diff --git a/components/esp_modem/include/esp_modem_c_api_types.h b/components/esp_modem/include/esp_modem_c_api_types.h
index 66591df435e..f47e2a064c2 100644
--- a/components/esp_modem/include/esp_modem_c_api_types.h
+++ b/components/esp_modem/include/esp_modem_c_api_types.h
@@ -118,6 +118,8 @@ esp_err_t esp_modem_set_error_cb(esp_modem_dce_t *dce, esp_modem_terminal_error_
  */
 esp_err_t esp_modem_set_mode(esp_modem_dce_t *dce, esp_modem_dce_mode_t mode);
 
+esp_err_t esp_modem_command(esp_modem_dce_t *dce, const char *command, esp_err_t(*got_line_cb)(uint8_t *data, size_t len), uint32_t timeout_ms);
+
 /**
  * @}
  */
diff --git a/components/esp_modem/src/esp_modem_c_api.cpp b/components/esp_modem/src/esp_modem_c_api.cpp
index c9ebdda2e6c..fa1bbdbb2b9 100644
--- a/components/esp_modem/src/esp_modem_c_api.cpp
+++ b/components/esp_modem/src/esp_modem_c_api.cpp
@@ -94,22 +94,22 @@ extern "C" esp_err_t esp_modem_set_mode(esp_modem_dce_t *dce_wrap, esp_modem_dce
         return ESP_ERR_INVALID_ARG;
     }
     switch (mode) {
-        case ESP_MODEM_MODE_DATA:
-            return dce_wrap->dce->set_mode(modem_mode::DATA_MODE) ? ESP_OK : ESP_FAIL;
-        case ESP_MODEM_MODE_COMMAND:
-            return dce_wrap->dce->set_mode(modem_mode::COMMAND_MODE) ? ESP_OK : ESP_FAIL;
-        case ESP_MODEM_MODE_CMUX:
-            return dce_wrap->dce->set_mode(modem_mode::CMUX_MODE) ? ESP_OK : ESP_FAIL;
-        case ESP_MODEM_MODE_CMUX_MANUAL:
-            return dce_wrap->dce->set_mode(modem_mode::CMUX_MANUAL_MODE) ? ESP_OK : ESP_FAIL;
-        case ESP_MODEM_MODE_CMUX_MANUAL_EXIT:
-            return dce_wrap->dce->set_mode(modem_mode::CMUX_MANUAL_EXIT) ? ESP_OK : ESP_FAIL;
-        case ESP_MODEM_MODE_CMUX_MANUAL_SWAP:
-            return dce_wrap->dce->set_mode(modem_mode::CMUX_MANUAL_SWAP) ? ESP_OK : ESP_FAIL;
-        case ESP_MODEM_MODE_CMUX_MANUAL_DATA:
-            return dce_wrap->dce->set_mode(modem_mode::CMUX_MANUAL_DATA) ? ESP_OK : ESP_FAIL;
-        case ESP_MODEM_MODE_CMUX_MANUAL_COMMAND:
-            return dce_wrap->dce->set_mode(modem_mode::CMUX_MANUAL_COMMAND) ? ESP_OK : ESP_FAIL;
+    case ESP_MODEM_MODE_DATA:
+        return dce_wrap->dce->set_mode(modem_mode::DATA_MODE) ? ESP_OK : ESP_FAIL;
+    case ESP_MODEM_MODE_COMMAND:
+        return dce_wrap->dce->set_mode(modem_mode::COMMAND_MODE) ? ESP_OK : ESP_FAIL;
+    case ESP_MODEM_MODE_CMUX:
+        return dce_wrap->dce->set_mode(modem_mode::CMUX_MODE) ? ESP_OK : ESP_FAIL;
+    case ESP_MODEM_MODE_CMUX_MANUAL:
+        return dce_wrap->dce->set_mode(modem_mode::CMUX_MANUAL_MODE) ? ESP_OK : ESP_FAIL;
+    case ESP_MODEM_MODE_CMUX_MANUAL_EXIT:
+        return dce_wrap->dce->set_mode(modem_mode::CMUX_MANUAL_EXIT) ? ESP_OK : ESP_FAIL;
+    case ESP_MODEM_MODE_CMUX_MANUAL_SWAP:
+        return dce_wrap->dce->set_mode(modem_mode::CMUX_MANUAL_SWAP) ? ESP_OK : ESP_FAIL;
+    case ESP_MODEM_MODE_CMUX_MANUAL_DATA:
+        return dce_wrap->dce->set_mode(modem_mode::CMUX_MANUAL_DATA) ? ESP_OK : ESP_FAIL;
+    case ESP_MODEM_MODE_CMUX_MANUAL_COMMAND:
+        return dce_wrap->dce->set_mode(modem_mode::CMUX_MANUAL_COMMAND) ? ESP_OK : ESP_FAIL;
     }
     return ESP_ERR_NOT_SUPPORTED;
 }
@@ -400,3 +400,21 @@ extern "C" esp_err_t esp_modem_set_pdp_context(esp_modem_dce_t *dce_wrap, esp_mo
     pdp.protocol_type = c_api_pdp->protocol_type;
     return command_response_to_esp_err(dce_wrap->dce->set_pdp_context(pdp));
 }
+
+extern "C" esp_err_t esp_modem_command(esp_modem_dce_t *dce_wrap, const char *command, esp_err_t(*got_line_fn)(uint8_t *data, size_t len), uint32_t timeout_ms)
+{
+    if (dce_wrap == nullptr || dce_wrap->dce == nullptr || command == nullptr || got_line_fn == nullptr) {
+        return ESP_ERR_INVALID_ARG;
+    }
+    std::string cmd(command);
+    return command_response_to_esp_err(dce_wrap->dce->command(cmd, [got_line_fn](uint8_t *data, size_t len) {
+        switch (got_line_fn(data, len)) {
+        case ESP_OK:
+            return command_result::OK;
+        case ESP_FAIL:
+            return command_result::FAIL;
+        default:
+            return command_result::TIMEOUT;
+        }
+    }, timeout_ms));
+}
diff --git a/components/esp_modem/src/esp_modem_dce.cpp b/components/esp_modem/src/esp_modem_dce.cpp
index 5cd5895e6b1..afd41ffa6e0 100644
--- a/components/esp_modem/src/esp_modem_dce.cpp
+++ b/components/esp_modem/src/esp_modem_dce.cpp
@@ -130,7 +130,7 @@ bool DCE_Mode::set_unsafe(DTE *dte, ModuleIf *device, Netif &netif, modem_mode m
         mode = modem_mode::CMUX_MODE;
         return transitions::enter_data(*dte, *device, netif);
     case modem_mode::CMUX_MANUAL_MODE:
-        if (mode != modem_mode::COMMAND_MODE) {
+        if (mode != modem_mode::COMMAND_MODE && mode != modem_mode::UNDEF) {
             return false;
         }
         device->set_mode(modem_mode::CMUX_MODE);
diff --git a/components/esp_modem/src/esp_modem_dte.cpp b/components/esp_modem/src/esp_modem_dte.cpp
index 0da7d35b87c..ea71182cb5d 100644
--- a/components/esp_modem/src/esp_modem_dte.cpp
+++ b/components/esp_modem/src/esp_modem_dte.cpp
@@ -15,14 +15,14 @@ using namespace esp_modem;
 static const size_t dte_default_buffer_size = 1000;
 
 DTE::DTE(const esp_modem_dte_config *config, std::unique_ptr<Terminal> terminal):
-        buffer(config->dte_buffer_size),
-        cmux_term(nullptr), term(std::move(terminal)), other_term(term),
-        mode(modem_mode::UNDEF) {}
+    buffer(config->dte_buffer_size),
+    cmux_term(nullptr), term(std::move(terminal)), other_term(term),
+    mode(modem_mode::UNDEF) {}
 
 DTE::DTE(std::unique_ptr<Terminal> terminal):
-        buffer(dte_default_buffer_size),
-        cmux_term(nullptr), term(std::move(terminal)), other_term(term),
-        mode(modem_mode::UNDEF) {}
+    buffer(dte_default_buffer_size),
+    cmux_term(nullptr), term(std::move(terminal)), other_term(term),
+    mode(modem_mode::UNDEF) {}
 
 command_result DTE::command(const std::string &command, got_line_cb got_line, uint32_t time_ms, const char separator)
 {
@@ -94,7 +94,7 @@ bool DTE::setup_cmux()
 bool DTE::set_mode(modem_mode m)
 {
     if (mode == modem_mode::CMUX_MANUAL_MODE &&
-        (m == modem_mode::DATA_MODE || m == modem_mode::COMMAND_MODE )) {
+            (m == modem_mode::DATA_MODE || m == modem_mode::COMMAND_MODE )) {
         // no operation for this DTE when switching DATA/COMMAND in manual CMUX
         return true;
     }