diff --git a/drivers/phy/tegra/Makefile b/drivers/phy/tegra/Makefile
index 89b84067cb4c..eeeea72de117 100644
--- a/drivers/phy/tegra/Makefile
+++ b/drivers/phy/tegra/Makefile
@@ -7,4 +7,5 @@ phy-tegra-xusb-$(CONFIG_ARCH_TEGRA_132_SOC) += xusb-tegra124.o
 phy-tegra-xusb-$(CONFIG_ARCH_TEGRA_210_SOC) += xusb-tegra210.o
 phy-tegra-xusb-$(CONFIG_ARCH_TEGRA_186_SOC) += xusb-tegra186.o
 phy-tegra-xusb-$(CONFIG_ARCH_TEGRA_194_SOC) += xusb-tegra186.o
+phy-tegra-xusb-$(CONFIG_ARCH_TEGRA_234_SOC) += xusb-tegra186.o
 obj-$(CONFIG_PHY_TEGRA194_P2U) += phy-tegra194-p2u.o
diff --git a/drivers/phy/tegra/xusb-tegra186.c b/drivers/phy/tegra/xusb-tegra186.c
index f121b4ffbbfd..cc02cea65a21 100644
--- a/drivers/phy/tegra/xusb-tegra186.c
+++ b/drivers/phy/tegra/xusb-tegra186.c
@@ -89,6 +89,11 @@
 #define  USB2_TRK_START_TIMER(x)		(((x) & 0x7f) << 12)
 #define  USB2_TRK_DONE_RESET_TIMER(x)		(((x) & 0x7f) << 19)
 #define  USB2_PD_TRK				BIT(26)
+#define  USB2_TRK_COMPLETED			BIT(31)
+
+#define XUSB_PADCTL_USB2_BIAS_PAD_CTL2		0x28c
+#define  USB2_TRK_HW_MODE			BIT(0)
+#define  CYA_TRK_CODE_UPDATE_ON_IDLE		BIT(31)
 
 #define XUSB_PADCTL_HSIC_PADX_CTL0(x)		(0x300 + (x) * 0x20)
 #define  HSIC_PD_TX_DATA0			BIT(1)
@@ -609,9 +614,32 @@ static void tegra186_utmi_bias_pad_power_on(struct tegra_xusb_padctl *padctl)
 	value &= ~USB2_PD_TRK;
 	padctl_writel(padctl, value, XUSB_PADCTL_USB2_BIAS_PAD_CTL1);
 
-	udelay(100);
+	if (padctl->soc->poll_trk_completed) {
+		err = padctl_readl_poll(padctl, XUSB_PADCTL_USB2_BIAS_PAD_CTL1,
+					USB2_TRK_COMPLETED, USB2_TRK_COMPLETED, 100);
+		if (err) {
+			/* The failure with polling on trk complete will not
+			 * cause the failure of powering on the bias pad.
+			 */
+			dev_warn(dev, "failed to poll USB2 trk completed: %d\n",
+				err);
+		}
 
-	clk_disable_unprepare(priv->usb2_trk_clk);
+		value = padctl_readl(padctl, XUSB_PADCTL_USB2_BIAS_PAD_CTL1);
+		value |= USB2_TRK_COMPLETED;
+		padctl_writel(padctl, value, XUSB_PADCTL_USB2_BIAS_PAD_CTL1);
+	} else {
+		udelay(100);
+	}
+
+	if (padctl->soc->trk_hw_mode) {
+		value = padctl_readl(padctl, XUSB_PADCTL_USB2_BIAS_PAD_CTL2);
+		value |= USB2_TRK_HW_MODE;
+		value &= ~CYA_TRK_CODE_UPDATE_ON_IDLE;
+		padctl_writel(padctl, value, XUSB_PADCTL_USB2_BIAS_PAD_CTL2);
+	} else {
+		clk_disable_unprepare(priv->usb2_trk_clk);
+	}
 
 	mutex_unlock(&padctl->lock);
 }
@@ -637,6 +665,13 @@ static void tegra186_utmi_bias_pad_power_off(struct tegra_xusb_padctl *padctl)
 	value |= USB2_PD_TRK;
 	padctl_writel(padctl, value, XUSB_PADCTL_USB2_BIAS_PAD_CTL1);
 
+	if (padctl->soc->trk_hw_mode) {
+		value = padctl_readl(padctl, XUSB_PADCTL_USB2_BIAS_PAD_CTL2);
+		value &= ~USB2_TRK_HW_MODE;
+		padctl_writel(padctl, value, XUSB_PADCTL_USB2_BIAS_PAD_CTL2);
+		clk_disable_unprepare(priv->usb2_trk_clk);
+	}
+
 	mutex_unlock(&padctl->lock);
 }
 
@@ -1560,7 +1595,8 @@ const struct tegra_xusb_padctl_soc tegra186_xusb_padctl_soc = {
 EXPORT_SYMBOL_GPL(tegra186_xusb_padctl_soc);
 #endif
 
-#if IS_ENABLED(CONFIG_ARCH_TEGRA_194_SOC)
+#if IS_ENABLED(CONFIG_ARCH_TEGRA_194_SOC) || \
+	IS_ENABLED(CONFIG_ARCH_TEGRA_234_SOC)
 static const char * const tegra194_xusb_padctl_supply_names[] = {
 	"avdd-usb",
 	"vclamp-usb",
@@ -1616,8 +1652,31 @@ const struct tegra_xusb_padctl_soc tegra194_xusb_padctl_soc = {
 	.supply_names = tegra194_xusb_padctl_supply_names,
 	.num_supplies = ARRAY_SIZE(tegra194_xusb_padctl_supply_names),
 	.supports_gen2 = true,
+	.poll_trk_completed = true,
 };
 EXPORT_SYMBOL_GPL(tegra194_xusb_padctl_soc);
+
+const struct tegra_xusb_padctl_soc tegra234_xusb_padctl_soc = {
+	.num_pads = ARRAY_SIZE(tegra194_pads),
+	.pads = tegra194_pads,
+	.ports = {
+		.usb2 = {
+			.ops = &tegra186_usb2_port_ops,
+			.count = 4,
+		},
+		.usb3 = {
+			.ops = &tegra186_usb3_port_ops,
+			.count = 4,
+		},
+	},
+	.ops = &tegra186_xusb_padctl_ops,
+	.supply_names = tegra194_xusb_padctl_supply_names,
+	.num_supplies = ARRAY_SIZE(tegra194_xusb_padctl_supply_names),
+	.supports_gen2 = true,
+	.poll_trk_completed = true,
+	.trk_hw_mode = true,
+};
+EXPORT_SYMBOL_GPL(tegra234_xusb_padctl_soc);
 #endif
 
 MODULE_AUTHOR("JC Kuo <jckuo@nvidia.com>");
diff --git a/drivers/phy/tegra/xusb.c b/drivers/phy/tegra/xusb.c
index 95091876c422..23d179b1a5b5 100644
--- a/drivers/phy/tegra/xusb.c
+++ b/drivers/phy/tegra/xusb.c
@@ -71,6 +71,12 @@ static const struct of_device_id tegra_xusb_padctl_of_match[] = {
 		.compatible = "nvidia,tegra194-xusb-padctl",
 		.data = &tegra194_xusb_padctl_soc,
 	},
+#endif
+#if defined(CONFIG_ARCH_TEGRA_234_SOC)
+	{
+		.compatible = "nvidia,tegra234-xusb-padctl",
+		.data = &tegra234_xusb_padctl_soc,
+	},
 #endif
 	{ }
 };
diff --git a/drivers/phy/tegra/xusb.h b/drivers/phy/tegra/xusb.h
index 8cfbbdbd6e0c..ec0b5b023ad1 100644
--- a/drivers/phy/tegra/xusb.h
+++ b/drivers/phy/tegra/xusb.h
@@ -8,6 +8,7 @@
 #define __PHY_TEGRA_XUSB_H
 
 #include <linux/io.h>
+#include <linux/iopoll.h>
 #include <linux/mutex.h>
 #include <linux/workqueue.h>
 
@@ -433,6 +434,8 @@ struct tegra_xusb_padctl_soc {
 	unsigned int num_supplies;
 	bool supports_gen2;
 	bool need_fake_usb3_port;
+	bool poll_trk_completed;
+	bool trk_hw_mode;
 };
 
 struct tegra_xusb_padctl {
@@ -475,6 +478,23 @@ static inline u32 padctl_readl(struct tegra_xusb_padctl *padctl,
 	return value;
 }
 
+static inline u32 padctl_readl_poll(struct tegra_xusb_padctl *padctl,
+	unsigned long offset, u32 val, u32 mask, int us)
+{
+	u32 regval;
+	int err;
+
+	err = readl_poll_timeout_atomic(padctl->regs + offset, regval,
+					 (regval & mask) == val, 1, us);
+	dev_dbg(padctl->dev, "%08lx poll > %08x\n", offset, regval);
+	if (err) {
+		dev_err(padctl->dev, "%08lx poll timeout > %08x\n", offset,
+			regval);
+	}
+
+	return err;
+}
+
 struct tegra_xusb_lane *tegra_xusb_find_lane(struct tegra_xusb_padctl *padctl,
 					     const char *name,
 					     unsigned int index);
@@ -491,5 +511,8 @@ extern const struct tegra_xusb_padctl_soc tegra186_xusb_padctl_soc;
 #if defined(CONFIG_ARCH_TEGRA_194_SOC)
 extern const struct tegra_xusb_padctl_soc tegra194_xusb_padctl_soc;
 #endif
+#if defined(CONFIG_ARCH_TEGRA_234_SOC)
+extern const struct tegra_xusb_padctl_soc tegra234_xusb_padctl_soc;
+#endif
 
 #endif /* __PHY_TEGRA_XUSB_H */
