diff --git a/cpu/esp32/Makefile.dep b/cpu/esp32/Makefile.dep
index 844284a8b6..c12efb2628 100644
--- a/cpu/esp32/Makefile.dep
+++ b/cpu/esp32/Makefile.dep
@@ -44,6 +44,7 @@ endif
 
 ifneq (,$(filter esp_wifi_any,$(USEMODULE)))
   # add additional modules and packages used for any WiFi interface
+  USEPKG += esp32_sdk_lib_coexist
   USEPKG += esp32_sdk_lib_phy
   USEPKG += esp32_sdk_lib_wifi
   USEMODULE += esp_idf_event
diff --git a/pkg/esp32_sdk_lib_coexist/Makefile b/pkg/esp32_sdk_lib_coexist/Makefile
new file mode 100644
index 0000000000..52e132606c
--- /dev/null
+++ b/pkg/esp32_sdk_lib_coexist/Makefile
@@ -0,0 +1,10 @@
+PKG_NAME=esp32_sdk_lib_coexist
+PKG_URL=https://github.com/espressif/esp-coex-lib
+# This is a version in the v5.4 release branch
+PKG_VERSION=7b588f2dbb12ddcd46c075dcd041f4d03a59154f
+PKG_LICENSE=Apache-2.0
+
+include $(RIOTBASE)/pkg/pkg.mk
+
+# there is nothing to compile
+all:
diff --git a/pkg/esp32_sdk_lib_coexist/Makefile.dep b/pkg/esp32_sdk_lib_coexist/Makefile.dep
new file mode 100644
index 0000000000..607e8707ca
--- /dev/null
+++ b/pkg/esp32_sdk_lib_coexist/Makefile.dep
@@ -0,0 +1,2 @@
+# This package can only be used with the ESP32 CPU
+FEATURES_REQUIRED += arch_esp32
diff --git a/pkg/esp32_sdk_lib_coexist/Makefile.include b/pkg/esp32_sdk_lib_coexist/Makefile.include
new file mode 100644
index 0000000000..b758de211b
--- /dev/null
+++ b/pkg/esp32_sdk_lib_coexist/Makefile.include
@@ -0,0 +1,3 @@
+export ESP32_SDK_LIB_COEXIST_DIR ?= $(PKGDIRBASE)/esp32_sdk_lib_coexist
+
+PSEUDOMODULES += esp32_sdk_lib_coexist
diff --git a/pkg/esp32_sdk_lib_coexist/doc.md b/pkg/esp32_sdk_lib_coexist/doc.md
new file mode 100644
index 0000000000..09733b9c08
--- /dev/null
+++ b/pkg/esp32_sdk_lib_coexist/doc.md
@@ -0,0 +1,4 @@
+@defgroup pkg_esp32_sdk_lib_coexist  ESP32 SDK Coexist Libraries
+@ingroup  pkg_esp32_sdk
+@brief    Vendor SDK Coexist Libraries for ESP32 SoC by Espressif
+@see      https://github.com/espressif/esp-coex-lib