diff --git a/boards/common/esp32/Kconfig b/boards/common/esp32/Kconfig
index 5123ae92d9..b09f3105cb 100644
--- a/boards/common/esp32/Kconfig
+++ b/boards/common/esp32/Kconfig
@@ -10,3 +10,14 @@ config BOARD_COMMON_ESP32
     select HAS_PERIPH_GPIO_IRQ
     select HAS_PERIPH_UART
     select HAS_PERIPH_UART_MODECFG
+
+    select HAVE_SAUL_GPIO
+
+config MODULE_BOARDS_COMMON_ESP32
+    bool
+    depends on TEST_KCONFIG
+    depends on BOARD_COMMON_ESP32
+    depends on HAS_ARCH_ESP32
+    default y
+    help
+      Common ESP32 boards code.
diff --git a/boards/esp32-heltec-lora32-v2/Kconfig b/boards/esp32-heltec-lora32-v2/Kconfig
index 8717b98785..65007058a2 100644
--- a/boards/esp32-heltec-lora32-v2/Kconfig
+++ b/boards/esp32-heltec-lora32-v2/Kconfig
@@ -19,4 +19,6 @@ config BOARD_ESP32_HELTEC_LORA32_V2
     select HAS_PERIPH_PWM
     select HAS_PERIPH_SPI
 
+    select HAVE_SX1276
+
 source "$(RIOTBOARD)/common/esp32/Kconfig"
diff --git a/boards/esp32-ttgo-t-beam/Kconfig b/boards/esp32-ttgo-t-beam/Kconfig
index 65fb000760..c79c109d8e 100644
--- a/boards/esp32-ttgo-t-beam/Kconfig
+++ b/boards/esp32-ttgo-t-beam/Kconfig
@@ -22,3 +22,18 @@ config BOARD_ESP32_TTGO_T_BEAM
     select HAS_PERIPH_UART
 
 source "$(RIOTBOARD)/common/esp32/Kconfig"
+
+menu "ESP32 TTGO T-Beam options"
+    depends on TEST_KCONFIG
+    depends on BOARD_ESP32_TTGO_T_BEAM
+
+config MODULE_ESP32_TTGO_T_BEAM_V1_0
+    bool "Use V1.0 board variant"
+    select MODULE_PERIPH_I2C
+    help
+        There are at least three board types: rev0, rev1, and V1.0. Versions
+        rev0 and rev1 are very similar, the only difference is that rev1 has
+        an additional LED connected to GPIO14. The pinout of V1.0 has more
+        changes.
+
+endmenu
diff --git a/boards/esp32-wemos-lolin-d32-pro/Makefile.features b/boards/esp32-wemos-lolin-d32-pro/Makefile.features
index d8122aa9fd..fed366b25a 100644
--- a/boards/esp32-wemos-lolin-d32-pro/Makefile.features
+++ b/boards/esp32-wemos-lolin-d32-pro/Makefile.features
@@ -14,3 +14,9 @@ FEATURES_PROVIDED += periph_spi
 FEATURES_PROVIDED += esp_spi_ram
 
 FEATURES_PROVIDED += arduino
+
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1, $(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(BOARDDIR)/esp32-wemos-lolin-d32-pro.config
+endif
diff --git a/boards/esp32-wemos-lolin-d32-pro/esp32-wemos-lolin-d32-pro.config b/boards/esp32-wemos-lolin-d32-pro/esp32-wemos-lolin-d32-pro.config
new file mode 100644
index 0000000000..171440efa1
--- /dev/null
+++ b/boards/esp32-wemos-lolin-d32-pro/esp32-wemos-lolin-d32-pro.config
@@ -0,0 +1 @@
+CONFIG_MODULE_ESP_SPI_RAM=y
diff --git a/boards/esp32-wrover-kit/Kconfig b/boards/esp32-wrover-kit/Kconfig
index 26b3881075..2fbb3a3163 100644
--- a/boards/esp32-wrover-kit/Kconfig
+++ b/boards/esp32-wrover-kit/Kconfig
@@ -20,6 +20,7 @@ config BOARD_ESP32_WROVER_KIT
     select HAS_PERIPH_PWM
     select HAS_PERIPH_SPI
     select HAS_SDCARD_SPI
-    select MODULE_ESP_JTAG
+
+    select HAVE_ILI9341
 
 source "$(RIOTBOARD)/common/esp32/Kconfig"
diff --git a/boards/esp32-wrover-kit/Makefile.features b/boards/esp32-wrover-kit/Makefile.features
index 0ff032ef03..26d059db44 100644
--- a/boards/esp32-wrover-kit/Makefile.features
+++ b/boards/esp32-wrover-kit/Makefile.features
@@ -15,3 +15,9 @@ FEATURES_PROVIDED += esp_spi_ram
 FEATURES_PROVIDED += esp_rtc_timer_32k
 
 FEATURES_PROVIDED += arduino
+
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1, $(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(BOARDDIR)/esp32-wrover-kit.config
+endif
diff --git a/boards/esp32-wrover-kit/esp32-wrover-kit.config b/boards/esp32-wrover-kit/esp32-wrover-kit.config
new file mode 100644
index 0000000000..2b24cf45d3
--- /dev/null
+++ b/boards/esp32-wrover-kit/esp32-wrover-kit.config
@@ -0,0 +1,2 @@
+# Sets up configuration for openocd
+CONFIG_MODULE_ESP_JTAG=y