diff --git a/Project.toml b/Project.toml
index ec4edd4d4a6..d13c45b7ec1 100644
--- a/Project.toml
+++ b/Project.toml
@@ -60,6 +60,7 @@ Convex = "f65535da-76fb-5f13-bab9-19810c17039a"
 ECOS = "e2685f51-7e38-5353-a97d-a921fd2c8199"
 Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
 NLsolve = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
+OrdinaryDiffEqCore = "bbf590c4-e513-4bbe-9b18-05decba2e5d8"
 SparseConnectivityTracer = "9f842d2f-2579-4b1d-911e-f412cf18a3f5"
 
 [extensions]
@@ -67,6 +68,7 @@ TrixiCUDAExt = "CUDA"
 TrixiConvexECOSExt = ["Convex", "ECOS"]
 TrixiMakieExt = "Makie"
 TrixiNLsolveExt = "NLsolve"
+TrixiOrdinaryDiffEqCore = "OrdinaryDiffEqCore"
 TrixiSparseConnectivityTracerExt = "SparseConnectivityTracer"
 
 [compat]
@@ -96,7 +98,7 @@ MuladdMacro = "0.2.4"
 NLsolve = "4.5.1"
 Octavian = "0.3.28"
 OffsetArrays = "1.13"
-OrdinaryDiffEqCore = "1.26, 2, 3.0.0 - 3.2.0"
+OrdinaryDiffEqCore = "1.26, 2, 3"
 P4est = "0.4.12"
 Polyester = "=0.7.16, 0.7.18"
 PrecompileTools = "1.2"
diff --git a/ext/TrixiOrdinaryDiffEqCore.jl b/ext/TrixiOrdinaryDiffEqCore.jl
new file mode 100644
index 00000000000..1984f8720c8
--- /dev/null
+++ b/ext/TrixiOrdinaryDiffEqCore.jl
@@ -0,0 +1,46 @@
+module TrixiOrdinaryDiffEqCore
+
+import Trixi: load_controller!
+import OrdinaryDiffEqCore: OrdinaryDiffEqCore, PIController, PIDController
+import HDF5: attributes
+
+@static if Base.pkgversion(OrdinaryDiffEqCore) >= v"3.4"
+    import OrdinaryDiffEqCore: PIControllerCache, PIDControllerCache
+end
+
+# Support to load controller
+function load_controller!(integrator, controller::PIController, file)
+    if !("time_integrator_qold" in keys(attributes(file)))
+        error("Missing data in restart file: check the consistency of adaptive time controller with initial setup!")
+    end
+    integrator.qold = read(attributes(file)["time_integrator_qold"])
+end
+
+function load_controller!(integrator, controller::PIDController, file)
+    if !("time_integrator_qold" in keys(attributes(file)) ||
+         !("time_integrator_controller_err" in keys(attributes(file))))
+        error("Missing data in restart file: check the consistency of adaptive time controller with initial setup!")
+    end
+    integrator.qold = read(attributes(file)["time_integrator_qold"])
+    controller.err[:] = read(attributes(file)["time_integrator_controller_err"])
+end
+
+@static if Base.pkgversion(OrdinaryDiffEqCore) >= v"3.4"
+    function load_controller!(integrator, controller::PIControllerCache, file)
+        if !("time_integrator_qold" in keys(attributes(file)))
+            error("Missing data in restart file: check the consistency of adaptive time controller with initial setup!")
+        end
+        controller.errold = integrator.qold = read(attributes(file)["time_integrator_qold"])
+    end
+
+    function load_controller!(integrator, controller::PIDControllerCache, file)
+        if !("time_integrator_qold" in keys(attributes(file)) ||
+             !("time_integrator_controller_err" in keys(attributes(file))))
+            error("Missing data in restart file: check the consistency of adaptive time controller with initial setup!")
+        end
+        controller.dt_factor = integrator.qold = read(attributes(file)["time_integrator_qold"])
+        controller.err[:] = read(attributes(file)["time_integrator_controller_err"])
+    end
+end
+
+end
diff --git a/src/callbacks_step/save_restart.jl b/src/callbacks_step/save_restart.jl
index 0d6a355dbfe..95b8a3a51de 100644
--- a/src/callbacks_step/save_restart.jl
+++ b/src/callbacks_step/save_restart.jl
@@ -174,25 +174,22 @@ function load_adaptive_time_integrator!(integrator, restart_file::AbstractString
     # Read context information for controller
     h5open(restart_file, "r") do file
         # Ensure that the necessary information was saved
-        if !("time_integrator_qold" in keys(attributes(file))) ||
-           !("time_integrator_dtpropose" in keys(attributes(file))) ||
-           (hasproperty(controller, :err) &&
-            !("time_integrator_controller_err" in keys(attributes(file))))
+        if !("time_integrator_dtpropose" in keys(attributes(file)))
             error("Missing data in restart file: check the consistency of adaptive time controller with initial setup!")
         end
-        # Load data that is required both for PIController and PIDController
-        integrator.qold = read(attributes(file)["time_integrator_qold"])
         integrator.dtpropose = read(attributes(file)["time_integrator_dtpropose"])
         # Accept step to use dtpropose already in the first step
         integrator.accept_step = true
         # Reevaluate integrator.fsal_first on the first step
         integrator.reeval_fsal = true
-        # Load additional parameters for PIDController
-        if hasproperty(controller, :err) # Distinguish PIDController from PIController
-            controller.err[:] = read(attributes(file)["time_integrator_controller_err"])
-        end
+
+        load_controller!(integrator, controller, file)
     end
 end
 
+function load_controller!(integrator, controller, file)
+    return error("Loading of controller $(typeof(controller)) not implemented.")
+end
+
 include("save_restart_dg.jl")
 end # @muladd
diff --git a/test/test_aqua.jl b/test/test_aqua.jl
index 2d8c1a77230..154088995ca 100644
--- a/test/test_aqua.jl
+++ b/test/test_aqua.jl
@@ -16,8 +16,7 @@ include("test_trixi.jl")
                   piracies = (treat_as_own = [Trixi.StartUpDG.RefElemData,
                                   Trixi.StartUpDG.MeshData],),
                   # exception necessary because StableRNGs.jl is only used in an extension
-                  # OrdinaryDiffEqCore.jl is a hotfix introduced in https://github.dev/trixi-framework/Trixi.jl/pull/2775
-                  stale_deps = (ignore = [:StableRNGs, :OrdinaryDiffEqCore],))
+                  stale_deps = (ignore = [:StableRNGs],))
     @test isnothing(check_no_implicit_imports(Trixi,
                                               skip = (Core, Base, Trixi.P4est, Trixi.T8code,
                                                       Trixi.EllipsisNotation)))