diff --git a/drivers/usb/typec/tcpm/tcpm.c b/drivers/usb/typec/tcpm/tcpm.c
index 11d0c40bc47d..410856ec1702 100644
--- a/drivers/usb/typec/tcpm/tcpm.c
+++ b/drivers/usb/typec/tcpm/tcpm.c
@@ -3653,8 +3653,8 @@ static inline enum tcpm_state unattached_state(struct tcpm_port *port)
 
 static void tcpm_check_send_discover(struct tcpm_port *port)
 {
-	if (port->data_role == TYPEC_HOST && port->send_discover &&
-	    port->pd_capable)
+	if ((port->data_role == TYPEC_HOST || port->negotiated_rev > PD_REV20) &&
+	    port->send_discover && port->pd_capable)
 		tcpm_send_vdm(port, USB_SID_PD, CMD_DISCOVER_IDENT, NULL, 0);
 	port->send_discover = false;
 }