diff --git a/drivers/usb/typec/tcpm/tcpm.c b/drivers/usb/typec/tcpm/tcpm.c
index 90d2d265690b..afeb93b2df85 100644
--- a/drivers/usb/typec/tcpm/tcpm.c
+++ b/drivers/usb/typec/tcpm/tcpm.c
@@ -2629,6 +2629,11 @@ static void tcpm_pd_ctrl_request(struct tcpm_port *port,
 			} else {
 				next_state = SNK_WAIT_CAPABILITIES;
 			}
+
+			/* Threshold was relaxed before sending Request. Restore it back. */
+			tcpm_set_auto_vbus_discharge_threshold(port, TYPEC_PWR_MODE_PD,
+							       port->pps_data.active,
+							       port->supply_voltage);
 			tcpm_set_state(port, next_state, 0);
 			break;
 		case SNK_NEGOTIATE_PPS_CAPABILITIES:
@@ -2642,6 +2647,11 @@ static void tcpm_pd_ctrl_request(struct tcpm_port *port,
 			    port->send_discover)
 				port->vdm_sm_running = true;
 
+			/* Threshold was relaxed before sending Request. Restore it back. */
+			tcpm_set_auto_vbus_discharge_threshold(port, TYPEC_PWR_MODE_PD,
+							       port->pps_data.active,
+							       port->supply_voltage);
+
 			tcpm_set_state(port, SNK_READY, 0);
 			break;
 		case DR_SWAP_SEND:
@@ -3361,6 +3371,12 @@ static int tcpm_pd_send_request(struct tcpm_port *port)
 	if (ret < 0)
 		return ret;
 
+	/*
+	 * Relax the threshold as voltage will be adjusted after Accept Message plus tSrcTransition.
+	 * It is safer to modify the threshold here.
+	 */
+	tcpm_set_auto_vbus_discharge_threshold(port, TYPEC_PWR_MODE_USB, false, 0);
+
 	memset(&msg, 0, sizeof(msg));
 	msg.header = PD_HEADER_LE(PD_DATA_REQUEST,
 				  port->pwr_role,
@@ -3458,6 +3474,9 @@ static int tcpm_pd_send_pps_request(struct tcpm_port *port)
 	if (ret < 0)
 		return ret;
 
+	/* Relax the threshold as voltage will be adjusted right after Accept Message. */
+	tcpm_set_auto_vbus_discharge_threshold(port, TYPEC_PWR_MODE_USB, false, 0);
+
 	memset(&msg, 0, sizeof(msg));
 	msg.header = PD_HEADER_LE(PD_DATA_REQUEST,
 				  port->pwr_role,
@@ -4285,6 +4304,10 @@ static void run_state_machine(struct tcpm_port *port)
 		port->hard_reset_count = 0;
 		ret = tcpm_pd_send_request(port);
 		if (ret < 0) {
+			/* Restore back to the original state */
+			tcpm_set_auto_vbus_discharge_threshold(port, TYPEC_PWR_MODE_PD,
+							       port->pps_data.active,
+							       port->supply_voltage);
 			/* Let the Source send capabilities again. */
 			tcpm_set_state(port, SNK_WAIT_CAPABILITIES, 0);
 		} else {
@@ -4295,6 +4318,10 @@ static void run_state_machine(struct tcpm_port *port)
 	case SNK_NEGOTIATE_PPS_CAPABILITIES:
 		ret = tcpm_pd_send_pps_request(port);
 		if (ret < 0) {
+			/* Restore back to the original state */
+			tcpm_set_auto_vbus_discharge_threshold(port, TYPEC_PWR_MODE_PD,
+							       port->pps_data.active,
+							       port->supply_voltage);
 			port->pps_status = ret;
 			/*
 			 * If this was called due to updates to sink