diff --git a/src/common/tusb_private.h b/src/common/tusb_private.h
index 5315c352f..b34506f65 100644
--- a/src/common/tusb_private.h
+++ b/src/common/tusb_private.h
@@ -52,8 +52,12 @@ void tu_edpt_bind_driver(uint8_t ep2drv[][2], tusb_desc_interface_t const* p_des
 // Calculate total length of n interfaces (depending on IAD)
 uint16_t tu_desc_get_interface_total_len(tusb_desc_interface_t const* desc_itf, uint8_t itf_count, uint16_t max_len);
 
+// Claim an endpoint with provided mutex
 bool tu_edpt_claim(tu_edpt_state_t* ep_state, osal_mutex_t mutex);
 
+// Release an endpoint with provided mutex
+bool tu_edpt_release(tu_edpt_state_t* ep_state, osal_mutex_t mutex);
+
 #ifdef __cplusplus
  }
 #endif
diff --git a/src/host/usbh.c b/src/host/usbh.c
index 319031f5b..8206c06a4 100644
--- a/src/host/usbh.c
+++ b/src/host/usbh.c
@@ -1202,23 +1202,19 @@ bool usbh_edpt_claim(uint8_t dev_addr, uint8_t ep_addr)
 // TODO has some duplication code with device, refactor later
 bool usbh_edpt_release(uint8_t dev_addr, uint8_t ep_addr)
 {
-  uint8_t const epnum = tu_edpt_number(ep_addr);
-  uint8_t const dir   = tu_edpt_dir(ep_addr);
+  // addr0 is always available
+  if (dev_addr == 0) return true;
 
-  usbh_device_t* dev = get_device(dev_addr);
+  usbh_device_t* dev        = get_device(dev_addr);
+  uint8_t const epnum       = tu_edpt_number(ep_addr);
+  uint8_t const dir         = tu_edpt_dir(ep_addr);
+  tu_edpt_state_t* ep_state = &dev->ep_status[epnum][dir];
 
-  lock_device(dev_addr);
-
-  // can only release the endpoint if it is claimed and not busy
-  bool const ret = (dev->ep_status[epnum][dir].busy == 0) && (dev->ep_status[epnum][dir].claimed == 1);
-  if (ret)
-  {
-    dev->ep_status[epnum][dir].claimed = 0;
-  }
-
-  unlock_device(dev_addr);
-
-  return ret;
+#if TUSB_OPT_MUTEX
+  return tu_edpt_release(ep_state, &_usbh_mutex[dev_addr-1]);
+#else
+  return tu_edpt_release(ep_state, NULL);
+#endif
 }
 
 // TODO has some duplication code with device, refactor later
diff --git a/src/tusb.c b/src/tusb.c
index 6ed2a3c05..c86bdd891 100644
--- a/src/tusb.c
+++ b/src/tusb.c
@@ -92,6 +92,28 @@ bool tu_edpt_claim(tu_edpt_state_t* ep_state, osal_mutex_t mutex)
   return available;
 }
 
+bool tu_edpt_release(tu_edpt_state_t* ep_state, osal_mutex_t mutex)
+{
+  (void) mutex;
+
+#if TUSB_OPT_MUTEX
+  osal_mutex_lock(mutex, OSAL_TIMEOUT_WAIT_FOREVER);
+#endif
+
+  // can only release the endpoint if it is claimed and not busy
+  bool const ret = (ep_state->claimed == 1) && (ep_state->busy == 0);
+  if (ret)
+  {
+    ep_state->claimed = 0;
+  }
+
+#if TUSB_OPT_MUTEX
+  osal_mutex_unlock(mutex);
+#endif
+
+  return ret;
+}
+
 bool tu_edpt_validate(tusb_desc_endpoint_t const * desc_ep, tusb_speed_t speed)
 {
   uint16_t const max_packet_size = tu_edpt_packet_size(desc_ep);