//! use esp_hal::gpio::Io;
 //! use esp_hal::gpio::lp_io::LowPowerOutput;
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //! // configure GPIO 1 as LP output pin
-//! let lp_pin: LowPowerOutput<'_, 1> = LowPowerOutput::new(io.pins.gpio1);
+//! let lp_pin: LowPowerOutput<'_, 1> =
+//!     LowPowerOutput::new(peripherals.GPIO1);
 //! # }
 //! ```
 
diff --git a/esp-hal/src/gpio/mod.rs b/esp-hal/src/gpio/mod.rs
index 672021f9df0..c15dacbe529 100644
--- a/esp-hal/src/gpio/mod.rs
+++ b/esp-hal/src/gpio/mod.rs
@@ -18,9 +18,10 @@
 //! GPIO interrupts. For more information, see the
 //! [`Io::set_interrupt_handler`].
 //!
-//! The pins are accessible via [`Io::pins`]. These pins can then be passed to
-//! peripherals (such as SPI, UART, I2C, etc.), to pin drivers or can be
-//! [`GpioPin::split`] into peripheral signals.
+//! The pins are accessible via the [`crate::Peripherals`] struct returned by
+//! [`crate::init`]. These pins can then be passed to peripherals (such as
+//! SPI, UART, I2C, etc.), to pin drivers or can be [`GpioPin::split`] into
+//! peripheral signals.
 //!
 //! Each pin is a different type initially. Internally, `esp-hal` will often
 //! erase their types automatically, but they can also be converted into
@@ -52,8 +53,7 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::gpio::{Io, Level, Output};
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! let mut led = Output::new(io.pins.gpio5, Level::High);
+//! let mut led = Output::new(peripherals.GPIO5, Level::High);
 //! # }
 //! ```
 //! 
@@ -71,11 +71,18 @@
 use portable_atomic::{AtomicPtr, Ordering};
 use procmacros::ram;
 
+#[cfg(any(lp_io, rtc_cntl))]
+use crate::peripherals::gpio::{handle_rtcio, handle_rtcio_with_resistors};
 pub use crate::soc::gpio::*;
 use crate::{
     interrupt::{self, InterruptHandler, Priority},
     peripheral::{Peripheral, PeripheralRef},
-    peripherals::{Interrupt, GPIO, IO_MUX},
+    peripherals::{
+        gpio::{handle_gpio_input, handle_gpio_output, AnyPinInner},
+        Interrupt,
+        GPIO,
+        IO_MUX,
+    },
     private::{self, Sealed},
     InterruptConfigurable,
     DEFAULT_INTERRUPT_HANDLER,
@@ -716,6 +723,9 @@ impl Bank1GpioRegisterAccess {
 /// GPIO pin
 pub struct GpioPin<const GPIONUM: u8>;
 
+/// Type-erased GPIO pin
+pub struct AnyPin(pub(crate) AnyPinInner);
+
 impl<const GPIONUM: u8> GpioPin<GPIONUM>
 where
     Self: Pin,
@@ -813,17 +823,12 @@ pub(crate) fn bind_default_interrupt_handler() {
 /// General Purpose Input/Output driver
 pub struct Io {
     _io_mux: IO_MUX,
-    /// The pins available on this chip
-    pub pins: Pins,
 }
 
 impl Io {
     /// Initialize the I/O driver.
-    pub fn new(_gpio: GPIO, _io_mux: IO_MUX) -> Self {
-        Io {
-            _io_mux,
-            pins: unsafe { Pins::steal() },
-        }
+    pub fn new(_io_mux: IO_MUX) -> Self {
+        Io { _io_mux }
     }
 
     /// Set the interrupt priority for GPIO interrupts.
@@ -911,20 +916,20 @@ macro_rules! if_rtcio_pin {
 #[macro_export]
 macro_rules! io_type {
     (Input, $gpionum:literal) => {
-        impl $crate::gpio::InputPin for GpioPin<$gpionum> {}
+        impl $crate::gpio::InputPin for $crate::gpio::GpioPin<$gpionum> {}
     };
     (Output, $gpionum:literal) => {
-        impl $crate::gpio::OutputPin for GpioPin<$gpionum> {}
+        impl $crate::gpio::OutputPin for $crate::gpio::GpioPin<$gpionum> {}
     };
     (Analog, $gpionum:literal) => {
         // FIXME: the implementation shouldn't be in the GPIO module
         #[cfg(any(esp32c2, esp32c3, esp32c6, esp32h2))]
-        impl $crate::gpio::AnalogPin for GpioPin<$gpionum> {
+        impl $crate::gpio::AnalogPin for $crate::gpio::GpioPin<$gpionum> {
             /// Configures the pin for analog mode.
             fn set_analog(&self, _: $crate::private::Internal) {
                 use $crate::peripherals::GPIO;
 
-                get_io_mux_reg($gpionum).modify(|_, w| unsafe {
+                $crate::gpio::get_io_mux_reg($gpionum).modify(|_, w| unsafe {
                     w.mcu_sel().bits(1);
                     w.fun_ie().clear_bit();
                     w.fun_wpu().clear_bit();
@@ -956,91 +961,70 @@ macro_rules! gpio {
         )+
     ) => {
         paste::paste! {
-            /// Pins available on this chip
-            pub struct Pins {
-                $(
-                    #[doc = concat!("GPIO pin number ", $gpionum, ".")]
-                    pub [< gpio $gpionum >] : GpioPin<$gpionum>,
-                )+
-            }
-
-            impl Pins {
-                /// Unsafely create GPIO pins.
-                ///
-                /// # Safety
-                ///
-                /// The caller must ensure that only one instance of a pin is in use at one time.
-                pub unsafe fn steal() -> Self {
-                    Self {
-                        $(
-                            [< gpio $gpionum >]: GpioPin::steal(),
-                        )+
-                    }
-                }
-            }
-
             $(
                 $(
                     $crate::io_type!($type, $gpionum);
                 )*
 
-                impl $crate::gpio::Pin for GpioPin<$gpionum> {
+                impl $crate::gpio::Pin for $crate::gpio::GpioPin<$gpionum> {
                     fn number(&self) -> u8 {
                         $gpionum
                     }
 
-                    fn degrade_pin(&self, _: $crate::private::Internal) -> AnyPin {
-                        AnyPin($crate::gpio::AnyPinInner::[< Gpio $gpionum >](unsafe { Self::steal() }))
+                    fn degrade_pin(&self, _: $crate::private::Internal) -> $crate::gpio::AnyPin {
+                        $crate::gpio::AnyPin(AnyPinInner::[< Gpio $gpionum >](unsafe { Self::steal() }))
                     }
 
                     fn gpio_bank(&self, _: $crate::private::Internal) -> $crate::gpio::GpioRegisterAccess {
                         $crate::gpio::GpioRegisterAccess::from($gpionum)
                     }
 
-                    fn output_signals(&self, _: $crate::private::Internal) -> &[(AlternateFunction, OutputSignal)] {
+                    fn output_signals(&self, _: $crate::private::Internal) -> &[($crate::gpio::AlternateFunction, $crate::gpio::OutputSignal)] {
                         &[
                             $(
                                 $(
-                                    (AlternateFunction::[< Function $af_output_num >], OutputSignal::$af_output_signal ),
+                                    (
+                                        $crate::gpio::AlternateFunction::[< Function $af_output_num >],
+                                        $crate::gpio::OutputSignal::$af_output_signal
+                                    ),
                                 )*
                             )?
                         ]
                     }
 
-                    fn input_signals(&self, _: $crate::private::Internal) -> &[(AlternateFunction, InputSignal)] {
+                    fn input_signals(&self, _: $crate::private::Internal) -> &[($crate::gpio::AlternateFunction, $crate::gpio::InputSignal)] {
                         &[
                             $(
                                 $(
-                                    (AlternateFunction::[< Function $af_input_num >], InputSignal::$af_input_signal ),
+                                    (
+                                        $crate::gpio::AlternateFunction::[< Function $af_input_num >],
+                                        $crate::gpio::InputSignal::$af_input_signal
+                                    ),
                                 )*
                             )?
                         ]
                     }
                 }
 
-                impl From<GpioPin<$gpionum>> for AnyPin {
-                    fn from(pin: GpioPin<$gpionum>) -> Self {
-                        use $crate::gpio::Pin;
-                        pin.degrade()
+                impl From<$crate::gpio::GpioPin<$gpionum>> for $crate::gpio::AnyPin {
+                    fn from(pin: $crate::gpio::GpioPin<$gpionum>) -> Self {
+                        $crate::gpio::Pin::degrade(pin)
                     }
                 }
             )+
 
             pub(crate) enum AnyPinInner {
                 $(
-                    [<Gpio $gpionum >](GpioPin<$gpionum>),
+                    [<Gpio $gpionum >]($crate::gpio::GpioPin<$gpionum>),
                 )+
             }
 
-            /// Type-erased GPIO pin
-            pub struct AnyPin(pub(crate) AnyPinInner);
-
-            impl $crate::peripheral::Peripheral for AnyPin {
-                type P = AnyPin;
+            impl $crate::peripheral::Peripheral for $crate::gpio::AnyPin {
+                type P = $crate::gpio::AnyPin;
                 unsafe fn clone_unchecked(&self) ->  Self {
                     match self.0 {
                         $(AnyPinInner::[<Gpio $gpionum >](_) => {
-                            Self(AnyPinInner::[< Gpio $gpionum >](unsafe { GpioPin::steal() }))
+                            Self(AnyPinInner::[< Gpio $gpionum >](unsafe { $crate::gpio::GpioPin::steal() }))
                         })+
                     }
                 }
@@ -1049,7 +1033,6 @@ macro_rules! gpio {
             // These macros call the code block on the actually contained GPIO pin.
 
             #[doc(hidden)]
-            #[macro_export]
             macro_rules! handle_gpio_output {
                 ($this:expr, $inner:ident, $code:tt) => {
                     match $this {
@@ -1066,7 +1049,6 @@ macro_rules! gpio {
             }
 
             #[doc(hidden)]
-            #[macro_export]
             macro_rules! handle_gpio_input {
                 ($this:expr, $inner:ident, $code:tt) => {
                     match $this {
@@ -1083,7 +1065,6 @@ macro_rules! gpio {
             cfg_if::cfg_if! {
                 if #[cfg(any(lp_io, rtc_cntl))] {
                     #[doc(hidden)]
-                    #[macro_export]
                     macro_rules! handle_rtcio {
                         ($this:expr, $inner:ident, $code:tt) => {
                             match $this {
@@ -1100,7 +1081,6 @@ macro_rules! gpio {
                     }
 
                     #[doc(hidden)]
-                    #[macro_export]
                     macro_rules! handle_rtcio_with_resistors {
                         ($this:expr, $inner:ident, $code:tt) => {
                             match $this {
diff --git a/esp-hal/src/gpio/rtc_io.rs b/esp-hal/src/gpio/rtc_io.rs
index 2eb87a1714e..beebc37e3d4 100644
--- a/esp-hal/src/gpio/rtc_io.rs
+++ b/esp-hal/src/gpio/rtc_io.rs
@@ -23,10 +23,8 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::gpio::rtc_io::LowPowerOutput;
-//! # use esp_hal::gpio::Io;
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //! // configure GPIO 1 as ULP output pin
-//! let lp_pin = LowPowerOutput::<'static, 1>::new(io.pins.gpio1);
+//! let lp_pin = LowPowerOutput::<'static, 1>::new(peripherals.GPIO1);
 //! # }
 //! ```
 
diff --git a/esp-hal/src/i2c/master/mod.rs b/esp-hal/src/i2c/master/mod.rs
index b6e07e3f97f..681eeab1f5c 100644
--- a/esp-hal/src/i2c/master/mod.rs
+++ b/esp-hal/src/i2c/master/mod.rs
@@ -19,8 +19,6 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::i2c::master::{Config, I2c};
-//! # use esp_hal::gpio::Io;
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //!
 //! // Create a new peripheral object with the described wiring
 //! // and standard I2C clock speed.
@@ -28,8 +26,8 @@
 //!     peripherals.I2C0,
 //!     Config::default(),
 //! )
-//! .with_sda(io.pins.gpio1)
-//! .with_scl(io.pins.gpio2);
+//! .with_sda(peripherals.GPIO1)
+//! .with_scl(peripherals.GPIO2);
 //!
 //! loop {
 //!     let mut data = [0u8; 22];
diff --git a/esp-hal/src/i2s/master.rs b/esp-hal/src/i2s/master.rs
index 6a418b966e8..95a33d62399 100644
--- a/esp-hal/src/i2s/master.rs
+++ b/esp-hal/src/i2s/master.rs
@@ -30,10 +30,8 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::i2s::master::{I2s, Standard, DataFormat};
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::dma_buffers;
 //! # use esp_hal::dma::{Dma, DmaPriority};
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //! let dma = Dma::new(peripherals.DMA);
 #![cfg_attr(any(esp32, esp32s2), doc = "let dma_channel = dma.i2s0channel;")]
 #![cfg_attr(not(any(esp32, esp32s2)), doc = "let dma_channel = dma.channel0;")]
@@ -52,11 +50,11 @@
 //!     rx_descriptors,
 //!     tx_descriptors,
 //! );
-#![cfg_attr(not(esp32), doc = "let i2s = i2s.with_mclk(io.pins.gpio0);")]
+#![cfg_attr(not(esp32), doc = "let i2s = i2s.with_mclk(peripherals.GPIO0);")]
 //! let mut i2s_rx = i2s.i2s_rx
-//!     .with_bclk(io.pins.gpio1)
-//!     .with_ws(io.pins.gpio2)
-//!     .with_din(io.pins.gpio5)
+//!     .with_bclk(peripherals.GPIO1)
+//!     .with_ws(peripherals.GPIO2)
+//!     .with_din(peripherals.GPIO5)
 //!     .build();
 //!
 //! let mut transfer = i2s_rx.read_dma_circular(&mut rx_buffer).unwrap();
diff --git a/esp-hal/src/lcd_cam/cam.rs b/esp-hal/src/lcd_cam/cam.rs
index 5cb3b9cf263..5125d8b343d 100644
--- a/esp-hal/src/lcd_cam/cam.rs
+++ b/esp-hal/src/lcd_cam/cam.rs
@@ -16,12 +16,10 @@
 //! master mode.
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::lcd_cam::{cam::{Camera, RxEightBits}, LcdCam};
 //! # use fugit::RateExtU32;
 //! # use esp_hal::dma_rx_stream_buffer;
 //! # use esp_hal::dma::{Dma, DmaPriority};
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //!
 //! # let dma = Dma::new(peripherals.DMA);
 //! # let channel = dma.channel0;
@@ -33,19 +31,19 @@
 //! #     DmaPriority::Priority0,
 //! # );
 //!
-//! let mclk_pin = io.pins.gpio15;
-//! let vsync_pin = io.pins.gpio6;
-//! let href_pin = io.pins.gpio7;
-//! let pclk_pin = io.pins.gpio13;
+//! let mclk_pin = peripherals.GPIO15;
+//! let vsync_pin = peripherals.GPIO6;
+//! let href_pin = peripherals.GPIO7;
+//! let pclk_pin = peripherals.GPIO13;
 //! let data_pins = RxEightBits::new(
-//!     io.pins.gpio11,
-//!     io.pins.gpio9,
-//!     io.pins.gpio8,
-//!     io.pins.gpio10,
-//!     io.pins.gpio12,
-//!     io.pins.gpio18,
-//!     io.pins.gpio17,
-//!     io.pins.gpio16,
+//!     peripherals.GPIO11,
+//!     peripherals.GPIO9,
+//!     peripherals.GPIO8,
+//!     peripherals.GPIO10,
+//!     peripherals.GPIO12,
+//!     peripherals.GPIO18,
+//!     peripherals.GPIO17,
+//!     peripherals.GPIO16,
 //! );
 //!
 //! let lcd_cam = LcdCam::new(peripherals.LCD_CAM);
diff --git a/esp-hal/src/lcd_cam/lcd/i8080.rs b/esp-hal/src/lcd_cam/lcd/i8080.rs
index 754c5f0e413..109b658aa39 100644
--- a/esp-hal/src/lcd_cam/lcd/i8080.rs
+++ b/esp-hal/src/lcd_cam/lcd/i8080.rs
@@ -15,11 +15,9 @@
 //!
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::lcd_cam::{LcdCam, lcd::i8080::{Config, I8080, TxEightBits}};
 //! # use esp_hal::dma_tx_buffer;
 //! # use esp_hal::dma::{Dma, DmaPriority, DmaTxBuf};
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //!
 //! # let dma = Dma::new(peripherals.DMA);
 //! # let channel = dma.channel0;
@@ -32,14 +30,14 @@
 //! # );
 //!
 //! let tx_pins = TxEightBits::new(
-//!     io.pins.gpio9,
-//!     io.pins.gpio46,
-//!     io.pins.gpio3,
-//!     io.pins.gpio8,
-//!     io.pins.gpio18,
-//!     io.pins.gpio17,
-//!     io.pins.gpio16,
-//!     io.pins.gpio15,
+//!     peripherals.GPIO9,
+//!     peripherals.GPIO46,
+//!     peripherals.GPIO3,
+//!     peripherals.GPIO8,
+//!     peripherals.GPIO18,
+//!     peripherals.GPIO17,
+//!     peripherals.GPIO16,
+//!     peripherals.GPIO15,
 //! );
 //! let lcd_cam = LcdCam::new(peripherals.LCD_CAM);
 //!
@@ -50,7 +48,7 @@
 //!     20.MHz(),
 //!     Config::default(),
 //! )
-//! .with_ctrl_pins(io.pins.gpio0, io.pins.gpio47);
+//! .with_ctrl_pins(peripherals.GPIO0, peripherals.GPIO47);
 //!
 //! dma_buf.fill(&[0x55]);
 //! let transfer = i8080.send(0x3Au8, 0, dma_buf).unwrap(); // RGB565
diff --git a/esp-hal/src/ledc/mod.rs b/esp-hal/src/ledc/mod.rs
index 3b0a61cfefc..54797a42880 100644
--- a/esp-hal/src/ledc/mod.rs
+++ b/esp-hal/src/ledc/mod.rs
@@ -29,9 +29,7 @@
 //! # use esp_hal::ledc::timer;
 //! # use esp_hal::ledc::LowSpeed;
 //! # use esp_hal::ledc::channel;
-//! # use esp_hal::gpio::Io;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let led = io.pins.gpio0;
+//! # let led = peripherals.GPIO0;
 //!
 //! let mut ledc = Ledc::new(peripherals.LEDC);
 //! ledc.set_global_slow_clock(LSGlobalClkSource::APBClk);
diff --git a/esp-hal/src/lib.rs b/esp-hal/src/lib.rs
index f0c28132f68..21e2c6cd0cc 100644
--- a/esp-hal/src/lib.rs
+++ b/esp-hal/src/lib.rs
@@ -81,8 +81,7 @@
 //!     });
 //!
 //!     // Set GPIO0 as an output, and set its state high initially.
-//!     let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//!     let mut led = Output::new(io.pins.gpio0, Level::High);
+//!     let mut led = Output::new(peripherals.GPIO0, Level::High);
 //!
 //!     let delay = Delay::new();
 //!
diff --git a/esp-hal/src/mcpwm/mod.rs b/esp-hal/src/mcpwm/mod.rs
index a4907be376f..dc981794a96 100644
--- a/esp-hal/src/mcpwm/mod.rs
+++ b/esp-hal/src/mcpwm/mod.rs
@@ -52,10 +52,7 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::mcpwm::{operator::{DeadTimeCfg, PWMStream, PwmPinConfig}, timer::PwmWorkingMode, McPwm, PeripheralClockConfig};
-//! # use esp_hal::gpio::Io;
-//!
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let pin = io.pins.gpio0;
+//! # let pin = peripherals.GPIO0;
 //!
 //! // initialize peripheral
 #![cfg_attr(
diff --git a/esp-hal/src/mcpwm/operator.rs b/esp-hal/src/mcpwm/operator.rs
index 6bb4e3e366e..5edbb02ccb4 100644
--- a/esp-hal/src/mcpwm/operator.rs
+++ b/esp-hal/src/mcpwm/operator.rs
@@ -479,8 +479,6 @@ impl<PWM: PwmPeripheral, const OP: u8, const IS_A: bool> embedded_hal::pwm::SetD
 /// # use esp_hal::{mcpwm, prelude::*};
 /// # use esp_hal::mcpwm::{McPwm, PeripheralClockConfig};
 /// # use esp_hal::mcpwm::operator::{DeadTimeCfg, PwmPinConfig, PWMStream};
-/// # use esp_hal::gpio::Io;
-/// # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 /// // active high complementary using PWMA input
 /// let bridge_active = DeadTimeCfg::new_ahc();
 /// // use PWMB as input for both outputs
@@ -497,9 +495,9 @@ impl<PWM: PwmPeripheral, const OP: u8, const IS_A: bool> embedded_hal::pwm::SetD
 /// let mut mcpwm = McPwm::new(peripherals.MCPWM0, clock_cfg);
 ///
 /// let mut pins = mcpwm.operator0.with_linked_pins(
-///     io.pins.gpio0,
+///     peripherals.GPIO0,
 ///     PwmPinConfig::UP_DOWN_ACTIVE_HIGH, // use PWMA as our main input
-///     io.pins.gpio1,
+///     peripherals.GPIO1,
 ///     PwmPinConfig::EMPTY, // keep PWMB "low"
 ///     bridge_off,
 /// );
diff --git a/esp-hal/src/peripheral.rs b/esp-hal/src/peripheral.rs
index 6883d2caecc..c2c10a417fe 100644
--- a/esp-hal/src/peripheral.rs
+++ b/esp-hal/src/peripheral.rs
@@ -121,14 +121,14 @@ impl<T> DerefMut for PeripheralRef<'_, T> {
 /// live forever (`'static`):
 ///
 /// ```rust, ignore
-/// let mut uart: Uart<'static, ...> = Uart::new(p.UART0, pins.gpio0, pins.gpio1);
+/// let mut uart: Uart<'static, ...> = Uart::new(p.UART0, p.GPIO0, p.GPIO1);
 /// ```
 ///
 /// Or you may call it with borrowed peripherals, which yields an instance that
 /// can only live for as long as the borrows last:
 ///
 /// ```rust, ignore
-/// let mut uart: Uart<'_, ...> = Uart::new(&mut p.UART0, &mut pins.gpio0, &mut pins.gpio1);
+/// let mut uart: Uart<'_, ...> = Uart::new(&mut p.UART0, &mut p.GPIO0, &mut p.GPIO1);
 /// ```
 ///
 /// # Implementation details, for HAL authors
@@ -222,9 +222,14 @@ mod peripheral_macros {
     #[macro_export]
     macro_rules! peripherals {
         (
-            $(
-                $name:ident <= $from_pac:tt $(($($interrupt:ident),*))?
-            ), *$(,)?
+            peripherals: [
+                $(
+                    $name:ident <= $from_pac:tt $(($($interrupt:ident),*))?
+                ), *$(,)?
+            ],
+            pins: [
+                $( ( $pin:literal, $($pin_tokens:tt)* ) )*
+            ]
         ) => {
 
             /// Contains the generated peripherals which implement [`Peripheral`]
@@ -235,42 +240,59 @@ mod peripheral_macros {
                 )*
             }
 
-            /// The `Peripherals` struct provides access to all of the hardware peripherals on the chip.
-            #[allow(non_snake_case)]
-            pub struct Peripherals {
-                $(
-                    /// Each field represents a hardware peripheral.
-                    pub $name: peripherals::$name,
-                )*
+            pub(crate) mod gpio {
+                $crate::gpio! {
+                    $( ($pin, $($pin_tokens)* ) )*
+                }
             }
 
-            impl Peripherals {
-                /// Returns all the peripherals *once*
-                #[inline]
-                pub(crate) fn take() -> Self {
-                    #[no_mangle]
-                    static mut _ESP_HAL_DEVICE_PERIPHERALS: bool = false;
-
-                    critical_section::with(|_| unsafe {
-                        if _ESP_HAL_DEVICE_PERIPHERALS {
-                            panic!("init called more than once!")
-                        }
-                        _ESP_HAL_DEVICE_PERIPHERALS = true;
-                        Self::steal()
-                    })
+            paste::paste! {
+                /// The `Peripherals` struct provides access to all of the hardware peripherals on the chip.
+                #[allow(non_snake_case)]
+                pub struct Peripherals {
+                    $(
+                        #[doc = concat!("The ", stringify!($name), " peripheral.")]
+                        pub $name: peripherals::$name,
+                    )*
+
+                    $(
+                        #[doc = concat!("GPIO", stringify!($pin))]
+                        pub [<GPIO $pin>]: $crate::gpio::GpioPin<$pin>,
+                    )*
                 }
 
-                /// Unsafely create an instance of this peripheral out of thin air.
-                ///
-                /// # Safety
-                ///
-                /// You must ensure that you're only using one instance of this type at a time.
-                #[inline]
-                pub unsafe fn steal() -> Self {
-                    Self {
-                        $(
-                            $name: peripherals::$name::steal(),
-                        )*
+                impl Peripherals {
+                    /// Returns all the peripherals *once*
+                    #[inline]
+                    pub(crate) fn take() -> Self {
+                        #[no_mangle]
+                        static mut _ESP_HAL_DEVICE_PERIPHERALS: bool = false;
+
+                        critical_section::with(|_| unsafe {
+                            if _ESP_HAL_DEVICE_PERIPHERALS {
+                                panic!("init called more than once!")
+                            }
+                            _ESP_HAL_DEVICE_PERIPHERALS = true;
+                            Self::steal()
+                        })
+                    }
+
+                    /// Unsafely create an instance of this peripheral out of thin air.
+                    ///
+                    /// # Safety
+                    ///
+                    /// You must ensure that you're only using one instance of this type at a time.
+                    #[inline]
+                    pub unsafe fn steal() -> Self {
+                        Self {
+                            $(
+                                $name: peripherals::$name::steal(),
+                            )*
+
+                            $(
+                                [<GPIO $pin>]: $crate::gpio::GpioPin::<$pin>::steal(),
+                            )*
+                        }
                     }
                 }
             }
@@ -294,8 +316,7 @@ mod peripheral_macros {
                     }
                 )*
             )*
-
-        }
+        };
     }
 
     #[doc(hidden)]
diff --git a/esp-hal/src/rmt.rs b/esp-hal/src/rmt.rs
index 984d621cf54..ef6f4b1063a 100644
--- a/esp-hal/src/rmt.rs
+++ b/esp-hal/src/rmt.rs
@@ -54,16 +54,14 @@
 //! # use esp_hal::peripherals::Peripherals;
 //! # use esp_hal::rmt::TxChannelConfig;
 //! # use esp_hal::rmt::Rmt;
-//! # use esp_hal::gpio::Io;
 //! # use crate::esp_hal::rmt::TxChannelCreator;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 #![cfg_attr(esp32h2, doc = "let freq = 32.MHz();")]
 #![cfg_attr(not(esp32h2), doc = "let freq = 80.MHz();")]
 //! let rmt = Rmt::new(peripherals.RMT, freq).unwrap();
 //! let mut channel = rmt
 //!     .channel0
 //!     .configure(
-//!         io.pins.gpio1,
+//!         peripherals.GPIO1,
 //!         TxChannelConfig {
 //!             clk_divider: 1,
 //!             idle_output_level: false,
diff --git a/esp-hal/src/rng.rs b/esp-hal/src/rng.rs
index d0875012a13..6266b9fddc9 100644
--- a/esp-hal/src/rng.rs
+++ b/esp-hal/src/rng.rs
@@ -138,9 +138,7 @@ impl rand_core::RngCore for Rng {
 /// # use esp_hal::peripherals::Peripherals;
 /// # use esp_hal::peripherals::ADC1;
 /// # use esp_hal::analog::adc::{AdcConfig, Attenuation, Adc};
-/// # use esp_hal::gpio::Io;
 ///
-/// let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 /// let mut buf = [0u8; 16];
 ///
 /// // ADC is not available from now
@@ -149,13 +147,15 @@ impl rand_core::RngCore for Rng {
 /// let mut true_rand = trng.random();
 /// let mut rng = trng.downgrade();
 /// // ADC is available now
-#[cfg_attr(esp32, doc = "let analog_pin = io.pins.gpio32;")]
-#[cfg_attr(not(esp32), doc = "let analog_pin = io.pins.gpio3;")]
+#[cfg_attr(esp32, doc = "let analog_pin = peripherals.GPIO32;")]
+#[cfg_attr(not(esp32), doc = "let analog_pin = peripherals.GPIO3;")]
 /// let mut adc1_config = AdcConfig::new();
-/// let mut adc1_pin = adc1_config.enable_pin(analog_pin,
-/// Attenuation::Attenuation11dB); let mut adc1 =
-/// Adc::<ADC1>::new(peripherals.ADC1, adc1_config); let pin_value: u16 =
-/// nb::block!(adc1.read_oneshot(&mut adc1_pin)).unwrap();
+/// let mut adc1_pin = adc1_config.enable_pin(
+///     analog_pin,
+///     Attenuation::Attenuation11dB
+/// );
+/// let mut adc1 = Adc::<ADC1>::new(peripherals.ADC1, adc1_config);
+/// let pin_value: u16 = nb::block!(adc1.read_oneshot(&mut adc1_pin)).unwrap();
 /// rng.read(&mut buf);
 /// true_rand = rng.random();
 /// let pin_value: u16 = nb::block!(adc1.read_oneshot(&mut adc1_pin)).unwrap();
diff --git a/esp-hal/src/rom/md5.rs b/esp-hal/src/rom/md5.rs
index 985334104d0..1eb3e9a7480 100644
--- a/esp-hal/src/rom/md5.rs
+++ b/esp-hal/src/rom/md5.rs
@@ -32,11 +32,9 @@
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::rom::md5;
 //! # use esp_hal::uart::Uart;
-//! # use esp_hal::gpio::Io;
 //! # use core::writeln;
 //! # use core::fmt::Write;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let mut uart0 = Uart::new(peripherals.UART0, io.pins.gpio1, io.pins.gpio2).unwrap();
+//! # let mut uart0 = Uart::new(peripherals.UART0, peripherals.GPIO1, peripherals.GPIO2).unwrap();
 //! # let data = "Dummy";
 //! let d: md5::Digest = md5::compute(&data);
 //! writeln!(uart0, "{}", d);
@@ -48,11 +46,9 @@
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::rom::md5;
 //! # use esp_hal::uart::Uart;
-//! # use esp_hal::gpio::Io;
 //! # use core::writeln;
 //! # use core::fmt::Write;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let mut uart0 = Uart::new(peripherals.UART0, io.pins.gpio1, io.pins.gpio2).unwrap();
+//! # let mut uart0 = Uart::new(peripherals.UART0, peripherals.GPIO1, peripherals.GPIO2).unwrap();
 //! # let data0 = "Dummy";
 //! # let data1 = "Dummy";
 //! #
diff --git a/esp-hal/src/rtc_cntl/sleep/esp32c6.rs b/esp-hal/src/rtc_cntl/sleep/esp32c6.rs
index 19e737c487c..4692513c992 100644
--- a/esp-hal/src/rtc_cntl/sleep/esp32c6.rs
+++ b/esp-hal/src/rtc_cntl/sleep/esp32c6.rs
@@ -3,7 +3,7 @@ use core::ops::Not;
 use crate::{
     clock::Clock,
     efuse::Efuse,
-    gpio::{Pins, RtcFunction},
+    gpio::RtcFunction,
     rtc_cntl::{
         rtc::{
             rtc_clk_cpu_freq_set_xtal,
@@ -71,10 +71,10 @@ impl Ext1WakeupSource<'_, '_> {
         unsafe { lp_aon().ext_wakeup_cntl().read().ext_wakeup_sel().bits() }
     }
 
-    fn wake_io_reset(pins: &mut Pins) {
-        use crate::gpio::RtcPin;
+    fn wake_io_reset() {
+        use crate::gpio::{GpioPin, RtcPin};
 
-        fn uninit_pin(pin: &mut impl RtcPin, wakeup_pins: u8) {
+        fn uninit_pin(mut pin: impl RtcPin, wakeup_pins: u8) {
             if wakeup_pins & (1 << pin.number()) != 0 {
                 pin.rtcio_pad_hold(false);
                 pin.rtc_set_config(false, false, RtcFunction::Rtc);
@@ -82,14 +82,14 @@ impl Ext1WakeupSource<'_, '_> {
         }
 
         let wakeup_pins = Ext1WakeupSource::wakeup_pins();
-        uninit_pin(&mut pins.gpio0, wakeup_pins);
-        uninit_pin(&mut pins.gpio1, wakeup_pins);
-        uninit_pin(&mut pins.gpio2, wakeup_pins);
-        uninit_pin(&mut pins.gpio3, wakeup_pins);
-        uninit_pin(&mut pins.gpio4, wakeup_pins);
-        uninit_pin(&mut pins.gpio5, wakeup_pins);
-        uninit_pin(&mut pins.gpio6, wakeup_pins);
-        uninit_pin(&mut pins.gpio7, wakeup_pins);
+        uninit_pin(unsafe { GpioPin::<0>::steal() }, wakeup_pins);
+        uninit_pin(unsafe { GpioPin::<1>::steal() }, wakeup_pins);
+        uninit_pin(unsafe { GpioPin::<2>::steal() }, wakeup_pins);
+        uninit_pin(unsafe { GpioPin::<3>::steal() }, wakeup_pins);
+        uninit_pin(unsafe { GpioPin::<4>::steal() }, wakeup_pins);
+        uninit_pin(unsafe { GpioPin::<5>::steal() }, wakeup_pins);
+        uninit_pin(unsafe { GpioPin::<6>::steal() }, wakeup_pins);
+        uninit_pin(unsafe { GpioPin::<7>::steal() }, wakeup_pins);
     }
 }
 
@@ -898,15 +898,7 @@ impl RtcSleepConfig {
 
     fn wake_io_reset() {
         // loosely based on esp_deep_sleep_wakeup_io_reset
-
-        let mut pins = unsafe {
-            // We're stealing pins to do some uninitialization after waking up from
-            // deep sleep. We have to be careful to only touch settings that were enabled
-            // by deep sleep setup.
-            Pins::steal()
-        };
-
-        Ext1WakeupSource::wake_io_reset(&mut pins);
+        Ext1WakeupSource::wake_io_reset();
     }
 
     /// Finalize power-down flags, apply configuration based on the flags.
diff --git a/esp-hal/src/soc/esp32/efuse/mod.rs b/esp-hal/src/soc/esp32/efuse/mod.rs
index 79773ff0ddd..ff59b537f9e 100644
--- a/esp-hal/src/soc/esp32/efuse/mod.rs
+++ b/esp-hal/src/soc/esp32/efuse/mod.rs
@@ -24,12 +24,10 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::efuse::Efuse;
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::uart::Uart;
 //! # use core::writeln;
 //! # use core::fmt::Write;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let mut serial_tx = Uart::new(peripherals.UART0, io.pins.gpio4, io.pins.gpio5).unwrap();
+//! # let mut serial_tx = Uart::new(peripherals.UART0, peripherals.GPIO4, peripherals.GPIO5).unwrap();
 //! let mac_address = Efuse::read_base_mac_address();
 //! writeln!(
 //!     serial_tx,
diff --git a/esp-hal/src/soc/esp32/gpio.rs b/esp-hal/src/soc/esp32/gpio.rs
index b2e34a52ff3..9a7f8449fff 100644
--- a/esp-hal/src/soc/esp32/gpio.rs
+++ b/esp-hal/src/soc/esp32/gpio.rs
@@ -536,7 +536,7 @@ macro_rules! rtcio_analog {
     (
         $pin_num:expr, $rtc_pin:expr, $pin_reg:expr, $prefix:pat, $hold:ident $(, $rue:literal)?
     ) => {
-        impl $crate::gpio::RtcPin for GpioPin<$pin_num> {
+        impl $crate::gpio::RtcPin for $crate::gpio::GpioPin<$pin_num> {
             fn rtc_number(&self) -> u8 {
                 $rtc_pin
             }
@@ -565,7 +565,7 @@ macro_rules! rtcio_analog {
         $(
             // FIXME: replace with $(ignore($rue)) once stable
             rtcio_analog!(@ignore $rue);
-            impl $crate::gpio::RtcPinWithResistors for GpioPin<$pin_num> {
+            impl $crate::gpio::RtcPinWithResistors for $crate::gpio::GpioPin<$pin_num> {
                 fn rtcio_pullup(&mut self, enable: bool) {
                     paste::paste! {
                         unsafe { $crate::peripherals::RTC_IO::steal() }
@@ -582,7 +582,7 @@ macro_rules! rtcio_analog {
             }
         )?
 
-        impl $crate::gpio::AnalogPin for GpioPin<$pin_num> {
+        impl $crate::gpio::AnalogPin for $crate::gpio::GpioPin<$pin_num> {
             /// Configures the pin for analog mode.
             fn set_analog(&self, _: $crate::private::Internal) {
                 use $crate::gpio::RtcPin;
@@ -629,7 +629,7 @@ macro_rules! rtcio_analog {
             rtcio_analog!($pin_num, $rtc_pin, $pin_reg, $prefix, $hold $(, $rue )?);
         )+
 
-        pub(crate) fn errata36(mut pin: AnyPin, pull_up: bool, pull_down: bool) {
+        pub(crate) fn errata36(mut pin: $crate::gpio::AnyPin, pull_up: bool, pull_down: bool) {
             use $crate::gpio::{Pin, RtcPinWithResistors};
 
             let has_pullups = match pin.number() {
@@ -744,45 +744,6 @@ macro_rules! touch {
     };
 }
 
-crate::gpio! {
-    (0, [Input, Output, Analog, RtcIo, Touch] (5 => EMAC_TX_CLK) (1 => CLK_OUT1))
-    (1, [Input, Output] (5 => EMAC_RXD2) (0 => U0TXD 1 => CLK_OUT3))
-    (2, [Input, Output, Analog, RtcIo, Touch] (1 => HSPIWP 3 => HS2_DATA0 4 => SD_DATA0) (3 => HS2_DATA0 4 => SD_DATA0))
-    (3, [Input, Output] (0 => U0RXD) (1 => CLK_OUT2))
-    (4, [Input, Output, Analog, RtcIo, Touch] (1 => HSPIHD 3 => HS2_DATA1 4 => SD_DATA1 5 => EMAC_TX_ER) (3 => HS2_DATA1 4 => SD_DATA1))
-    (5, [Input, Output] (1 => VSPICS0 3 => HS1_DATA6 5 => EMAC_RX_CLK) (3 => HS1_DATA6))
-    (6, [Input, Output] (4 => U1CTS) (0 => SD_CLK 1 => SPICLK 3 => HS1_CLK))
-    (7, [Input, Output] (0 => SD_DATA0 1 => SPIQ 3 => HS1_DATA0) (0 => SD_DATA0 1 => SPIQ 3 => HS1_DATA0 4 => U2RTS))
-    (8, [Input, Output] (0 => SD_DATA1 1 => SPID 3 => HS1_DATA1 4 => U2CTS) (0 => SD_DATA1 1 => SPID 3 => HS1_DATA1))
-    (9, [Input, Output] (0 => SD_DATA2 1 => SPIHD 3 => HS1_DATA2 4 => U1RXD) (0 => SD_DATA2 1 => SPIHD 3 => HS1_DATA2))
-    (10, [Input, Output] ( 0 => SD_DATA3 1 => SPIWP 3 => HS1_DATA3) (0 => SD_DATA3 1 => SPIWP 3 => HS1_DATA3 4 => U1TXD))
-    (11, [Input, Output] ( 1 => SPICS0) (0 => SD_CMD 1 => SPICS0 3 => HS1_CMD 4 => U1RTS))
-    (12, [Input, Output, Analog, RtcIo, Touch] (0 => MTDI 1 => HSPIQ 3 => HS2_DATA2 4 => SD_DATA2) (1 => HSPIQ 3 => HS2_DATA2 4 => SD_DATA2 5 => EMAC_TXD3))
-    (13, [Input, Output, Analog, RtcIo, Touch] (0 => MTCK 1 => HSPID 3 => HS2_DATA3 4 => SD_DATA3) (1 => HSPID 3 => HS2_DATA3 4 => SD_DATA3 5 => EMAC_RX_ER))
-    (14, [Input, Output, Analog, RtcIo, Touch] (0 => MTMS 1 => HSPICLK) (1 => HSPICLK 3 => HS2_CLK 4 => SD_CLK 5 => EMAC_TXD2))
-    (15, [Input, Output, Analog, RtcIo, Touch] (1 => HSPICS0 5 => EMAC_RXD3) (0 => MTDO 1 => HSPICS0 3 => HS2_CMD 4 => SD_CMD))
-    (16, [Input, Output] (3 => HS1_DATA4 4 => U2RXD) (3 => HS1_DATA4 5 => EMAC_CLK_OUT))
-    (17, [Input, Output] (3 => HS1_DATA5) (3 => HS1_DATA5 4 => U2TXD 5 => EMAC_CLK_180))
-    (18, [Input, Output] (1 => VSPICLK 3 => HS1_DATA7) (1 => VSPICLK 3 => HS1_DATA7))
-    (19, [Input, Output] (1 => VSPIQ 3 => U0CTS) (1 => VSPIQ 5 => EMAC_TXD0))
-    (20, [Input, Output])
-    (21, [Input, Output] (1 => VSPIHD) (1 => VSPIHD 5 => EMAC_TX_EN))
-    (22, [Input, Output] (1 => VSPIWP) (1 => VSPIWP 3 => U0RTS 5 => EMAC_TXD1))
-    (23, [Input, Output] (1 => VSPID) (1 => VSPID 3 => HS1_STROBE))
-    (24, [Input, Output])
-    (25, [Input, Output, Analog, RtcIo] (5 => EMAC_RXD0) ())
-    (26, [Input, Output, Analog, RtcIo] (5 => EMAC_RXD1) ())
-    (27, [Input, Output, Analog, RtcIo, Touch] (5 => EMAC_RX_DV) ())
-    (32, [Input, Output, Analog, RtcIo, Touch])
-    (33, [Input, Output, Analog, RtcIo, Touch])
-    (34, [Input, Analog, RtcIoInput])
-    (35, [Input, Analog, RtcIoInput])
-    (36, [Input, Analog, RtcIoInput])
-    (37, [Input, Analog, RtcIoInput])
-    (38, [Input, Analog, RtcIoInput])
-    (39, [Input, Analog, RtcIoInput])
-}
-
 rtcio_analog! {
     (36, 0,  sensor_pads(),    sense1_, sense1_hold_force          )
     (37, 1,  sensor_pads(),    sense2_, sense2_hold_force          )
diff --git a/esp-hal/src/soc/esp32/peripherals.rs b/esp-hal/src/soc/esp32/peripherals.rs
index ab9b31ce6d1..2bfa72fc05e 100644
--- a/esp-hal/src/soc/esp32/peripherals.rs
+++ b/esp-hal/src/soc/esp32/peripherals.rs
@@ -20,58 +20,97 @@ pub(crate) use self::peripherals::*;
 // peripheral (no `PSRAM`, `RADIO`, etc. peripheral in the PACs), so we're
 // creating "virtual peripherals" for them.
 crate::peripherals! {
-    ADC1 <= virtual,
-    ADC2 <= virtual,
-    AES <= AES,
-    APB_CTRL <= APB_CTRL,
-    BB <= BB,
-    BT <= virtual,
-    CPU_CTRL <= virtual,
-    DAC1 <= virtual,
-    DAC2 <= virtual,
-    DMA <= virtual,
-    EFUSE <= EFUSE,
-    FLASH_ENCRYPTION <= FLASH_ENCRYPTION,
-    FRC_TIMER <= FRC_TIMER,
-    GPIO <= GPIO (GPIO,GPIO_NMI),
-    GPIO_SD <= GPIO_SD,
-    HINF <= HINF,
-    I2C0 <= I2C0,
-    I2C1 <= I2C1,
-    I2S0 <= I2S0 (I2S0),
-    I2S1 <= I2S1 (I2S1),
-    IO_MUX <= IO_MUX,
-    LEDC <= LEDC,
-    MCPWM0 <= MCPWM0,
-    MCPWM1 <= MCPWM1,
-    NRX <= NRX,
-    PCNT <= PCNT,
-    PSRAM <= virtual,
-    RMT <= RMT,
-    RNG <= RNG,
-    RSA <= RSA,
-    LPWR <= RTC_CNTL,
-    RADIO_CLK <= virtual,
-    RTC_IO <= RTC_IO,
-    RTC_I2C <= RTC_I2C,
-    SDHOST <= SDHOST,
-    SHA <= SHA,
-    SLC <= SLC,
-    SLCHOST <= SLCHOST,
-    SPI0 <= SPI0,
-    SPI1 <= SPI1,
-    SPI2 <= SPI2 (SPI2_DMA, SPI2),
-    SPI3 <= SPI3 (SPI3_DMA, SPI3),
-    SYSTEM <= DPORT,
-    SW_INTERRUPT <= virtual,
-    TIMG0 <= TIMG0,
-    TIMG1 <= TIMG1,
-    TOUCH <= virtual,
-    TWAI0 <= TWAI0,
-    UART0 <= UART0,
-    UART1 <= UART1,
-    UART2 <= UART2,
-    UHCI0 <= UHCI0,
-    UHCI1 <= UHCI1,
-    WIFI <= virtual,
+    peripherals: [
+        ADC1 <= virtual,
+        ADC2 <= virtual,
+        AES <= AES,
+        APB_CTRL <= APB_CTRL,
+        BB <= BB,
+        BT <= virtual,
+        CPU_CTRL <= virtual,
+        DAC1 <= virtual,
+        DAC2 <= virtual,
+        DMA <= virtual,
+        EFUSE <= EFUSE,
+        FLASH_ENCRYPTION <= FLASH_ENCRYPTION,
+        FRC_TIMER <= FRC_TIMER,
+        GPIO_SD <= GPIO_SD,
+        HINF <= HINF,
+        I2C0 <= I2C0,
+        I2C1 <= I2C1,
+        I2S0 <= I2S0 (I2S0),
+        I2S1 <= I2S1 (I2S1),
+        IO_MUX <= IO_MUX,
+        LEDC <= LEDC,
+        MCPWM0 <= MCPWM0,
+        MCPWM1 <= MCPWM1,
+        NRX <= NRX,
+        PCNT <= PCNT,
+        PSRAM <= virtual,
+        RMT <= RMT,
+        RNG <= RNG,
+        RSA <= RSA,
+        LPWR <= RTC_CNTL,
+        RADIO_CLK <= virtual,
+        RTC_IO <= RTC_IO,
+        RTC_I2C <= RTC_I2C,
+        SDHOST <= SDHOST,
+        SHA <= SHA,
+        SLC <= SLC,
+        SLCHOST <= SLCHOST,
+        SPI0 <= SPI0,
+        SPI1 <= SPI1,
+        SPI2 <= SPI2 (SPI2_DMA, SPI2),
+        SPI3 <= SPI3 (SPI3_DMA, SPI3),
+        SYSTEM <= DPORT,
+        SW_INTERRUPT <= virtual,
+        TIMG0 <= TIMG0,
+        TIMG1 <= TIMG1,
+        TOUCH <= virtual,
+        TWAI0 <= TWAI0,
+        UART0 <= UART0,
+        UART1 <= UART1,
+        UART2 <= UART2,
+        UHCI0 <= UHCI0,
+        UHCI1 <= UHCI1,
+        WIFI <= virtual,
+    ],
+    pins: [
+        (0, [Input, Output, Analog, RtcIo, Touch] (5 => EMAC_TX_CLK) (1 => CLK_OUT1))
+        (1, [Input, Output] (5 => EMAC_RXD2) (0 => U0TXD 1 => CLK_OUT3))
+        (2, [Input, Output, Analog, RtcIo, Touch] (1 => HSPIWP 3 => HS2_DATA0 4 => SD_DATA0) (3 => HS2_DATA0 4 => SD_DATA0))
+        (3, [Input, Output] (0 => U0RXD) (1 => CLK_OUT2))
+        (4, [Input, Output, Analog, RtcIo, Touch] (1 => HSPIHD 3 => HS2_DATA1 4 => SD_DATA1 5 => EMAC_TX_ER) (3 => HS2_DATA1 4 => SD_DATA1))
+        (5, [Input, Output] (1 => VSPICS0 3 => HS1_DATA6 5 => EMAC_RX_CLK) (3 => HS1_DATA6))
+        (6, [Input, Output] (4 => U1CTS) (0 => SD_CLK 1 => SPICLK 3 => HS1_CLK))
+        (7, [Input, Output] (0 => SD_DATA0 1 => SPIQ 3 => HS1_DATA0) (0 => SD_DATA0 1 => SPIQ 3 => HS1_DATA0 4 => U2RTS))
+        (8, [Input, Output] (0 => SD_DATA1 1 => SPID 3 => HS1_DATA1 4 => U2CTS) (0 => SD_DATA1 1 => SPID 3 => HS1_DATA1))
+        (9, [Input, Output] (0 => SD_DATA2 1 => SPIHD 3 => HS1_DATA2 4 => U1RXD) (0 => SD_DATA2 1 => SPIHD 3 => HS1_DATA2))
+        (10, [Input, Output] ( 0 => SD_DATA3 1 => SPIWP 3 => HS1_DATA3) (0 => SD_DATA3 1 => SPIWP 3 => HS1_DATA3 4 => U1TXD))
+        (11, [Input, Output] ( 1 => SPICS0) (0 => SD_CMD 1 => SPICS0 3 => HS1_CMD 4 => U1RTS))
+        (12, [Input, Output, Analog, RtcIo, Touch] (0 => MTDI 1 => HSPIQ 3 => HS2_DATA2 4 => SD_DATA2) (1 => HSPIQ 3 => HS2_DATA2 4 => SD_DATA2 5 => EMAC_TXD3))
+        (13, [Input, Output, Analog, RtcIo, Touch] (0 => MTCK 1 => HSPID 3 => HS2_DATA3 4 => SD_DATA3) (1 => HSPID 3 => HS2_DATA3 4 => SD_DATA3 5 => EMAC_RX_ER))
+        (14, [Input, Output, Analog, RtcIo, Touch] (0 => MTMS 1 => HSPICLK) (1 => HSPICLK 3 => HS2_CLK 4 => SD_CLK 5 => EMAC_TXD2))
+        (15, [Input, Output, Analog, RtcIo, Touch] (1 => HSPICS0 5 => EMAC_RXD3) (0 => MTDO 1 => HSPICS0 3 => HS2_CMD 4 => SD_CMD))
+        (16, [Input, Output] (3 => HS1_DATA4 4 => U2RXD) (3 => HS1_DATA4 5 => EMAC_CLK_OUT))
+        (17, [Input, Output] (3 => HS1_DATA5) (3 => HS1_DATA5 4 => U2TXD 5 => EMAC_CLK_180))
+        (18, [Input, Output] (1 => VSPICLK 3 => HS1_DATA7) (1 => VSPICLK 3 => HS1_DATA7))
+        (19, [Input, Output] (1 => VSPIQ 3 => U0CTS) (1 => VSPIQ 5 => EMAC_TXD0))
+        (20, [Input, Output])
+        (21, [Input, Output] (1 => VSPIHD) (1 => VSPIHD 5 => EMAC_TX_EN))
+        (22, [Input, Output] (1 => VSPIWP) (1 => VSPIWP 3 => U0RTS 5 => EMAC_TXD1))
+        (23, [Input, Output] (1 => VSPID) (1 => VSPID 3 => HS1_STROBE))
+        (24, [Input, Output])
+        (25, [Input, Output, Analog, RtcIo] (5 => EMAC_RXD0) ())
+        (26, [Input, Output, Analog, RtcIo] (5 => EMAC_RXD1) ())
+        (27, [Input, Output, Analog, RtcIo, Touch] (5 => EMAC_RX_DV) ())
+        (32, [Input, Output, Analog, RtcIo, Touch])
+        (33, [Input, Output, Analog, RtcIo, Touch])
+        (34, [Input, Analog, RtcIoInput])
+        (35, [Input, Analog, RtcIoInput])
+        (36, [Input, Analog, RtcIoInput])
+        (37, [Input, Analog, RtcIoInput])
+        (38, [Input, Analog, RtcIoInput])
+        (39, [Input, Analog, RtcIoInput])
+    ]
 }
diff --git a/esp-hal/src/soc/esp32c2/efuse/mod.rs b/esp-hal/src/soc/esp32c2/efuse/mod.rs
index 3aeb5fc0a94..bfd724fd459 100644
--- a/esp-hal/src/soc/esp32c2/efuse/mod.rs
+++ b/esp-hal/src/soc/esp32c2/efuse/mod.rs
@@ -21,12 +21,10 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::efuse::Efuse;
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::uart::Uart;
 //! # use core::writeln;
 //! # use core::fmt::Write;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let mut serial_tx = Uart::new(peripherals.UART0, io.pins.gpio4, io.pins.gpio5).unwrap();
+//! # let mut serial_tx = Uart::new(peripherals.UART0, peripherals.GPIO4, peripherals.GPIO5).unwrap();
 //! let mac_address = Efuse::read_base_mac_address();
 //! writeln!(
 //!     serial_tx,
diff --git a/esp-hal/src/soc/esp32c2/gpio.rs b/esp-hal/src/soc/esp32c2/gpio.rs
index 5304cc66c1b..f7080686beb 100644
--- a/esp-hal/src/soc/esp32c2/gpio.rs
+++ b/esp-hal/src/soc/esp32c2/gpio.rs
@@ -215,23 +215,6 @@ where
     }
 }
 
-crate::gpio! {
-    (0, [Input, Output, Analog, RtcIo])
-    (1, [Input, Output, Analog, RtcIo])
-    (2, [Input, Output, Analog, RtcIo] (2 => FSPIQ) (2 => FSPIQ))
-    (3, [Input, Output, Analog, RtcIo])
-    (4, [Input, Output, Analog, RtcIo] (2 => FSPIHD) (2 => FSPIHD))
-    (5, [Input, Output, Analog, RtcIo] (2 => FSPIWP) (2 => FSPIWP))
-    (6, [Input, Output] (2 => FSPICLK) (2 => FSPICLK_MUX))
-    (7, [Input, Output] (2 => FSPID) (2 => FSPID))
-    (8, [Input, Output])
-    (9, [Input, Output])
-    (10, [Input, Output] (2 => FSPICS0) (2 => FSPICS0))
-    (18, [Input, Output])
-    (19, [Input, Output])
-    (20, [Input, Output] (0 => U0RXD) ())
-}
-
 rtc_pins! {
     0
     1
diff --git a/esp-hal/src/soc/esp32c2/peripherals.rs b/esp-hal/src/soc/esp32c2/peripherals.rs
index 3cd86959d96..6748f4e6ce5 100644
--- a/esp-hal/src/soc/esp32c2/peripherals.rs
+++ b/esp-hal/src/soc/esp32c2/peripherals.rs
@@ -20,40 +20,57 @@ pub(crate) use self::peripherals::*;
 // peripheral (no `PSRAM`, `RADIO`, etc. peripheral in the PACs), so we're
 // creating "virtual peripherals" for them.
 crate::peripherals! {
-    ADC1 <= virtual,
-    APB_CTRL <= APB_CTRL,
-    ASSIST_DEBUG <= ASSIST_DEBUG,
-    BT <= virtual,
-    DMA <= DMA (DMA_CH0),
-    ECC <= ECC,
-    EFUSE <= EFUSE,
-    EXTMEM <= EXTMEM,
-    GPIO <= GPIO (GPIO,GPIO_NMI),
-    I2C0 <= I2C0,
-    INTERRUPT_CORE0 <= INTERRUPT_CORE0,
-    IO_MUX <= IO_MUX,
-    LEDC <= LEDC,
-    LPWR <= RTC_CNTL,
-    RADIO_CLK <= virtual,
-    RNG <= RNG,
-    SENSITIVE <= SENSITIVE,
-    SHA <= SHA,
-    SPI0 <= SPI0,
-    SPI1 <= SPI1,
-    SPI2 <= SPI2 (SPI2),
-    SYSTEM <= SYSTEM,
-    SYSTIMER <= SYSTIMER,
-    SW_INTERRUPT <= virtual,
-    TIMG0 <= TIMG0,
-    UART0 <= UART0,
-    UART1 <= UART1,
-    WIFI <= virtual,
-    XTS_AES <= XTS_AES,
-    MEM2MEM1 <= virtual,
-    MEM2MEM2 <= virtual,
-    MEM2MEM3 <= virtual,
-    MEM2MEM4 <= virtual,
-    MEM2MEM5 <= virtual,
-    MEM2MEM6 <= virtual,
-    MEM2MEM8 <= virtual,
+    peripherals: [
+        ADC1 <= virtual,
+        APB_CTRL <= APB_CTRL,
+        ASSIST_DEBUG <= ASSIST_DEBUG,
+        BT <= virtual,
+        DMA <= DMA (DMA_CH0),
+        ECC <= ECC,
+        EFUSE <= EFUSE,
+        EXTMEM <= EXTMEM,
+        I2C0 <= I2C0,
+        INTERRUPT_CORE0 <= INTERRUPT_CORE0,
+        IO_MUX <= IO_MUX,
+        LEDC <= LEDC,
+        LPWR <= RTC_CNTL,
+        RADIO_CLK <= virtual,
+        RNG <= RNG,
+        SENSITIVE <= SENSITIVE,
+        SHA <= SHA,
+        SPI0 <= SPI0,
+        SPI1 <= SPI1,
+        SPI2 <= SPI2 (SPI2),
+        SYSTEM <= SYSTEM,
+        SYSTIMER <= SYSTIMER,
+        SW_INTERRUPT <= virtual,
+        TIMG0 <= TIMG0,
+        UART0 <= UART0,
+        UART1 <= UART1,
+        WIFI <= virtual,
+        XTS_AES <= XTS_AES,
+        MEM2MEM1 <= virtual,
+        MEM2MEM2 <= virtual,
+        MEM2MEM3 <= virtual,
+        MEM2MEM4 <= virtual,
+        MEM2MEM5 <= virtual,
+        MEM2MEM6 <= virtual,
+        MEM2MEM8 <= virtual,
+    ],
+    pins: [
+        (0, [Input, Output, Analog, RtcIo])
+        (1, [Input, Output, Analog, RtcIo])
+        (2, [Input, Output, Analog, RtcIo] (2 => FSPIQ) (2 => FSPIQ))
+        (3, [Input, Output, Analog, RtcIo])
+        (4, [Input, Output, Analog, RtcIo] (2 => FSPIHD) (2 => FSPIHD))
+        (5, [Input, Output, Analog, RtcIo] (2 => FSPIWP) (2 => FSPIWP))
+        (6, [Input, Output] (2 => FSPICLK) (2 => FSPICLK_MUX))
+        (7, [Input, Output] (2 => FSPID) (2 => FSPID))
+        (8, [Input, Output])
+        (9, [Input, Output])
+        (10, [Input, Output] (2 => FSPICS0) (2 => FSPICS0))
+        (18, [Input, Output])
+        (19, [Input, Output])
+        (20, [Input, Output] (0 => U0RXD) ())
+    ]
 }
diff --git a/esp-hal/src/soc/esp32c3/efuse/mod.rs b/esp-hal/src/soc/esp32c3/efuse/mod.rs
index f1f3b0e2fb5..c7fae51caab 100644
--- a/esp-hal/src/soc/esp32c3/efuse/mod.rs
+++ b/esp-hal/src/soc/esp32c3/efuse/mod.rs
@@ -22,12 +22,10 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::efuse::Efuse;
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::uart::Uart;
 //! # use core::writeln;
 //! # use core::fmt::Write;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let mut serial_tx = Uart::new(peripherals.UART0, io.pins.gpio4, io.pins.gpio5).unwrap();
+//! # let mut serial_tx = Uart::new(peripherals.UART0, peripherals.GPIO4, peripherals.GPIO5).unwrap();
 //! let mac_address = Efuse::read_base_mac_address();
 //! writeln!(
 //!     serial_tx,
diff --git a/esp-hal/src/soc/esp32c3/gpio.rs b/esp-hal/src/soc/esp32c3/gpio.rs
index 80af84bb36f..f6a4fd76fcb 100644
--- a/esp-hal/src/soc/esp32c3/gpio.rs
+++ b/esp-hal/src/soc/esp32c3/gpio.rs
@@ -243,31 +243,6 @@ where
     }
 }
 
-crate::gpio! {
-    (0, [Input, Output, Analog, RtcIo])
-    (1, [Input, Output, Analog, RtcIo])
-    (2, [Input, Output, Analog, RtcIo] (2 => FSPIQ) (2 => FSPIQ))
-    (3, [Input, Output, Analog, RtcIo])
-    (4, [Input, Output, Analog, RtcIo] (2 => FSPIHD) (0 => USB_JTAG_TMS 2 => FSPIHD))
-    (5, [Input, Output, Analog, RtcIo] (2 => FSPIWP) (0 => USB_JTAG_TDI 2 => FSPIWP))
-    (6, [Input, Output] (2 => FSPICLK) (0 => USB_JTAG_TCK 2 => FSPICLK_MUX))
-    (7, [Input, Output] (2 => FSPID) (0 => USB_JTAG_TDO 2 => FSPID))
-    (8, [Input, Output])
-    (9, [Input, Output])
-    (10, [Input, Output] (2 => FSPICS0) (2 => FSPICS0))
-    (11, [Input, Output])
-    (12, [Input, Output] (0 => SPIHD) (0 => SPIHD))
-    (13, [Input, Output] (0 => SPIWP) (0 => SPIWP))
-    (14, [Input, Output] () (0 => SPICS0))
-    (15, [Input, Output] () (0 => SPICLK_MUX))
-    (16, [Input, Output] (0 => SPID) (0 => SPID))
-    (17, [Input, Output] (0 => SPIQ) (0 => SPIQ))
-    (18, [Input, Output])
-    (19, [Input, Output])
-    (20, [Input, Output] (0 => U0RXD) ())
-    (21, [Input, Output] () (0 => U0TXD))
-}
-
 // RTC pins 0 through 5 (inclusive) support GPIO wakeup
 rtc_pins! {
     0
diff --git a/esp-hal/src/soc/esp32c3/peripherals.rs b/esp-hal/src/soc/esp32c3/peripherals.rs
index dd5308df0c2..f4a52d4fc08 100644
--- a/esp-hal/src/soc/esp32c3/peripherals.rs
+++ b/esp-hal/src/soc/esp32c3/peripherals.rs
@@ -20,45 +20,70 @@ pub(crate) use self::peripherals::*;
 // peripheral (no `PSRAM`, `RADIO`, etc. peripheral in the PACs), so we're
 // creating "virtual peripherals" for them.
 crate::peripherals! {
-    ADC1 <= virtual,
-    ADC2 <= virtual,
-    AES <= AES,
-    APB_CTRL <= APB_CTRL,
-    ASSIST_DEBUG <= ASSIST_DEBUG,
-    BT <= virtual,
-    DMA <= DMA (DMA_CH0,DMA_CH1,DMA_CH2),
-    DS <= DS,
-    EFUSE <= EFUSE,
-    EXTMEM <= EXTMEM,
-    GPIO <= GPIO (GPIO,GPIO_NMI),
-    GPIO_SD <= GPIO_SD,
-    HMAC <= HMAC,
-    I2C0 <= I2C0,
-    I2S0 <= I2S0 (I2S0),
-    INTERRUPT_CORE0 <= INTERRUPT_CORE0,
-    IO_MUX <= IO_MUX,
-    LEDC <= LEDC,
-    LPWR <= RTC_CNTL,
-    RADIO_CLK <= virtual,
-    RMT <= RMT,
-    RNG <= RNG,
-    RSA <= RSA,
-    SENSITIVE <= SENSITIVE,
-    SHA <= SHA,
-    SPI0 <= SPI0,
-    SPI1 <= SPI1,
-    SPI2 <= SPI2 (SPI2),
-    SYSTEM <= SYSTEM,
-    SYSTIMER <= SYSTIMER,
-    SW_INTERRUPT <= virtual,
-    TIMG0 <= TIMG0,
-    TIMG1 <= TIMG1,
-    TWAI0 <= TWAI0,
-    UART0 <= UART0,
-    UART1 <= UART1,
-    UHCI0 <= UHCI0,
-    UHCI1 <= UHCI1,
-    USB_DEVICE <= USB_DEVICE,
-    WIFI <= virtual,
-    XTS_AES <= XTS_AES,
+    peripherals: [
+        ADC1 <= virtual,
+        ADC2 <= virtual,
+        AES <= AES,
+        APB_CTRL <= APB_CTRL,
+        ASSIST_DEBUG <= ASSIST_DEBUG,
+        BT <= virtual,
+        DMA <= DMA (DMA_CH0,DMA_CH1,DMA_CH2),
+        DS <= DS,
+        EFUSE <= EFUSE,
+        EXTMEM <= EXTMEM,
+        GPIO_SD <= GPIO_SD,
+        HMAC <= HMAC,
+        I2C0 <= I2C0,
+        I2S0 <= I2S0 (I2S0),
+        INTERRUPT_CORE0 <= INTERRUPT_CORE0,
+        IO_MUX <= IO_MUX,
+        LEDC <= LEDC,
+        LPWR <= RTC_CNTL,
+        RADIO_CLK <= virtual,
+        RMT <= RMT,
+        RNG <= RNG,
+        RSA <= RSA,
+        SENSITIVE <= SENSITIVE,
+        SHA <= SHA,
+        SPI0 <= SPI0,
+        SPI1 <= SPI1,
+        SPI2 <= SPI2 (SPI2),
+        SYSTEM <= SYSTEM,
+        SYSTIMER <= SYSTIMER,
+        SW_INTERRUPT <= virtual,
+        TIMG0 <= TIMG0,
+        TIMG1 <= TIMG1,
+        TWAI0 <= TWAI0,
+        UART0 <= UART0,
+        UART1 <= UART1,
+        UHCI0 <= UHCI0,
+        UHCI1 <= UHCI1,
+        USB_DEVICE <= USB_DEVICE,
+        WIFI <= virtual,
+        XTS_AES <= XTS_AES,
+    ],
+    pins: [
+        (0, [Input, Output, Analog, RtcIo])
+        (1, [Input, Output, Analog, RtcIo])
+        (2, [Input, Output, Analog, RtcIo] (2 => FSPIQ) (2 => FSPIQ))
+        (3, [Input, Output, Analog, RtcIo])
+        (4, [Input, Output, Analog, RtcIo] (2 => FSPIHD) (0 => USB_JTAG_TMS 2 => FSPIHD))
+        (5, [Input, Output, Analog, RtcIo] (2 => FSPIWP) (0 => USB_JTAG_TDI 2 => FSPIWP))
+        (6, [Input, Output] (2 => FSPICLK) (0 => USB_JTAG_TCK 2 => FSPICLK_MUX))
+        (7, [Input, Output] (2 => FSPID) (0 => USB_JTAG_TDO 2 => FSPID))
+        (8, [Input, Output])
+        (9, [Input, Output])
+        (10, [Input, Output] (2 => FSPICS0) (2 => FSPICS0))
+        (11, [Input, Output])
+        (12, [Input, Output] (0 => SPIHD) (0 => SPIHD))
+        (13, [Input, Output] (0 => SPIWP) (0 => SPIWP))
+        (14, [Input, Output] () (0 => SPICS0))
+        (15, [Input, Output] () (0 => SPICLK_MUX))
+        (16, [Input, Output] (0 => SPID) (0 => SPID))
+        (17, [Input, Output] (0 => SPIQ) (0 => SPIQ))
+        (18, [Input, Output])
+        (19, [Input, Output])
+        (20, [Input, Output] (0 => U0RXD) ())
+        (21, [Input, Output] () (0 => U0TXD))
+    ]
 }
diff --git a/esp-hal/src/soc/esp32c6/efuse/mod.rs b/esp-hal/src/soc/esp32c6/efuse/mod.rs
index 0caa975a253..9e2906e2af7 100644
--- a/esp-hal/src/soc/esp32c6/efuse/mod.rs
+++ b/esp-hal/src/soc/esp32c6/efuse/mod.rs
@@ -22,12 +22,10 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::efuse::Efuse;
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::uart::Uart;
 //! # use core::writeln;
 //! # use core::fmt::Write;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let mut serial_tx = Uart::new(peripherals.UART0, io.pins.gpio4, io.pins.gpio5).unwrap();
+//! # let mut serial_tx = Uart::new(peripherals.UART0, peripherals.GPIO4, peripherals.GPIO5).unwrap();
 //! let mac_address = Efuse::read_base_mac_address();
 //! writeln!(
 //!     serial_tx,
diff --git a/esp-hal/src/soc/esp32c6/gpio.rs b/esp-hal/src/soc/esp32c6/gpio.rs
index 32c73525600..b7d84a403aa 100644
--- a/esp-hal/src/soc/esp32c6/gpio.rs
+++ b/esp-hal/src/soc/esp32c6/gpio.rs
@@ -287,40 +287,6 @@ pub enum OutputSignal {
     GPIO                  = 128,
 }
 
-crate::gpio! {
-    (0, [Input, Output, Analog, RtcIo])
-    (1, [Input, Output, Analog, RtcIo])
-    (2, [Input, Output, Analog, RtcIo] (2 => FSPIQ) (2 => FSPIQ))
-    (3, [Input, Output, Analog, RtcIo])
-    (4, [Input, Output, Analog, RtcIo] (2 => FSPIHD) (0 => USB_JTAG_TMS 2 => FSPIHD))
-    (5, [Input, Output, Analog, RtcIo] (2 => FSPIWP) (0 => USB_JTAG_TDI 2 => FSPIWP))
-    (6, [Input, Output, Analog, RtcIo] (2 => FSPICLK) (0 => USB_JTAG_TCK 2 => FSPICLK_MUX))
-    (7, [Input, Output, Analog, RtcIo] (2 => FSPID) (0 => USB_JTAG_TDO 2 => FSPID))
-    (8, [Input, Output])
-    (9, [Input, Output])
-    (10, [Input, Output])
-    (11, [Input, Output])
-    (12, [Input, Output])
-    (13, [Input, Output])
-    (14, [Input, Output])
-    (15, [Input, Output])
-    (16, [Input, Output] (0 => U0RXD) (2 => FSPICS0))
-    (17, [Input, Output] () (0 => U0TXD 2 => FSPICS1))
-    (18, [Input, Output] () (2 => FSPICS2)) //  0 => SDIO_CMD but there are no signals since it's a fixed pin
-    (19, [Input, Output] () (2 => FSPICS3)) //  0 => SDIO_CLK but there are no signals since it's a fixed pin
-    (20, [Input, Output] () (2 => FSPICS4)) // 0 => SDIO_DATA0 but there are no signals since it's a fixed pin
-    (21, [Input, Output] () (2 => FSPICS5)) // 0 => SDIO_DATA1 but there are no signals since it's a fixed pin
-    (22, [Input, Output] () ()) // 0 => SDIO_DATA2 but there are no signals since it's a fixed pin
-    (23, [Input, Output] () ()) // 0 => SDIO_DATA3 but there are no signals since it's a fixed pin
-    (24, [Input, Output] () (0 => SPICS0))
-    (25, [Input, Output] (0 => SPIQ) (0 => SPIQ))
-    (26, [Input, Output] (0 => SPIWP) (0 => SPIWP))
-    (27, [Input, Output])
-    (28, [Input, Output] (0 => SPIHD) (0 => SPIHD))
-    (29, [Input, Output] () (0 => SPICLK_MUX))
-    (30, [Input, Output] (0 => SPID) (0 => SPID))
-}
-
 crate::lp_gpio! {
     0
     1
diff --git a/esp-hal/src/soc/esp32c6/peripherals.rs b/esp-hal/src/soc/esp32c6/peripherals.rs
index ef74459ed22..b521161faf9 100644
--- a/esp-hal/src/soc/esp32c6/peripherals.rs
+++ b/esp-hal/src/soc/esp32c6/peripherals.rs
@@ -20,81 +20,115 @@ pub(crate) use self::peripherals::*;
 // peripheral (no `PSRAM`, `RADIO`, etc. peripheral in the PACs), so we're
 // creating "virtual peripherals" for them.
 crate::peripherals! {
-    ADC1 <= virtual,
-    AES <= AES,
-    ASSIST_DEBUG <= ASSIST_DEBUG,
-    ATOMIC <= ATOMIC,
-    BT <= virtual,
-    DMA <= DMA (DMA_IN_CH0,DMA_IN_CH1,DMA_IN_CH2,DMA_OUT_CH0,DMA_OUT_CH1,DMA_OUT_CH2),
-    DS <= DS,
-    ECC <= ECC,
-    EFUSE <= EFUSE,
-    EXTMEM <= EXTMEM,
-    GPIO <= GPIO (GPIO,GPIO_NMI),
-    GPIO_SD <= GPIO_SD,
-    HINF <= HINF,
-    HMAC <= HMAC,
-    HP_APM <= HP_APM,
-    HP_SYS <= HP_SYS,
-    I2C0 <= I2C0,
-    I2S0 <= I2S0 (I2S0),
-    IEEE802154 <= IEEE802154,
-    INTERRUPT_CORE0 <= INTERRUPT_CORE0,
-    INTPRI <= INTPRI,
-    IO_MUX <= IO_MUX,
-    LEDC <= LEDC,
-    LPWR <= LP_CLKRST,
-    LP_CORE <= virtual,
-    LP_PERI <= LP_PERI,
-    LP_ANA <= LP_ANA,
-    LP_AON <= LP_AON,
-    LP_APM <= LP_APM,
-    LP_APM0 <= LP_APM0,
-    LP_I2C0 <= LP_I2C0,
-    LP_I2C_ANA_MST <= LP_I2C_ANA_MST,
-    LP_IO <= LP_IO,
-    LP_TEE <= LP_TEE,
-    LP_TIMER <= LP_TIMER,
-    LP_UART <= LP_UART,
-    LP_WDT <= LP_WDT,
-    MCPWM0 <= MCPWM0,
-    MEM_MONITOR <= MEM_MONITOR,
-    OTP_DEBUG <= OTP_DEBUG,
-    PARL_IO <= PARL_IO (PARL_IO),
-    PAU <= PAU,
-    PCNT <= PCNT,
-    PMU <= PMU,
-    RADIO_CLK <= virtual,
-    RMT <= RMT,
-    RNG <= RNG,
-    RSA <= RSA,
-    SHA <= SHA,
-    SLCHOST <= SLCHOST,
-    SOC_ETM <= SOC_ETM,
-    SPI0 <= SPI0,
-    SPI1 <= SPI1,
-    SPI2 <= SPI2 (SPI2),
-    SYSTEM <= PCR,
-    SYSTIMER <= SYSTIMER,
-    SW_INTERRUPT <= virtual,
-    TEE <= TEE,
-    TIMG0 <= TIMG0,
-    TIMG1 <= TIMG1,
-    TRACE0 <= TRACE,
-    TWAI0 <= TWAI0,
-    TWAI1 <= TWAI1,
-    UART0 <= UART0,
-    UART1 <= UART1,
-    UHCI0 <= UHCI0,
-    USB_DEVICE <= USB_DEVICE,
-    WIFI <= virtual,
-    MEM2MEM1 <= virtual,
-    MEM2MEM4 <= virtual,
-    MEM2MEM5 <= virtual,
-    MEM2MEM10 <= virtual,
-    MEM2MEM11 <= virtual,
-    MEM2MEM12 <= virtual,
-    MEM2MEM13 <= virtual,
-    MEM2MEM14 <= virtual,
-    MEM2MEM15 <= virtual,
+    peripherals: [
+        ADC1 <= virtual,
+        AES <= AES,
+        ASSIST_DEBUG <= ASSIST_DEBUG,
+        ATOMIC <= ATOMIC,
+        BT <= virtual,
+        DMA <= DMA (DMA_IN_CH0,DMA_IN_CH1,DMA_IN_CH2,DMA_OUT_CH0,DMA_OUT_CH1,DMA_OUT_CH2),
+        DS <= DS,
+        ECC <= ECC,
+        EFUSE <= EFUSE,
+        EXTMEM <= EXTMEM,
+        GPIO_SD <= GPIO_SD,
+        HINF <= HINF,
+        HMAC <= HMAC,
+        HP_APM <= HP_APM,
+        HP_SYS <= HP_SYS,
+        I2C0 <= I2C0,
+        I2S0 <= I2S0 (I2S0),
+        IEEE802154 <= IEEE802154,
+        INTERRUPT_CORE0 <= INTERRUPT_CORE0,
+        INTPRI <= INTPRI,
+        IO_MUX <= IO_MUX,
+        LEDC <= LEDC,
+        LPWR <= LP_CLKRST,
+        LP_CORE <= virtual,
+        LP_PERI <= LP_PERI,
+        LP_ANA <= LP_ANA,
+        LP_AON <= LP_AON,
+        LP_APM <= LP_APM,
+        LP_APM0 <= LP_APM0,
+        LP_I2C0 <= LP_I2C0,
+        LP_I2C_ANA_MST <= LP_I2C_ANA_MST,
+        LP_IO <= LP_IO,
+        LP_TEE <= LP_TEE,
+        LP_TIMER <= LP_TIMER,
+        LP_UART <= LP_UART,
+        LP_WDT <= LP_WDT,
+        MCPWM0 <= MCPWM0,
+        MEM_MONITOR <= MEM_MONITOR,
+        OTP_DEBUG <= OTP_DEBUG,
+        PARL_IO <= PARL_IO (PARL_IO),
+        PAU <= PAU,
+        PCNT <= PCNT,
+        PMU <= PMU,
+        RADIO_CLK <= virtual,
+        RMT <= RMT,
+        RNG <= RNG,
+        RSA <= RSA,
+        SHA <= SHA,
+        SLCHOST <= SLCHOST,
+        SOC_ETM <= SOC_ETM,
+        SPI0 <= SPI0,
+        SPI1 <= SPI1,
+        SPI2 <= SPI2 (SPI2),
+        SYSTEM <= PCR,
+        SYSTIMER <= SYSTIMER,
+        SW_INTERRUPT <= virtual,
+        TEE <= TEE,
+        TIMG0 <= TIMG0,
+        TIMG1 <= TIMG1,
+        TRACE0 <= TRACE,
+        TWAI0 <= TWAI0,
+        TWAI1 <= TWAI1,
+        UART0 <= UART0,
+        UART1 <= UART1,
+        UHCI0 <= UHCI0,
+        USB_DEVICE <= USB_DEVICE,
+        WIFI <= virtual,
+        MEM2MEM1 <= virtual,
+        MEM2MEM4 <= virtual,
+        MEM2MEM5 <= virtual,
+        MEM2MEM10 <= virtual,
+        MEM2MEM11 <= virtual,
+        MEM2MEM12 <= virtual,
+        MEM2MEM13 <= virtual,
+        MEM2MEM14 <= virtual,
+        MEM2MEM15 <= virtual,
+    ],
+    pins: [
+        (0, [Input, Output, Analog, RtcIo])
+        (1, [Input, Output, Analog, RtcIo])
+        (2, [Input, Output, Analog, RtcIo] (2 => FSPIQ) (2 => FSPIQ))
+        (3, [Input, Output, Analog, RtcIo])
+        (4, [Input, Output, Analog, RtcIo] (2 => FSPIHD) (0 => USB_JTAG_TMS 2 => FSPIHD))
+        (5, [Input, Output, Analog, RtcIo] (2 => FSPIWP) (0 => USB_JTAG_TDI 2 => FSPIWP))
+        (6, [Input, Output, Analog, RtcIo] (2 => FSPICLK) (0 => USB_JTAG_TCK 2 => FSPICLK_MUX))
+        (7, [Input, Output, Analog, RtcIo] (2 => FSPID) (0 => USB_JTAG_TDO 2 => FSPID))
+        (8, [Input, Output])
+        (9, [Input, Output])
+        (10, [Input, Output])
+        (11, [Input, Output])
+        (12, [Input, Output])
+        (13, [Input, Output])
+        (14, [Input, Output])
+        (15, [Input, Output])
+        (16, [Input, Output] (0 => U0RXD) (2 => FSPICS0))
+        (17, [Input, Output] () (0 => U0TXD 2 => FSPICS1))
+        (18, [Input, Output] () (2 => FSPICS2)) //  0 => SDIO_CMD but there are no signals since it's a fixed pin
+        (19, [Input, Output] () (2 => FSPICS3)) //  0 => SDIO_CLK but there are no signals since it's a fixed pin
+        (20, [Input, Output] () (2 => FSPICS4)) // 0 => SDIO_DATA0 but there are no signals since it's a fixed pin
+        (21, [Input, Output] () (2 => FSPICS5)) // 0 => SDIO_DATA1 but there are no signals since it's a fixed pin
+        (22, [Input, Output] () ()) // 0 => SDIO_DATA2 but there are no signals since it's a fixed pin
+        (23, [Input, Output] () ()) // 0 => SDIO_DATA3 but there are no signals since it's a fixed pin
+        (24, [Input, Output] () (0 => SPICS0))
+        (25, [Input, Output] (0 => SPIQ) (0 => SPIQ))
+        (26, [Input, Output] (0 => SPIWP) (0 => SPIWP))
+        (27, [Input, Output])
+        (28, [Input, Output] (0 => SPIHD) (0 => SPIHD))
+        (29, [Input, Output] () (0 => SPICLK_MUX))
+        (30, [Input, Output] (0 => SPID) (0 => SPID))
+    ]
 }
diff --git a/esp-hal/src/soc/esp32h2/efuse/mod.rs b/esp-hal/src/soc/esp32h2/efuse/mod.rs
index 73bdcd57b31..eaf75d21d5c 100644
--- a/esp-hal/src/soc/esp32h2/efuse/mod.rs
+++ b/esp-hal/src/soc/esp32h2/efuse/mod.rs
@@ -22,12 +22,10 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::efuse::Efuse;
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::uart::Uart;
 //! # use core::writeln;
 //! # use core::fmt::Write;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let mut serial_tx = Uart::new(peripherals.UART0, io.pins.gpio4, io.pins.gpio5).unwrap();
+//! # let mut serial_tx = Uart::new(peripherals.UART0, peripherals.GPIO4, peripherals.GPIO5).unwrap();
 //! let mac_address = Efuse::read_base_mac_address();
 //! writeln!(
 //!     serial_tx,
diff --git a/esp-hal/src/soc/esp32h2/gpio.rs b/esp-hal/src/soc/esp32h2/gpio.rs
index fba6b839dd2..ffff2e84797 100644
--- a/esp-hal/src/soc/esp32h2/gpio.rs
+++ b/esp-hal/src/soc/esp32h2/gpio.rs
@@ -36,10 +36,7 @@
 //! registers for both the `PRO CPU` and `APP CPU`. The implementation uses the
 //! `gpio` peripheral to access the appropriate registers.
 
-use crate::{
-    gpio::{AlternateFunction, GpioPin},
-    peripherals::GPIO,
-};
+use crate::{gpio::AlternateFunction, peripherals::GPIO};
 
 // https://github.com/espressif/esp-idf/blob/df9310a/components/soc/esp32h2/gpio_periph.c#L42
 /// The total number of GPIO pins available.
@@ -252,37 +249,6 @@ pub enum OutputSignal {
     GPIO             = 128,
 }
 
-crate::gpio! {
-    (0, [Input, Output, Analog] (2 => FSPIQ) (2 => FSPIQ))
-    (1, [Input, Output, Analog] (2 => FSPICS0) (2 => FSPICS0))
-    (2, [Input, Output, Analog] (2 => FSPIWP) (2 => FSPIWP))
-    (3, [Input, Output, Analog] (2 => FSPIHD) (2 => FSPIHD))
-    (4, [Input, Output, Analog] (2 => FSPICLK) (2 => FSPICLK_MUX))
-    (5, [Input, Output, Analog] (2 => FSPID) (2 => FSPID))
-    (6, [Input, Output])
-    (7, [Input, Output])
-    (8, [Input, Output])
-    (9, [Input, Output])
-    (10, [Input, Output])
-    (11, [Input, Output])
-    (12, [Input, Output])
-    (13, [Input, Output])
-    (14, [Input, Output])
-    (15, [Input, Output] () (0 => SPICS0))
-    (16, [Input, Output] (0 => SPIQ) (0 => SPIQ))
-    (17, [Input, Output] (0 => SPIWP) (0 => SPIWP))
-    (18, [Input, Output] (0 => SPIHD) (0 => SPIHD))
-    (19, [Input, Output] () (0 => SPICLK))
-    (20, [Input, Output] (0 => SPID) (0 => SPID))
-    (21, [Input, Output])
-    (22, [Input, Output])
-    (23, [Input, Output] () (2 => FSPICS1))
-    (24, [Input, Output] () (2 => FSPICS2))
-    (25, [Input, Output] () (2 => FSPICS3))
-    (26, [Input, Output] () (2 => FSPICS4))
-    (27, [Input, Output] () (2 => FSPICS5))
-}
-
 #[derive(Clone, Copy)]
 pub(crate) enum InterruptStatusRegisterAccess {
     Bank0,
diff --git a/esp-hal/src/soc/esp32h2/peripherals.rs b/esp-hal/src/soc/esp32h2/peripherals.rs
index 7fbda39c981..9f2c0cdb7df 100644
--- a/esp-hal/src/soc/esp32h2/peripherals.rs
+++ b/esp-hal/src/soc/esp32h2/peripherals.rs
@@ -20,71 +20,102 @@ pub(crate) use self::peripherals::*;
 // peripheral (no `PSRAM`, `RADIO`, etc. peripheral in the PACs), so we're
 // creating "virtual peripherals" for them.
 crate::peripherals! {
-    ADC1 <= virtual,
-    AES <= AES,
-    ASSIST_DEBUG <= ASSIST_DEBUG,
-    BT <= virtual,
-    DMA <= DMA (DMA_IN_CH0,DMA_IN_CH1,DMA_IN_CH2,DMA_OUT_CH0,DMA_OUT_CH1,DMA_OUT_CH2),
-    DS <= DS,
-    ECC <= ECC,
-    EFUSE <= EFUSE,
-    GPIO <= GPIO (GPIO,GPIO_NMI),
-    GPIO_SD <= GPIO_SD,
-    HMAC <= HMAC,
-    HP_APM <= HP_APM,
-    HP_SYS <= HP_SYS,
-    I2C0 <= I2C0,
-    I2C1 <= I2C1,
-    I2S0 <= I2S0 (I2S0),
-    IEEE802154 <= IEEE802154,
-    INTERRUPT_CORE0 <= INTERRUPT_CORE0,
-    INTPRI <= INTPRI,
-    IO_MUX <= IO_MUX,
-    LEDC <= LEDC,
-    LPWR <= LP_CLKRST,
-    LP_ANA <= LP_ANA,
-    LP_AON <= LP_AON,
-    LP_APM <= LP_APM,
-    LP_PERI <= LP_PERI,
-    LP_TIMER <= LP_TIMER,
-    LP_WDT <= LP_WDT,
-    MCPWM0 <= MCPWM0,
-    MEM_MONITOR <= MEM_MONITOR,
-    MODEM_LPCON <= MODEM_LPCON,
-    MODEM_SYSCON <= MODEM_SYSCON,
-    OTP_DEBUG <= OTP_DEBUG,
-    PARL_IO <= PARL_IO (PARL_IO_TX, PARL_IO_RX),
-    PAU <= PAU,
-    PCNT <= PCNT,
-    PMU <= PMU,
-    RADIO_CLK <= virtual,
-    RMT <= RMT,
-    RNG <= RNG,
-    RSA <= RSA,
-    SHA <= SHA,
-    SOC_ETM <= SOC_ETM,
-    SPI0 <= SPI0,
-    SPI1 <= SPI1,
-    SPI2 <= SPI2 (SPI2),
-    SYSTEM <= PCR,
-    SYSTIMER <= SYSTIMER,
-    SW_INTERRUPT <= virtual,
-    TEE <= TEE,
-    TIMG0 <= TIMG0,
-    TIMG1 <= TIMG1,
-    TRACE0 <= TRACE,
-    TWAI0 <= TWAI0,
-    UART0 <= UART0,
-    UART1 <= UART1,
-    UHCI0 <= UHCI0,
-    USB_DEVICE <= USB_DEVICE,
-    MEM2MEM1 <= virtual,
-    MEM2MEM4 <= virtual,
-    MEM2MEM5 <= virtual,
-    MEM2MEM10 <= virtual,
-    MEM2MEM11 <= virtual,
-    MEM2MEM12 <= virtual,
-    MEM2MEM13 <= virtual,
-    MEM2MEM14 <= virtual,
-    MEM2MEM15 <= virtual,
+    peripherals: [
+        ADC1 <= virtual,
+        AES <= AES,
+        ASSIST_DEBUG <= ASSIST_DEBUG,
+        BT <= virtual,
+        DMA <= DMA (DMA_IN_CH0,DMA_IN_CH1,DMA_IN_CH2,DMA_OUT_CH0,DMA_OUT_CH1,DMA_OUT_CH2),
+        DS <= DS,
+        ECC <= ECC,
+        EFUSE <= EFUSE,
+        GPIO_SD <= GPIO_SD,
+        HMAC <= HMAC,
+        HP_APM <= HP_APM,
+        HP_SYS <= HP_SYS,
+        I2C0 <= I2C0,
+        I2C1 <= I2C1,
+        I2S0 <= I2S0 (I2S0),
+        IEEE802154 <= IEEE802154,
+        INTERRUPT_CORE0 <= INTERRUPT_CORE0,
+        INTPRI <= INTPRI,
+        IO_MUX <= IO_MUX,
+        LEDC <= LEDC,
+        LPWR <= LP_CLKRST,
+        LP_ANA <= LP_ANA,
+        LP_AON <= LP_AON,
+        LP_APM <= LP_APM,
+        LP_PERI <= LP_PERI,
+        LP_TIMER <= LP_TIMER,
+        LP_WDT <= LP_WDT,
+        MCPWM0 <= MCPWM0,
+        MEM_MONITOR <= MEM_MONITOR,
+        MODEM_LPCON <= MODEM_LPCON,
+        MODEM_SYSCON <= MODEM_SYSCON,
+        OTP_DEBUG <= OTP_DEBUG,
+        PARL_IO <= PARL_IO (PARL_IO_TX, PARL_IO_RX),
+        PAU <= PAU,
+        PCNT <= PCNT,
+        PMU <= PMU,
+        RADIO_CLK <= virtual,
+        RMT <= RMT,
+        RNG <= RNG,
+        RSA <= RSA,
+        SHA <= SHA,
+        SOC_ETM <= SOC_ETM,
+        SPI0 <= SPI0,
+        SPI1 <= SPI1,
+        SPI2 <= SPI2 (SPI2),
+        SYSTEM <= PCR,
+        SYSTIMER <= SYSTIMER,
+        SW_INTERRUPT <= virtual,
+        TEE <= TEE,
+        TIMG0 <= TIMG0,
+        TIMG1 <= TIMG1,
+        TRACE0 <= TRACE,
+        TWAI0 <= TWAI0,
+        UART0 <= UART0,
+        UART1 <= UART1,
+        UHCI0 <= UHCI0,
+        USB_DEVICE <= USB_DEVICE,
+        MEM2MEM1 <= virtual,
+        MEM2MEM4 <= virtual,
+        MEM2MEM5 <= virtual,
+        MEM2MEM10 <= virtual,
+        MEM2MEM11 <= virtual,
+        MEM2MEM12 <= virtual,
+        MEM2MEM13 <= virtual,
+        MEM2MEM14 <= virtual,
+        MEM2MEM15 <= virtual,
+    ],
+    pins: [
+        (0, [Input, Output, Analog] (2 => FSPIQ) (2 => FSPIQ))
+        (1, [Input, Output, Analog] (2 => FSPICS0) (2 => FSPICS0))
+        (2, [Input, Output, Analog] (2 => FSPIWP) (2 => FSPIWP))
+        (3, [Input, Output, Analog] (2 => FSPIHD) (2 => FSPIHD))
+        (4, [Input, Output, Analog] (2 => FSPICLK) (2 => FSPICLK_MUX))
+        (5, [Input, Output, Analog] (2 => FSPID) (2 => FSPID))
+        (6, [Input, Output])
+        (7, [Input, Output])
+        (8, [Input, Output])
+        (9, [Input, Output])
+        (10, [Input, Output])
+        (11, [Input, Output])
+        (12, [Input, Output])
+        (13, [Input, Output])
+        (14, [Input, Output])
+        (15, [Input, Output] () (0 => SPICS0))
+        (16, [Input, Output] (0 => SPIQ) (0 => SPIQ))
+        (17, [Input, Output] (0 => SPIWP) (0 => SPIWP))
+        (18, [Input, Output] (0 => SPIHD) (0 => SPIHD))
+        (19, [Input, Output] () (0 => SPICLK))
+        (20, [Input, Output] (0 => SPID) (0 => SPID))
+        (21, [Input, Output])
+        (22, [Input, Output])
+        (23, [Input, Output] () (2 => FSPICS1))
+        (24, [Input, Output] () (2 => FSPICS2))
+        (25, [Input, Output] () (2 => FSPICS3))
+        (26, [Input, Output] () (2 => FSPICS4))
+        (27, [Input, Output] () (2 => FSPICS5))
+    ]
 }
diff --git a/esp-hal/src/soc/esp32s2/efuse/mod.rs b/esp-hal/src/soc/esp32s2/efuse/mod.rs
index 6dd75ceca7c..99e168dbdea 100644
--- a/esp-hal/src/soc/esp32s2/efuse/mod.rs
+++ b/esp-hal/src/soc/esp32s2/efuse/mod.rs
@@ -24,12 +24,10 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::efuse::Efuse;
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::uart::Uart;
 //! # use core::writeln;
 //! # use core::fmt::Write;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let mut serial_tx = Uart::new(peripherals.UART0, io.pins.gpio4, io.pins.gpio5).unwrap();
+//! # let mut serial_tx = Uart::new(peripherals.UART0, peripherals.GPIO4, peripherals.GPIO5).unwrap();
 //! let mac_address = Efuse::read_base_mac_address();
 //! writeln!(
 //!     serial_tx,
diff --git a/esp-hal/src/soc/esp32s2/gpio.rs b/esp-hal/src/soc/esp32s2/gpio.rs
index faa6b8bcd6d..58355676851 100644
--- a/esp-hal/src/soc/esp32s2/gpio.rs
+++ b/esp-hal/src/soc/esp32s2/gpio.rs
@@ -415,53 +415,6 @@ macro_rules! rtcio_analog {
     };
 }
 
-crate::gpio! {
-    (0, [Input, Output, Analog, RtcIo])
-    (1, [Input, Output, Analog, RtcIo])
-    (2, [Input, Output, Analog, RtcIo])
-    (3, [Input, Output, Analog, RtcIo])
-    (4, [Input, Output, Analog, RtcIo])
-    (5, [Input, Output, Analog, RtcIo])
-    (6, [Input, Output, Analog, RtcIo])
-    (7, [Input, Output, Analog, RtcIo])
-    (8, [Input, Output, Analog, RtcIo])
-    (9, [Input, Output, Analog, RtcIo])
-    (10, [Input, Output, Analog, RtcIo])
-    (11, [Input, Output, Analog, RtcIo])
-    (12, [Input, Output, Analog, RtcIo])
-    (13, [Input, Output, Analog, RtcIo])
-    (14, [Input, Output, Analog, RtcIo])
-    (15, [Input, Output, Analog, RtcIo])
-    (16, [Input, Output, Analog, RtcIo])
-    (17, [Input, Output, Analog, RtcIo])
-    (18, [Input, Output, Analog, RtcIo])
-    (19, [Input, Output, Analog, RtcIo])
-    (20, [Input, Output, Analog, RtcIo])
-    (21, [Input, Output, Analog, RtcIo])
-
-    (26, [Input, Output])
-    (27, [Input, Output])
-    (28, [Input, Output])
-    (29, [Input, Output])
-    (30, [Input, Output])
-    (31, [Input, Output])
-    (32, [Input, Output])
-    (33, [Input, Output])
-    (34, [Input, Output])
-    (35, [Input, Output])
-    (36, [Input, Output])
-    (37, [Input, Output])
-    (38, [Input, Output])
-    (39, [Input, Output])
-    (40, [Input, Output])
-    (41, [Input, Output])
-    (42, [Input, Output])
-    (43, [Input, Output])
-    (44, [Input, Output])
-    (45, [Input, Output])
-    (46, [Input, Output])
-}
-
 rtcio_analog! {
     ( 0, touch_pad(0),   "",     touch_pad0_hold )
     ( 1, touch_pad(1),   "",     touch_pad1_hold )
diff --git a/esp-hal/src/soc/esp32s2/peripherals.rs b/esp-hal/src/soc/esp32s2/peripherals.rs
index c96d1c7b171..81f67a9e5f0 100644
--- a/esp-hal/src/soc/esp32s2/peripherals.rs
+++ b/esp-hal/src/soc/esp32s2/peripherals.rs
@@ -20,53 +20,100 @@ pub(crate) use self::peripherals::*;
 // peripheral (no `PSRAM`, `RADIO`, etc. peripheral in the PACs), so we're
 // creating "virtual peripherals" for them.
 crate::peripherals! {
-    ADC1 <= virtual,
-    ADC2 <= virtual,
-    AES <= AES,
-    DAC1 <= virtual,
-    DAC2 <= virtual,
-    DMA <= virtual,
-    DEDICATED_GPIO <= DEDICATED_GPIO,
-    DS <= DS,
-    EFUSE <= EFUSE,
-    EXTMEM <= EXTMEM,
-    GPIO <= GPIO (GPIO,GPIO_NMI),
-    GPIO_SD <= GPIO_SD,
-    HMAC <= HMAC,
-    I2C0 <= I2C0,
-    I2C1 <= I2C1,
-    I2S0 <= I2S0 (I2S0),
-    INTERRUPT_CORE0 <= INTERRUPT_CORE0,
-    IO_MUX <= IO_MUX,
-    LEDC <= LEDC,
-    LPWR <= RTC_CNTL,
-    PCNT <= PCNT,
-    PMS <= PMS,
-    PSRAM <= virtual,
-    RADIO_CLK <= virtual,
-    RMT <= RMT,
-    RNG <= RNG,
-    RSA <= RSA,
-    RTC_IO <= RTC_IO,
-    RTC_I2C <= RTC_I2C,
-    SHA <= SHA,
-    SPI0 <= SPI0,
-    SPI1 <= SPI1,
-    SPI2 <= SPI2 (SPI2_DMA, SPI2),
-    SPI3 <= SPI3 (SPI3_DMA, SPI3),
-    SYSCON <= SYSCON,
-    SYSTEM <= SYSTEM,
-    SYSTIMER <= SYSTIMER,
-    SW_INTERRUPT <= virtual,
-    TIMG0 <= TIMG0,
-    TIMG1 <= TIMG1,
-    TWAI0 <= TWAI0,
-    UART0 <= UART0,
-    UART1 <= UART1,
-    UHCI0 <= UHCI0,
-    ULP_RISCV_CORE <= virtual,
-    USB0 <= USB0,
-    USB_WRAP <= USB_WRAP,
-    WIFI <= virtual,
-    XTS_AES <= XTS_AES,
+    peripherals: [
+        ADC1 <= virtual,
+        ADC2 <= virtual,
+        AES <= AES,
+        DAC1 <= virtual,
+        DAC2 <= virtual,
+        DMA <= virtual,
+        DEDICATED_GPIO <= DEDICATED_GPIO,
+        DS <= DS,
+        EFUSE <= EFUSE,
+        EXTMEM <= EXTMEM,
+        GPIO_SD <= GPIO_SD,
+        HMAC <= HMAC,
+        I2C0 <= I2C0,
+        I2C1 <= I2C1,
+        I2S0 <= I2S0 (I2S0),
+        INTERRUPT_CORE0 <= INTERRUPT_CORE0,
+        IO_MUX <= IO_MUX,
+        LEDC <= LEDC,
+        LPWR <= RTC_CNTL,
+        PCNT <= PCNT,
+        PMS <= PMS,
+        PSRAM <= virtual,
+        RADIO_CLK <= virtual,
+        RMT <= RMT,
+        RNG <= RNG,
+        RSA <= RSA,
+        RTC_IO <= RTC_IO,
+        RTC_I2C <= RTC_I2C,
+        SHA <= SHA,
+        SPI0 <= SPI0,
+        SPI1 <= SPI1,
+        SPI2 <= SPI2 (SPI2_DMA, SPI2),
+        SPI3 <= SPI3 (SPI3_DMA, SPI3),
+        SYSCON <= SYSCON,
+        SYSTEM <= SYSTEM,
+        SYSTIMER <= SYSTIMER,
+        SW_INTERRUPT <= virtual,
+        TIMG0 <= TIMG0,
+        TIMG1 <= TIMG1,
+        TWAI0 <= TWAI0,
+        UART0 <= UART0,
+        UART1 <= UART1,
+        UHCI0 <= UHCI0,
+        ULP_RISCV_CORE <= virtual,
+        USB0 <= USB0,
+        USB_WRAP <= USB_WRAP,
+        WIFI <= virtual,
+        XTS_AES <= XTS_AES,
+    ],
+    pins: [
+        (0, [Input, Output, Analog, RtcIo])
+        (1, [Input, Output, Analog, RtcIo])
+        (2, [Input, Output, Analog, RtcIo])
+        (3, [Input, Output, Analog, RtcIo])
+        (4, [Input, Output, Analog, RtcIo])
+        (5, [Input, Output, Analog, RtcIo])
+        (6, [Input, Output, Analog, RtcIo])
+        (7, [Input, Output, Analog, RtcIo])
+        (8, [Input, Output, Analog, RtcIo])
+        (9, [Input, Output, Analog, RtcIo])
+        (10, [Input, Output, Analog, RtcIo])
+        (11, [Input, Output, Analog, RtcIo])
+        (12, [Input, Output, Analog, RtcIo])
+        (13, [Input, Output, Analog, RtcIo])
+        (14, [Input, Output, Analog, RtcIo])
+        (15, [Input, Output, Analog, RtcIo])
+        (16, [Input, Output, Analog, RtcIo])
+        (17, [Input, Output, Analog, RtcIo])
+        (18, [Input, Output, Analog, RtcIo])
+        (19, [Input, Output, Analog, RtcIo])
+        (20, [Input, Output, Analog, RtcIo])
+        (21, [Input, Output, Analog, RtcIo])
+
+        (26, [Input, Output])
+        (27, [Input, Output])
+        (28, [Input, Output])
+        (29, [Input, Output])
+        (30, [Input, Output])
+        (31, [Input, Output])
+        (32, [Input, Output])
+        (33, [Input, Output])
+        (34, [Input, Output])
+        (35, [Input, Output])
+        (36, [Input, Output])
+        (37, [Input, Output])
+        (38, [Input, Output])
+        (39, [Input, Output])
+        (40, [Input, Output])
+        (41, [Input, Output])
+        (42, [Input, Output])
+        (43, [Input, Output])
+        (44, [Input, Output])
+        (45, [Input, Output])
+        (46, [Input, Output])
+    ]
 }
diff --git a/esp-hal/src/soc/esp32s3/efuse/mod.rs b/esp-hal/src/soc/esp32s3/efuse/mod.rs
index d4303daf85c..2d2257fe43d 100644
--- a/esp-hal/src/soc/esp32s3/efuse/mod.rs
+++ b/esp-hal/src/soc/esp32s3/efuse/mod.rs
@@ -22,12 +22,10 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::efuse::Efuse;
-//! # use esp_hal::gpio::Io;
 //! # use esp_hal::uart::Uart;
 //! # use core::writeln;
 //! # use core::fmt::Write;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! # let mut serial_tx = Uart::new(peripherals.UART0, io.pins.gpio4, io.pins.gpio5).unwrap();
+//! # let mut serial_tx = Uart::new(peripherals.UART0, peripherals.GPIO4, peripherals.GPIO5).unwrap();
 //! let mac_address = Efuse::read_base_mac_address();
 //! writeln!(
 //!     serial_tx,
diff --git a/esp-hal/src/soc/esp32s3/gpio.rs b/esp-hal/src/soc/esp32s3/gpio.rs
index 2822ec1cfa0..8c71a0ad109 100644
--- a/esp-hal/src/soc/esp32s3/gpio.rs
+++ b/esp-hal/src/soc/esp32s3/gpio.rs
@@ -447,54 +447,6 @@ macro_rules! rtcio_analog {
     };
 }
 
-crate::gpio! {
-    (0, [Input, Output, Analog, RtcIo])
-    (1, [Input, Output, Analog, RtcIo])
-    (2, [Input, Output, Analog, RtcIo])
-    (3, [Input, Output, Analog, RtcIo])
-    (4, [Input, Output, Analog, RtcIo])
-    (5, [Input, Output, Analog, RtcIo])
-    (6, [Input, Output, Analog, RtcIo])
-    (7, [Input, Output, Analog, RtcIo])
-    (8, [Input, Output, Analog, RtcIo] () (3 => SUBSPICS1))
-    (9, [Input, Output, Analog, RtcIo] (3 => SUBSPIHD 4 => FSPIHD) (3 => SUBSPIHD 4 => FSPIHD))
-    (10, [Input, Output, Analog, RtcIo] (2 => FSPIIO4 4 => FSPICS0) (2 => FSPIIO4 3 => SUBSPICS0 4 => FSPICS0))
-    (11, [Input, Output, Analog, RtcIo] (2 => FSPIIO5 3 => SUBSPID 4 => FSPID) (2 => FSPIIO5 3 => SUBSPID 4 => FSPID))
-    (12, [Input, Output, Analog, RtcIo] (2 => FSPIIO6 4 => FSPICLK) (2 => FSPIIO6 3=> SUBSPICLK 4 => FSPICLK))
-    (13, [Input, Output, Analog, RtcIo] (2 => FSPIIO7 3 => SUBSPIQ 4 => FSPIQ) (2 => FSPIIO7 3 => SUBSPIQ 4 => FSPIQ))
-    (14, [Input, Output, Analog, RtcIo] (3 => SUBSPIWP 4 => FSPIWP) (2 => FSPIDQS 3 => SUBSPIWP 4 => FSPIWP))
-    (15, [Input, Output, Analog, RtcIo] () (2 => U0RTS))
-    (16, [Input, Output, Analog, RtcIo] (2 => U0CTS) ())
-    (17, [Input, Output, Analog, RtcIo] () (2 => U1TXD))
-    (18, [Input, Output, Analog, RtcIo] (2 => U1RXD) ())
-    (19, [Input, Output, Analog, RtcIo] () (2 => U1RTS))
-    (20, [Input, Output, Analog, RtcIo] (2 => U1CTS) ())
-    (21, [Input, Output, Analog, RtcIo])
-    (26, [Input, Output])
-    (27, [Input, Output])
-    (28, [Input, Output])
-    (29, [Input, Output])
-    (30, [Input, Output])
-    (31, [Input, Output])
-    (32, [Input, Output])
-    (33, [Input, Output] (2 => FSPIHD 3 => SUBSPIHD) (2 => FSPIHD 3 => SUBSPIHD))
-    (34, [Input, Output] (2 => FSPICS0) (2 => FSPICS0 3 => SUBSPICS0))
-    (35, [Input, Output] (2 => FSPID 3 => SUBSPID) (2 => FSPID 3 => SUBSPID))
-    (36, [Input, Output] (2 => FSPICLK) (2 => FSPICLK 3 => SUBSPICLK))
-    (37, [Input, Output] (2 => FSPIQ 3 => SUBSPIQ 4 => SPIDQS) (2 => FSPIQ 3=> SUBSPIQ 4 => SPIDQS))
-    (38, [Input, Output] (2 => FSPIWP 3 => SUBSPIWP) (3 => FSPIWP 3 => SUBSPIWP))
-    (39, [Input, Output] () (4 => SUBSPICS1))
-    (40, [Input, Output])
-    (41, [Input, Output])
-    (42, [Input, Output])
-    (43, [Input, Output])
-    (44, [Input, Output])
-    (45, [Input, Output])
-    (46, [Input, Output])
-    (47, [Input, Output])
-    (48, [Input, Output])
-}
-
 rtcio_analog! {
     ( 0, touch_pad(0),   "",     touch_pad0_hold )
     ( 1, touch_pad(1),   "",     touch_pad1_hold )
diff --git a/esp-hal/src/soc/esp32s3/peripherals.rs b/esp-hal/src/soc/esp32s3/peripherals.rs
index 9e0592abf52..c6ab886c9bf 100644
--- a/esp-hal/src/soc/esp32s3/peripherals.rs
+++ b/esp-hal/src/soc/esp32s3/peripherals.rs
@@ -20,63 +20,111 @@ pub(crate) use self::peripherals::*;
 // peripheral (no `PSRAM`, `RADIO`, etc. peripheral in the PACs), so we're
 // creating "virtual peripherals" for them.
 crate::peripherals! {
-    ADC1 <= virtual,
-    ADC2 <= virtual,
-    AES <= AES,
-    APB_CTRL <= APB_CTRL,
-    ASSIST_DEBUG <= ASSIST_DEBUG,
-    BT <= virtual,
-    CPU_CTRL <= virtual,
-    DMA <= DMA (DMA_IN_CH0,DMA_IN_CH1,DMA_IN_CH2,DMA_IN_CH3,DMA_IN_CH4,DMA_OUT_CH0,DMA_OUT_CH1,DMA_OUT_CH2,DMA_OUT_CH3,DMA_OUT_CH4),
-    DS <= DS,
-    EFUSE <= EFUSE,
-    EXTMEM <= EXTMEM,
-    GPIO <= GPIO (GPIO,GPIO_NMI),
-    GPIO_SD <= GPIO_SD,
-    HMAC <= HMAC,
-    I2C0 <= I2C0,
-    I2C1 <= I2C1,
-    I2S0 <= I2S0 (I2S0),
-    I2S1 <= I2S1 (I2S1),
-    INTERRUPT_CORE0 <= INTERRUPT_CORE0,
-    INTERRUPT_CORE1 <= INTERRUPT_CORE1,
-    IO_MUX <= IO_MUX,
-    LCD_CAM <= LCD_CAM,
-    LEDC <= LEDC,
-    LPWR <= RTC_CNTL,
-    PCNT <= PCNT,
-    PERI_BACKUP <= PERI_BACKUP,
-    PSRAM <= virtual,
-    MCPWM0 <= MCPWM0,
-    MCPWM1 <= MCPWM1,
-    RADIO_CLK <= virtual,
-    RMT <= RMT,
-    RNG <= RNG,
-    RSA <= RSA,
-    RTC_I2C <= RTC_I2C,
-    RTC_IO <= RTC_IO,
-    SENSITIVE <= SENSITIVE,
-    SHA <= SHA,
-    SPI0 <= SPI0,
-    SPI1 <= SPI1,
-    SPI2 <= SPI2 (SPI2),
-    SPI3 <= SPI3 (SPI3),
-    SYSTEM <= SYSTEM,
-    SYSTIMER <= SYSTIMER,
-    SW_INTERRUPT <= virtual,
-    TIMG0 <= TIMG0,
-    TIMG1 <= TIMG1,
-    TWAI0 <= TWAI0,
-    UART0 <= UART0,
-    UART1 <= UART1,
-    UART2 <= UART2,
-    UHCI0 <= UHCI0,
-    UHCI1 <= UHCI1,
-    ULP_RISCV_CORE <= virtual,
-    USB0 <= USB0,
-    USB_DEVICE <= USB_DEVICE,
-    USB_WRAP <= USB_WRAP,
-    WCL <= WCL,
-    WIFI <= virtual,
-    XTS_AES <= XTS_AES,
+    peripherals: [
+        ADC1 <= virtual,
+        ADC2 <= virtual,
+        AES <= AES,
+        APB_CTRL <= APB_CTRL,
+        ASSIST_DEBUG <= ASSIST_DEBUG,
+        BT <= virtual,
+        CPU_CTRL <= virtual,
+        DMA <= DMA (DMA_IN_CH0,DMA_IN_CH1,DMA_IN_CH2,DMA_IN_CH3,DMA_IN_CH4,DMA_OUT_CH0,DMA_OUT_CH1,DMA_OUT_CH2,DMA_OUT_CH3,DMA_OUT_CH4),
+        DS <= DS,
+        EFUSE <= EFUSE,
+        EXTMEM <= EXTMEM,
+        GPIO_SD <= GPIO_SD,
+        HMAC <= HMAC,
+        I2C0 <= I2C0,
+        I2C1 <= I2C1,
+        I2S0 <= I2S0 (I2S0),
+        I2S1 <= I2S1 (I2S1),
+        INTERRUPT_CORE0 <= INTERRUPT_CORE0,
+        INTERRUPT_CORE1 <= INTERRUPT_CORE1,
+        IO_MUX <= IO_MUX,
+        LCD_CAM <= LCD_CAM,
+        LEDC <= LEDC,
+        LPWR <= RTC_CNTL,
+        PCNT <= PCNT,
+        PERI_BACKUP <= PERI_BACKUP,
+        PSRAM <= virtual,
+        MCPWM0 <= MCPWM0,
+        MCPWM1 <= MCPWM1,
+        RADIO_CLK <= virtual,
+        RMT <= RMT,
+        RNG <= RNG,
+        RSA <= RSA,
+        RTC_I2C <= RTC_I2C,
+        RTC_IO <= RTC_IO,
+        SENSITIVE <= SENSITIVE,
+        SHA <= SHA,
+        SPI0 <= SPI0,
+        SPI1 <= SPI1,
+        SPI2 <= SPI2 (SPI2),
+        SPI3 <= SPI3 (SPI3),
+        SYSTEM <= SYSTEM,
+        SYSTIMER <= SYSTIMER,
+        SW_INTERRUPT <= virtual,
+        TIMG0 <= TIMG0,
+        TIMG1 <= TIMG1,
+        TWAI0 <= TWAI0,
+        UART0 <= UART0,
+        UART1 <= UART1,
+        UART2 <= UART2,
+        UHCI0 <= UHCI0,
+        UHCI1 <= UHCI1,
+        ULP_RISCV_CORE <= virtual,
+        USB0 <= USB0,
+        USB_DEVICE <= USB_DEVICE,
+        USB_WRAP <= USB_WRAP,
+        WCL <= WCL,
+        WIFI <= virtual,
+        XTS_AES <= XTS_AES,
+    ],
+    pins: [
+        (0, [Input, Output, Analog, RtcIo])
+        (1, [Input, Output, Analog, RtcIo])
+        (2, [Input, Output, Analog, RtcIo])
+        (3, [Input, Output, Analog, RtcIo])
+        (4, [Input, Output, Analog, RtcIo])
+        (5, [Input, Output, Analog, RtcIo])
+        (6, [Input, Output, Analog, RtcIo])
+        (7, [Input, Output, Analog, RtcIo])
+        (8, [Input, Output, Analog, RtcIo] () (3 => SUBSPICS1))
+        (9, [Input, Output, Analog, RtcIo] (3 => SUBSPIHD 4 => FSPIHD) (3 => SUBSPIHD 4 => FSPIHD))
+        (10, [Input, Output, Analog, RtcIo] (2 => FSPIIO4 4 => FSPICS0) (2 => FSPIIO4 3 => SUBSPICS0 4 => FSPICS0))
+        (11, [Input, Output, Analog, RtcIo] (2 => FSPIIO5 3 => SUBSPID 4 => FSPID) (2 => FSPIIO5 3 => SUBSPID 4 => FSPID))
+        (12, [Input, Output, Analog, RtcIo] (2 => FSPIIO6 4 => FSPICLK) (2 => FSPIIO6 3=> SUBSPICLK 4 => FSPICLK))
+        (13, [Input, Output, Analog, RtcIo] (2 => FSPIIO7 3 => SUBSPIQ 4 => FSPIQ) (2 => FSPIIO7 3 => SUBSPIQ 4 => FSPIQ))
+        (14, [Input, Output, Analog, RtcIo] (3 => SUBSPIWP 4 => FSPIWP) (2 => FSPIDQS 3 => SUBSPIWP 4 => FSPIWP))
+        (15, [Input, Output, Analog, RtcIo] () (2 => U0RTS))
+        (16, [Input, Output, Analog, RtcIo] (2 => U0CTS) ())
+        (17, [Input, Output, Analog, RtcIo] () (2 => U1TXD))
+        (18, [Input, Output, Analog, RtcIo] (2 => U1RXD) ())
+        (19, [Input, Output, Analog, RtcIo] () (2 => U1RTS))
+        (20, [Input, Output, Analog, RtcIo] (2 => U1CTS) ())
+        (21, [Input, Output, Analog, RtcIo])
+        (26, [Input, Output])
+        (27, [Input, Output])
+        (28, [Input, Output])
+        (29, [Input, Output])
+        (30, [Input, Output])
+        (31, [Input, Output])
+        (32, [Input, Output])
+        (33, [Input, Output] (2 => FSPIHD 3 => SUBSPIHD) (2 => FSPIHD 3 => SUBSPIHD))
+        (34, [Input, Output] (2 => FSPICS0) (2 => FSPICS0 3 => SUBSPICS0))
+        (35, [Input, Output] (2 => FSPID 3 => SUBSPID) (2 => FSPID 3 => SUBSPID))
+        (36, [Input, Output] (2 => FSPICLK) (2 => FSPICLK 3 => SUBSPICLK))
+        (37, [Input, Output] (2 => FSPIQ 3 => SUBSPIQ 4 => SPIDQS) (2 => FSPIQ 3=> SUBSPIQ 4 => SPIDQS))
+        (38, [Input, Output] (2 => FSPIWP 3 => SUBSPIWP) (3 => FSPIWP 3 => SUBSPIWP))
+        (39, [Input, Output] () (4 => SUBSPICS1))
+        (40, [Input, Output])
+        (41, [Input, Output])
+        (42, [Input, Output])
+        (43, [Input, Output])
+        (44, [Input, Output])
+        (45, [Input, Output])
+        (46, [Input, Output])
+        (47, [Input, Output])
+        (48, [Input, Output])
+    ]
 }
diff --git a/esp-hal/src/spi/master.rs b/esp-hal/src/spi/master.rs
index 1609c7c2909..1430a5269c3 100644
--- a/esp-hal/src/spi/master.rs
+++ b/esp-hal/src/spi/master.rs
@@ -40,12 +40,10 @@
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::spi::SpiMode;
 //! # use esp_hal::spi::master::{Config, Spi};
-//! # use esp_hal::gpio::Io;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! let sclk = io.pins.gpio0;
-//! let miso = io.pins.gpio2;
-//! let mosi = io.pins.gpio1;
-//! let cs = io.pins.gpio5;
+//! let sclk = peripherals.GPIO0;
+//! let miso = peripherals.GPIO2;
+//! let mosi = peripherals.GPIO1;
+//! let cs = peripherals.GPIO5;
 //!
 //! let mut spi = Spi::new_with_config(
 //!     peripherals.SPI2,
diff --git a/esp-hal/src/spi/slave.rs b/esp-hal/src/spi/slave.rs
index 86a80ffdca4..0ffd707d1eb 100644
--- a/esp-hal/src/spi/slave.rs
+++ b/esp-hal/src/spi/slave.rs
@@ -20,15 +20,13 @@
 //! # use esp_hal::spi::SpiMode;
 //! # use esp_hal::spi::slave::Spi;
 //! # use esp_hal::dma::Dma;
-//! # use esp_hal::gpio::Io;
 //! let dma = Dma::new(peripherals.DMA);
 #![cfg_attr(pdma, doc = "let dma_channel = dma.spi2channel;")]
 #![cfg_attr(gdma, doc = "let dma_channel = dma.channel0;")]
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! let sclk = io.pins.gpio0;
-//! let miso = io.pins.gpio1;
-//! let mosi = io.pins.gpio2;
-//! let cs = io.pins.gpio3;
+//! let sclk = peripherals.GPIO0;
+//! let miso = peripherals.GPIO1;
+//! let mosi = peripherals.GPIO2;
+//! let cs = peripherals.GPIO3;
 //!
 //! let (rx_buffer, rx_descriptors, tx_buffer, tx_descriptors) =
 //! dma_buffers!(32000);
diff --git a/esp-hal/src/touch.rs b/esp-hal/src/touch.rs
index be397dc10ba..66e8dc1c742 100644
--- a/esp-hal/src/touch.rs
+++ b/esp-hal/src/touch.rs
@@ -10,9 +10,7 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::touch::{Touch, TouchPad};
-//! # use esp_hal::gpio::Io;
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-//! let touch_pin0 = io.pins.gpio2;
+//! let touch_pin0 = peripherals.GPIO2;
 //! let touch = Touch::continuous_mode(peripherals.TOUCH, None);
 //! let mut touchpad = TouchPad::new(touch_pin0, &touch);
 //! // ... give the peripheral some time for the measurement
diff --git a/esp-hal/src/twai/mod.rs b/esp-hal/src/twai/mod.rs
index a89d5cfda3d..cfbb1f7ead0 100644
--- a/esp-hal/src/twai/mod.rs
+++ b/esp-hal/src/twai/mod.rs
@@ -32,14 +32,12 @@
 //! # use esp_hal::twai::TwaiConfiguration;
 //! # use esp_hal::twai::BaudRate;
 //! # use esp_hal::twai::TwaiMode;
-//! # use esp_hal::gpio::Io;
 //! # use embedded_can::Frame;
 //! # use nb::block;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //! // Use GPIO pins 2 and 3 to connect to the respective pins on the TWAI
 //! // transceiver.
-//! let can_rx_pin = io.pins.gpio3;
-//! let can_tx_pin = io.pins.gpio2;
+//! let can_rx_pin = peripherals.GPIO3;
+//! let can_tx_pin = peripherals.GPIO2;
 //!
 //! // The speed of the TWAI bus.
 //! const TWAI_BAUDRATE: twai::BaudRate = BaudRate::B1000K;
@@ -86,14 +84,12 @@
 //! # use esp_hal::twai::EspTwaiFrame;
 //! # use esp_hal::twai::StandardId;
 //! # use esp_hal::twai::TwaiMode;
-//! # use esp_hal::gpio::Io;
 //! # use embedded_can::Frame;
 //! # use nb::block;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //! // Use GPIO pins 2 and 3 to connect to the respective pins on the TWAI
 //! // transceiver.
-//! let can_rx_pin = io.pins.gpio3;
-//! let can_tx_pin = io.pins.gpio2;
+//! let can_rx_pin = peripherals.GPIO3;
+//! let can_tx_pin = peripherals.GPIO2;
 //!
 //! // The speed of the TWAI bus.
 //! const TWAI_BAUDRATE: twai::BaudRate = BaudRate::B1000K;
diff --git a/esp-hal/src/uart.rs b/esp-hal/src/uart.rs
index ef1ccb9e3b0..b67f6b97427 100644
--- a/esp-hal/src/uart.rs
+++ b/esp-hal/src/uart.rs
@@ -23,14 +23,11 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::uart::Uart;
-//! use esp_hal::gpio::Io;
-//!
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //!
 //! let mut uart1 = Uart::new(
 //!     peripherals.UART1,
-//!     io.pins.gpio1,
-//!     io.pins.gpio2,
+//!     peripherals.GPIO1,
+//!     peripherals.GPIO2,
 //! ).unwrap();
 //! # }
 //! ```
@@ -56,13 +53,11 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::uart::{Config, Uart};
-//! # use esp_hal::gpio::Io;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //! # let mut uart1 = Uart::new_with_config(
 //! #     peripherals.UART1,
 //! #     Config::default(),
-//! #     io.pins.gpio1,
-//! #     io.pins.gpio2,
+//! #     peripherals.GPIO1,
+//! #     peripherals.GPIO2,
 //! # ).unwrap();
 //! // Write bytes out over the UART:
 //! uart1.write_bytes(b"Hello, world!").expect("write error!");
@@ -73,13 +68,11 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::uart::{Config, Uart};
-//! # use esp_hal::gpio::Io;
-//! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //! # let mut uart1 = Uart::new_with_config(
 //! #     peripherals.UART1,
 //! #     Config::default(),
-//! #     io.pins.gpio1,
-//! #     io.pins.gpio2,
+//! #     peripherals.GPIO1,
+//! #     peripherals.GPIO2,
 //! # ).unwrap();
 //! // The UART can be split into separate Transmit and Receive components:
 //! let (mut rx, mut tx) = uart1.split();
@@ -94,12 +87,9 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::uart::Uart;
-//! use esp_hal::gpio::Io;
-//!
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //!
-//! let (rx, _) = io.pins.gpio2.split();
-//! let (_, tx) = io.pins.gpio1.split();
+//! let (rx, _) = peripherals.GPIO2.split();
+//! let (_, tx) = peripherals.GPIO1.split();
 //! let mut uart1 = Uart::new(
 //!     peripherals.UART1,
 //!     rx.inverted(),
@@ -112,12 +102,9 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::uart::{UartTx, UartRx};
-//! use esp_hal::gpio::Io;
-//!
-//! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //!
-//! let tx = UartTx::new(peripherals.UART0, io.pins.gpio1).unwrap();
-//! let rx = UartRx::new(peripherals.UART1, io.pins.gpio2).unwrap();
+//! let tx = UartTx::new(peripherals.UART0, peripherals.GPIO1).unwrap();
+//! let rx = UartRx::new(peripherals.UART1, peripherals.GPIO2).unwrap();
 //! # }
 //! ```
 //! 
diff --git a/examples/src/bin/adc.rs b/examples/src/bin/adc.rs
index 08fe4b3786a..e4c8eb2b423 100644
--- a/examples/src/bin/adc.rs
+++ b/examples/src/bin/adc.rs
@@ -20,7 +20,6 @@ use esp_backtrace as _;
 use esp_hal::{
     analog::adc::{Adc, AdcConfig, Attenuation},
     delay::Delay,
-    gpio::Io,
     prelude::*,
 };
 use esp_println::println;
@@ -29,14 +28,13 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32")] {
-            let analog_pin = io.pins.gpio32;
+            let analog_pin = peripherals.GPIO32;
         } else if #[cfg(any(feature = "esp32s2", feature = "esp32s3"))] {
-            let analog_pin = io.pins.gpio3;
+            let analog_pin = peripherals.GPIO3;
         } else {
-            let analog_pin = io.pins.gpio2;
+            let analog_pin = peripherals.GPIO2;
         }
     }
 
diff --git a/examples/src/bin/adc_cal.rs b/examples/src/bin/adc_cal.rs
index a025a6ba52f..e7d6ceb859d 100644
--- a/examples/src/bin/adc_cal.rs
+++ b/examples/src/bin/adc_cal.rs
@@ -16,7 +16,6 @@ use esp_backtrace as _;
 use esp_hal::{
     analog::adc::{Adc, AdcConfig, Attenuation},
     delay::Delay,
-    gpio::Io,
     prelude::*,
 };
 use esp_println::println;
@@ -25,12 +24,11 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32s3")] {
-            let analog_pin = io.pins.gpio3;
+            let analog_pin = peripherals.GPIO3;
         } else {
-            let analog_pin = io.pins.gpio2;
+            let analog_pin = peripherals.GPIO2;
         }
     }
 
diff --git a/examples/src/bin/advanced_serial.rs b/examples/src/bin/advanced_serial.rs
index b0c4e8d90b3..6012abc4abc 100644
--- a/examples/src/bin/advanced_serial.rs
+++ b/examples/src/bin/advanced_serial.rs
@@ -13,7 +13,7 @@
 #![no_main]
 
 use esp_backtrace as _;
-use esp_hal::{delay::Delay, gpio::Io, prelude::*, uart::Uart};
+use esp_hal::{delay::Delay, prelude::*, uart::Uart};
 use esp_println::println;
 use nb::block;
 
@@ -21,9 +21,7 @@ use nb::block;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-    let mut serial1 = Uart::new(peripherals.UART1, io.pins.gpio4, io.pins.gpio5).unwrap();
+    let mut serial1 = Uart::new(peripherals.UART1, peripherals.GPIO4, peripherals.GPIO5).unwrap();
 
     let delay = Delay::new();
 
diff --git a/examples/src/bin/blinky.rs b/examples/src/bin/blinky.rs
index f863b8b19b8..f804dda603f 100644
--- a/examples/src/bin/blinky.rs
+++ b/examples/src/bin/blinky.rs
@@ -11,7 +11,7 @@
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::{Io, Level, Output},
+    gpio::{Level, Output},
     prelude::*,
 };
 
@@ -20,8 +20,8 @@ fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
     // Set GPIO0 as an output, and set its state high initially.
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let mut led = Output::new(io.pins.gpio0, Level::High);
+
+    let mut led = Output::new(peripherals.GPIO0, Level::High);
 
     let delay = Delay::new();
 
diff --git a/examples/src/bin/blinky_erased_pins.rs b/examples/src/bin/blinky_erased_pins.rs
index 48d9309f088..140e728e1aa 100644
--- a/examples/src/bin/blinky_erased_pins.rs
+++ b/examples/src/bin/blinky_erased_pins.rs
@@ -14,7 +14,7 @@
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::{Input, Io, Level, Output, Pin, Pull},
+    gpio::{Input, Level, Output, Pin, Pull},
     prelude::*,
 };
 
@@ -22,18 +22,16 @@ use esp_hal::{
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     // Set LED GPIOs as an output:
-    let led1 = Output::new(io.pins.gpio2.degrade(), Level::Low);
-    let led2 = Output::new(io.pins.gpio4.degrade(), Level::Low);
-    let led3 = Output::new(io.pins.gpio5.degrade(), Level::Low);
+    let led1 = Output::new(peripherals.GPIO2.degrade(), Level::Low);
+    let led2 = Output::new(peripherals.GPIO4.degrade(), Level::Low);
+    let led3 = Output::new(peripherals.GPIO5.degrade(), Level::Low);
 
     // Use boot button as an input:
     #[cfg(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3"))]
-    let button = io.pins.gpio0.degrade();
+    let button = peripherals.GPIO0.degrade();
     #[cfg(not(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3")))]
-    let button = io.pins.gpio9.degrade();
+    let button = peripherals.GPIO9.degrade();
 
     let button = Input::new(button, Pull::Up);
 
diff --git a/examples/src/bin/dac.rs b/examples/src/bin/dac.rs
index d83740d97da..4bd42b29860 100644
--- a/examples/src/bin/dac.rs
+++ b/examples/src/bin/dac.rs
@@ -19,21 +19,19 @@
 #![no_main]
 
 use esp_backtrace as _;
-use esp_hal::{analog::dac::Dac, delay::Delay, gpio::Io, prelude::*};
+use esp_hal::{analog::dac::Dac, delay::Delay, prelude::*};
 
 #[entry]
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32")] {
-            let dac1_pin = io.pins.gpio25;
-            let dac2_pin = io.pins.gpio26;
+            let dac1_pin = peripherals.GPIO25;
+            let dac2_pin = peripherals.GPIO26;
         } else if #[cfg(feature = "esp32s2")] {
-            let dac1_pin = io.pins.gpio17;
-            let dac2_pin = io.pins.gpio18;
+            let dac1_pin = peripherals.GPIO17;
+            let dac2_pin = peripherals.GPIO18;
         }
     }
 
diff --git a/examples/src/bin/embassy_i2c.rs b/examples/src/bin/embassy_i2c.rs
index 64c046695a7..2b7f467ee53 100644
--- a/examples/src/bin/embassy_i2c.rs
+++ b/examples/src/bin/embassy_i2c.rs
@@ -20,7 +20,6 @@ use embassy_executor::Spawner;
 use embassy_time::{Duration, Timer};
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::Io,
     i2c::master::{Config, I2c},
     prelude::*,
     timer::timg::TimerGroup,
@@ -34,15 +33,13 @@ async fn main(_spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let i2c0 = I2c::new(peripherals.I2C0, {
         let mut config = Config::default();
         config.frequency = 400.kHz();
         config
     })
-    .with_sda(io.pins.gpio4)
-    .with_scl(io.pins.gpio5)
+    .with_sda(peripherals.GPIO4)
+    .with_scl(peripherals.GPIO5)
     .into_async();
 
     let mut lis3dh = Lis3dh::new_i2c(i2c0, SlaveAddr::Alternate).await.unwrap();
diff --git a/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs b/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs
index 204f9e61f38..1f7ff1525af 100644
--- a/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs
+++ b/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs
@@ -21,7 +21,6 @@ use embassy_executor::Spawner;
 use embassy_time::{Duration, Timer};
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::Io,
     i2c::master::{Config, I2c},
     prelude::*,
     timer::timg::TimerGroup,
@@ -34,15 +33,13 @@ async fn main(_spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let mut i2c = I2c::new(peripherals.I2C0, {
         let mut config = Config::default();
         config.frequency = 400.kHz();
         config
     })
-    .with_sda(io.pins.gpio4)
-    .with_scl(io.pins.gpio5)
+    .with_sda(peripherals.GPIO4)
+    .with_scl(peripherals.GPIO5)
     .into_async();
 
     loop {
diff --git a/examples/src/bin/embassy_i2s_parallel.rs b/examples/src/bin/embassy_i2s_parallel.rs
index 322b5e4a95b..927b95ded17 100644
--- a/examples/src/bin/embassy_i2s_parallel.rs
+++ b/examples/src/bin/embassy_i2s_parallel.rs
@@ -20,7 +20,6 @@ use esp_backtrace as _;
 use esp_hal::{
     dma::{Dma, DmaPriority, DmaTxBuf},
     dma_buffers,
-    gpio::Io,
     i2s::parallel::{I2sParallel, TxEightBits},
     prelude::*,
     timer::timg::TimerGroup,
@@ -35,7 +34,6 @@ async fn main(_spawner: Spawner) {
     info!("Starting!");
     let peripherals = esp_hal::init(esp_hal::Config::default());
     let dma = Dma::new(peripherals.DMA);
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
     let timg0 = TimerGroup::new(peripherals.TIMG0);
 
@@ -44,17 +42,17 @@ async fn main(_spawner: Spawner) {
 
     let dma_channel = dma.i2s1channel;
     let i2s = peripherals.I2S1;
-    let clock = io.pins.gpio25;
+    let clock = peripherals.GPIO25;
 
     let pins = TxEightBits::new(
-        io.pins.gpio16,
-        io.pins.gpio4,
-        io.pins.gpio17,
-        io.pins.gpio18,
-        io.pins.gpio5,
-        io.pins.gpio19,
-        io.pins.gpio12,
-        io.pins.gpio14,
+        peripherals.GPIO16,
+        peripherals.GPIO4,
+        peripherals.GPIO17,
+        peripherals.GPIO18,
+        peripherals.GPIO5,
+        peripherals.GPIO19,
+        peripherals.GPIO12,
+        peripherals.GPIO14,
     );
 
     let (_, _, tx_buffer, tx_descriptors) = dma_buffers!(0, BUFFER_SIZE);
diff --git a/examples/src/bin/embassy_i2s_read.rs b/examples/src/bin/embassy_i2s_read.rs
index 196793e9c23..612ee4ad9f5 100644
--- a/examples/src/bin/embassy_i2s_read.rs
+++ b/examples/src/bin/embassy_i2s_read.rs
@@ -22,7 +22,6 @@ use esp_backtrace as _;
 use esp_hal::{
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::Io,
     i2s::master::{DataFormat, I2s, Standard},
     prelude::*,
     timer::timg::TimerGroup,
@@ -37,8 +36,6 @@ async fn main(_spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let dma = Dma::new(peripherals.DMA);
     #[cfg(any(feature = "esp32", feature = "esp32s2"))]
     let dma_channel = dma.i2s0channel;
@@ -59,13 +56,13 @@ async fn main(_spawner: Spawner) {
     .into_async();
 
     #[cfg(not(feature = "esp32"))]
-    let i2s = i2s.with_mclk(io.pins.gpio0);
+    let i2s = i2s.with_mclk(peripherals.GPIO0);
 
     let i2s_rx = i2s
         .i2s_rx
-        .with_bclk(io.pins.gpio2)
-        .with_ws(io.pins.gpio4)
-        .with_din(io.pins.gpio5)
+        .with_bclk(peripherals.GPIO2)
+        .with_ws(peripherals.GPIO4)
+        .with_din(peripherals.GPIO5)
         .build();
 
     let buffer = rx_buffer;
diff --git a/examples/src/bin/embassy_i2s_sound.rs b/examples/src/bin/embassy_i2s_sound.rs
index dd48f782738..fd06eff7a00 100644
--- a/examples/src/bin/embassy_i2s_sound.rs
+++ b/examples/src/bin/embassy_i2s_sound.rs
@@ -36,7 +36,6 @@ use esp_backtrace as _;
 use esp_hal::{
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::Io,
     i2s::master::{DataFormat, I2s, Standard},
     prelude::*,
     timer::timg::TimerGroup,
@@ -59,8 +58,6 @@ async fn main(_spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let dma = Dma::new(peripherals.DMA);
     #[cfg(any(feature = "esp32", feature = "esp32s2"))]
     let dma_channel = dma.i2s0channel;
@@ -82,9 +79,9 @@ async fn main(_spawner: Spawner) {
 
     let i2s_tx = i2s
         .i2s_tx
-        .with_bclk(io.pins.gpio2)
-        .with_ws(io.pins.gpio4)
-        .with_dout(io.pins.gpio5)
+        .with_bclk(peripherals.GPIO2)
+        .with_ws(peripherals.GPIO4)
+        .with_dout(peripherals.GPIO5)
         .build();
 
     let data =
diff --git a/examples/src/bin/embassy_multicore.rs b/examples/src/bin/embassy_multicore.rs
index 741b196bb2c..6def339d64d 100644
--- a/examples/src/bin/embassy_multicore.rs
+++ b/examples/src/bin/embassy_multicore.rs
@@ -21,7 +21,7 @@ use esp_backtrace as _;
 use esp_hal::{
     cpu_control::{CpuControl, Stack},
     get_core,
-    gpio::{Io, Level, Output},
+    gpio::{Level, Output},
     timer::{timg::TimerGroup, AnyTimer},
 };
 use esp_hal_embassy::Executor;
@@ -53,8 +53,6 @@ async fn control_led(
 async fn main(_spawner: Spawner) {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     let timer0: AnyTimer = timg0.timer0.into();
     let timer1: AnyTimer = timg0.timer1.into();
@@ -65,7 +63,7 @@ async fn main(_spawner: Spawner) {
     static LED_CTRL: StaticCell<Signal<CriticalSectionRawMutex, bool>> = StaticCell::new();
     let led_ctrl_signal = &*LED_CTRL.init(Signal::new());
 
-    let led = Output::new(io.pins.gpio0, Level::Low);
+    let led = Output::new(peripherals.GPIO0, Level::Low);
 
     let _guard = cpu_control
         .start_app_core(unsafe { &mut *addr_of_mut!(APP_CORE_STACK) }, move || {
diff --git a/examples/src/bin/embassy_multicore_interrupt.rs b/examples/src/bin/embassy_multicore_interrupt.rs
index 1b427ebe7b5..7a1de606c95 100644
--- a/examples/src/bin/embassy_multicore_interrupt.rs
+++ b/examples/src/bin/embassy_multicore_interrupt.rs
@@ -20,7 +20,7 @@ use esp_backtrace as _;
 use esp_hal::{
     cpu_control::{CpuControl, Stack},
     get_core,
-    gpio::{Io, Level, Output},
+    gpio::{Level, Output},
     interrupt::{software::SoftwareInterruptControl, Priority},
     prelude::*,
     timer::{timg::TimerGroup, AnyTimer},
@@ -75,8 +75,6 @@ fn main() -> ! {
 
     let sw_ints = SoftwareInterruptControl::new(peripherals.SW_INTERRUPT);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     let timer0: AnyTimer = timg0.timer0.into();
     let timer1: AnyTimer = timg0.timer1.into();
@@ -87,7 +85,7 @@ fn main() -> ! {
     static LED_CTRL: StaticCell<Signal<CriticalSectionRawMutex, bool>> = StaticCell::new();
     let led_ctrl_signal = &*LED_CTRL.init(Signal::new());
 
-    let led = Output::new(io.pins.gpio0, Level::Low);
+    let led = Output::new(peripherals.GPIO0, Level::Low);
 
     static EXECUTOR_CORE_1: StaticCell<InterruptExecutor<1>> = StaticCell::new();
     let executor_core1 = InterruptExecutor::new(sw_ints.software_interrupt1);
diff --git a/examples/src/bin/embassy_parl_io_rx.rs b/examples/src/bin/embassy_parl_io_rx.rs
index 95e28f696ee..9b589992dc0 100644
--- a/examples/src/bin/embassy_parl_io_rx.rs
+++ b/examples/src/bin/embassy_parl_io_rx.rs
@@ -16,7 +16,6 @@ use esp_backtrace as _;
 use esp_hal::{
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::Io,
     parl_io::{no_clk_pin, BitPackOrder, ParlIoRxOnly, RxFourBits},
     prelude::*,
     timer::systimer::{SystemTimer, Target},
@@ -31,14 +30,17 @@ async fn main(_spawner: Spawner) {
     let systimer = SystemTimer::new(peripherals.SYSTIMER).split::<Target>();
     esp_hal_embassy::init(systimer.alarm0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let (rx_buffer, rx_descriptors, _, _) = dma_buffers!(32000, 0);
 
     let dma = Dma::new(peripherals.DMA);
     let dma_channel = dma.channel0;
 
-    let mut rx_pins = RxFourBits::new(io.pins.gpio1, io.pins.gpio2, io.pins.gpio3, io.pins.gpio4);
+    let mut rx_pins = RxFourBits::new(
+        peripherals.GPIO1,
+        peripherals.GPIO2,
+        peripherals.GPIO3,
+        peripherals.GPIO4,
+    );
 
     let parl_io = ParlIoRxOnly::new(
         peripherals.PARL_IO,
diff --git a/examples/src/bin/embassy_parl_io_tx.rs b/examples/src/bin/embassy_parl_io_tx.rs
index e177ad506d9..44302552bde 100644
--- a/examples/src/bin/embassy_parl_io_tx.rs
+++ b/examples/src/bin/embassy_parl_io_tx.rs
@@ -20,7 +20,6 @@ use esp_backtrace as _;
 use esp_hal::{
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::Io,
     parl_io::{
         BitPackOrder,
         ClkOutPin,
@@ -42,16 +41,19 @@ async fn main(_spawner: Spawner) {
     let systimer = SystemTimer::new(peripherals.SYSTIMER).split::<Target>();
     esp_hal_embassy::init(systimer.alarm0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let (_, _, tx_buffer, tx_descriptors) = dma_buffers!(0, 32000);
 
     let dma = Dma::new(peripherals.DMA);
     let dma_channel = dma.channel0;
 
-    let tx_pins = TxFourBits::new(io.pins.gpio1, io.pins.gpio2, io.pins.gpio3, io.pins.gpio4);
+    let tx_pins = TxFourBits::new(
+        peripherals.GPIO1,
+        peripherals.GPIO2,
+        peripherals.GPIO3,
+        peripherals.GPIO4,
+    );
 
-    let mut pin_conf = TxPinConfigWithValidPin::new(tx_pins, io.pins.gpio5);
+    let mut pin_conf = TxPinConfigWithValidPin::new(tx_pins, peripherals.GPIO5);
 
     let parl_io = ParlIoTxOnly::new(
         peripherals.PARL_IO,
@@ -63,7 +65,7 @@ async fn main(_spawner: Spawner) {
     )
     .unwrap();
 
-    let mut clock_pin = ClkOutPin::new(io.pins.gpio8);
+    let mut clock_pin = ClkOutPin::new(peripherals.GPIO8);
 
     let mut parl_io_tx = parl_io
         .tx
diff --git a/examples/src/bin/embassy_rmt_rx.rs b/examples/src/bin/embassy_rmt_rx.rs
index 4ebfd23c56e..08c5f8bc28d 100644
--- a/examples/src/bin/embassy_rmt_rx.rs
+++ b/examples/src/bin/embassy_rmt_rx.rs
@@ -13,7 +13,7 @@ use embassy_executor::Spawner;
 use embassy_time::{Duration, Timer};
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::{Io, Level, Output},
+    gpio::{Level, Output},
     prelude::*,
     rmt::{PulseCode, Rmt, RxChannelAsync, RxChannelConfig, RxChannelCreatorAsync},
     timer::timg::TimerGroup,
@@ -44,8 +44,6 @@ async fn main(spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32h2")] {
             let freq = 32.MHz();
@@ -63,16 +61,16 @@ async fn main(spawner: Spawner) {
 
     cfg_if::cfg_if! {
         if #[cfg(any(feature = "esp32", feature = "esp32s2"))] {
-            let mut channel = rmt.channel0.configure(io.pins.gpio4, rx_config).unwrap();
+            let mut channel = rmt.channel0.configure(peripherals.GPIO4, rx_config).unwrap();
         } else if #[cfg(feature = "esp32s3")] {
-            let mut channel = rmt.channel7.configure(io.pins.gpio4, rx_config).unwrap();
+            let mut channel = rmt.channel7.configure(peripherals.GPIO4, rx_config).unwrap();
         } else {
-            let mut channel = rmt.channel2.configure(io.pins.gpio4, rx_config).unwrap();
+            let mut channel = rmt.channel2.configure(peripherals.GPIO4, rx_config).unwrap();
         }
     }
 
     spawner
-        .spawn(signal_task(Output::new(io.pins.gpio5, Level::Low)))
+        .spawn(signal_task(Output::new(peripherals.GPIO5, Level::Low)))
         .unwrap();
 
     let mut data = [PulseCode {
diff --git a/examples/src/bin/embassy_rmt_tx.rs b/examples/src/bin/embassy_rmt_tx.rs
index 79413f3c8b6..5943c453700 100644
--- a/examples/src/bin/embassy_rmt_tx.rs
+++ b/examples/src/bin/embassy_rmt_tx.rs
@@ -15,7 +15,6 @@ use embassy_executor::Spawner;
 use embassy_time::{Duration, Timer};
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::Io,
     prelude::*,
     rmt::{PulseCode, Rmt, TxChannelAsync, TxChannelConfig, TxChannelCreatorAsync},
     timer::timg::TimerGroup,
@@ -30,8 +29,6 @@ async fn main(_spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32h2")] {
             let freq = 32.MHz();
@@ -45,7 +42,7 @@ async fn main(_spawner: Spawner) {
     let mut channel = rmt
         .channel0
         .configure(
-            io.pins.gpio4,
+            peripherals.GPIO4,
             TxChannelConfig {
                 clk_divider: 255,
                 ..TxChannelConfig::default()
diff --git a/examples/src/bin/embassy_serial.rs b/examples/src/bin/embassy_serial.rs
index 40d25ef0cfd..643bac9285c 100644
--- a/examples/src/bin/embassy_serial.rs
+++ b/examples/src/bin/embassy_serial.rs
@@ -13,7 +13,6 @@ use embassy_executor::Spawner;
 use embassy_sync::{blocking_mutex::raw::NoopRawMutex, signal::Signal};
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::Io,
     timer::timg::TimerGroup,
     uart::{AtCmdConfig, Config, Uart, UartRx, UartTx},
     Async,
@@ -71,22 +70,20 @@ async fn main(spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     // Default pins for Uart/Serial communication
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32")] {
-            let (tx_pin, rx_pin) = (io.pins.gpio1, io.pins.gpio3);
+            let (tx_pin, rx_pin) = (peripherals.GPIO1, peripherals.GPIO3);
         } else if #[cfg(feature = "esp32c2")] {
-            let (tx_pin, rx_pin) = (io.pins.gpio20, io.pins.gpio19);
+            let (tx_pin, rx_pin) = (peripherals.GPIO20, peripherals.GPIO19);
         } else if #[cfg(feature = "esp32c3")] {
-            let (tx_pin, rx_pin) = (io.pins.gpio21, io.pins.gpio20);
+            let (tx_pin, rx_pin) = (peripherals.GPIO21, peripherals.GPIO20);
         } else if #[cfg(feature = "esp32c6")] {
-            let (tx_pin, rx_pin) = (io.pins.gpio16, io.pins.gpio17);
+            let (tx_pin, rx_pin) = (peripherals.GPIO16, peripherals.GPIO17);
         } else if #[cfg(feature = "esp32h2")] {
-            let (tx_pin, rx_pin) = (io.pins.gpio24, io.pins.gpio23);
+            let (tx_pin, rx_pin) = (peripherals.GPIO24, peripherals.GPIO23);
         } else if #[cfg(any(feature = "esp32s2", feature = "esp32s3"))] {
-            let (tx_pin, rx_pin) = (io.pins.gpio43, io.pins.gpio44);
+            let (tx_pin, rx_pin) = (peripherals.GPIO43, peripherals.GPIO44);
         }
     }
 
diff --git a/examples/src/bin/embassy_spi.rs b/examples/src/bin/embassy_spi.rs
index 702b30046de..82a7813f884 100644
--- a/examples/src/bin/embassy_spi.rs
+++ b/examples/src/bin/embassy_spi.rs
@@ -24,7 +24,6 @@ use esp_backtrace as _;
 use esp_hal::{
     dma::*,
     dma_buffers,
-    gpio::Io,
     prelude::*,
     spi::{
         master::{Config, Spi},
@@ -41,11 +40,10 @@ async fn main(_spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let sclk = io.pins.gpio0;
-    let miso = io.pins.gpio2;
-    let mosi = io.pins.gpio4;
-    let cs = io.pins.gpio5;
+    let sclk = peripherals.GPIO0;
+    let miso = peripherals.GPIO2;
+    let mosi = peripherals.GPIO4;
+    let cs = peripherals.GPIO5;
 
     let dma = Dma::new(peripherals.DMA);
 
diff --git a/examples/src/bin/embassy_touch.rs b/examples/src/bin/embassy_touch.rs
index 808caf2a869..2849d178343 100644
--- a/examples/src/bin/embassy_touch.rs
+++ b/examples/src/bin/embassy_touch.rs
@@ -17,7 +17,6 @@ use embassy_futures::select::{select, Either};
 use embassy_time::{Duration, Timer};
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::Io,
     rtc_cntl::Rtc,
     timer::timg::TimerGroup,
     touch::{Touch, TouchConfig, TouchPad},
@@ -32,11 +31,10 @@ async fn main(_spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
     let mut rtc = Rtc::new(peripherals.LPWR);
 
-    let touch_pin0 = io.pins.gpio2;
-    let touch_pin1 = io.pins.gpio4;
+    let touch_pin0 = peripherals.GPIO2;
+    let touch_pin1 = peripherals.GPIO4;
 
     let touch_cfg = Some(TouchConfig {
         measurement_duration: Some(0x2000),
diff --git a/examples/src/bin/embassy_twai.rs b/examples/src/bin/embassy_twai.rs
index 36b94aa42b4..d788c75301f 100644
--- a/examples/src/bin/embassy_twai.rs
+++ b/examples/src/bin/embassy_twai.rs
@@ -35,7 +35,6 @@ use embassy_sync::{blocking_mutex::raw::NoopRawMutex, channel::Channel};
 use embedded_can::{Frame, Id};
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::Io,
     timer::timg::TimerGroup,
     twai::{self, EspTwaiFrame, StandardId, TwaiMode, TwaiRx, TwaiTx},
 };
@@ -92,13 +91,11 @@ async fn main(spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     // Without an external transceiver, we only need a single line between the two MCUs.
-    let (rx_pin, tx_pin) = io.pins.gpio2.split();
+    let (rx_pin, tx_pin) = peripherals.GPIO2.split();
     // Use these if you want to use an external transceiver:
-    // let tx_pin = io.pins.gpio2;
-    // let rx_pin = io.pins.gpio0;
+    // let tx_pin = peripherals.GPIO2;
+    // let rx_pin = peripherals.GPIO0;
 
     // The speed of the bus.
     const TWAI_BAUDRATE: twai::BaudRate = twai::BaudRate::B125K;
diff --git a/examples/src/bin/embassy_usb_serial.rs b/examples/src/bin/embassy_usb_serial.rs
index e2054358dd3..207ae1132a1 100644
--- a/examples/src/bin/embassy_usb_serial.rs
+++ b/examples/src/bin/embassy_usb_serial.rs
@@ -21,7 +21,6 @@ use embassy_usb::{
 };
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::Io,
     otg_fs::{
         asynch::{Config, Driver},
         Usb,
@@ -37,9 +36,7 @@ async fn main(_spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-    let usb = Usb::new(peripherals.USB0, io.pins.gpio20, io.pins.gpio19);
+    let usb = Usb::new(peripherals.USB0, peripherals.GPIO20, peripherals.GPIO19);
 
     // Create the driver, from the HAL.
     let mut ep_out_buffer = [0u8; 1024];
diff --git a/examples/src/bin/embassy_wait.rs b/examples/src/bin/embassy_wait.rs
index 9f80b2dbc9d..b78a85ff3c4 100644
--- a/examples/src/bin/embassy_wait.rs
+++ b/examples/src/bin/embassy_wait.rs
@@ -12,7 +12,7 @@ use embassy_executor::Spawner;
 use embassy_time::{Duration, Timer};
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::{Input, Io, Pull},
+    gpio::{Input, Pull},
     timer::timg::TimerGroup,
 };
 
@@ -24,13 +24,11 @@ async fn main(_spawner: Spawner) {
     let timg0 = TimerGroup::new(peripherals.TIMG0);
     esp_hal_embassy::init(timg0.timer0);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     cfg_if::cfg_if! {
         if #[cfg(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3"))] {
-            let mut input = Input::new(io.pins.gpio0, Pull::Down);
+            let mut input = Input::new(peripherals.GPIO0, Pull::Down);
         } else {
-            let mut input = Input::new(io.pins.gpio9, Pull::Down);
+            let mut input = Input::new(peripherals.GPIO9, Pull::Down);
         }
     }
 
diff --git a/examples/src/bin/etm_blinky_systimer.rs b/examples/src/bin/etm_blinky_systimer.rs
index 65b141bfb51..1cdb361e2ef 100644
--- a/examples/src/bin/etm_blinky_systimer.rs
+++ b/examples/src/bin/etm_blinky_systimer.rs
@@ -13,7 +13,6 @@ use esp_hal::{
     etm::Etm,
     gpio::{
         etm::{Channels, OutputConfig},
-        Io,
         Level,
         Pull,
     },
@@ -31,8 +30,7 @@ fn main() -> ! {
     let mut alarm0 = syst_alarms.alarm0;
     alarm0.set_period(1u32.secs());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let mut led = io.pins.gpio1;
+    let mut led = peripherals.GPIO1;
 
     // setup ETM
     let gpio_ext = Channels::new(peripherals.GPIO_SD);
diff --git a/examples/src/bin/etm_gpio.rs b/examples/src/bin/etm_gpio.rs
index 83cf726c4ab..d28b1bc3683 100644
--- a/examples/src/bin/etm_gpio.rs
+++ b/examples/src/bin/etm_gpio.rs
@@ -13,7 +13,6 @@ use esp_hal::{
     etm::Etm,
     gpio::{
         etm::{Channels, InputConfig, OutputConfig},
-        Io,
         Level,
         Output,
         Pull,
@@ -25,10 +24,8 @@ use esp_hal::{
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-    let mut led = Output::new(io.pins.gpio1, Level::Low);
-    let button = io.pins.gpio9;
+    let mut led = Output::new(peripherals.GPIO1, Level::Low);
+    let button = peripherals.GPIO9;
 
     led.set_high();
 
diff --git a/examples/src/bin/gpio_interrupt.rs b/examples/src/bin/gpio_interrupt.rs
index 07e77725e12..befe9d6dc84 100644
--- a/examples/src/bin/gpio_interrupt.rs
+++ b/examples/src/bin/gpio_interrupt.rs
@@ -30,15 +30,15 @@ fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
     // Set GPIO2 as an output, and set its state high initially.
-    let mut io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+    let mut io = Io::new(peripherals.IO_MUX);
     io.set_interrupt_handler(handler);
-    let mut led = Output::new(io.pins.gpio2, Level::Low);
+    let mut led = Output::new(peripherals.GPIO2, Level::Low);
 
     cfg_if::cfg_if! {
         if #[cfg(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3"))] {
-            let button = io.pins.gpio0;
+            let button = peripherals.GPIO0;
         } else {
-            let button = io.pins.gpio9;
+            let button = peripherals.GPIO9;
         }
     }
 
diff --git a/examples/src/bin/hello_world.rs b/examples/src/bin/hello_world.rs
index b4e280c1f0a..a90ebb234c2 100644
--- a/examples/src/bin/hello_world.rs
+++ b/examples/src/bin/hello_world.rs
@@ -15,7 +15,7 @@
 use core::fmt::Write;
 
 use esp_backtrace as _;
-use esp_hal::{delay::Delay, gpio::Io, prelude::*, uart::Uart};
+use esp_hal::{delay::Delay, prelude::*, uart::Uart};
 
 #[entry]
 fn main() -> ! {
@@ -23,22 +23,20 @@ fn main() -> ! {
 
     let delay = Delay::new();
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     // Default pins for Uart/Serial communication
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32")] {
-            let (mut tx_pin, mut rx_pin) = (io.pins.gpio1, io.pins.gpio3);
+            let (mut tx_pin, mut rx_pin) = (peripherals.GPIO1, peripherals.GPIO3);
         } else if #[cfg(feature = "esp32c2")] {
-            let (mut tx_pin, mut rx_pin) = (io.pins.gpio20, io.pins.gpio19);
+            let (mut tx_pin, mut rx_pin) = (peripherals.GPIO20, peripherals.GPIO19);
         } else if #[cfg(feature = "esp32c3")] {
-            let (mut tx_pin, mut rx_pin) = (io.pins.gpio21, io.pins.gpio20);
+            let (mut tx_pin, mut rx_pin) = (peripherals.GPIO21, peripherals.GPIO20);
         } else if #[cfg(feature = "esp32c6")] {
-            let (mut tx_pin, mut rx_pin) = (io.pins.gpio16, io.pins.gpio17);
+            let (mut tx_pin, mut rx_pin) = (peripherals.GPIO16, peripherals.GPIO17);
         } else if #[cfg(feature = "esp32h2")] {
-            let (mut tx_pin, mut rx_pin) = (io.pins.gpio24, io.pins.gpio23);
+            let (mut tx_pin, mut rx_pin) = (peripherals.GPIO24, peripherals.GPIO23);
         } else if #[cfg(any(feature = "esp32s2", feature = "esp32s3"))] {
-            let (mut tx_pin, mut rx_pin) = (io.pins.gpio43, io.pins.gpio44);
+            let (mut tx_pin, mut rx_pin) = (peripherals.GPIO43, peripherals.GPIO44);
         }
     }
 
diff --git a/examples/src/bin/i2c_bmp180_calibration_data.rs b/examples/src/bin/i2c_bmp180_calibration_data.rs
index 7d75aa73adc..2d765fc31c2 100644
--- a/examples/src/bin/i2c_bmp180_calibration_data.rs
+++ b/examples/src/bin/i2c_bmp180_calibration_data.rs
@@ -13,7 +13,6 @@
 
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::Io,
     i2c::master::{Config, I2c},
     prelude::*,
 };
@@ -23,13 +22,11 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     // Create a new peripheral object with the described wiring and standard
     // I2C clock speed:
     let mut i2c = I2c::new(peripherals.I2C0, Config::default())
-        .with_sda(io.pins.gpio4)
-        .with_scl(io.pins.gpio5);
+        .with_sda(peripherals.GPIO4)
+        .with_scl(peripherals.GPIO5);
 
     loop {
         let mut data = [0u8; 22];
diff --git a/examples/src/bin/i2c_display.rs b/examples/src/bin/i2c_display.rs
index cf17fa0a02e..c950def05fb 100644
--- a/examples/src/bin/i2c_display.rs
+++ b/examples/src/bin/i2c_display.rs
@@ -24,7 +24,6 @@ use embedded_graphics::{
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::Io,
     i2c::master::{Config, I2c},
     prelude::*,
 };
@@ -35,13 +34,12 @@ fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
     let delay = Delay::new();
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
     // Create a new peripheral object with the described wiring
     // and standard I2C clock speed
     let i2c = I2c::new(peripherals.I2C0, Config::default())
-        .with_sda(io.pins.gpio4)
-        .with_scl(io.pins.gpio5);
+        .with_sda(peripherals.GPIO4)
+        .with_scl(peripherals.GPIO5);
 
     // Initialize display
     let interface = I2CDisplayInterface::new(i2c);
diff --git a/examples/src/bin/i2s_parallel.rs b/examples/src/bin/i2s_parallel.rs
index 4effbf654f0..5f1bd400a3f 100644
--- a/examples/src/bin/i2s_parallel.rs
+++ b/examples/src/bin/i2s_parallel.rs
@@ -18,7 +18,6 @@ use esp_hal::{
     delay::Delay,
     dma::{Dma, DmaPriority, DmaTxBuf},
     dma_buffers,
-    gpio::Io,
     i2s::parallel::{I2sParallel, TxEightBits},
     prelude::*,
 };
@@ -32,23 +31,22 @@ fn main() -> ! {
     info!("Starting!");
     let peripherals = esp_hal::init(esp_hal::Config::default());
     let dma = Dma::new(peripherals.DMA);
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
     let delay = Delay::new();
 
     let dma_channel = dma.i2s1channel;
     let i2s = peripherals.I2S1;
-    let clock = io.pins.gpio25;
+    let clock = peripherals.GPIO25;
 
     let pins = TxEightBits::new(
-        io.pins.gpio16,
-        io.pins.gpio4,
-        io.pins.gpio17,
-        io.pins.gpio18,
-        io.pins.gpio5,
-        io.pins.gpio19,
-        io.pins.gpio12,
-        io.pins.gpio14,
+        peripherals.GPIO16,
+        peripherals.GPIO4,
+        peripherals.GPIO17,
+        peripherals.GPIO18,
+        peripherals.GPIO5,
+        peripherals.GPIO19,
+        peripherals.GPIO12,
+        peripherals.GPIO14,
     );
 
     let (_, _, tx_buffer, tx_descriptors) = dma_buffers!(0, BUFFER_SIZE);
diff --git a/examples/src/bin/i2s_read.rs b/examples/src/bin/i2s_read.rs
index 4e2278ff632..6697053cedb 100644
--- a/examples/src/bin/i2s_read.rs
+++ b/examples/src/bin/i2s_read.rs
@@ -20,7 +20,6 @@ use esp_backtrace as _;
 use esp_hal::{
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::Io,
     i2s::master::{DataFormat, I2s, Standard},
     prelude::*,
 };
@@ -30,8 +29,6 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let dma = Dma::new(peripherals.DMA);
     #[cfg(any(feature = "esp32", feature = "esp32s2"))]
     let dma_channel = dma.i2s0channel;
@@ -55,13 +52,13 @@ fn main() -> ! {
     );
 
     #[cfg(not(feature = "esp32"))]
-    let i2s = i2s.with_mclk(io.pins.gpio0);
+    let i2s = i2s.with_mclk(peripherals.GPIO0);
 
     let mut i2s_rx = i2s
         .i2s_rx
-        .with_bclk(io.pins.gpio2)
-        .with_ws(io.pins.gpio4)
-        .with_din(io.pins.gpio5)
+        .with_bclk(peripherals.GPIO2)
+        .with_ws(peripherals.GPIO4)
+        .with_din(peripherals.GPIO5)
         .build();
 
     let mut transfer = i2s_rx.read_dma_circular(&mut rx_buffer).unwrap();
diff --git a/examples/src/bin/i2s_sound.rs b/examples/src/bin/i2s_sound.rs
index 8058ef82361..de24c709b18 100644
--- a/examples/src/bin/i2s_sound.rs
+++ b/examples/src/bin/i2s_sound.rs
@@ -34,7 +34,6 @@ use esp_backtrace as _;
 use esp_hal::{
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::Io,
     i2s::master::{DataFormat, I2s, Standard},
     prelude::*,
 };
@@ -51,8 +50,6 @@ const SINE: [i16; 64] = [
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let dma = Dma::new(peripherals.DMA);
     #[cfg(any(feature = "esp32", feature = "esp32s2"))]
     let dma_channel = dma.i2s0channel;
@@ -73,9 +70,9 @@ fn main() -> ! {
 
     let mut i2s_tx = i2s
         .i2s_tx
-        .with_bclk(io.pins.gpio2)
-        .with_ws(io.pins.gpio4)
-        .with_dout(io.pins.gpio5)
+        .with_bclk(peripherals.GPIO2)
+        .with_ws(peripherals.GPIO4)
+        .with_dout(peripherals.GPIO5)
         .build();
 
     let data =
diff --git a/examples/src/bin/ieee802154_sniffer.rs b/examples/src/bin/ieee802154_sniffer.rs
index f8789241c4a..55b8d29afbe 100644
--- a/examples/src/bin/ieee802154_sniffer.rs
+++ b/examples/src/bin/ieee802154_sniffer.rs
@@ -8,7 +8,7 @@
 #![no_main]
 
 use esp_backtrace as _;
-use esp_hal::{gpio::Io, prelude::*, reset::software_reset, uart::Uart};
+use esp_hal::{prelude::*, reset::software_reset, uart::Uart};
 use esp_ieee802154::{Config, Ieee802154};
 use esp_println::println;
 
@@ -16,14 +16,12 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     // Default pins for Uart/Serial communication
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32c6")] {
-            let (mut tx_pin, mut rx_pin) = (io.pins.gpio16, io.pins.gpio17);
+            let (mut tx_pin, mut rx_pin) = (peripherals.GPIO16, peripherals.GPIO17);
         } else if #[cfg(feature = "esp32h2")] {
-            let (mut tx_pin, mut rx_pin) = (io.pins.gpio24, io.pins.gpio23);
+            let (mut tx_pin, mut rx_pin) = (peripherals.GPIO24, peripherals.GPIO23);
         }
     }
 
diff --git a/examples/src/bin/lcd_cam_ov2640.rs b/examples/src/bin/lcd_cam_ov2640.rs
index 6b9198f97bf..4a419a5d3f2 100644
--- a/examples/src/bin/lcd_cam_ov2640.rs
+++ b/examples/src/bin/lcd_cam_ov2640.rs
@@ -28,7 +28,6 @@ use esp_hal::{
     delay::Delay,
     dma::{Dma, DmaPriority},
     dma_rx_stream_buffer,
-    gpio::Io,
     i2c::{
         self,
         master::{Config, I2c},
@@ -46,8 +45,6 @@ use esp_println::{print, println};
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let dma = Dma::new(peripherals.DMA);
     let channel = dma.channel0;
 
@@ -55,21 +52,21 @@ fn main() -> ! {
 
     let channel = channel.configure(false, DmaPriority::Priority0);
 
-    let cam_siod = io.pins.gpio4;
-    let cam_sioc = io.pins.gpio5;
-    let cam_xclk = io.pins.gpio15;
-    let cam_vsync = io.pins.gpio6;
-    let cam_href = io.pins.gpio7;
-    let cam_pclk = io.pins.gpio13;
+    let cam_siod = peripherals.GPIO4;
+    let cam_sioc = peripherals.GPIO5;
+    let cam_xclk = peripherals.GPIO15;
+    let cam_vsync = peripherals.GPIO6;
+    let cam_href = peripherals.GPIO7;
+    let cam_pclk = peripherals.GPIO13;
     let cam_data_pins = RxEightBits::new(
-        io.pins.gpio11,
-        io.pins.gpio9,
-        io.pins.gpio8,
-        io.pins.gpio10,
-        io.pins.gpio12,
-        io.pins.gpio18,
-        io.pins.gpio17,
-        io.pins.gpio16,
+        peripherals.GPIO11,
+        peripherals.GPIO9,
+        peripherals.GPIO8,
+        peripherals.GPIO10,
+        peripherals.GPIO12,
+        peripherals.GPIO18,
+        peripherals.GPIO17,
+        peripherals.GPIO16,
     );
 
     let lcd_cam = LcdCam::new(peripherals.LCD_CAM);
diff --git a/examples/src/bin/lcd_i8080.rs b/examples/src/bin/lcd_i8080.rs
index 2937f427cae..749c5a546ee 100644
--- a/examples/src/bin/lcd_i8080.rs
+++ b/examples/src/bin/lcd_i8080.rs
@@ -27,7 +27,7 @@ use esp_hal::{
     delay::Delay,
     dma::{Dma, DmaPriority, DmaTxBuf},
     dma_tx_buffer,
-    gpio::{Input, Io, Level, Output, Pull},
+    gpio::{Input, Level, Output, Pull},
     lcd_cam::{
         lcd::i8080::{Config, TxEightBits, I8080},
         LcdCam,
@@ -41,13 +41,11 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-    let lcd_backlight = io.pins.gpio45;
-    let lcd_reset = io.pins.gpio4;
-    let lcd_rs = io.pins.gpio0; // Command/Data selection
-    let lcd_wr = io.pins.gpio47; // Write clock
-    let lcd_te = io.pins.gpio48; // Frame sync
+    let lcd_backlight = peripherals.GPIO45;
+    let lcd_reset = peripherals.GPIO4;
+    let lcd_rs = peripherals.GPIO0; // Command/Data selection
+    let lcd_wr = peripherals.GPIO47; // Write clock
+    let lcd_te = peripherals.GPIO48; // Frame sync
 
     let dma = Dma::new(peripherals.DMA);
     let channel = dma.channel0;
@@ -63,14 +61,14 @@ fn main() -> ! {
     let tear_effect = Input::new(lcd_te, Pull::None);
 
     let tx_pins = TxEightBits::new(
-        io.pins.gpio9,
-        io.pins.gpio46,
-        io.pins.gpio3,
-        io.pins.gpio8,
-        io.pins.gpio18,
-        io.pins.gpio17,
-        io.pins.gpio16,
-        io.pins.gpio15,
+        peripherals.GPIO9,
+        peripherals.GPIO46,
+        peripherals.GPIO3,
+        peripherals.GPIO8,
+        peripherals.GPIO18,
+        peripherals.GPIO17,
+        peripherals.GPIO16,
+        peripherals.GPIO15,
     );
 
     let lcd_cam = LcdCam::new(peripherals.LCD_CAM);
diff --git a/examples/src/bin/ledc.rs b/examples/src/bin/ledc.rs
index a9e8225a290..ce7b3bdd78a 100644
--- a/examples/src/bin/ledc.rs
+++ b/examples/src/bin/ledc.rs
@@ -11,7 +11,6 @@
 
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::Io,
     ledc::{
         channel::{self, ChannelIFace},
         timer::{self, TimerIFace},
@@ -26,8 +25,7 @@ use esp_hal::{
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let led = io.pins.gpio0;
+    let led = peripherals.GPIO0;
 
     let mut ledc = Ledc::new(peripherals.LEDC);
 
diff --git a/examples/src/bin/lp_core_basic.rs b/examples/src/bin/lp_core_basic.rs
index d0f38c45e14..b26acf09107 100644
--- a/examples/src/bin/lp_core_basic.rs
+++ b/examples/src/bin/lp_core_basic.rs
@@ -15,7 +15,7 @@
 
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::{lp_io::LowPowerOutput, Io},
+    gpio::lp_io::LowPowerOutput,
     lp_core::{LpCore, LpCoreWakeupSource},
     prelude::*,
 };
@@ -26,8 +26,8 @@ fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
     // configure GPIO 1 as LP output pin
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let lp_pin = LowPowerOutput::new(io.pins.gpio1);
+
+    let lp_pin = LowPowerOutput::new(peripherals.GPIO1);
 
     let mut lp_core = LpCore::new(peripherals.LP_CORE);
     lp_core.stop();
diff --git a/examples/src/bin/lp_core_i2c.rs b/examples/src/bin/lp_core_i2c.rs
index 55aa731c1bd..c3bbe3c6bcc 100644
--- a/examples/src/bin/lp_core_i2c.rs
+++ b/examples/src/bin/lp_core_i2c.rs
@@ -16,7 +16,7 @@
 
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::{lp_io::LowPowerOutputOpenDrain, Io},
+    gpio::lp_io::LowPowerOutputOpenDrain,
     i2c::lp_i2c::LpI2c,
     lp_core::{LpCore, LpCoreWakeupSource},
     prelude::*,
@@ -27,10 +27,8 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-    let lp_sda = LowPowerOutputOpenDrain::new(io.pins.gpio6);
-    let lp_scl = LowPowerOutputOpenDrain::new(io.pins.gpio7);
+    let lp_sda = LowPowerOutputOpenDrain::new(peripherals.GPIO6);
+    let lp_scl = LowPowerOutputOpenDrain::new(peripherals.GPIO7);
 
     let lp_i2c = LpI2c::new(peripherals.LP_I2C0, lp_sda, lp_scl, 100.kHz());
 
diff --git a/examples/src/bin/lp_core_uart.rs b/examples/src/bin/lp_core_uart.rs
index 9ecb0de7507..15c3d98da71 100644
--- a/examples/src/bin/lp_core_uart.rs
+++ b/examples/src/bin/lp_core_uart.rs
@@ -16,10 +16,7 @@
 
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::{
-        lp_io::{LowPowerInput, LowPowerOutput},
-        Io,
-    },
+    gpio::lp_io::{LowPowerInput, LowPowerOutput},
     lp_core::{LpCore, LpCoreWakeupSource},
     prelude::*,
     uart::{lp_uart::LpUart, Config, Uart},
@@ -30,21 +27,19 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     // Set up (HP) UART1:
 
     let mut uart1 = Uart::new_with_config(
         peripherals.UART1,
         Config::default(),
-        io.pins.gpio6,
-        io.pins.gpio7,
+        peripherals.GPIO6,
+        peripherals.GPIO7,
     )
     .unwrap();
 
     // Set up (LP) UART:
-    let lp_tx = LowPowerOutput::new(io.pins.gpio5);
-    let lp_rx = LowPowerInput::new(io.pins.gpio4);
+    let lp_tx = LowPowerOutput::new(peripherals.GPIO5);
+    let lp_rx = LowPowerInput::new(peripherals.GPIO4);
     let lp_uart = LpUart::new(peripherals.LP_UART, lp_tx, lp_rx);
 
     let mut lp_core = LpCore::new(peripherals.LP_CORE);
diff --git a/examples/src/bin/mcpwm.rs b/examples/src/bin/mcpwm.rs
index 17e08e8c801..8e3281159e9 100644
--- a/examples/src/bin/mcpwm.rs
+++ b/examples/src/bin/mcpwm.rs
@@ -11,7 +11,6 @@
 
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::Io,
     mcpwm::{operator::PwmPinConfig, timer::PwmWorkingMode, McPwm, PeripheralClockConfig},
     prelude::*,
 };
@@ -20,8 +19,7 @@ use esp_hal::{
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let pin = io.pins.gpio0;
+    let pin = peripherals.GPIO0;
 
     // initialize peripheral
     cfg_if::cfg_if! {
diff --git a/examples/src/bin/parl_io_rx.rs b/examples/src/bin/parl_io_rx.rs
index 8f66c376ea4..6f5d1c2f353 100644
--- a/examples/src/bin/parl_io_rx.rs
+++ b/examples/src/bin/parl_io_rx.rs
@@ -14,7 +14,6 @@ use esp_hal::{
     delay::Delay,
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::Io,
     parl_io::{no_clk_pin, BitPackOrder, ParlIoRxOnly, RxFourBits},
     prelude::*,
 };
@@ -24,14 +23,17 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let (rx_buffer, rx_descriptors, _, _) = dma_buffers!(32000, 0);
 
     let dma = Dma::new(peripherals.DMA);
     let dma_channel = dma.channel0;
 
-    let mut rx_pins = RxFourBits::new(io.pins.gpio1, io.pins.gpio2, io.pins.gpio3, io.pins.gpio4);
+    let mut rx_pins = RxFourBits::new(
+        peripherals.GPIO1,
+        peripherals.GPIO2,
+        peripherals.GPIO3,
+        peripherals.GPIO4,
+    );
 
     let parl_io = ParlIoRxOnly::new(
         peripherals.PARL_IO,
diff --git a/examples/src/bin/parl_io_tx.rs b/examples/src/bin/parl_io_tx.rs
index 0df17ad398e..fc790349e78 100644
--- a/examples/src/bin/parl_io_tx.rs
+++ b/examples/src/bin/parl_io_tx.rs
@@ -18,7 +18,6 @@ use esp_hal::{
     delay::Delay,
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::Io,
     parl_io::{
         BitPackOrder,
         ClkOutPin,
@@ -35,16 +34,19 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let (_, _, tx_buffer, tx_descriptors) = dma_buffers!(0, 32000);
 
     let dma = Dma::new(peripherals.DMA);
     let dma_channel = dma.channel0;
 
-    let tx_pins = TxFourBits::new(io.pins.gpio1, io.pins.gpio2, io.pins.gpio3, io.pins.gpio4);
+    let tx_pins = TxFourBits::new(
+        peripherals.GPIO1,
+        peripherals.GPIO2,
+        peripherals.GPIO3,
+        peripherals.GPIO4,
+    );
 
-    let mut pin_conf = TxPinConfigWithValidPin::new(tx_pins, io.pins.gpio5);
+    let mut pin_conf = TxPinConfigWithValidPin::new(tx_pins, peripherals.GPIO5);
 
     let parl_io = ParlIoTxOnly::new(
         peripherals.PARL_IO,
@@ -54,7 +56,7 @@ fn main() -> ! {
     )
     .unwrap();
 
-    let mut clock_pin = ClkOutPin::new(io.pins.gpio6);
+    let mut clock_pin = ClkOutPin::new(peripherals.GPIO6);
 
     let mut parl_io_tx = parl_io
         .tx
diff --git a/examples/src/bin/pcnt_encoder.rs b/examples/src/bin/pcnt_encoder.rs
index bf1b1394144..29a9a1a6b20 100644
--- a/examples/src/bin/pcnt_encoder.rs
+++ b/examples/src/bin/pcnt_encoder.rs
@@ -20,7 +20,7 @@ use core::{cell::RefCell, cmp::min, sync::atomic::Ordering};
 use critical_section::Mutex;
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::{Input, Io, Pull},
+    gpio::{Input, Pull},
     interrupt::Priority,
     pcnt::{channel, unit, Pcnt},
     prelude::*,
@@ -35,8 +35,6 @@ static VALUE: AtomicI32 = AtomicI32::new(0);
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     // Set up a pulse counter:
     println!("setup pulse counter unit 0");
     let mut pcnt = Pcnt::new(peripherals.PCNT);
@@ -50,8 +48,8 @@ fn main() -> ! {
     println!("setup channel 0");
     let ch0 = &u0.channel0;
 
-    let pin_a = Input::new(io.pins.gpio4, Pull::Up);
-    let pin_b = Input::new(io.pins.gpio5, Pull::Up);
+    let pin_a = Input::new(peripherals.GPIO4, Pull::Up);
+    let pin_b = Input::new(peripherals.GPIO5, Pull::Up);
 
     let (input_a, _) = pin_a.split();
     let (input_b, _) = pin_b.split();
diff --git a/examples/src/bin/qspi_flash.rs b/examples/src/bin/qspi_flash.rs
index cd901df7c31..a7e9df83b54 100644
--- a/examples/src/bin/qspi_flash.rs
+++ b/examples/src/bin/qspi_flash.rs
@@ -32,7 +32,6 @@ use esp_hal::{
     delay::Delay,
     dma::{Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
-    gpio::Io,
     prelude::*,
     spi::{
         master::{Address, Command, Config, Spi},
@@ -46,22 +45,21 @@ use esp_println::{print, println};
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32")] {
-            let sclk = io.pins.gpio0;
-            let miso = io.pins.gpio2;
-            let mosi = io.pins.gpio4;
-            let sio2 = io.pins.gpio5;
-            let sio3 = io.pins.gpio13;
-            let cs = io.pins.gpio14;
+            let sclk = peripherals.GPIO0;
+            let miso = peripherals.GPIO2;
+            let mosi = peripherals.GPIO4;
+            let sio2 = peripherals.GPIO5;
+            let sio3 = peripherals.GPIO13;
+            let cs = peripherals.GPIO14;
         } else {
-            let sclk = io.pins.gpio0;
-            let miso = io.pins.gpio1;
-            let mosi = io.pins.gpio2;
-            let sio2 = io.pins.gpio3;
-            let sio3 = io.pins.gpio4;
-            let cs = io.pins.gpio5;
+            let sclk = peripherals.GPIO0;
+            let miso = peripherals.GPIO1;
+            let mosi = peripherals.GPIO2;
+            let sio2 = peripherals.GPIO3;
+            let sio3 = peripherals.GPIO4;
+            let cs = peripherals.GPIO5;
         }
     }
 
diff --git a/examples/src/bin/rmt_rx.rs b/examples/src/bin/rmt_rx.rs
index 948b6c8c6ef..c9dc626b1b4 100644
--- a/examples/src/bin/rmt_rx.rs
+++ b/examples/src/bin/rmt_rx.rs
@@ -14,7 +14,7 @@
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::{Io, Level, Output},
+    gpio::{Level, Output},
     prelude::*,
     rmt::{PulseCode, Rmt, RxChannel, RxChannelConfig, RxChannelCreator},
 };
@@ -26,8 +26,7 @@ const WIDTH: usize = 80;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let mut out = Output::new(io.pins.gpio5, Level::Low);
+    let mut out = Output::new(peripherals.GPIO5, Level::Low);
 
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32h2")] {
@@ -47,11 +46,11 @@ fn main() -> ! {
 
     cfg_if::cfg_if! {
         if #[cfg(any(feature = "esp32", feature = "esp32s2"))] {
-            let mut channel = rmt.channel0.configure(io.pins.gpio4, rx_config).unwrap();
+            let mut channel = rmt.channel0.configure(peripherals.GPIO4, rx_config).unwrap();
         } else if #[cfg(feature = "esp32s3")] {
-            let mut channel = rmt.channel7.configure(io.pins.gpio4, rx_config).unwrap();
+            let mut channel = rmt.channel7.configure(peripherals.GPIO4, rx_config).unwrap();
         } else {
-            let mut channel = rmt.channel2.configure(io.pins.gpio4, rx_config).unwrap();
+            let mut channel = rmt.channel2.configure(peripherals.GPIO4, rx_config).unwrap();
         }
     }
 
diff --git a/examples/src/bin/rmt_tx.rs b/examples/src/bin/rmt_tx.rs
index 6d16c26298f..d87e8d87a85 100644
--- a/examples/src/bin/rmt_tx.rs
+++ b/examples/src/bin/rmt_tx.rs
@@ -13,7 +13,6 @@
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::Io,
     prelude::*,
     rmt::{PulseCode, Rmt, TxChannel, TxChannelConfig, TxChannelCreator},
 };
@@ -22,8 +21,6 @@ use esp_hal::{
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32h2")] {
             let freq = 32.MHz();
@@ -39,7 +36,10 @@ fn main() -> ! {
         ..TxChannelConfig::default()
     };
 
-    let mut channel = rmt.channel0.configure(io.pins.gpio4, tx_config).unwrap();
+    let mut channel = rmt
+        .channel0
+        .configure(peripherals.GPIO4, tx_config)
+        .unwrap();
 
     let delay = Delay::new();
 
diff --git a/examples/src/bin/serial_interrupts.rs b/examples/src/bin/serial_interrupts.rs
index daabb9ff27f..725f5814d24 100644
--- a/examples/src/bin/serial_interrupts.rs
+++ b/examples/src/bin/serial_interrupts.rs
@@ -13,7 +13,6 @@ use critical_section::Mutex;
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::Io,
     prelude::*,
     uart::{AtCmdConfig, Config, Uart, UartInterrupt},
     Blocking,
@@ -27,22 +26,20 @@ fn main() -> ! {
 
     let delay = Delay::new();
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     // Default pins for Uart/Serial communication
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32")] {
-            let (tx_pin, rx_pin) = (io.pins.gpio1, io.pins.gpio3);
+            let (tx_pin, rx_pin) = (peripherals.GPIO1, peripherals.GPIO3);
         } else if #[cfg(feature = "esp32c2")] {
-            let (tx_pin, rx_pin) = (io.pins.gpio20, io.pins.gpio19);
+            let (tx_pin, rx_pin) = (peripherals.GPIO20, peripherals.GPIO19);
         } else if #[cfg(feature = "esp32c3")] {
-            let (tx_pin, rx_pin) = (io.pins.gpio21, io.pins.gpio20);
+            let (tx_pin, rx_pin) = (peripherals.GPIO21, peripherals.GPIO20);
         } else if #[cfg(feature = "esp32c6")] {
-            let (tx_pin, rx_pin) = (io.pins.gpio16, io.pins.gpio17);
+            let (tx_pin, rx_pin) = (peripherals.GPIO16, peripherals.GPIO17);
         } else if #[cfg(feature = "esp32h2")] {
-            let (tx_pin, rx_pin) = (io.pins.gpio24, io.pins.gpio23);
+            let (tx_pin, rx_pin) = (peripherals.GPIO24, peripherals.GPIO23);
         } else if #[cfg(any(feature = "esp32s2", feature = "esp32s3"))] {
-            let (tx_pin, rx_pin) = (io.pins.gpio43, io.pins.gpio44);
+            let (tx_pin, rx_pin) = (peripherals.GPIO43, peripherals.GPIO44);
         }
     }
     let config = Config::default().rx_fifo_full_threshold(30);
diff --git a/examples/src/bin/sleep_timer_ext0.rs b/examples/src/bin/sleep_timer_ext0.rs
index 8803d2b4955..f026bbc68b1 100644
--- a/examples/src/bin/sleep_timer_ext0.rs
+++ b/examples/src/bin/sleep_timer_ext0.rs
@@ -14,7 +14,7 @@ use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
     entry,
-    gpio::{Input, Io, Pull},
+    gpio::{Input, Pull},
     rtc_cntl::{
         get_reset_reason,
         get_wakeup_cause,
@@ -32,8 +32,7 @@ fn main() -> ! {
 
     let mut rtc = Rtc::new(peripherals.LPWR);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let ext0_pin = Input::new(io.pins.gpio4, Pull::None);
+    let ext0_pin = Input::new(peripherals.GPIO4, Pull::None);
 
     println!("up and runnning!");
     let reason = get_reset_reason(Cpu::ProCpu).unwrap_or(SocResetReason::ChipPowerOn);
diff --git a/examples/src/bin/sleep_timer_ext1.rs b/examples/src/bin/sleep_timer_ext1.rs
index 83a046c6e3b..783a4a26af7 100644
--- a/examples/src/bin/sleep_timer_ext1.rs
+++ b/examples/src/bin/sleep_timer_ext1.rs
@@ -14,7 +14,7 @@ use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
     entry,
-    gpio::{Input, Io, Pull, RtcPin},
+    gpio::{Input, Pull, RtcPin},
     peripheral::Peripheral,
     rtc_cntl::{
         get_reset_reason,
@@ -33,9 +33,8 @@ fn main() -> ! {
 
     let mut rtc = Rtc::new(peripherals.LPWR);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let pin_0 = Input::new(io.pins.gpio4, Pull::None);
-    let mut pin_2 = io.pins.gpio2;
+    let pin_0 = Input::new(peripherals.GPIO4, Pull::None);
+    let mut pin_2 = peripherals.GPIO2;
 
     println!("up and runnning!");
     let reason = get_reset_reason(Cpu::ProCpu).unwrap_or(SocResetReason::ChipPowerOn);
diff --git a/examples/src/bin/sleep_timer_lpio.rs b/examples/src/bin/sleep_timer_lpio.rs
index 73e6a8f7a75..8ae16d28eb4 100644
--- a/examples/src/bin/sleep_timer_lpio.rs
+++ b/examples/src/bin/sleep_timer_lpio.rs
@@ -15,7 +15,7 @@ use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
     entry,
-    gpio::{Input, Io, Pull, RtcPinWithResistors},
+    gpio::{Input, Pull, RtcPinWithResistors},
     peripheral::Peripheral,
     rtc_cntl::{
         get_reset_reason,
@@ -34,9 +34,8 @@ fn main() -> ! {
 
     let mut rtc = Rtc::new(peripherals.LPWR);
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let pin2 = Input::new(io.pins.gpio2, Pull::None);
-    let mut pin3 = io.pins.gpio3;
+    let pin2 = Input::new(peripherals.GPIO2, Pull::None);
+    let mut pin3 = peripherals.GPIO3;
 
     println!("up and runnning!");
     let reason = get_reset_reason(Cpu::ProCpu).unwrap_or(SocResetReason::ChipPowerOn);
diff --git a/examples/src/bin/sleep_timer_rtcio.rs b/examples/src/bin/sleep_timer_rtcio.rs
index d857d4a06f8..a04c7892ecb 100644
--- a/examples/src/bin/sleep_timer_rtcio.rs
+++ b/examples/src/bin/sleep_timer_rtcio.rs
@@ -19,7 +19,7 @@ use esp_hal::{
     delay::Delay,
     entry,
     gpio,
-    gpio::{Input, Io, Pull},
+    gpio::{Input, Pull},
     peripheral::Peripheral,
     rtc_cntl::{
         get_reset_reason,
@@ -36,7 +36,6 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
     let mut rtc = Rtc::new(peripherals.LPWR);
 
     println!("up and runnning!");
@@ -50,16 +49,16 @@ fn main() -> ! {
 
     cfg_if::cfg_if! {
         if #[cfg(any(feature = "esp32c3", feature = "esp32c2"))] {
-            let pin2 = Input::new(io.pins.gpio2, Pull::None);
-            let mut pin3 = io.pins.gpio3;
+            let pin2 = Input::new(peripherals.GPIO2, Pull::None);
+            let mut pin3 = peripherals.GPIO3;
 
             let wakeup_pins: &mut [(&mut dyn gpio::RtcPinWithResistors, WakeupLevel)] = &mut [
                 (&mut *pin2.into_ref(), WakeupLevel::Low),
                 (&mut pin3, WakeupLevel::High),
             ];
         } else if #[cfg(feature = "esp32s3")] {
-            let pin17 = Input::new(io.pins.gpio17, Pull::None);
-            let mut pin18 = io.pins.gpio18;
+            let pin17 = Input::new(peripherals.GPIO17, Pull::None);
+            let mut pin18 = peripherals.GPIO18;
 
             let wakeup_pins: &mut [(&mut dyn gpio::RtcPin, WakeupLevel)] = &mut [
                 (&mut *pin17.into_ref(), WakeupLevel::Low),
diff --git a/examples/src/bin/spi_halfduplex_read_manufacturer_id.rs b/examples/src/bin/spi_halfduplex_read_manufacturer_id.rs
index 28266b67e93..6ea46778f86 100644
--- a/examples/src/bin/spi_halfduplex_read_manufacturer_id.rs
+++ b/examples/src/bin/spi_halfduplex_read_manufacturer_id.rs
@@ -30,7 +30,6 @@
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::Io,
     prelude::*,
     spi::{
         master::{Address, Command, Config, Spi},
@@ -44,22 +43,21 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32")] {
-            let sclk = io.pins.gpio0;
-            let miso = io.pins.gpio2;
-            let mosi = io.pins.gpio4;
-            let sio2 = io.pins.gpio5;
-            let sio3 = io.pins.gpio13;
-            let cs = io.pins.gpio14;
+            let sclk = peripherals.GPIO0;
+            let miso = peripherals.GPIO2;
+            let mosi = peripherals.GPIO4;
+            let sio2 = peripherals.GPIO5;
+            let sio3 = peripherals.GPIO13;
+            let cs = peripherals.GPIO14;
         } else {
-            let sclk = io.pins.gpio0;
-            let miso = io.pins.gpio1;
-            let mosi = io.pins.gpio2;
-            let sio2 = io.pins.gpio3;
-            let sio3 = io.pins.gpio4;
-            let cs = io.pins.gpio5;
+            let sclk = peripherals.GPIO0;
+            let miso = peripherals.GPIO1;
+            let mosi = peripherals.GPIO2;
+            let sio2 = peripherals.GPIO3;
+            let sio3 = peripherals.GPIO4;
+            let cs = peripherals.GPIO5;
         }
     }
 
diff --git a/examples/src/bin/spi_loopback.rs b/examples/src/bin/spi_loopback.rs
index 38e9d6f1ed6..22e92a29ca5 100644
--- a/examples/src/bin/spi_loopback.rs
+++ b/examples/src/bin/spi_loopback.rs
@@ -18,7 +18,6 @@
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::Io,
     peripheral::Peripheral,
     prelude::*,
     spi::{
@@ -32,10 +31,9 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let sclk = io.pins.gpio0;
-    let miso_mosi = io.pins.gpio2;
-    let cs = io.pins.gpio5;
+    let sclk = peripherals.GPIO0;
+    let miso_mosi = peripherals.GPIO2;
+    let cs = peripherals.GPIO5;
 
     let miso = unsafe { miso_mosi.clone_unchecked() };
 
diff --git a/examples/src/bin/spi_loopback_dma.rs b/examples/src/bin/spi_loopback_dma.rs
index e9bc827ff7a..639ac030927 100644
--- a/examples/src/bin/spi_loopback_dma.rs
+++ b/examples/src/bin/spi_loopback_dma.rs
@@ -23,7 +23,6 @@ use esp_hal::{
     delay::Delay,
     dma::{Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
-    gpio::Io,
     prelude::*,
     spi::{
         master::{Config, Spi},
@@ -36,11 +35,10 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let sclk = io.pins.gpio0;
-    let miso = io.pins.gpio2;
-    let mosi = io.pins.gpio4;
-    let cs = io.pins.gpio5;
+    let sclk = peripherals.GPIO0;
+    let miso = peripherals.GPIO2;
+    let mosi = peripherals.GPIO4;
+    let cs = peripherals.GPIO5;
 
     let dma = Dma::new(peripherals.DMA);
 
diff --git a/examples/src/bin/spi_loopback_dma_psram.rs b/examples/src/bin/spi_loopback_dma_psram.rs
index 0ee76893cd8..0a8fe54445b 100644
--- a/examples/src/bin/spi_loopback_dma_psram.rs
+++ b/examples/src/bin/spi_loopback_dma_psram.rs
@@ -26,7 +26,6 @@ use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
     dma::{Dma, DmaBufBlkSize, DmaPriority, DmaRxBuf, DmaTxBuf},
-    gpio::Io,
     peripheral::Peripheral,
     prelude::*,
     spi::{
@@ -63,11 +62,10 @@ fn main() -> ! {
     esp_alloc::psram_allocator!(peripherals.PSRAM, esp_hal::psram);
     let delay = Delay::new();
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let sclk = io.pins.gpio42;
-    let mosi = io.pins.gpio48;
+    let sclk = peripherals.GPIO42;
+    let mosi = peripherals.GPIO48;
     let miso = unsafe { mosi.clone_unchecked() };
-    let cs = io.pins.gpio38;
+    let cs = peripherals.GPIO38;
 
     let dma = Dma::new(peripherals.DMA);
     let dma_channel = dma.channel0;
diff --git a/examples/src/bin/spi_slave_dma.rs b/examples/src/bin/spi_slave_dma.rs
index 44b2d4871fd..142816166f9 100644
--- a/examples/src/bin/spi_slave_dma.rs
+++ b/examples/src/bin/spi_slave_dma.rs
@@ -34,7 +34,7 @@ use esp_hal::{
     delay::Delay,
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::{Input, Io, Level, Output, Pull},
+    gpio::{Input, Level, Output, Pull},
     prelude::*,
     spi::{slave::Spi, SpiMode},
 };
@@ -44,17 +44,15 @@ use esp_println::println;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+    let mut master_sclk = Output::new(peripherals.GPIO4, Level::Low);
+    let master_miso = Input::new(peripherals.GPIO5, Pull::None);
+    let mut master_mosi = Output::new(peripherals.GPIO8, Level::Low);
+    let mut master_cs = Output::new(peripherals.GPIO9, Level::High);
 
-    let mut master_sclk = Output::new(io.pins.gpio4, Level::Low);
-    let master_miso = Input::new(io.pins.gpio5, Pull::None);
-    let mut master_mosi = Output::new(io.pins.gpio8, Level::Low);
-    let mut master_cs = Output::new(io.pins.gpio9, Level::High);
-
-    let slave_sclk = io.pins.gpio0;
-    let slave_miso = io.pins.gpio1;
-    let slave_mosi = io.pins.gpio2;
-    let slave_cs = io.pins.gpio3;
+    let slave_sclk = peripherals.GPIO0;
+    let slave_miso = peripherals.GPIO1;
+    let slave_mosi = peripherals.GPIO2;
+    let slave_cs = peripherals.GPIO3;
 
     let dma = Dma::new(peripherals.DMA);
     cfg_if::cfg_if! {
diff --git a/examples/src/bin/touch.rs b/examples/src/bin/touch.rs
index 22a324c28e7..a36207a8a75 100644
--- a/examples/src/bin/touch.rs
+++ b/examples/src/bin/touch.rs
@@ -17,7 +17,7 @@ use critical_section::Mutex;
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::{GpioPin, Io},
+    gpio::GpioPin,
     macros::ram,
     prelude::*,
     rtc_cntl::Rtc,
@@ -49,13 +49,11 @@ fn main() -> ! {
     esp_println::logger::init_logger_from_env();
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     let mut rtc = Rtc::new(peripherals.LPWR);
     rtc.set_interrupt_handler(interrupt_handler);
 
-    let touch_pin0 = io.pins.gpio2;
-    let touch_pin1 = io.pins.gpio4;
+    let touch_pin0 = peripherals.GPIO2;
+    let touch_pin1 = peripherals.GPIO4;
 
     let touch_cfg = Some(TouchConfig {
         measurement_duration: Some(0x2000),
diff --git a/examples/src/bin/twai.rs b/examples/src/bin/twai.rs
index fa0bcf9ee8e..b59a39cda55 100644
--- a/examples/src/bin/twai.rs
+++ b/examples/src/bin/twai.rs
@@ -29,7 +29,6 @@ const IS_FIRST_SENDER: bool = true;
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::Io,
     prelude::*,
     twai::{self, filter::SingleStandardFilter, EspTwaiFrame, StandardId, TwaiMode},
 };
@@ -40,13 +39,11 @@ use nb::block;
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     // Without an external transceiver, we only need a single line between the two MCUs.
-    let (rx_pin, tx_pin) = io.pins.gpio2.split();
+    let (rx_pin, tx_pin) = peripherals.GPIO2.split();
     // Use these if you want to use an external transceiver:
-    // let tx_pin = io.pins.gpio2;
-    // let rx_pin = io.pins.gpio0;
+    // let tx_pin = peripherals.GPIO2;
+    // let rx_pin = peripherals.GPIO0;
 
     // The speed of the bus.
     const TWAI_BAUDRATE: twai::BaudRate = twai::BaudRate::B125K;
diff --git a/examples/src/bin/ulp_riscv_core_basic.rs b/examples/src/bin/ulp_riscv_core_basic.rs
index d89eda74521..6d062b7f3c1 100644
--- a/examples/src/bin/ulp_riscv_core_basic.rs
+++ b/examples/src/bin/ulp_riscv_core_basic.rs
@@ -12,19 +12,14 @@
 #![no_main]
 
 use esp_backtrace as _;
-use esp_hal::{
-    gpio::{rtc_io::*, Io},
-    prelude::*,
-    ulp_core,
-};
+use esp_hal::{gpio::rtc_io::*, prelude::*, ulp_core};
 use esp_println::{print, println};
 
 #[entry]
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let pin = LowPowerOutput::new(io.pins.gpio1);
+    let pin = LowPowerOutput::new(peripherals.GPIO1);
 
     let mut ulp_core = ulp_core::UlpCore::new(peripherals.ULP_RISCV_CORE);
 
diff --git a/examples/src/bin/usb_serial.rs b/examples/src/bin/usb_serial.rs
index aee87614333..1bb93ae1a56 100644
--- a/examples/src/bin/usb_serial.rs
+++ b/examples/src/bin/usb_serial.rs
@@ -15,7 +15,6 @@ use core::ptr::addr_of_mut;
 
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::Io,
     otg_fs::{Usb, UsbBus},
     prelude::*,
 };
@@ -28,9 +27,7 @@ static mut EP_MEMORY: [u32; 1024] = [0; 1024];
 fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-    let usb = Usb::new(peripherals.USB0, io.pins.gpio20, io.pins.gpio19);
+    let usb = Usb::new(peripherals.USB0, peripherals.GPIO20, peripherals.GPIO19);
     let usb_bus = UsbBus::new(usb, unsafe { &mut *addr_of_mut!(EP_MEMORY) });
 
     let mut serial = SerialPort::new(&usb_bus);
diff --git a/examples/src/bin/wifi_ble.rs b/examples/src/bin/wifi_ble.rs
index 26ac4f4becf..84e383e0787 100644
--- a/examples/src/bin/wifi_ble.rs
+++ b/examples/src/bin/wifi_ble.rs
@@ -25,7 +25,7 @@ use bleps::{
 use esp_alloc as _;
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::{Input, Io, Pull},
+    gpio::{Input, Pull},
     prelude::*,
     rng::Rng,
     time,
@@ -54,13 +54,11 @@ fn main() -> ! {
     )
     .unwrap();
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
     cfg_if::cfg_if! {
         if #[cfg(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3"))] {
-            let button = Input::new(io.pins.gpio0, Pull::Down);
+            let button = Input::new(peripherals.GPIO0, Pull::Down);
         } else {
-            let button = Input::new(io.pins.gpio9, Pull::Down);
+            let button = Input::new(peripherals.GPIO9, Pull::Down);
         }
     }
 
diff --git a/examples/src/bin/wifi_embassy_ble.rs b/examples/src/bin/wifi_embassy_ble.rs
index 5ba16b69863..22ad06076d4 100644
--- a/examples/src/bin/wifi_embassy_ble.rs
+++ b/examples/src/bin/wifi_embassy_ble.rs
@@ -28,7 +28,7 @@ use embassy_executor::Spawner;
 use esp_alloc as _;
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::{Input, Io, Pull},
+    gpio::{Input, Pull},
     prelude::*,
     rng::Rng,
     time,
@@ -70,12 +70,11 @@ async fn main(_spawner: Spawner) -> ! {
         .unwrap()
     );
 
-    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
     cfg_if::cfg_if! {
         if #[cfg(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3"))] {
-            let button = Input::new(io.pins.gpio0, Pull::Down);
+            let button = Input::new(peripherals.GPIO0, Pull::Down);
         } else {
-            let button = Input::new(io.pins.gpio9, Pull::Down);
+            let button = Input::new(peripherals.GPIO9, Pull::Down);
         }
     }
 
diff --git a/hil-test/src/lib.rs b/hil-test/src/lib.rs
index 8dbf121735e..660e8697cbe 100644
--- a/hil-test/src/lib.rs
+++ b/hil-test/src/lib.rs
@@ -27,21 +27,21 @@ use esp_backtrace as _;
 
 #[macro_export]
 macro_rules! i2c_pins {
-    ($io:expr) => {{
+    ($peripherals:expr) => {{
         // Order: (SDA, SCL)
         cfg_if::cfg_if! {
             if #[cfg(any(esp32s2, esp32s3))] {
-                ($io.pins.gpio2, $io.pins.gpio3)
+                ($peripherals.GPIO2, $peripherals.GPIO3)
             } else if #[cfg(esp32)] {
-                ($io.pins.gpio32, $io.pins.gpio33)
+                ($peripherals.GPIO32, $peripherals.GPIO33)
             } else if #[cfg(esp32c6)] {
-                ($io.pins.gpio6, $io.pins.gpio7)
+                ($peripherals.GPIO6, $peripherals.GPIO7)
             } else if #[cfg(esp32h2)] {
-                ($io.pins.gpio12, $io.pins.gpio22)
+                ($peripherals.GPIO12, $peripherals.GPIO22)
             } else if #[cfg(esp32c2)] {
-                ($io.pins.gpio18, $io.pins.gpio9)
+                ($peripherals.GPIO18, $peripherals.GPIO9)
             } else {
-                ($io.pins.gpio4, $io.pins.gpio5)
+                ($peripherals.GPIO4, $peripherals.GPIO5)
             }
         }
     }};
@@ -49,14 +49,14 @@ macro_rules! i2c_pins {
 
 #[macro_export]
 macro_rules! common_test_pins {
-    ($io:expr) => {{
+    ($peripherals:expr) => {{
         cfg_if::cfg_if! {
             if #[cfg(any(esp32s2, esp32s3))] {
-                ($io.pins.gpio9, $io.pins.gpio10)
+                ($peripherals.GPIO9, $peripherals.GPIO10)
             } else if #[cfg(esp32)] {
-                ($io.pins.gpio26, $io.pins.gpio27)
+                ($peripherals.GPIO26, $peripherals.GPIO27)
             } else {
-                ($io.pins.gpio2, $io.pins.gpio3)
+                ($peripherals.GPIO2, $peripherals.GPIO3)
             }
         }
     }};
@@ -66,18 +66,18 @@ macro_rules! common_test_pins {
 // beware: it has a pullup.
 #[macro_export]
 macro_rules! unconnected_pin {
-    ($io:expr) => {{
+    ($peripherals:expr) => {{
         cfg_if::cfg_if! {
             if #[cfg(any(esp32, esp32s2, esp32s3))] {
-                $io.pins.gpio0
+                $peripherals.GPIO0
             } else if #[cfg(esp32c6)] {
-                $io.pins.gpio9
+                $peripherals.GPIO9
             } else if #[cfg(esp32h2)] {
-                $io.pins.gpio9
+                $peripherals.GPIO9
             } else if #[cfg(esp32c2)] {
-                $io.pins.gpio8
+                $peripherals.GPIO8
             } else {
-                $io.pins.gpio9
+                $peripherals.GPIO9
             }
         }
     }};
diff --git a/hil-test/tests/embassy_interrupt_spi_dma.rs b/hil-test/tests/embassy_interrupt_spi_dma.rs
index d5394ff9ba5..082fd2dceca 100644
--- a/hil-test/tests/embassy_interrupt_spi_dma.rs
+++ b/hil-test/tests/embassy_interrupt_spi_dma.rs
@@ -11,7 +11,6 @@ use embassy_time::{Duration, Instant, Ticker};
 use esp_hal::{
     dma::{Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
-    gpio::Io,
     interrupt::{software::SoftwareInterruptControl, Priority},
     peripheral::Peripheral,
     prelude::*,
@@ -118,8 +117,7 @@ mod test {
         let dma_rx_buf = DmaRxBuf::new(rx_descriptors, rx_buffer).unwrap();
         let dma_tx_buf = DmaTxBuf::new(tx_descriptors, tx_buffer).unwrap();
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-        let (_, mosi) = hil_test::common_test_pins!(io);
+        let (_, mosi) = hil_test::common_test_pins!(peripherals);
 
         let mut spi = Spi::new_with_config(
             peripherals.SPI2,
diff --git a/hil-test/tests/gpio.rs b/hil-test/tests/gpio.rs
index eaed133de9e..0d197b2d17d 100644
--- a/hil-test/tests/gpio.rs
+++ b/hil-test/tests/gpio.rs
@@ -51,12 +51,12 @@ mod tests {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let mut io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+        let mut io = Io::new(peripherals.IO_MUX);
         io.set_interrupt_handler(interrupt_handler);
 
         let delay = Delay::new();
 
-        let (gpio1, gpio2) = hil_test::common_test_pins!(io);
+        let (gpio1, gpio2) = hil_test::common_test_pins!(peripherals);
 
         let timg0 = TimerGroup::new(peripherals.TIMG0);
         esp_hal_embassy::init(timg0.timer0);
@@ -387,8 +387,8 @@ mod tests {
     #[cfg(esp32)]
     #[test]
     fn can_configure_rtcio_pins_as_input() {
-        let pins = unsafe { esp_hal::gpio::Pins::steal() };
+        let pin = unsafe { esp_hal::gpio::GpioPin::<37>::steal() };
 
-        _ = Input::new(pins.gpio37, Pull::Down);
+        _ = Input::new(pin, Pull::Down);
     }
 }
diff --git a/hil-test/tests/gpio_custom_handler.rs b/hil-test/tests/gpio_custom_handler.rs
index 334c9f53101..67f2d529870 100644
--- a/hil-test/tests/gpio_custom_handler.rs
+++ b/hil-test/tests/gpio_custom_handler.rs
@@ -66,9 +66,7 @@ mod tests {
     async fn default_handler_does_not_run_because_gpio_is_defined() {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-        let (gpio1, gpio2) = hil_test::common_test_pins!(io);
+        let (gpio1, gpio2) = hil_test::common_test_pins!(peripherals);
 
         let timg0 = TimerGroup::new(peripherals.TIMG0);
         esp_hal_embassy::init(timg0.timer0);
@@ -83,10 +81,10 @@ mod tests {
     async fn default_handler_runs_because_handler_is_set() {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let mut io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+        let mut io = Io::new(peripherals.IO_MUX);
         io.set_interrupt_handler(interrupt_handler);
 
-        let (gpio1, gpio2) = hil_test::common_test_pins!(io);
+        let (gpio1, gpio2) = hil_test::common_test_pins!(peripherals);
 
         let timg0 = TimerGroup::new(peripherals.TIMG0);
         esp_hal_embassy::init(timg0.timer0);
diff --git a/hil-test/tests/i2c.rs b/hil-test/tests/i2c.rs
index 09718abf151..9ea9f267c6b 100644
--- a/hil-test/tests/i2c.rs
+++ b/hil-test/tests/i2c.rs
@@ -6,7 +6,6 @@
 #![no_main]
 
 use esp_hal::{
-    gpio::Io,
     i2c::master::{Config, I2c, Operation},
     Async,
     Blocking,
@@ -33,9 +32,8 @@ mod tests {
     #[init]
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
-        let (sda, scl) = hil_test::i2c_pins!(io);
+        let (sda, scl) = hil_test::i2c_pins!(peripherals);
 
         // Create a new peripheral object with the described wiring and standard
         // I2C clock speed:
diff --git a/hil-test/tests/i2s.rs b/hil-test/tests/i2s.rs
index 7610e7791ff..5fd85ca9e5f 100644
--- a/hil-test/tests/i2s.rs
+++ b/hil-test/tests/i2s.rs
@@ -14,7 +14,7 @@ use esp_hal::{
     delay::Delay,
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::{Io, NoPin},
+    gpio::{AnyPin, NoPin, Pin},
     i2s::master::{DataFormat, I2s, I2sTx, Standard},
     peripherals::I2S0,
     prelude::*,
@@ -103,7 +103,7 @@ mod tests {
     use super::*;
 
     struct Context {
-        io: Io,
+        dout: AnyPin,
         dma_channel: DmaChannel0Creator,
         i2s: I2S0,
     }
@@ -112,8 +112,6 @@ mod tests {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
         let dma = Dma::new(peripherals.DMA);
 
         cfg_if::cfg_if! {
@@ -124,8 +122,10 @@ mod tests {
             }
         }
 
+        let (_, dout) = hil_test::common_test_pins!(peripherals);
+
         Context {
-            io,
+            dout: dout.degrade(),
             dma_channel,
             i2s: peripherals.I2S0,
         }
@@ -149,9 +149,7 @@ mod tests {
         )
         .into_async();
 
-        let (_, dout) = hil_test::common_test_pins!(ctx.io);
-
-        let (din, dout) = dout.split();
+        let (din, dout) = ctx.dout.split();
 
         let i2s_tx = i2s
             .i2s_tx
@@ -203,9 +201,7 @@ mod tests {
             tx_descriptors,
         );
 
-        let (_, dout) = hil_test::common_test_pins!(ctx.io);
-
-        let (din, dout) = dout.split();
+        let (din, dout) = ctx.dout.split();
 
         let mut i2s_tx = i2s
             .i2s_tx
@@ -314,13 +310,11 @@ mod tests {
             tx_descriptors,
         );
 
-        let (_, dout) = hil_test::common_test_pins!(ctx.io);
-
         let mut i2s_tx = i2s
             .i2s_tx
             .with_bclk(NoPin)
             .with_ws(NoPin)
-            .with_dout(dout)
+            .with_dout(ctx.dout)
             .build();
 
         let mut tx_transfer = i2s_tx.write_dma_circular(tx_buffer).unwrap();
@@ -346,15 +340,11 @@ mod tests {
             tx_descriptors,
         );
 
-        let (_, dout) = hil_test::common_test_pins!(ctx.io);
-
-        let (din, dout) = dout.split();
-
         let mut i2s_rx = i2s
             .i2s_rx
             .with_bclk(NoPin)
             .with_ws(NoPin)
-            .with_din(din)
+            .with_din(ctx.dout) // not a typo
             .build();
 
         let mut buffer = [0u8; 1024];
diff --git a/hil-test/tests/lcd_cam_i8080.rs b/hil-test/tests/lcd_cam_i8080.rs
index 1d4555bfa52..33a76d04c36 100644
--- a/hil-test/tests/lcd_cam_i8080.rs
+++ b/hil-test/tests/lcd_cam_i8080.rs
@@ -8,7 +8,7 @@
 use esp_hal::{
     dma::{Dma, DmaPriority, DmaTxBuf},
     dma_buffers,
-    gpio::{Io, NoPin},
+    gpio::{GpioPin, NoPin},
     lcd_cam::{
         lcd::i8080::{Command, Config, TxEightBits, TxSixteenBits, I8080},
         BitOrder,
@@ -25,10 +25,19 @@ use hil_test as _;
 
 const DATA_SIZE: usize = 1024 * 10;
 
+#[allow(non_snake_case)]
+struct Pins {
+    pub GPIO8: GpioPin<8>,
+    pub GPIO11: GpioPin<11>,
+    pub GPIO12: GpioPin<12>,
+    pub GPIO16: GpioPin<16>,
+    pub GPIO17: GpioPin<17>,
+}
+
 struct Context<'d> {
     lcd_cam: LcdCam<'d, Blocking>,
     pcnt: Pcnt<'d>,
-    io: Io,
+    pins: Pins,
     dma: Dma<'d>,
     dma_buf: DmaTxBuf,
 }
@@ -44,7 +53,7 @@ mod tests {
         let dma = Dma::new(peripherals.DMA);
         let lcd_cam = LcdCam::new(peripherals.LCD_CAM);
         let pcnt = Pcnt::new(peripherals.PCNT);
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+
         let (_, _, tx_buffer, tx_descriptors) = dma_buffers!(0, DATA_SIZE);
         let dma_buf = DmaTxBuf::new(tx_descriptors, tx_buffer).unwrap();
 
@@ -52,7 +61,13 @@ mod tests {
             lcd_cam,
             dma,
             pcnt,
-            io,
+            pins: Pins {
+                GPIO8: peripherals.GPIO8,
+                GPIO11: peripherals.GPIO11,
+                GPIO12: peripherals.GPIO12,
+                GPIO16: peripherals.GPIO16,
+                GPIO17: peripherals.GPIO17,
+            },
             dma_buf,
         }
     }
@@ -102,11 +117,11 @@ mod tests {
         // issue with configuring pins as outputs after inputs have been sorted
         // out. See https://github.com/esp-rs/esp-hal/pull/2173#issue-2529323702
 
-        let (unit_ctrl, cs_signal) = ctx.io.pins.gpio8.split();
-        let (unit0_input, unit0_signal) = ctx.io.pins.gpio11.split();
-        let (unit1_input, unit1_signal) = ctx.io.pins.gpio12.split();
-        let (unit2_input, unit2_signal) = ctx.io.pins.gpio16.split();
-        let (unit3_input, unit3_signal) = ctx.io.pins.gpio17.split();
+        let (unit_ctrl, cs_signal) = ctx.pins.GPIO8.split();
+        let (unit0_input, unit0_signal) = ctx.pins.GPIO11.split();
+        let (unit1_input, unit1_signal) = ctx.pins.GPIO12.split();
+        let (unit2_input, unit2_signal) = ctx.pins.GPIO16.split();
+        let (unit3_input, unit3_signal) = ctx.pins.GPIO17.split();
 
         let pcnt = ctx.pcnt;
 
@@ -213,11 +228,11 @@ mod tests {
         // issue with configuring pins as outputs after inputs have been sorted
         // out. See https://github.com/esp-rs/esp-hal/pull/2173#issue-2529323702
 
-        let (unit_ctrl, cs_signal) = ctx.io.pins.gpio8.split();
-        let (unit0_input, unit0_signal) = ctx.io.pins.gpio11.split();
-        let (unit1_input, unit1_signal) = ctx.io.pins.gpio12.split();
-        let (unit2_input, unit2_signal) = ctx.io.pins.gpio16.split();
-        let (unit3_input, unit3_signal) = ctx.io.pins.gpio17.split();
+        let (unit_ctrl, cs_signal) = ctx.pins.GPIO8.split();
+        let (unit0_input, unit0_signal) = ctx.pins.GPIO11.split();
+        let (unit1_input, unit1_signal) = ctx.pins.GPIO12.split();
+        let (unit2_input, unit2_signal) = ctx.pins.GPIO16.split();
+        let (unit3_input, unit3_signal) = ctx.pins.GPIO17.split();
 
         let pcnt = ctx.pcnt;
 
diff --git a/hil-test/tests/parl_io_tx.rs b/hil-test/tests/parl_io_tx.rs
index f2b2cceb559..8924c11ada8 100644
--- a/hil-test/tests/parl_io_tx.rs
+++ b/hil-test/tests/parl_io_tx.rs
@@ -10,7 +10,6 @@ use esp_hal::{
     dma::{ChannelCreator, Dma, DmaPriority},
     gpio::{
         interconnect::{InputSignal, OutputSignal},
-        Io,
         NoPin,
     },
     parl_io::{
@@ -52,9 +51,8 @@ mod tests {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-        let (clock, _) = hil_test::common_test_pins!(io);
-        let valid = hil_test::unconnected_pin!(io);
+        let (clock, _) = hil_test::common_test_pins!(peripherals);
+        let valid = hil_test::unconnected_pin!(peripherals);
         let (clock_loopback, clock) = clock.split();
         let (valid_loopback, valid) = valid.split();
         let pcnt = Pcnt::new(peripherals.PCNT);
diff --git a/hil-test/tests/parl_io_tx_async.rs b/hil-test/tests/parl_io_tx_async.rs
index 2c4522f02cf..a38719ec7e6 100644
--- a/hil-test/tests/parl_io_tx_async.rs
+++ b/hil-test/tests/parl_io_tx_async.rs
@@ -12,7 +12,6 @@ use esp_hal::{
     dma::{ChannelCreator, Dma, DmaPriority},
     gpio::{
         interconnect::{InputSignal, OutputSignal},
-        Io,
         NoPin,
     },
     parl_io::{
@@ -54,9 +53,8 @@ mod tests {
     async fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-        let (clock, _) = hil_test::common_test_pins!(io);
-        let valid = hil_test::unconnected_pin!(io);
+        let (clock, _) = hil_test::common_test_pins!(peripherals);
+        let valid = hil_test::unconnected_pin!(peripherals);
         let (clock_loopback, clock) = clock.split();
         let (valid_loopback, valid) = valid.split();
         let pcnt = Pcnt::new(peripherals.PCNT);
diff --git a/hil-test/tests/pcnt.rs b/hil-test/tests/pcnt.rs
index d1857be61a8..7c18e62b1b9 100644
--- a/hil-test/tests/pcnt.rs
+++ b/hil-test/tests/pcnt.rs
@@ -7,7 +7,7 @@
 
 use esp_hal::{
     delay::Delay,
-    gpio::{AnyPin, Input, Io, Level, Output, Pin, Pull},
+    gpio::{AnyPin, Input, Level, Output, Pin, Pull},
     pcnt::{channel::EdgeMode, Pcnt},
 };
 use hil_test as _;
@@ -28,9 +28,7 @@ mod tests {
     fn init() -> Context<'static> {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-        let (din, dout) = hil_test::common_test_pins!(io);
+        let (din, dout) = hil_test::common_test_pins!(peripherals);
 
         let din = din.degrade();
         let dout = dout.degrade();
diff --git a/hil-test/tests/qspi.rs b/hil-test/tests/qspi.rs
index 8b61a26dd57..0123e32d01a 100644
--- a/hil-test/tests/qspi.rs
+++ b/hil-test/tests/qspi.rs
@@ -10,7 +10,7 @@ use esp_hal::pcnt::{channel::EdgeMode, unit::Unit, Pcnt};
 use esp_hal::{
     dma::{Channel, Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
-    gpio::{AnyPin, Input, Io, Level, Output, Pull},
+    gpio::{AnyPin, Input, Level, Output, Pull},
     prelude::*,
     spi::{
         master::{Address, Command, Config, Spi, SpiDma},
@@ -184,10 +184,8 @@ mod tests {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-        let (mut pin, mut pin_mirror) = hil_test::common_test_pins!(io);
-        let mut unconnected_pin = hil_test::unconnected_pin!(io);
+        let (mut pin, mut pin_mirror) = hil_test::common_test_pins!(peripherals);
+        let mut unconnected_pin = hil_test::unconnected_pin!(peripherals);
 
         // Make sure pins have no pullups
         let _ = Input::new(&mut pin, Pull::Down);
diff --git a/hil-test/tests/rmt.rs b/hil-test/tests/rmt.rs
index 5ad82d4af71..c7c9db6d28e 100644
--- a/hil-test/tests/rmt.rs
+++ b/hil-test/tests/rmt.rs
@@ -6,7 +6,6 @@
 #![no_main]
 
 use esp_hal::{
-    gpio::Io,
     prelude::*,
     rmt::{PulseCode, Rmt, RxChannel, RxChannelConfig, TxChannel, TxChannelConfig},
 };
@@ -25,8 +24,6 @@ mod tests {
     fn rmt_loopback() {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
         cfg_if::cfg_if! {
             if #[cfg(feature = "esp32h2")] {
                 let freq = 32.MHz();
@@ -37,7 +34,7 @@ mod tests {
 
         let rmt = Rmt::new(peripherals.RMT, freq).unwrap();
 
-        let (rx, tx) = hil_test::common_test_pins!(io);
+        let (rx, tx) = hil_test::common_test_pins!(peripherals);
 
         let tx_config = TxChannelConfig {
             clk_divider: 255,
diff --git a/hil-test/tests/spi_full_duplex.rs b/hil-test/tests/spi_full_duplex.rs
index 2b445303124..3e7a42b398c 100644
--- a/hil-test/tests/spi_full_duplex.rs
+++ b/hil-test/tests/spi_full_duplex.rs
@@ -14,7 +14,7 @@ use embedded_hal_async::spi::SpiBus as SpiBusAsync;
 use esp_hal::{
     dma::{Dma, DmaDescriptor, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
-    gpio::{Io, Level, NoPin},
+    gpio::{Level, NoPin},
     peripheral::Peripheral,
     prelude::*,
     spi::master::{Config, Spi},
@@ -58,9 +58,8 @@ mod tests {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-        let sclk = io.pins.gpio0;
-        let (_, mosi) = hil_test::common_test_pins!(io);
+        let sclk = peripherals.GPIO0;
+        let (_, mosi) = hil_test::common_test_pins!(peripherals);
 
         let dma = Dma::new(peripherals.DMA);
 
diff --git a/hil-test/tests/spi_half_duplex_read.rs b/hil-test/tests/spi_half_duplex_read.rs
index dc83a638ce0..212e764424a 100644
--- a/hil-test/tests/spi_half_duplex_read.rs
+++ b/hil-test/tests/spi_half_duplex_read.rs
@@ -8,7 +8,7 @@
 use esp_hal::{
     dma::{Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
-    gpio::{Io, Level, Output},
+    gpio::{Level, Output},
     prelude::*,
     spi::{
         master::{Address, Command, Config, Spi, SpiDma},
@@ -33,9 +33,8 @@ mod tests {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-        let sclk = io.pins.gpio0;
-        let (miso, miso_mirror) = hil_test::common_test_pins!(io);
+        let sclk = peripherals.GPIO0;
+        let (miso, miso_mirror) = hil_test::common_test_pins!(peripherals);
 
         let miso_mirror = Output::new(miso_mirror, Level::High);
 
diff --git a/hil-test/tests/spi_half_duplex_write.rs b/hil-test/tests/spi_half_duplex_write.rs
index 88a51641e41..985ede3e5f6 100644
--- a/hil-test/tests/spi_half_duplex_write.rs
+++ b/hil-test/tests/spi_half_duplex_write.rs
@@ -8,7 +8,7 @@
 use esp_hal::{
     dma::{Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
-    gpio::{interconnect::InputSignal, Io},
+    gpio::interconnect::InputSignal,
     pcnt::{channel::EdgeMode, unit::Unit, Pcnt},
     prelude::*,
     spi::{
@@ -35,9 +35,8 @@ mod tests {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-        let sclk = io.pins.gpio0;
-        let (mosi, _) = hil_test::common_test_pins!(io);
+        let sclk = peripherals.GPIO0;
+        let (mosi, _) = hil_test::common_test_pins!(peripherals);
 
         let pcnt = Pcnt::new(peripherals.PCNT);
         let dma = Dma::new(peripherals.DMA);
diff --git a/hil-test/tests/spi_half_duplex_write_psram.rs b/hil-test/tests/spi_half_duplex_write_psram.rs
index aaf9fb7b979..950cf2f0ea6 100644
--- a/hil-test/tests/spi_half_duplex_write_psram.rs
+++ b/hil-test/tests/spi_half_duplex_write_psram.rs
@@ -10,7 +10,7 @@ use esp_hal::{
     dma::{Dma, DmaBufBlkSize, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
     dma_descriptors_chunk_size,
-    gpio::{interconnect::InputSignal, Io},
+    gpio::interconnect::InputSignal,
     pcnt::{channel::EdgeMode, unit::Unit, Pcnt},
     prelude::*,
     spi::{
@@ -53,9 +53,8 @@ mod tests {
         let peripherals = esp_hal::init(esp_hal::Config::default());
         esp_alloc::psram_allocator!(peripherals.PSRAM, esp_hal::psram);
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-        let sclk = io.pins.gpio0;
-        let (mosi, _) = hil_test::common_test_pins!(io);
+        let sclk = peripherals.GPIO0;
+        let (mosi, _) = hil_test::common_test_pins!(peripherals);
 
         let pcnt = Pcnt::new(peripherals.PCNT);
         let dma = Dma::new(peripherals.DMA);
diff --git a/hil-test/tests/spi_slave.rs b/hil-test/tests/spi_slave.rs
index 72cd12de3d6..6045f1d4d12 100644
--- a/hil-test/tests/spi_slave.rs
+++ b/hil-test/tests/spi_slave.rs
@@ -11,7 +11,7 @@
 use esp_hal::{
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::{Input, Io, Level, Output, Pull},
+    gpio::{Input, Level, Output, Pull},
     peripheral::Peripheral,
     spi::{slave::Spi, SpiMode},
     Blocking,
@@ -103,11 +103,9 @@ mod tests {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-        let (mosi_pin, miso_pin) = hil_test::i2c_pins!(io);
-        let (sclk_pin, _) = hil_test::common_test_pins!(io);
-        let cs_pin = hil_test::unconnected_pin!(io);
+        let (mosi_pin, miso_pin) = hil_test::i2c_pins!(peripherals);
+        let (sclk_pin, _) = hil_test::common_test_pins!(peripherals);
+        let cs_pin = hil_test::unconnected_pin!(peripherals);
 
         let dma = Dma::new(peripherals.DMA);
 
diff --git a/hil-test/tests/twai.rs b/hil-test/tests/twai.rs
index a1be5524ef9..14a871d7b36 100644
--- a/hil-test/tests/twai.rs
+++ b/hil-test/tests/twai.rs
@@ -7,7 +7,6 @@
 
 use embedded_hal_02::can::Frame;
 use esp_hal::{
-    gpio::Io,
     prelude::*,
     twai::{self, filter::SingleStandardFilter, EspTwaiFrame, StandardId, TwaiMode},
     Blocking,
@@ -28,9 +27,7 @@ mod tests {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-        let (loopback_pin, _) = hil_test::common_test_pins!(io);
+        let (loopback_pin, _) = hil_test::common_test_pins!(peripherals);
 
         let (rx, tx) = loopback_pin.split();
 
diff --git a/hil-test/tests/uart.rs b/hil-test/tests/uart.rs
index 00e8be5f739..d9cddaa4180 100644
--- a/hil-test/tests/uart.rs
+++ b/hil-test/tests/uart.rs
@@ -7,7 +7,6 @@
 
 use embedded_hal_02::serial::{Read, Write};
 use esp_hal::{
-    gpio::Io,
     prelude::*,
     uart::{self, ClockSource, Uart},
     Blocking,
@@ -28,9 +27,7 @@ mod tests {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-        let (_, pin) = hil_test::common_test_pins!(io);
+        let (_, pin) = hil_test::common_test_pins!(peripherals);
 
         let (rx, tx) = pin.split();
 
diff --git a/hil-test/tests/uart_async.rs b/hil-test/tests/uart_async.rs
index 5adcd854ac8..7a36307c80d 100644
--- a/hil-test/tests/uart_async.rs
+++ b/hil-test/tests/uart_async.rs
@@ -6,7 +6,7 @@
 #![no_std]
 #![no_main]
 
-use esp_hal::{gpio::Io, uart::Uart, Async};
+use esp_hal::{uart::Uart, Async};
 use hil_test as _;
 
 struct Context {
@@ -22,9 +22,7 @@ mod tests {
     async fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-        let (rx, tx) = hil_test::common_test_pins!(io);
+        let (rx, tx) = hil_test::common_test_pins!(peripherals);
 
         let uart = Uart::new(peripherals.UART0, rx, tx).unwrap().into_async();
 
diff --git a/hil-test/tests/uart_regression.rs b/hil-test/tests/uart_regression.rs
index 1892ddaeadf..f2118afaa26 100644
--- a/hil-test/tests/uart_regression.rs
+++ b/hil-test/tests/uart_regression.rs
@@ -9,7 +9,6 @@
 #[embedded_test::tests]
 mod tests {
     use esp_hal::{
-        gpio::Io,
         prelude::*,
         uart::{UartRx, UartTx},
     };
@@ -21,9 +20,7 @@ mod tests {
     fn test_that_creating_tx_does_not_cause_a_pulse() {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-        let (rx, mut tx) = hil_test::common_test_pins!(io);
+        let (rx, mut tx) = hil_test::common_test_pins!(peripherals);
 
         let mut rx = UartRx::new(peripherals.UART1, rx).unwrap();
 
diff --git a/hil-test/tests/uart_tx_rx.rs b/hil-test/tests/uart_tx_rx.rs
index 7e99e5e9f70..8274a9043db 100644
--- a/hil-test/tests/uart_tx_rx.rs
+++ b/hil-test/tests/uart_tx_rx.rs
@@ -6,7 +6,6 @@
 #![no_main]
 
 use esp_hal::{
-    gpio::Io,
     prelude::*,
     uart::{UartRx, UartTx},
     Blocking,
@@ -28,9 +27,7 @@ mod tests {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-        let (rx, tx) = hil_test::common_test_pins!(io);
+        let (rx, tx) = hil_test::common_test_pins!(peripherals);
 
         let tx = UartTx::new(peripherals.UART0, tx).unwrap();
         let rx = UartRx::new(peripherals.UART1, rx).unwrap();
diff --git a/hil-test/tests/uart_tx_rx_async.rs b/hil-test/tests/uart_tx_rx_async.rs
index 4122d0963e9..4f02cf63bda 100644
--- a/hil-test/tests/uart_tx_rx_async.rs
+++ b/hil-test/tests/uart_tx_rx_async.rs
@@ -7,7 +7,6 @@
 #![no_main]
 
 use esp_hal::{
-    gpio::Io,
     uart::{UartRx, UartTx},
     Async,
 };
@@ -27,9 +26,7 @@ mod tests {
     async fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-
-        let (rx, tx) = hil_test::common_test_pins!(io);
+        let (rx, tx) = hil_test::common_test_pins!(peripherals);
 
         let tx = UartTx::new(peripherals.UART0, tx).unwrap().into_async();
         let rx = UartRx::new(peripherals.UART1, rx).unwrap().into_async();