diff --git a/pkg/nimble/Makefile.dep b/pkg/nimble/Makefile.dep
index a94ebfa2e8..d3fc6b1df8 100644
--- a/pkg/nimble/Makefile.dep
+++ b/pkg/nimble/Makefile.dep
@@ -1,7 +1,11 @@
 # RIOT specific dependencies
-USEMODULE += posix_semaphore
+USEMODULE += sema
 USEMODULE += event_callback
-USEMODULE += xtimer
+USEMODULE += ztimer_msec
+# all nRF CPUs support hardware RTT, so we use it
+ifneq (,$(filter nrf5%,$(CPU_FAM)))
+  USEMODULE += ztimer_periph_rtt
+endif
 
 # Requires nimble feature
 FEATURES_REQUIRED += ble_nimble