diff --git a/drivers/i3c/master/mipi-i3c-hci/core.c b/drivers/i3c/master/mipi-i3c-hci/core.c
index 69dcf5dad3a5..c6edbbedfdd7 100644
--- a/drivers/i3c/master/mipi-i3c-hci/core.c
+++ b/drivers/i3c/master/mipi-i3c-hci/core.c
@@ -275,13 +275,30 @@ int i3c_hci_process_xfer(struct i3c_hci *hci, struct hci_xfer *xfer, int n)
 {
 	struct completion *done = xfer[n - 1].completion;
 	unsigned long timeout = xfer[n - 1].timeout;
+	unsigned long remaining_timeout = timeout;
+	long time_taken;
+	bool started;
 	int ret;
 
+	xfer[0].started = false;
+
 	ret = hci->io->queue_xfer(hci, xfer, n);
 	if (ret)
 		return ret;
 
-	if (!wait_for_completion_timeout(done, timeout)) {
+	while (!wait_for_completion_timeout(done, remaining_timeout)) {
+		scoped_guard(spinlock_irqsave, &hci->lock) {
+			started = xfer[0].started;
+			time_taken = jiffies - xfer[0].start_jiffies;
+		}
+		/* Keep waiting if xfer has not started */
+		if (!started)
+			continue;
+		/* Recalculate timeout based on actual start time */
+		if (time_taken < timeout) {
+			remaining_timeout = timeout - time_taken;
+			continue;
+		}
 		if (hci->io->dequeue_xfer(hci, xfer, n)) {
 			dev_err(&hci->master.dev, "%s: timeout error\n", __func__);
 			return -ETIMEDOUT;
diff --git a/drivers/i3c/master/mipi-i3c-hci/dma.c b/drivers/i3c/master/mipi-i3c-hci/dma.c
index 0fd56bbb84ef..9a01c740760f 100644
--- a/drivers/i3c/master/mipi-i3c-hci/dma.c
+++ b/drivers/i3c/master/mipi-i3c-hci/dma.c
@@ -543,6 +543,9 @@ static int hci_dma_queue_xfer(struct i3c_hci *hci,
 		enqueue_ptr = (enqueue_ptr + 1) % rh->xfer_entries;
 	}
 
+	if (rh->xfer_space == rh->xfer_entries)
+		hci_start_xfer(xfer_list);
+
 	rh->xfer_space -= n;
 
 	op1_val &= ~RING_OP1_CR_ENQ_PTR;
@@ -558,6 +561,7 @@ static void hci_dma_xfer_done(struct i3c_hci *hci, struct hci_rh_data *rh)
 	u32 op1_val, op2_val, resp, *ring_resp;
 	unsigned int tid, done_ptr = rh->done_ptr;
 	unsigned int done_cnt = 0;
+	bool start_next = false;
 	struct hci_xfer *xfer;
 
 	for (;;) {
@@ -588,8 +592,14 @@ static void hci_dma_xfer_done(struct i3c_hci *hci, struct hci_rh_data *rh)
 			xfer->response = resp;
 			if (xfer == xfer->final_xfer || RESP_STATUS(resp))
 				complete(xfer->final_xfer->completion);
-			if (RESP_STATUS(resp))
+			else
+				hci_start_xfer(xfer);
+			if (RESP_STATUS(resp)) {
 				hci->enqueue_blocked = true;
+				start_next = false;
+			} else {
+				start_next = true;
+			}
 		}
 
 		done_ptr = (done_ptr + 1) % rh->xfer_entries;
@@ -598,6 +608,10 @@ static void hci_dma_xfer_done(struct i3c_hci *hci, struct hci_rh_data *rh)
 	}
 
 	rh->xfer_space += done_cnt;
+	if (start_next && rh->xfer_space < rh->xfer_entries) {
+		xfer = rh->src_xfers[done_ptr];
+		hci_start_xfer(xfer);
+	}
 	op1_val = rh_reg_read(RING_OPERATION1);
 	op1_val &= ~RING_OP1_CR_SW_DEQ_PTR;
 	op1_val |= FIELD_PREP(RING_OP1_CR_SW_DEQ_PTR, done_ptr);
@@ -810,6 +824,9 @@ static bool hci_dma_dequeue_xfer(struct i3c_hci *hci,
 
 	hci_dma_unblock_enqueue(hci);
 
+	if (rh->xfer_space < rh->xfer_entries)
+		hci_start_xfer(rh->src_xfers[rh->done_ptr]);
+
 	spin_unlock_irq(&hci->lock);
 
 	wait_for_completion_timeout(&rh->op_done, HZ);
diff --git a/drivers/i3c/master/mipi-i3c-hci/hci.h b/drivers/i3c/master/mipi-i3c-hci/hci.h
index 4bf2c66c97b4..30297823ca85 100644
--- a/drivers/i3c/master/mipi-i3c-hci/hci.h
+++ b/drivers/i3c/master/mipi-i3c-hci/hci.h
@@ -11,6 +11,7 @@
 #define HCI_H
 
 #include <linux/io.h>
+#include <linux/jiffies.h>
 
 /* 32-bit word aware bit and mask macros */
 #define W0_MASK(h, l)  GENMASK((h) - 0,  (l) - 0)
@@ -88,11 +89,13 @@ struct hci_xfer {
 	u32 cmd_desc[4];
 	u32 response;
 	bool rnw;
+	bool started;
 	void *data;
 	unsigned int data_len;
 	unsigned int cmd_tid;
 	struct completion *completion;
 	unsigned long timeout;
+	unsigned long start_jiffies;
 	union {
 		struct {
 			/* PIO specific */
@@ -123,6 +126,14 @@ static inline void hci_free_xfer(struct hci_xfer *xfer, unsigned int n)
 	kfree(xfer);
 }
 
+static inline void hci_start_xfer(struct hci_xfer *xfer)
+{
+	if (!xfer->started) {
+		xfer->started = true;
+		xfer->start_jiffies = jiffies;
+	}
+}
+
 /* This abstracts PIO vs DMA operations */
 struct hci_io_ops {
 	bool (*irq_handler)(struct i3c_hci *hci);
diff --git a/drivers/i3c/master/mipi-i3c-hci/pio.c b/drivers/i3c/master/mipi-i3c-hci/pio.c
index 8f48a81e65ab..6b8cc5f2b4d2 100644
--- a/drivers/i3c/master/mipi-i3c-hci/pio.c
+++ b/drivers/i3c/master/mipi-i3c-hci/pio.c
@@ -605,6 +605,7 @@ static bool hci_pio_process_cmd(struct i3c_hci *hci, struct hci_pio_data *pio)
 		 * Finally send the command.
 		 */
 		hci_pio_write_cmd(hci, pio->curr_xfer);
+		hci_start_xfer(pio->curr_xfer);
 		/*
 		 * And move on.
 		 */