diff --git a/drivers/usb/typec/tcpm/tcpm.c b/drivers/usb/typec/tcpm/tcpm.c
index a088c6e91e37..141a14305335 100644
--- a/drivers/usb/typec/tcpm/tcpm.c
+++ b/drivers/usb/typec/tcpm/tcpm.c
@@ -1724,6 +1724,14 @@ static int tcpm_pd_svdm(struct tcpm_port *port, struct typec_altmode *adev,
 				rlen = 1;
 			} else if (port->data_role == TYPEC_HOST) {
 				tcpm_register_partner_altmodes(port);
+			} else {
+				/* Do dr_swap for ufp if the port supports drd */
+				if (port->typec_caps.data == TYPEC_PORT_DRD &&
+				    !IS_ERR_OR_NULL(port->port_altmode[0])) {
+					port->vdm_sm_running = false;
+					port->upcoming_state = DR_SWAP_SEND;
+					tcpm_ams_start(port, DATA_ROLE_SWAP);
+				}
 			}
 			break;
 		case CMD_ENTER_MODE:
@@ -1755,6 +1763,16 @@ static int tcpm_pd_svdm(struct tcpm_port *port, struct typec_altmode *adev,
 		tcpm_ams_finish(port);
 		switch (cmd) {
 		case CMD_DISCOVER_IDENT:
+			/* Do dr_swap for ufp if the port supports drd */
+			if (port->typec_caps.data == TYPEC_PORT_DRD &&
+			    port->data_role == TYPEC_DEVICE &&
+			    !IS_ERR_OR_NULL(port->port_altmode[0])) {
+				port->vdm_sm_running = false;
+				port->upcoming_state = DR_SWAP_SEND;
+				tcpm_ams_start(port, DATA_ROLE_SWAP);
+				break;
+			}
+			fallthrough;
 		case CMD_DISCOVER_SVID:
 		case CMD_DISCOVER_MODES:
 		case VDO_CMD_VENDOR(0) ... VDO_CMD_VENDOR(15):