diff --git a/sys/Makefile.dep b/sys/Makefile.dep
index 619d64ee3e..85e133ae51 100644
--- a/sys/Makefile.dep
+++ b/sys/Makefile.dep
@@ -316,12 +316,8 @@ ifneq (,$(filter shell_commands,$(USEMODULE)))
 endif
 
 ifneq (,$(filter posix_semaphore,$(USEMODULE)))
-  USEMODULE += sema
-  USEMODULE += xtimer
-  ifneq (,$(filter ztimer_xtimer_compat,$(USEMODULE)))
-    # requires sema_timed that requires 64bit
-    USEMODULE += ztimer64_xtimer_compat
-  endif
+  USEMODULE += sema_deprecated
+  USEMODULE += ztimer64_usec
   USEMODULE += posix_headers
 endif
 
diff --git a/tests/sema/Makefile b/tests/sema/Makefile
index ce88d28105..9f6f91ade1 100644
--- a/tests/sema/Makefile
+++ b/tests/sema/Makefile
@@ -1,5 +1,6 @@
 include ../Makefile.tests_common
 
 USEMODULE += sema
+USEMODULE += sema_deprecated
 
 include $(RIOTBASE)/Makefile.include