diff --git a/esphome/components/uart/__init__.py b/esphome/components/uart/__init__.py
index 36f2bb5851..9005422ce6 100644
--- a/esphome/components/uart/__init__.py
+++ b/esphome/components/uart/__init__.py
@@ -75,12 +75,13 @@ def validate_rx_pin(value):
 def validate_invert_esp32(config):
     if (
         CORE.is_esp32
+        and CORE.using_arduino
         and CONF_TX_PIN in config
         and CONF_RX_PIN in config
         and config[CONF_TX_PIN][CONF_INVERTED] != config[CONF_RX_PIN][CONF_INVERTED]
     ):
         raise cv.Invalid(
-            "Different invert values for TX and RX pin are not (yet) supported for ESP32."
+            "Different invert values for TX and RX pin are not supported for ESP32 when using Arduino."
         )
     return config
 
diff --git a/tests/test5.yaml b/tests/test5.yaml
index 82c201f017..46cedcabd2 100644
--- a/tests/test5.yaml
+++ b/tests/test5.yaml
@@ -41,7 +41,9 @@ uart:
     rx_pin: 3
     baud_rate: 9600
   - id: uart_2
-    tx_pin: 17
+    tx_pin:
+      number: 17
+      inverted: true
     rx_pin: 16
     baud_rate: 19200