diff --git a/src/jtag/drivers/ftdi.c b/src/jtag/drivers/ftdi.c
index 6406406aa..c031fd36e 100644
--- a/src/jtag/drivers/ftdi.c
+++ b/src/jtag/drivers/ftdi.c
@@ -655,11 +655,6 @@ static int ftdi_initialize(void)
 
 	freq = mpsse_set_frequency(mpsse_ctx, jtag_get_speed_khz() * 1000);
 
-	if (swd_mode)
-		ftdi_swd_switch_seq(NULL, JTAG_TO_SWD);
-	else
-		ftdi_swd_switch_seq(NULL, SWD_TO_JTAG);
-
 	return mpsse_flush(mpsse_ctx);
 }
 
@@ -981,7 +976,7 @@ static int ftdi_swd_run_queue(struct adiv5_dap *dap)
 						1 + 3 + (swd_cmd_queue[i].cmd & SWD_CMD_RnW ? 0 : 1), 32));
 
 		if (ack != SWD_ACK_OK) {
-			queued_retval = ack;
+			queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
 			goto skip;
 
 		} else if (swd_cmd_queue[i].cmd & SWD_CMD_RnW) {
diff --git a/src/jtag/drivers/jlink.c b/src/jtag/drivers/jlink.c
index 40d91cc43..ca57ae848 100644
--- a/src/jtag/drivers/jlink.c
+++ b/src/jtag/drivers/jlink.c
@@ -590,12 +590,6 @@ static int jlink_init(void)
 		jlink_tap_execute();
 	}
 
-	if (swd_mode)
-		jlink_swd_switch_seq(NULL, JTAG_TO_SWD);
-	else
-		jlink_swd_switch_seq(NULL, SWD_TO_JTAG);
-	jlink_swd_run_queue(NULL);
-
 	return ERROR_OK;
 }
 
@@ -1664,9 +1658,9 @@ static int jlink_swd_run_queue(struct adiv5_dap *dap)
 		int ack = buf_get_u32(usb_in_buffer, pending_scan_results_buffer[i].first, 3);
 
 		if (ack != SWD_ACK_OK) {
-			LOG_ERROR("SWD ack not OK: %d %s", ack,
+			LOG_DEBUG("SWD ack not OK: %d %s", ack,
 				  ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
-			queued_retval = ack;
+			queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
 			goto skip;
 		} else if (pending_scan_results_buffer[i].length) {
 			uint32_t data = buf_get_u32(usb_in_buffer, 3 + pending_scan_results_buffer[i].first, 32);
diff --git a/src/target/adi_v5_swd.c b/src/target/adi_v5_swd.c
index 6e322fb41..1827c59db 100644
--- a/src/target/adi_v5_swd.c
+++ b/src/target/adi_v5_swd.c
@@ -70,6 +70,8 @@ static void swd_finish_read(struct adiv5_dap *dap)
 
 static int swd_queue_dp_write(struct adiv5_dap *dap, unsigned reg,
 		uint32_t data);
+static int swd_queue_dp_read(struct adiv5_dap *dap, unsigned reg,
+		uint32_t *data);
 
 static void swd_clear_sticky_errors(struct adiv5_dap *dap)
 {
@@ -83,17 +85,48 @@ static void swd_clear_sticky_errors(struct adiv5_dap *dap)
 static int swd_run_inner(struct adiv5_dap *dap)
 {
 	const struct swd_driver *swd = jtag_interface->swd;
+	int retval;
 
-	int retval = swd->run(dap);
+	retval = swd->run(dap);
 
 	if (retval != ERROR_OK) {
 		/* fault response */
-		swd_clear_sticky_errors(dap);
+		dap->do_reconnect = true;
 	}
 
 	return retval;
 }
 
+static int swd_connect(struct adiv5_dap *dap)
+{
+	uint32_t idcode;
+	int status;
+
+	/* FIXME validate transport config ... is the
+	 * configured DAP present (check IDCODE)?
+	 * Is *only* one DAP configured?
+	 *
+	 * MUST READ IDCODE
+	 */
+
+	/* Note, debugport_init() does setup too */
+	jtag_interface->swd->switch_seq(dap, JTAG_TO_SWD);
+
+	swd_queue_dp_read(dap, DP_IDCODE, &idcode);
+
+	/* force clear all sticky faults */
+	swd_clear_sticky_errors(dap);
+
+	status = swd_run_inner(dap);
+
+	if (status == ERROR_OK) {
+		LOG_INFO("SWD IDCODE %#8.8" PRIx32, idcode);
+		dap->do_reconnect = false;
+	}
+
+	return status;
+}
+
 static inline int check_sync(struct adiv5_dap *dap)
 {
 	return do_sync ? swd_run_inner(dap) : ERROR_OK;
@@ -138,7 +171,6 @@ static int swd_queue_dp_read(struct adiv5_dap *dap, unsigned reg,
 	return check_sync(dap);
 }
 
-
 static int swd_queue_dp_write(struct adiv5_dap *dap, unsigned reg,
 		uint32_t data)
 {
@@ -172,6 +204,12 @@ static int swd_queue_ap_read(struct adiv5_dap *dap, unsigned reg,
 	const struct swd_driver *swd = jtag_interface->swd;
 	assert(swd);
 
+	if (dap->do_reconnect) {
+		int retval = swd_connect(dap);
+		if (retval != ERROR_OK)
+			return retval;
+	}
+
 	swd_queue_ap_bankselect(dap, reg);
 	swd->read_reg(dap, swd_cmd(true,  true, reg), dap->last_read);
 	dap->last_read = data;
@@ -408,33 +446,11 @@ static int swd_init(struct command_context *ctx)
 	struct target *target = get_current_target(ctx);
 	struct arm *arm = target_to_arm(target);
 	struct adiv5_dap *dap = arm->dap;
-	uint32_t idcode;
-	int status;
-
 	/* Force the DAP's ops vector for SWD mode.
 	 * messy - is there a better way? */
 	arm->dap->ops = &swd_dap_ops;
 
-	/* FIXME validate transport config ... is the
-	 * configured DAP present (check IDCODE)?
-	 * Is *only* one DAP configured?
-	 *
-	 * MUST READ IDCODE
-	 */
-
- /* Note, debugport_init() does setup too */
-
-	swd_queue_dp_read(dap, DP_IDCODE, &idcode);
-
-	/* force clear all sticky faults */
-	swd_clear_sticky_errors(dap);
-
-	status = swd_run(dap);
-
-	if (status == ERROR_OK)
-		LOG_INFO("SWD IDCODE %#8.8" PRIx32, idcode);
-
-	return status;
+	return swd_connect(dap);
 }
 
 static struct transport swd_transport = {
diff --git a/src/target/arm_adi_v5.h b/src/target/arm_adi_v5.h
index dee3117e4..8d1260866 100644
--- a/src/target/arm_adi_v5.h
+++ b/src/target/arm_adi_v5.h
@@ -213,6 +213,12 @@ struct adiv5_dap {
 	 * the AHB-AP has strange byte ordering these processors, and we need to
 	 * swizzle appropriately. */
 	bool ti_be_32_quirks;
+
+	/**
+	 * Signals that an attempt to reestablish communication afresh
+	 * should be performed before the next access.
+	 */
+	bool do_reconnect;
 };
 
 /**