diff --git a/boards/acd52832/Kconfig b/boards/acd52832/Kconfig
index 40aa6b809c..b68675992c 100644
--- a/boards/acd52832/Kconfig
+++ b/boards/acd52832/Kconfig
@@ -16,4 +16,6 @@ config BOARD_ACD52832
     select HAS_PERIPH_SPI
     select HAS_PERIPH_UART
 
-source "$(RIOTBOARD)/common/nrf52/Kconfig"
+    select HAVE_SAUL_GPIO
+
+source "$(RIOTBOARD)/common/nrf52xxxdk/Kconfig"
diff --git a/boards/adafruit-clue/Kconfig b/boards/adafruit-clue/Kconfig
index a92ae326da..5ea737ffc8 100644
--- a/boards/adafruit-clue/Kconfig
+++ b/boards/adafruit-clue/Kconfig
@@ -18,4 +18,11 @@ config BOARD_ADAFRUIT_CLUE
     select HAS_PERIPH_USBDEV
     select HAS_HIGHLEVEL_STDIO
 
+    select HAVE_APDS9960
+    select HAVE_BMP280_I2C
+    select HAVE_ILI9341
+    select HAVE_LIS3MDL
+    select HAVE_SAUL_GPIO
+    select HAVE_SHT3X
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/adafruit-clue/Makefile.features b/boards/adafruit-clue/Makefile.features
index 1f4969f6d9..912b45773c 100644
--- a/boards/adafruit-clue/Makefile.features
+++ b/boards/adafruit-clue/Makefile.features
@@ -9,4 +9,10 @@ FEATURES_PROVIDED += periph_usbdev
 # Various other features (if any)
 FEATURES_PROVIDED += highlevel_stdio
 
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1,$(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(RIOTBOARD)/common/nrf52/nrf52_bootloader.config
+endif
+
 include $(RIOTBOARD)/common/nrf52/Makefile.features
diff --git a/boards/adafruit-itsybitsy-nrf52/Kconfig b/boards/adafruit-itsybitsy-nrf52/Kconfig
index 24655e4205..15fbaf6a0e 100644
--- a/boards/adafruit-itsybitsy-nrf52/Kconfig
+++ b/boards/adafruit-itsybitsy-nrf52/Kconfig
@@ -18,4 +18,6 @@ config BOARD_ADAFRUIT_ITSYBITSY_NRF52
     select HAS_PERIPH_USBDEV
     select HAS_HIGHLEVEL_STDIO
 
+    select HAVE_SAUL_GPIO
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/adafruit-itsybitsy-nrf52/Makefile.features b/boards/adafruit-itsybitsy-nrf52/Makefile.features
index 1f4969f6d9..912b45773c 100644
--- a/boards/adafruit-itsybitsy-nrf52/Makefile.features
+++ b/boards/adafruit-itsybitsy-nrf52/Makefile.features
@@ -9,4 +9,10 @@ FEATURES_PROVIDED += periph_usbdev
 # Various other features (if any)
 FEATURES_PROVIDED += highlevel_stdio
 
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1,$(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(RIOTBOARD)/common/nrf52/nrf52_bootloader.config
+endif
+
 include $(RIOTBOARD)/common/nrf52/Makefile.features
diff --git a/boards/arduino-nano-33-ble/Kconfig b/boards/arduino-nano-33-ble/Kconfig
index 0c943d1d7f..745540b6c3 100644
--- a/boards/arduino-nano-33-ble/Kconfig
+++ b/boards/arduino-nano-33-ble/Kconfig
@@ -18,4 +18,6 @@ config BOARD_ARDUINO_NANO_33_BLE
     select HAS_PERIPH_USBDEV
     select HAS_HIGHLEVEL_STDIO
 
+    select HAVE_SAUL_GPIO
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/arduino-nano-33-ble/Makefile.features b/boards/arduino-nano-33-ble/Makefile.features
index 1f4969f6d9..912b45773c 100644
--- a/boards/arduino-nano-33-ble/Makefile.features
+++ b/boards/arduino-nano-33-ble/Makefile.features
@@ -9,4 +9,10 @@ FEATURES_PROVIDED += periph_usbdev
 # Various other features (if any)
 FEATURES_PROVIDED += highlevel_stdio
 
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1,$(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(RIOTBOARD)/common/nrf52/nrf52_bootloader.config
+endif
+
 include $(RIOTBOARD)/common/nrf52/Makefile.features
diff --git a/boards/common/e104-bt50xxa-tb/Kconfig b/boards/common/e104-bt50xxa-tb/Kconfig
index 1e6a27d1da..75d3d6060f 100644
--- a/boards/common/e104-bt50xxa-tb/Kconfig
+++ b/boards/common/e104-bt50xxa-tb/Kconfig
@@ -11,4 +11,28 @@ config BOARD_COMMON_E104_BT50XXA_TB
     select HAS_PERIPH_SPI
     select HAS_PERIPH_UART
 
+    select HAVE_SAUL_GPIO
+    select MODULE_BOARDS_COMMON_E104_BT50XXA_TB if TEST_KCONFIG
+
+config MODULE_BOARDS_COMMON_E104_BT50XXA_TB
+    bool
+    depends on TEST_KCONFIG
+    help
+       common code of e104-bt50xxa-tb boards
+
+config MODULE_BOARD_SOFTWARE_RESET
+    bool "Enable softare reset button"
+    default y
+    depends on HAS_PERIPH_GPIO
+    depends on HAS_PERIPH_GPIO_IRQ
+    depends on HAS_PERIPH_PM
+    depends on TEST_KCONFIG
+    select MODULE_PERIPH_GPIO
+    select MODULE_PERIPH_GPIO_IRQ
+    select MODULE_PERIPH_PM
+
+choice NRF5X_RADIO_BACKEND
+    default MODULE_NRFMIN
+endchoice
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/common/nrf52/nrf52_bootloader.config b/boards/common/nrf52/nrf52_bootloader.config
new file mode 100644
index 0000000000..a3ee03b3ef
--- /dev/null
+++ b/boards/common/nrf52/nrf52_bootloader.config
@@ -0,0 +1,4 @@
+CONFIG_MODULE_USBUS=y
+CONFIG_MODULE_USBUS_CDC_ACM=y
+CONFIG_MODULE_STDIO_CDC_ACM=y
+CONFIG_MODULE_USB_BOARD_RESET=y
diff --git a/boards/common/nrf52xxxdk/Kconfig b/boards/common/nrf52xxxdk/Kconfig
index 49aeac424f..c839206247 100644
--- a/boards/common/nrf52xxxdk/Kconfig
+++ b/boards/common/nrf52xxxdk/Kconfig
@@ -15,8 +15,10 @@ config BOARDS_COMMON_NRF52XXXDK
 
     select HAVE_SAUL_GPIO
 
-config MODULE_BOARDS_COMMON_NRF52XXDK
+config MODULE_BOARDS_COMMON_NRF52XXXDK
     bool
-    default y
+    depends on TEST_KCONFIG
+    help
+      Common code for boards based on nrf52xxxdk.
 
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/common/nrf52xxxdk/Makefile b/boards/common/nrf52xxxdk/Makefile
index 518c048179..4928dac4e9 100644
--- a/boards/common/nrf52xxxdk/Makefile
+++ b/boards/common/nrf52xxxdk/Makefile
@@ -1,3 +1,3 @@
-MODULE = boards_common_nrf52xxdk
+MODULE = boards_common_nrf52xxxdk
 
 include $(RIOTBASE)/Makefile.base
diff --git a/boards/common/particle-mesh/Kconfig b/boards/common/particle-mesh/Kconfig
index df143f6e53..55cda8499a 100644
--- a/boards/common/particle-mesh/Kconfig
+++ b/boards/common/particle-mesh/Kconfig
@@ -12,8 +12,20 @@ config BOARD_COMMON_PARTICLE_MESH
     select HAS_PERIPH_PWM
     select HAS_PERIPH_SPI
     select HAS_PERIPH_UART
+    select HAS_PERIPH_UART_HW_FC
     select HAS_PERIPH_USBDEV
     select HAS_HIGHLEVEL_STDIO
     select HAS_VDD_LC_FILTER_REG1
 
+    select HAVE_SAUL_GPIO
+    select HAVE_SAUL_PWM
+
+    select MODULE_BOARDS_COMMON_PARTICLE_MESH if TEST_KCONFIG
+
+config MODULE_BOARDS_COMMON_PARTICLE_MESH
+    bool
+    depends on TEST_KCONFIG
+    help
+       Common code for particle-mesh boards
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/common/particle-mesh/Makefile.dep b/boards/common/particle-mesh/Makefile.dep
index caaa82c5cb..c5047b30c1 100644
--- a/boards/common/particle-mesh/Makefile.dep
+++ b/boards/common/particle-mesh/Makefile.dep
@@ -7,7 +7,6 @@ ifeq (1,$(PARTICLE_MONOFIRMWARE))
   USEMODULE += usb_board_reset
 endif
 
-include $(RIOTBOARD)/common/makefiles/stdio_cdc_acm.dep.mk
-
+include $(RIOTBOARD)/common/nrf52/bootloader_nrfutil.dep.mk
 # include common nrf52 dependencies
 include $(RIOTBOARD)/common/nrf52/Makefile.dep
diff --git a/boards/common/particle-mesh/Makefile.features b/boards/common/particle-mesh/Makefile.features
index 9ca1472a17..a52459e965 100644
--- a/boards/common/particle-mesh/Makefile.features
+++ b/boards/common/particle-mesh/Makefile.features
@@ -5,11 +5,17 @@ FEATURES_PROVIDED += periph_i2c
 FEATURES_PROVIDED += periph_pwm
 FEATURES_PROVIDED += periph_spi
 FEATURES_PROVIDED += periph_uart
+FEATURES_PROVIDED += periph_uart_hw_fc
 FEATURES_PROVIDED += periph_usbdev
 FEATURES_PROVIDED += vdd_lc_filter_reg1
 
 # Various other features (if any)
-
 FEATURES_PROVIDED += highlevel_stdio
 
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1,$(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(RIOTBOARD)/common/nrf52/nrf52_bootloader.config
+endif
+
 include $(RIOTBOARD)/common/nrf52/Makefile.features
diff --git a/boards/dwm1001/Kconfig b/boards/dwm1001/Kconfig
index fc9cc683cf..4c859616fb 100644
--- a/boards/dwm1001/Kconfig
+++ b/boards/dwm1001/Kconfig
@@ -16,6 +16,7 @@ config BOARD_DWM1001
     select HAS_PERIPH_SPI
     select HAS_PERIPH_UART
     select HAS_VDD_LC_FILTER_REG1
-    select HAVE_LIS2DH12
+
+    select HAVE_LIS2DH12_SPI
 
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/dwm1001/Makefile.dep b/boards/dwm1001/Makefile.dep
index 29588efc1f..492103bea9 100644
--- a/boards/dwm1001/Makefile.dep
+++ b/boards/dwm1001/Makefile.dep
@@ -1,5 +1,5 @@
 ifneq (,$(filter saul_default,$(USEMODULE)))
-  USEMODULE += lis2dh12
+  USEMODULE += lis2dh12_spi
 endif
 
 # include common nrf52 dependencies
diff --git a/boards/feather-nrf52840/Kconfig b/boards/feather-nrf52840/Kconfig
index b7511ae069..e2f22a10a0 100644
--- a/boards/feather-nrf52840/Kconfig
+++ b/boards/feather-nrf52840/Kconfig
@@ -18,4 +18,6 @@ config BOARD_FEATHER_NRF52840
     select HAS_PERIPH_USBDEV
     select HAS_HIGHLEVEL_STDIO
 
+    select HAVE_SAUL_GPIO
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/feather-nrf52840/Makefile.features b/boards/feather-nrf52840/Makefile.features
index 1f4969f6d9..912b45773c 100644
--- a/boards/feather-nrf52840/Makefile.features
+++ b/boards/feather-nrf52840/Makefile.features
@@ -9,4 +9,10 @@ FEATURES_PROVIDED += periph_usbdev
 # Various other features (if any)
 FEATURES_PROVIDED += highlevel_stdio
 
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1,$(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(RIOTBOARD)/common/nrf52/nrf52_bootloader.config
+endif
+
 include $(RIOTBOARD)/common/nrf52/Makefile.features
diff --git a/boards/microbit-v2/Kconfig b/boards/microbit-v2/Kconfig
index 3dd82fe79c..5b6d68fe28 100644
--- a/boards/microbit-v2/Kconfig
+++ b/boards/microbit-v2/Kconfig
@@ -18,5 +18,7 @@ config BOARD_MICROBIT_V2
     select HAS_PERIPH_UART
     select HAS_VDD_LC_FILTER_REG1
 
+    select HAVE_SAUL_GPIO
+
 source "$(RIOTBOARD)/common/microbit/Kconfig"
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/nrf52832-mdk/Kconfig b/boards/nrf52832-mdk/Kconfig
index b6f8b4558c..8fd7f4c228 100644
--- a/boards/nrf52832-mdk/Kconfig
+++ b/boards/nrf52832-mdk/Kconfig
@@ -16,4 +16,6 @@ config BOARD_NRF52832_MDK
     select HAS_PERIPH_UART
     select HAS_VDD_LC_FILTER_REG1
 
+    select HAVE_SAUL_GPIO
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/nrf52840-mdk-dongle/Kconfig b/boards/nrf52840-mdk-dongle/Kconfig
index 9f70b7ad03..e8eef0a2a5 100644
--- a/boards/nrf52840-mdk-dongle/Kconfig
+++ b/boards/nrf52840-mdk-dongle/Kconfig
@@ -17,4 +17,7 @@ config BOARD_NRF52840_MDK_DONGLE
     select HAS_PERIPH_USBDEV
     select HAS_HIGHLEVEL_STDIO
 
+    select HAVE_SAUL_GPIO
+    select HAVE_SAUL_PWM
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/nrf52840-mdk-dongle/Makefile.features b/boards/nrf52840-mdk-dongle/Makefile.features
index bd678939fe..a4fe12567f 100644
--- a/boards/nrf52840-mdk-dongle/Makefile.features
+++ b/boards/nrf52840-mdk-dongle/Makefile.features
@@ -8,4 +8,10 @@ FEATURES_PROVIDED += periph_usbdev
 # Various other features (if any)
 FEATURES_PROVIDED += highlevel_stdio
 
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1,$(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(RIOTBOARD)/common/nrf52/nrf52_bootloader.config
+endif
+
 include $(RIOTBOARD)/common/nrf52/Makefile.features
diff --git a/boards/nrf52840-mdk/Kconfig b/boards/nrf52840-mdk/Kconfig
index a33f3db185..38b88d9cd4 100644
--- a/boards/nrf52840-mdk/Kconfig
+++ b/boards/nrf52840-mdk/Kconfig
@@ -18,4 +18,6 @@ config BOARD_NRF52840_MDK
     select HAS_PERIPH_USBDEV
     select HAS_VDD_LC_FILTER_REG1
 
+    select HAVE_SAUL_GPIO
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/nrf52840dk/Kconfig b/boards/nrf52840dk/Kconfig
index 8a0d3a5d6d..a62270c422 100644
--- a/boards/nrf52840dk/Kconfig
+++ b/boards/nrf52840dk/Kconfig
@@ -17,4 +17,6 @@ config BOARD_NRF52840DK
     select HAS_VDD_LC_FILTER_REG0
     select HAVE_MTD_SPI_NOR
 
+    select MODULE_BOARDS_COMMON_NRF52XXXDK if TEST_KCONFIG
+
 source "$(RIOTBOARD)/common/nrf52xxxdk/Kconfig"
diff --git a/boards/nrf52840dk/Makefile.dep b/boards/nrf52840dk/Makefile.dep
index e81241f834..0eaff21511 100644
--- a/boards/nrf52840dk/Makefile.dep
+++ b/boards/nrf52840dk/Makefile.dep
@@ -1,4 +1,4 @@
-USEMODULE += boards_common_nrf52xxdk
+USEMODULE += boards_common_nrf52xxxdk
 
 ifneq (,$(filter mtd,$(USEMODULE)))
   USEMODULE += mtd_spi_nor
diff --git a/boards/nrf52840dongle/Kconfig b/boards/nrf52840dongle/Kconfig
index 068de77552..69263b58f4 100644
--- a/boards/nrf52840dongle/Kconfig
+++ b/boards/nrf52840dongle/Kconfig
@@ -21,4 +21,8 @@ config BOARD_NRF52840DONGLE
     select HAS_VDD_LC_FILTER_REG0
     select HAS_VDD_LC_FILTER_REG1
 
+    select HAVE_SAUL_GPIO
+    select HAVE_SAUL_PWM
+    select HAVE_SAUL_NRF_VDDH
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/nrf52840dongle/Makefile.features b/boards/nrf52840dongle/Makefile.features
index c50288397a..8f0f1f65a9 100644
--- a/boards/nrf52840dongle/Makefile.features
+++ b/boards/nrf52840dongle/Makefile.features
@@ -12,4 +12,10 @@ FEATURES_PROVIDED += vdd_lc_filter_reg1
 # Various other features (if any)
 FEATURES_PROVIDED += highlevel_stdio
 
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1,$(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(RIOTBOARD)/common/nrf52/nrf52_bootloader.config
+endif
+
 include $(RIOTBOARD)/common/nrf52/Makefile.features
diff --git a/boards/nrf52dk/Kconfig b/boards/nrf52dk/Kconfig
index 301b854987..5f01bd1a03 100644
--- a/boards/nrf52dk/Kconfig
+++ b/boards/nrf52dk/Kconfig
@@ -13,4 +13,6 @@ config BOARD_NRF52DK
     select BOARDS_COMMON_NRF52XXXDK
     select CPU_MODEL_NRF52832XXAA
 
+    select MODULE_BOARDS_COMMON_NRF52XXXDK if TEST_KCONFIG
+
 source "$(RIOTBOARD)/common/nrf52xxxdk/Kconfig"
diff --git a/boards/nrf52dk/Makefile.dep b/boards/nrf52dk/Makefile.dep
index ba4cc9e45c..05ce9bea4a 100644
--- a/boards/nrf52dk/Makefile.dep
+++ b/boards/nrf52dk/Makefile.dep
@@ -1,3 +1,3 @@
-USEMODULE += boards_common_nrf52xxdk
+USEMODULE += boards_common_nrf52xxxdk
 
 include $(RIOTBOARD)/common/nrf52xxxdk/Makefile.dep
diff --git a/boards/particle-argon/Kconfig b/boards/particle-argon/Kconfig
index 57d3365862..28729ede92 100644
--- a/boards/particle-argon/Kconfig
+++ b/boards/particle-argon/Kconfig
@@ -11,5 +11,6 @@ config BOARD_PARTICLE_ARGON
     bool
     default y
     select BOARD_COMMON_PARTICLE_MESH
+    select MODULE_PERIPH_UART_HW_FC if TEST_KCONFIG && HAS_PERIPH_UART_HW_FC && MODULE_PERIPH_UART
 
 source "$(RIOTBOARD)/common/particle-mesh/Kconfig"
diff --git a/boards/particle-argon/Makefile.dep b/boards/particle-argon/Makefile.dep
index a3fffa39cd..d3b2ac26ed 100644
--- a/boards/particle-argon/Makefile.dep
+++ b/boards/particle-argon/Makefile.dep
@@ -1,4 +1,6 @@
 USEMODULE += boards_common_particle_mesh
-USEMODULE += periph_uart_hw_fc
+ifneq (,$(filter periph_uart,$(USEMODULE)))
+  FEATURES_REQUIRED += periph_uart_hw_fc
+endif
 
 include $(RIOTBOARD)/common/particle-mesh/Makefile.dep
diff --git a/boards/particle-boron/Kconfig b/boards/particle-boron/Kconfig
index 5c11eb1a2d..842061223b 100644
--- a/boards/particle-boron/Kconfig
+++ b/boards/particle-boron/Kconfig
@@ -11,5 +11,6 @@ config BOARD_PARTICLE_BORON
     bool
     default y
     select BOARD_COMMON_PARTICLE_MESH
+    select MODULE_PERIPH_UART_HW_FC if TEST_KCONFIG && HAS_PERIPH_UART_HW_FC && MODULE_PERIPH_UART
 
 source "$(RIOTBOARD)/common/particle-mesh/Kconfig"
diff --git a/boards/particle-boron/Makefile.dep b/boards/particle-boron/Makefile.dep
index a3fffa39cd..d3b2ac26ed 100644
--- a/boards/particle-boron/Makefile.dep
+++ b/boards/particle-boron/Makefile.dep
@@ -1,4 +1,6 @@
 USEMODULE += boards_common_particle_mesh
-USEMODULE += periph_uart_hw_fc
+ifneq (,$(filter periph_uart,$(USEMODULE)))
+  FEATURES_REQUIRED += periph_uart_hw_fc
+endif
 
 include $(RIOTBOARD)/common/particle-mesh/Makefile.dep
diff --git a/boards/pinetime/Kconfig b/boards/pinetime/Kconfig
index b1beb29de2..a9a8ed1bce 100644
--- a/boards/pinetime/Kconfig
+++ b/boards/pinetime/Kconfig
@@ -16,4 +16,7 @@ config BOARD_PINETIME
     select HAS_PERIPH_SPI
     select HAS_VDD_LC_FILTER_REG1
 
+    select HAVE_ILI9341
+    select HAVE_MTD_SPI_NOR
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/pinetime/Makefile.features b/boards/pinetime/Makefile.features
index 53578f9b44..8eb9b26f79 100644
--- a/boards/pinetime/Makefile.features
+++ b/boards/pinetime/Makefile.features
@@ -6,4 +6,10 @@ FEATURES_PROVIDED += periph_spi
 #FEATURES_PROVIDED += periph_uart
 FEATURES_PROVIDED += vdd_lc_filter_reg1
 
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1, $(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(BOARDDIR)/pinetime.config
+endif
+
 include $(RIOTBOARD)/common/nrf52/Makefile.features
diff --git a/boards/pinetime/pinetime.config b/boards/pinetime/pinetime.config
new file mode 100644
index 0000000000..9136c90eb6
--- /dev/null
+++ b/boards/pinetime/pinetime.config
@@ -0,0 +1 @@
+CONFIG_MODULE_STDIO_RTT=y
diff --git a/boards/reel/Kconfig b/boards/reel/Kconfig
index 66fd38cbdc..7b3717a93e 100644
--- a/boards/reel/Kconfig
+++ b/boards/reel/Kconfig
@@ -18,4 +18,7 @@ config BOARD_REEL
     select HAS_PERIPH_USBDEV
     select HAS_VDD_LC_FILTER_REG1
 
+    select HAVE_MMA8X5X
+    select HAVE_SAUL_GPIO
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/ruuvitag/Kconfig b/boards/ruuvitag/Kconfig
index 61521fe57d..afa6f452c7 100644
--- a/boards/ruuvitag/Kconfig
+++ b/boards/ruuvitag/Kconfig
@@ -16,4 +16,10 @@ config BOARD_RUUVITAG
     select HAS_PERIPH_UART
     select HAS_VDD_LC_FILTER_REG1
 
-source "$(RIOTBOARD)/common/nrf52/Kconfig"
+    select HAVE_SAUL_GPIO
+    select HAVE_BME280_SPI
+    select HAVE_LIS2DH12_SPI
+
+    select MODULE_BOARDS_COMMON_NRF52XXXDK if TEST_KCONFIG
+
+source "$(RIOTBOARD)/common/nrf52xxxdk/Kconfig"
diff --git a/boards/ruuvitag/Makefile.dep b/boards/ruuvitag/Makefile.dep
index e7a2d0495b..1944a9ab7a 100644
--- a/boards/ruuvitag/Makefile.dep
+++ b/boards/ruuvitag/Makefile.dep
@@ -9,6 +9,6 @@ ifeq (,$(filter stdio_% slipdev_stdio,$(USEMODULE)))
   USEMODULE += stdio_rtt
 endif
 
-USEMODULE += boards_common_nrf52xxdk
+USEMODULE += boards_common_nrf52xxxdk
 
 include $(RIOTBOARD)/common/nrf52/Makefile.dep
diff --git a/boards/ruuvitag/Makefile.features b/boards/ruuvitag/Makefile.features
index 8c1feef43f..fc952501e3 100644
--- a/boards/ruuvitag/Makefile.features
+++ b/boards/ruuvitag/Makefile.features
@@ -5,4 +5,10 @@ FEATURES_PROVIDED += periph_spi
 FEATURES_PROVIDED += periph_uart
 FEATURES_PROVIDED += vdd_lc_filter_reg1
 
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1,$(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(BOARDDIR)/ruuvitag.config
+endif
+
 include $(RIOTBOARD)/common/nrf52/Makefile.features
diff --git a/boards/ruuvitag/ruuvitag.config b/boards/ruuvitag/ruuvitag.config
new file mode 100644
index 0000000000..9136c90eb6
--- /dev/null
+++ b/boards/ruuvitag/ruuvitag.config
@@ -0,0 +1 @@
+CONFIG_MODULE_STDIO_RTT=y
diff --git a/boards/thingy52/Kconfig b/boards/thingy52/Kconfig
index 54af2897df..47ffaa5e64 100644
--- a/boards/thingy52/Kconfig
+++ b/boards/thingy52/Kconfig
@@ -16,4 +16,8 @@ config BOARD_THINGY52
     select HAS_PERIPH_UART
     select HAS_VDD_LC_FILTER_REG1
 
+    select HAVE_LPS22HB
+    select HAVE_LIS2DH12_I2C
+    select HAVE_HTS221
+
 source "$(RIOTBOARD)/common/nrf52/Kconfig"
diff --git a/boards/thingy52/Makefile.dep b/boards/thingy52/Makefile.dep
index 5334f34002..a47e07b05e 100644
--- a/boards/thingy52/Makefile.dep
+++ b/boards/thingy52/Makefile.dep
@@ -1,5 +1,5 @@
 ifneq (,$(filter saul_default,$(USEMODULE)))
-  USEMODULE += lis2dh12
+  USEMODULE += lis2dh12_i2c
   USEMODULE += hts221
   USEMODULE += lps22hb
 endif
diff --git a/boards/thingy52/Makefile.features b/boards/thingy52/Makefile.features
index 3ac7472acb..eb7d17ed44 100644
--- a/boards/thingy52/Makefile.features
+++ b/boards/thingy52/Makefile.features
@@ -5,4 +5,10 @@ FEATURES_PROVIDED += periph_i2c
 FEATURES_PROVIDED += periph_uart
 FEATURES_PROVIDED += vdd_lc_filter_reg1
 
+# This configuration enables modules that are only available when using Kconfig
+# module modelling
+ifeq (1, $(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(BOARDDIR)/thingy52.config
+endif
+
 include $(RIOTBOARD)/common/nrf52/Makefile.features
diff --git a/boards/thingy52/thingy52.config b/boards/thingy52/thingy52.config
new file mode 100644
index 0000000000..9136c90eb6
--- /dev/null
+++ b/boards/thingy52/thingy52.config
@@ -0,0 +1 @@
+CONFIG_MODULE_STDIO_RTT=y
diff --git a/cpu/nrf52/periph/Kconfig b/cpu/nrf52/periph/Kconfig
index 6905a0a163..520b0470ed 100644
--- a/cpu/nrf52/periph/Kconfig
+++ b/cpu/nrf52/periph/Kconfig
@@ -19,5 +19,12 @@ config MODULE_PERIPH_SPI
 config MODULE_SAUL_NRF_VDDH
     bool "Internal Voltage Sensor"
     depends on HAS_PERIPH_ADC
+    select MODULE_PERIPH_ADC
 
 endif # TEST_KCONFIG
+
+config HAVE_SAUL_NRF_VDDH
+    bool
+    select MODULE_SAUL_NRF_VDDH if MODULE_SAUL_DEFAULT
+    help
+        Indicates that internal voltage sensor is present.
diff --git a/drivers/ads101x/Kconfig b/drivers/ads101x/Kconfig
index 6e1e91a438..eb5a80192e 100644
--- a/drivers/ads101x/Kconfig
+++ b/drivers/ads101x/Kconfig
@@ -36,5 +36,10 @@ config ADS101X_I2C_ADDRESS
         ADS101X allows for upto 4 devices on Single Bus. The value depends on
         the state of ADDR Pin. Default value (0x48) corresponds to ADDR pin tied
         to GND. For more information refer I2C Address Selection in Datasheet.
-
 endif # KCONFIG_USEMODULE_ADS101X
+
+config HAVE_ADS101X
+    bool
+    select MODULE_ADS101X if MODULE_SAUL_DEFAULT
+    help
+        Indicates that an ADS101X Analog-to-Digital converter is present.
diff --git a/drivers/apds99xx/Kconfig b/drivers/apds99xx/Kconfig
index a7020c8ff5..4f808f0e08 100644
--- a/drivers/apds99xx/Kconfig
+++ b/drivers/apds99xx/Kconfig
@@ -5,11 +5,12 @@
 # directory for more details.
 #
 
-choice
-    bool "APDS99XX proximity and ambient light sensor"
+menuconfig MODULE_APDS99XX
+    bool
+    prompt "APDS99xx Broadcom Sensors" if !(MODULE_SAUL_DEFAULT && HAVE_APDS99XX)
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
-    optional
+    select MODULE_PERIPH_I2C
     help
         The driver can be used with following Broadcom sensors: APDS9900,
         APDS9901, APDS9930, APDS9950, APDS9960. Select one model.
@@ -24,36 +25,76 @@ choice
         interrupts can be used to retrieve data. In addition, threshold
         interrupts can be used and configured.
 
+if MODULE_APDS99XX
+
+choice APDS99XX_VARIANT
+    bool "Model"
+    default MODULE_APDS9900 if HAVE_APDS9900
+    default MODULE_APDS9901 if HAVE_APDS9901
+    default MODULE_APDS9930 if HAVE_APDS9930
+    default MODULE_APDS9950 if HAVE_APDS9950
+    default MODULE_APDS9960 if HAVE_APDS9960
+    help
+        The driver can be used with following Broadcom sensors: APDS9900,
+        APDS9901, APDS9930, APDS9950, APDS9960. Select one model.
+
 config MODULE_APDS9900
     bool "APDS9900"
-    select MODULE_APDS99XX
 
 config MODULE_APDS9901
     bool "APDS9901"
-    select MODULE_APDS99XX
 
 config MODULE_APDS9930
     bool "APDS9930"
-    select MODULE_APDS99XX
 
 config MODULE_APDS9950
     bool "APDS9950"
-    select MODULE_APDS99XX
 
 config MODULE_APDS9960
     bool "APDS9960"
-    select MODULE_APDS99XX
 
 endchoice
 
-config MODULE_APDS99XX
-    bool
-    depends on HAS_PERIPH_I2C
-    depends on TEST_KCONFIG
-    select MODULE_PERIPH_I2C
+endif # MODULE_APDS99XX
 
 config MODULE_APDS99XX_FULL
     bool "APDS99XX Full functionalities"
     depends on MODULE_APDS99XX
     depends on HAS_PERIPH_GPIO_IRQ
     select MODULE_PERIPH_GPIO_IRQ
+
+config HAVE_APDS99XX
+    bool
+    select MODULE_APDS99XX if MODULE_SAUL_DEFAULT
+    help
+        Indicates that a apds99xx sensor is present.
+
+config HAVE_APDS9900
+    bool
+    select HAVE_APDS99XX
+    help
+        Indicates that a apds9900 sensor is present.
+
+config HAVE_APDS9901
+    bool
+    select HAVE_APDS99XX
+    help
+        Indicates that a apds9901 sensor is present.
+
+config HAVE_APDS9930
+    bool
+    select HAVE_APDS99XX
+    help
+        Indicates that a apds9930 sensor is present.
+
+config HAVE_APDS9950
+    bool
+    select HAVE_APDS99XX
+    help
+        Indicates that a apds9950 sensor is present.
+
+config HAVE_APDS9960
+    bool
+    select HAVE_APDS99XX
+    help
+        Indicates that a apds9960 sensor is present.
diff --git a/drivers/bmx280/Kconfig b/drivers/bmx280/Kconfig
index 1b45c8d2e0..9db3ead4d8 100644
--- a/drivers/bmx280/Kconfig
+++ b/drivers/bmx280/Kconfig
@@ -78,5 +78,6 @@ config HAVE_BMP280_SPI
 
 config HAVE_BMX280
     bool
+    select MODULE_BMX280 if MODULE_SAUL_DEFAULT
     help
         Indicates that a bmx280 sensor is present.
diff --git a/drivers/hts221/Kconfig b/drivers/hts221/Kconfig
index ee797b3e45..c0d6f1bca3 100644
--- a/drivers/hts221/Kconfig
+++ b/drivers/hts221/Kconfig
@@ -10,3 +10,9 @@ config MODULE_HTS221
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
+
+config HAVE_HTS221
+    bool
+    select MODULE_HTS221 if MODULE_SAUL_DEFAULT
+    help
+        Indicates that a ST HTS221 sensor is present.
diff --git a/drivers/lis2dh12/Kconfig b/drivers/lis2dh12/Kconfig
index 75a2b5d382..28681964ae 100644
--- a/drivers/lis2dh12/Kconfig
+++ b/drivers/lis2dh12/Kconfig
@@ -5,20 +5,18 @@
 # directory for more details.
 #
 
-config HAVE_LIS2DH12
+config MODULE_LIS2DH12
     bool
-    select MODULE_LIS2DH12 if MODULE_SAUL_DEFAULT
-    help
-        Indicates that a lisdh12 is present
-
-menuconfig MODULE_LIS2DH12
-    bool "LIS2DH12 Accelerometer"
+    prompt "LIS2DH12 Accelerometer" if !(MODULE_SAUL_DEFAULT && HAVE_LIS2DH12)
+    default (MODULE_SAUL_DEFAULT && HAVE_LIS2DH12)
     depends on TEST_KCONFIG
 
 if MODULE_LIS2DH12
 
 choice
     bool "Device interface"
+    default MODULE_LIS2DH12_I2C if HAVE_LIS2DH12_I2C
+    default MODULE_LIS2DH12_SPI if HAVE_LIS2DH12_SPI
 
 config MODULE_LIS2DH12_I2C
     bool "I2C"
@@ -40,3 +38,21 @@ config MODULE_LIS2DH12_INT
     select MODULE_PERIPH_GPIO_IRQ
 
 endif # MODULE_LIS2DH12
+
+config HAVE_LIS2DH12
+    bool
+    select MODULE_LIS2DH12 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a LIS2DH12 Accelerometer is present.
+
+config HAVE_LIS2DH12_I2C
+    bool
+    select HAVE_LIS2DH12
+    help
+      Indicates that a LIS2DH12 Accelerometer on the I2C bus is present.
+
+config HAVE_LIS2DH12_SPI
+    bool
+    select HAVE_LIS2DH12
+    help
+      Indicates that a LIS2DH12 Accelerometer on the SPI bus is present.
diff --git a/drivers/lis2dh12/Makefile.dep b/drivers/lis2dh12/Makefile.dep
index e46c4a9cef..bfc44ede50 100644
--- a/drivers/lis2dh12/Makefile.dep
+++ b/drivers/lis2dh12/Makefile.dep
@@ -1,7 +1,9 @@
 ifneq (,$(filter lis2dh12_spi,$(USEMODULE)))
   FEATURES_REQUIRED += periph_gpio
   FEATURES_REQUIRED += periph_spi
-else
+endif
+
+ifneq (,$(filter lis2dh12_i2c,$(USEMODULE)))
   FEATURES_REQUIRED += periph_i2c
 endif
 
diff --git a/drivers/lis3mdl/Kconfig b/drivers/lis3mdl/Kconfig
index de0cd496ba..5b0f8b0d71 100644
--- a/drivers/lis3mdl/Kconfig
+++ b/drivers/lis3mdl/Kconfig
@@ -11,3 +11,9 @@ config MODULE_LIS3MDL
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
+
+config HAVE_LIS3MDL
+    bool
+    select MODULE_LIS3MDL if MODULE_SAUL_DEFAULT
+    help
+        Indicates that a lismdl sensor is present.
diff --git a/drivers/lpsxxx/Kconfig b/drivers/lpsxxx/Kconfig
index c5eaaf4164..9533442e27 100644
--- a/drivers/lpsxxx/Kconfig
+++ b/drivers/lpsxxx/Kconfig
@@ -6,38 +6,42 @@
 # directory for more details.
 #
 
-choice
-    bool "LPSXXX Pressure Sensors"
-    optional
+menuconfig MODULE_LPSXXX
+    bool
+    prompt "LPSXXX Pressure Sensors" if !(MODULE_SAUL_DEFAULT && HAVE_LPSXXX)
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
+    select MODULE_PERIPH_I2C
+    help
+        Device driver for the LPSXXX pressure sensor family
+        (LPS331AP/LPS25HB/LPS22HB/LPS22HH). Select a model.
+
+if MODULE_LPSXXX
+
+choice LPSXXX_VARIANT
+    bool "Model"
+    default MODULE_LPS331AP if HAVE_LPS331AP
+    default MODULE_LPS22HB if HAVE_LPS22HB
+    default MODULE_LPS22HH if HAVE_LPS22HH
+    default MODULE_LPS25HB if HAVE_LPS25HB
     help
         Device driver for the LPSXXX pressure sensor family
         (LPS331AP/LPS25HB/LPS22HB/LPS22HH). Select a model.
 
 config MODULE_LPS331AP
     bool "LPS331AP"
-    select MODULE_LPSXXX
-
 config MODULE_LPS22HB
     bool "LPS22HB"
-    select MODULE_LPSXXX
 
 config MODULE_LPS22HH
     bool "LPS22HH"
-    select MODULE_LPSXXX
 
 config MODULE_LPS25HB
     bool "LPS25HB"
-    select MODULE_LPSXXX
 
 endchoice
 
-config MODULE_LPSXXX
-    bool
-    depends on HAS_PERIPH_I2C
-    depends on TEST_KCONFIG
-    select MODULE_PERIPH_I2C
+endif # MODULE_LPSXXX
 
 menuconfig KCONFIG_USEMODULE_LPSXXX
     bool "Configure LPSXXX driver"
@@ -58,3 +62,31 @@ config LPSXXX_DEFAULT_ADDRESS
         datasheet.
 
 endif # KCONFIG_USEMODULE_LPSXXX
+
+config HAVE_LPSXXX
+    bool
+    select MODULE_LPSXXX if MODULE_SAUL_DEFAULT
+
+config HAVE_LPS331AP
+    bool
+    select HAVE_LPSXXX
+    help
+        Indicates that a LPS331AP sensor is present.
+
+config HAVE_LPS22HB
+    bool
+    select HAVE_LPSXXX
+    help
+        Indicates that a LPS22HB sensor is present.
+
+config HAVE_LPS22HH
+    bool
+    select HAVE_LPSXXX
+    help
+        Indicates that a LPS22HH sensor is present.
+
+config HAVE_LPS25HB
+    bool
+    select HAVE_LPSXXX
+    help
+        Indicates that a LPS25HB sensor is present.
diff --git a/drivers/saul/Kconfig b/drivers/saul/Kconfig
index d62d63a1c3..962ba9a649 100644
--- a/drivers/saul/Kconfig
+++ b/drivers/saul/Kconfig
@@ -24,13 +24,16 @@ config MODULE_SAUL_ADC
     bool "SAUL wrapper for direct access to analog pins"
     depends on HAS_PERIPH_ADC
     select MODULE_PERIPH_ADC
-    default y if HAVE_SAUL_ADC
 
 config MODULE_SAUL_GPIO
     bool "SAUL wrapper for direct access to GPIO pins"
     depends on HAS_PERIPH_GPIO
     select MODULE_PERIPH_GPIO
-    default y if HAVE_SAUL_GPIO
+
+config MODULE_SAUL_PWM
+    bool "SAUL wrapper PWM enabled GPIO pins"
+    depends on HAS_PERIPH_PWM
+    select MODULE_PERIPH_PWM
 
 config MODULE_SAUL_NRF_TEMPERATURE
     bool "SAUL wrapper for direct access to the temperature peripheral"
@@ -50,10 +53,18 @@ endif # MODULE_SAUL
 
 config HAVE_SAUL_ADC
     bool
+    select MODULE_SAUL_ADC if MODULE_SAUL_DEFAULT
     help
         Indicates that configuration for ADC access via SAUL is available.
 
 config HAVE_SAUL_GPIO
     bool
+    select MODULE_SAUL_GPIO if MODULE_SAUL_DEFAULT
     help
         Indicates that configuration for GPIO access via SAUL is available.
+
+config HAVE_SAUL_PWM
+    bool
+    select MODULE_SAUL_PWM if MODULE_SAUL_DEFAULT
+    help
+        Indicates that configuration for PWM access via SAUL is available.
diff --git a/drivers/sht3x/Kconfig b/drivers/sht3x/Kconfig
index d83ca53ad2..c0713f900b 100644
--- a/drivers/sht3x/Kconfig
+++ b/drivers/sht3x/Kconfig
@@ -12,3 +12,9 @@ config MODULE_SHT3X
     select MODULE_PERIPH_I2C
     select MODULE_CHECKSUM
     select MODULE_XTIMER
+
+config HAVE_SHT3X
+    bool
+    select MODULE_SHT3X if MODULE_SAUL_DEFAULT
+    help
+        Indicates that a SHT30/SHT31/SHT35 sensor is present.
diff --git a/sys/Kconfig.stdio b/sys/Kconfig.stdio
index aa2610f29b..f031cb0f43 100644
--- a/sys/Kconfig.stdio
+++ b/sys/Kconfig.stdio
@@ -13,7 +13,12 @@ choice STDIO_IMPLEMENTATION
     default MODULE_STDIO_NATIVE if CPU_ARCH_NATIVE
     default MODULE_STDIO_UART
 
-# TODO: Add MODULE_STDIO_RTT, and MODULE_STDIO_ETHOS
+# TODO: add MODULE_STDIO_ETHOS
+
+config MODULE_STDIO_RTT
+    bool "JLink RTT"
+    select MODULE_ZTIMER
+    select MODULE_ZTIMER_MSEC
 
 config MODULE_SLIPDEV_STDIO
     bool "SLIP network device"
diff --git a/tests/driver_apds99xx/app.config.test b/tests/driver_apds99xx/app.config.test
index 1a82cd0183..ecf846cbdd 100644
--- a/tests/driver_apds99xx/app.config.test
+++ b/tests/driver_apds99xx/app.config.test
@@ -1,4 +1,5 @@
 # this file enables modules defined in Kconfig. Do not use this file for
 # application configuration. This is only needed during migration.
 CONFIG_MODULE_APDS9960=y
+CONFIG_MODULE_APDS99XX=y
 CONFIG_MODULE_XTIMER=y
diff --git a/tests/driver_apds99xx_full/app.config.test b/tests/driver_apds99xx_full/app.config.test
index 94056b8a5f..a04fd6c47a 100644
--- a/tests/driver_apds99xx_full/app.config.test
+++ b/tests/driver_apds99xx_full/app.config.test
@@ -1,5 +1,6 @@
 # this file enables modules defined in Kconfig. Do not use this file for
 # application configuration. This is only needed during migration.
 CONFIG_MODULE_APDS9960=y
+CONFIG_MODULE_APDS99XX=y
 CONFIG_MODULE_APDS99XX_FULL=y
 CONFIG_MODULE_CORE_THREAD_FLAGS=y
diff --git a/tests/driver_lpsxxx/app.config.test b/tests/driver_lpsxxx/app.config.test
index 6c29310b0a..a3ea731eaf 100644
--- a/tests/driver_lpsxxx/app.config.test
+++ b/tests/driver_lpsxxx/app.config.test
@@ -1,4 +1,5 @@
 # this file enables modules defined in Kconfig. Do not use this file for
 # application configuration. This is only needed during migration.
 CONFIG_MODULE_LPS331AP=y
+CONFIG_MODULE_LPSXXX=y
 CONFIG_MODULE_XTIMER=y
diff --git a/tests/periph_qdec/boards_modded/nrf52840dk/Kconfig b/tests/periph_qdec/boards_modded/nrf52840dk/Kconfig
index ae66d3bed9..787b866418 100644
--- a/tests/periph_qdec/boards_modded/nrf52840dk/Kconfig
+++ b/tests/periph_qdec/boards_modded/nrf52840dk/Kconfig
@@ -18,4 +18,6 @@ config BOARD_NRF52840DK
     select HAS_VDD_LC_FILTER_REG0
     select HAVE_MTD_SPI_NOR
 
+    select MODULE_BOARDS_COMMON_NRF52XXXDK if TEST_KCONFIG
+
 source "$(RIOTBOARD)/common/nrf52xxxdk/Kconfig"