diff --git a/cores/esp32/esp32-hal-matrix.c b/cores/esp32/esp32-hal-matrix.c
index d2246fc6341..8f2f7d88903 100644
--- a/cores/esp32/esp32-hal-matrix.c
+++ b/cores/esp32/esp32-hal-matrix.c
@@ -19,6 +19,7 @@
 #ifdef ESP_IDF_VERSION_MAJOR // IDF 4+
 #include "soc/gpio_pins.h"
 #if CONFIG_IDF_TARGET_ESP32 // ESP32/PICO-D4
+#include "esp32/rom/gpio.h"
 #elif CONFIG_IDF_TARGET_ESP32S2
 #include "esp32s2/rom/gpio.h"
 #elif CONFIG_IDF_TARGET_ESP32S3
diff --git a/libraries/ESP32/examples/TWAI/TWAItransmit/TWAItransmit.ino b/libraries/ESP32/examples/TWAI/TWAItransmit/TWAItransmit.ino
index df0f1cfd266..d8fba7fa6f7 100644
--- a/libraries/ESP32/examples/TWAI/TWAItransmit/TWAItransmit.ino
+++ b/libraries/ESP32/examples/TWAI/TWAItransmit/TWAItransmit.ino
@@ -101,17 +101,17 @@ void loop() {
   }
   if (alerts_triggered & TWAI_ALERT_BUS_ERROR) {
     Serial.println("Alert: A (Bit, Stuff, CRC, Form, ACK) error has occurred on the bus.");
-    Serial.printf("Bus error count: %d\n", twaistatus.bus_error_count);
+    Serial.printf("Bus error count: %lu\n", twaistatus.bus_error_count);
   }
   if (alerts_triggered & TWAI_ALERT_TX_FAILED) {
     Serial.println("Alert: The Transmission failed.");
-    Serial.printf("TX buffered: %d\t", twaistatus.msgs_to_tx);
-    Serial.printf("TX error: %d\t", twaistatus.tx_error_counter);
-    Serial.printf("TX failed: %d\n", twaistatus.tx_failed_count);
+    Serial.printf("TX buffered: %lu\t", twaistatus.msgs_to_tx);
+    Serial.printf("TX error: %lu\t", twaistatus.tx_error_counter);
+    Serial.printf("TX failed: %lu\n", twaistatus.tx_failed_count);
   }
   if (alerts_triggered & TWAI_ALERT_TX_SUCCESS) {
     Serial.println("Alert: The Transmission was successful.");
-    Serial.printf("TX buffered: %d\t", twaistatus.msgs_to_tx);
+    Serial.printf("TX buffered: %lu\t", twaistatus.msgs_to_tx);
   }
 
   // Send message