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/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