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/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