diff --git a/Makefile.dep b/Makefile.dep
index 5fafcc774e..7db3606932 100644
--- a/Makefile.dep
+++ b/Makefile.dep
@@ -34,6 +34,10 @@ ifneq (,$(filter auto_init_gnrc_netif,$(USEMODULE)))
   USEMODULE += gnrc_netif_init_devs
 endif
 
+ifneq (,$(filter auto_init_saul,$(USEMODULE)))
+  USEMODULE += saul_init_devs
+endif
+
 ifneq (,$(filter csma_sender,$(USEMODULE)))
   USEMODULE += random
   USEMODULE += xtimer
diff --git a/drivers/Makefile b/drivers/Makefile
index 6cd43be02c..13612d5cdb 100644
--- a/drivers/Makefile
+++ b/drivers/Makefile
@@ -1,3 +1,7 @@
 DIRS += $(dir $(wildcard $(addsuffix /Makefile, $(USEMODULE))))
 
+ifneq (,$(filter saul_init_devs,$(USEMODULE)))
+  DIRS += saul/init_devs
+endif
+
 include $(RIOTBASE)/Makefile.base
diff --git a/drivers/include/saul.h b/drivers/include/saul.h
index d8fbda6d94..9ab199797f 100644
--- a/drivers/include/saul.h
+++ b/drivers/include/saul.h
@@ -279,6 +279,16 @@ typedef struct {
     uint8_t type;           /**< device class the device belongs to */
 } saul_driver_t;
 
+/**
+ * @brief   Initialize all available SAUL drivers.
+ *          This function is called automatically if the auto_init_saul
+ *          module is used.
+ *          If only the saul_init module is used instead, you can call
+ *          this function to manually set up all SAUL sensors at a later
+ *          time.
+ */
+void saul_init_devs(void);
+
 /**
  * @brief   Default not supported function
  */
diff --git a/sys/auto_init/saul/Makefile b/drivers/saul/init_devs/Makefile
similarity index 59%
rename from sys/auto_init/saul/Makefile
rename to drivers/saul/init_devs/Makefile
index 96a5373703..fd4251dfe3 100644
--- a/sys/auto_init/saul/Makefile
+++ b/drivers/saul/init_devs/Makefile
@@ -1,3 +1,3 @@
-MODULE = auto_init_saul
+MODULE = saul_init_devs
 
 include $(RIOTBASE)/Makefile.base
diff --git a/sys/auto_init/saul/auto_init_ad7746.c b/drivers/saul/init_devs/auto_init_ad7746.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_ad7746.c
rename to drivers/saul/init_devs/auto_init_ad7746.c
diff --git a/sys/auto_init/saul/auto_init_adc.c b/drivers/saul/init_devs/auto_init_adc.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_adc.c
rename to drivers/saul/init_devs/auto_init_adc.c
diff --git a/sys/auto_init/saul/auto_init_adcxx1c.c b/drivers/saul/init_devs/auto_init_adcxx1c.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_adcxx1c.c
rename to drivers/saul/init_devs/auto_init_adcxx1c.c
diff --git a/sys/auto_init/saul/auto_init_ads101x.c b/drivers/saul/init_devs/auto_init_ads101x.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_ads101x.c
rename to drivers/saul/init_devs/auto_init_ads101x.c
diff --git a/sys/auto_init/saul/auto_init_adxl345.c b/drivers/saul/init_devs/auto_init_adxl345.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_adxl345.c
rename to drivers/saul/init_devs/auto_init_adxl345.c
diff --git a/sys/auto_init/saul/auto_init_bmp180.c b/drivers/saul/init_devs/auto_init_bmp180.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_bmp180.c
rename to drivers/saul/init_devs/auto_init_bmp180.c
diff --git a/sys/auto_init/saul/auto_init_bmx055.c b/drivers/saul/init_devs/auto_init_bmx055.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_bmx055.c
rename to drivers/saul/init_devs/auto_init_bmx055.c
diff --git a/sys/auto_init/saul/auto_init_bmx280.c b/drivers/saul/init_devs/auto_init_bmx280.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_bmx280.c
rename to drivers/saul/init_devs/auto_init_bmx280.c
diff --git a/sys/auto_init/saul/auto_init_ccs811.c b/drivers/saul/init_devs/auto_init_ccs811.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_ccs811.c
rename to drivers/saul/init_devs/auto_init_ccs811.c
diff --git a/sys/auto_init/saul/auto_init_dht.c b/drivers/saul/init_devs/auto_init_dht.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_dht.c
rename to drivers/saul/init_devs/auto_init_dht.c
diff --git a/sys/auto_init/saul/auto_init_ds18.c b/drivers/saul/init_devs/auto_init_ds18.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_ds18.c
rename to drivers/saul/init_devs/auto_init_ds18.c
diff --git a/sys/auto_init/saul/auto_init_ds75lx.c b/drivers/saul/init_devs/auto_init_ds75lx.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_ds75lx.c
rename to drivers/saul/init_devs/auto_init_ds75lx.c
diff --git a/sys/auto_init/saul/auto_init_fxos8700.c b/drivers/saul/init_devs/auto_init_fxos8700.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_fxos8700.c
rename to drivers/saul/init_devs/auto_init_fxos8700.c
diff --git a/sys/auto_init/saul/auto_init_gpio.c b/drivers/saul/init_devs/auto_init_gpio.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_gpio.c
rename to drivers/saul/init_devs/auto_init_gpio.c
diff --git a/sys/auto_init/saul/auto_init_grove_ledbar.c b/drivers/saul/init_devs/auto_init_grove_ledbar.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_grove_ledbar.c
rename to drivers/saul/init_devs/auto_init_grove_ledbar.c
diff --git a/sys/auto_init/saul/auto_init_hdc1000.c b/drivers/saul/init_devs/auto_init_hdc1000.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_hdc1000.c
rename to drivers/saul/init_devs/auto_init_hdc1000.c
diff --git a/sys/auto_init/saul/auto_init_hts221.c b/drivers/saul/init_devs/auto_init_hts221.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_hts221.c
rename to drivers/saul/init_devs/auto_init_hts221.c
diff --git a/sys/auto_init/saul/auto_init_ina2xx.c b/drivers/saul/init_devs/auto_init_ina2xx.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_ina2xx.c
rename to drivers/saul/init_devs/auto_init_ina2xx.c
diff --git a/sys/auto_init/saul/auto_init_ina3221.c b/drivers/saul/init_devs/auto_init_ina3221.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_ina3221.c
rename to drivers/saul/init_devs/auto_init_ina3221.c
diff --git a/sys/auto_init/saul/auto_init_io1_xplained.c b/drivers/saul/init_devs/auto_init_io1_xplained.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_io1_xplained.c
rename to drivers/saul/init_devs/auto_init_io1_xplained.c
diff --git a/sys/auto_init/saul/auto_init_isl29020.c b/drivers/saul/init_devs/auto_init_isl29020.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_isl29020.c
rename to drivers/saul/init_devs/auto_init_isl29020.c
diff --git a/sys/auto_init/saul/auto_init_itg320x.c b/drivers/saul/init_devs/auto_init_itg320x.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_itg320x.c
rename to drivers/saul/init_devs/auto_init_itg320x.c
diff --git a/sys/auto_init/saul/auto_init_jc42.c b/drivers/saul/init_devs/auto_init_jc42.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_jc42.c
rename to drivers/saul/init_devs/auto_init_jc42.c
diff --git a/sys/auto_init/saul/auto_init_l3g4200d.c b/drivers/saul/init_devs/auto_init_l3g4200d.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_l3g4200d.c
rename to drivers/saul/init_devs/auto_init_l3g4200d.c
diff --git a/sys/auto_init/saul/auto_init_lis2dh12.c b/drivers/saul/init_devs/auto_init_lis2dh12.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_lis2dh12.c
rename to drivers/saul/init_devs/auto_init_lis2dh12.c
diff --git a/sys/auto_init/saul/auto_init_lis3dh.c b/drivers/saul/init_devs/auto_init_lis3dh.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_lis3dh.c
rename to drivers/saul/init_devs/auto_init_lis3dh.c
diff --git a/sys/auto_init/saul/auto_init_lis3mdl.c b/drivers/saul/init_devs/auto_init_lis3mdl.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_lis3mdl.c
rename to drivers/saul/init_devs/auto_init_lis3mdl.c
diff --git a/sys/auto_init/saul/auto_init_lpsxxx.c b/drivers/saul/init_devs/auto_init_lpsxxx.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_lpsxxx.c
rename to drivers/saul/init_devs/auto_init_lpsxxx.c
diff --git a/sys/auto_init/saul/auto_init_lsm303dlhc.c b/drivers/saul/init_devs/auto_init_lsm303dlhc.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_lsm303dlhc.c
rename to drivers/saul/init_devs/auto_init_lsm303dlhc.c
diff --git a/sys/auto_init/saul/auto_init_lsm6dsl.c b/drivers/saul/init_devs/auto_init_lsm6dsl.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_lsm6dsl.c
rename to drivers/saul/init_devs/auto_init_lsm6dsl.c
diff --git a/sys/auto_init/saul/auto_init_ltc4150.c b/drivers/saul/init_devs/auto_init_ltc4150.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_ltc4150.c
rename to drivers/saul/init_devs/auto_init_ltc4150.c
diff --git a/sys/auto_init/saul/auto_init_mag3110.c b/drivers/saul/init_devs/auto_init_mag3110.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_mag3110.c
rename to drivers/saul/init_devs/auto_init_mag3110.c
diff --git a/sys/auto_init/saul/auto_init_mma7660.c b/drivers/saul/init_devs/auto_init_mma7660.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_mma7660.c
rename to drivers/saul/init_devs/auto_init_mma7660.c
diff --git a/sys/auto_init/saul/auto_init_mma8x5x.c b/drivers/saul/init_devs/auto_init_mma8x5x.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_mma8x5x.c
rename to drivers/saul/init_devs/auto_init_mma8x5x.c
diff --git a/sys/auto_init/saul/auto_init_mpl3115a2.c b/drivers/saul/init_devs/auto_init_mpl3115a2.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_mpl3115a2.c
rename to drivers/saul/init_devs/auto_init_mpl3115a2.c
diff --git a/sys/auto_init/saul/auto_init_mpu9x50.c b/drivers/saul/init_devs/auto_init_mpu9x50.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_mpu9x50.c
rename to drivers/saul/init_devs/auto_init_mpu9x50.c
diff --git a/sys/auto_init/saul/auto_init_nrf_temperature.c b/drivers/saul/init_devs/auto_init_nrf_temperature.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_nrf_temperature.c
rename to drivers/saul/init_devs/auto_init_nrf_temperature.c
diff --git a/sys/auto_init/saul/auto_init_opt3001.c b/drivers/saul/init_devs/auto_init_opt3001.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_opt3001.c
rename to drivers/saul/init_devs/auto_init_opt3001.c
diff --git a/sys/auto_init/saul/auto_init_pca9685.c b/drivers/saul/init_devs/auto_init_pca9685.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_pca9685.c
rename to drivers/saul/init_devs/auto_init_pca9685.c
diff --git a/sys/auto_init/saul/auto_init_ph_oem.c b/drivers/saul/init_devs/auto_init_ph_oem.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_ph_oem.c
rename to drivers/saul/init_devs/auto_init_ph_oem.c
diff --git a/sys/auto_init/saul/auto_init_pir.c b/drivers/saul/init_devs/auto_init_pir.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_pir.c
rename to drivers/saul/init_devs/auto_init_pir.c
diff --git a/sys/auto_init/saul/auto_init_pulse_counter.c b/drivers/saul/init_devs/auto_init_pulse_counter.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_pulse_counter.c
rename to drivers/saul/init_devs/auto_init_pulse_counter.c
diff --git a/sys/auto_init/saul/auto_init_qmc5883l.c b/drivers/saul/init_devs/auto_init_qmc5883l.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_qmc5883l.c
rename to drivers/saul/init_devs/auto_init_qmc5883l.c
diff --git a/sys/auto_init/saul/auto_init_sds011.c b/drivers/saul/init_devs/auto_init_sds011.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_sds011.c
rename to drivers/saul/init_devs/auto_init_sds011.c
diff --git a/sys/auto_init/saul/auto_init_sht1x.c b/drivers/saul/init_devs/auto_init_sht1x.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_sht1x.c
rename to drivers/saul/init_devs/auto_init_sht1x.c
diff --git a/sys/auto_init/saul/auto_init_sht2x.c b/drivers/saul/init_devs/auto_init_sht2x.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_sht2x.c
rename to drivers/saul/init_devs/auto_init_sht2x.c
diff --git a/sys/auto_init/saul/auto_init_sht3x.c b/drivers/saul/init_devs/auto_init_sht3x.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_sht3x.c
rename to drivers/saul/init_devs/auto_init_sht3x.c
diff --git a/sys/auto_init/saul/auto_init_shtc1.c b/drivers/saul/init_devs/auto_init_shtc1.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_shtc1.c
rename to drivers/saul/init_devs/auto_init_shtc1.c
diff --git a/sys/auto_init/saul/auto_init_si114x.c b/drivers/saul/init_devs/auto_init_si114x.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_si114x.c
rename to drivers/saul/init_devs/auto_init_si114x.c
diff --git a/sys/auto_init/saul/auto_init_si70xx.c b/drivers/saul/init_devs/auto_init_si70xx.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_si70xx.c
rename to drivers/saul/init_devs/auto_init_si70xx.c
diff --git a/sys/auto_init/saul/auto_init_sps30.c b/drivers/saul/init_devs/auto_init_sps30.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_sps30.c
rename to drivers/saul/init_devs/auto_init_sps30.c
diff --git a/sys/auto_init/saul/auto_init_tcs37727.c b/drivers/saul/init_devs/auto_init_tcs37727.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_tcs37727.c
rename to drivers/saul/init_devs/auto_init_tcs37727.c
diff --git a/sys/auto_init/saul/auto_init_tmp00x.c b/drivers/saul/init_devs/auto_init_tmp00x.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_tmp00x.c
rename to drivers/saul/init_devs/auto_init_tmp00x.c
diff --git a/sys/auto_init/saul/auto_init_tsl2561.c b/drivers/saul/init_devs/auto_init_tsl2561.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_tsl2561.c
rename to drivers/saul/init_devs/auto_init_tsl2561.c
diff --git a/sys/auto_init/saul/auto_init_tsl4531x.c b/drivers/saul/init_devs/auto_init_tsl4531x.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_tsl4531x.c
rename to drivers/saul/init_devs/auto_init_tsl4531x.c
diff --git a/sys/auto_init/saul/auto_init_vcnl40x0.c b/drivers/saul/init_devs/auto_init_vcnl40x0.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_vcnl40x0.c
rename to drivers/saul/init_devs/auto_init_vcnl40x0.c
diff --git a/sys/auto_init/saul/auto_init_veml6070.c b/drivers/saul/init_devs/auto_init_veml6070.c
similarity index 100%
rename from sys/auto_init/saul/auto_init_veml6070.c
rename to drivers/saul/init_devs/auto_init_veml6070.c
diff --git a/sys/auto_init/saul/doc.txt b/drivers/saul/init_devs/doc.txt
similarity index 65%
rename from sys/auto_init/saul/doc.txt
rename to drivers/saul/init_devs/doc.txt
index e4ffe25bf3..07a68c8705 100644
--- a/sys/auto_init/saul/doc.txt
+++ b/drivers/saul/init_devs/doc.txt
@@ -13,3 +13,11 @@
  *
  * This module contains auto init functions for drivers that support SAUL.
  */
+
+/**
+ * @defgroup drivers_saul_init_devs SAUL Device Initialisation
+ * @ingroup drivers_saul
+ * @brief Bulk initialisation of SAUL enabled drivers
+ *
+ * This module contains bulk init functions for drivers that support SAUL.
+ */
diff --git a/drivers/saul/init_devs/init.c b/drivers/saul/init_devs/init.c
new file mode 100644
index 0000000000..87ea52213e
--- /dev/null
+++ b/drivers/saul/init_devs/init.c
@@ -0,0 +1,254 @@
+/**
+ * Auto initialization for SAUL devices
+ *
+ * Copyright (C) 2020 Freie Universität Berlin
+ *               2020 Kaspar Schleiser <kaspar@schleiser.de>
+ *               2013  INRIA.
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ * @ingroup sys_auto_init
+ * @{
+ * @file
+ * @brief   initializes any used SAUL device that has a trivial init function
+ * @author  Oliver Hahm <oliver.hahm@inria.fr>
+ * @author  Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author  Kaspar Schleiser <kaspar@schleiser.de>
+ * @author  Martine S. Lenders <m.lenders@fu-berlin.de>
+ * @}
+ */
+
+#include "kernel_defines.h"
+
+/**
+ * @brief   Initializes sensors and actuators for SAUL
+ */
+void saul_init_devs(void)
+{
+    if (IS_USED(MODULE_SAUL_ADC)) {
+        extern void auto_init_adc(void);
+        auto_init_adc();
+    }
+    if (IS_USED(MODULE_SAUL_GPIO)) {
+        extern void auto_init_gpio(void);
+        auto_init_gpio();
+    }
+    if (IS_USED(MODULE_SAUL_NRF_TEMPERATURE)) {
+        extern void auto_init_nrf_temperature(void);
+        auto_init_nrf_temperature();
+    }
+    if (IS_USED(MODULE_AD7746)) {
+        extern void auto_init_ad7746(void);
+        auto_init_ad7746();
+    }
+    if (IS_USED(MODULE_ADCXX1C)) {
+        extern void auto_init_adcxx1c(void);
+        auto_init_adcxx1c();
+    }
+    if (IS_USED(MODULE_ADS101X)) {
+        extern void auto_init_ads101x(void);
+        auto_init_ads101x();
+    }
+    if (IS_USED(MODULE_ADXL345)) {
+        extern void auto_init_adxl345(void);
+        auto_init_adxl345();
+    }
+    if (IS_USED(MODULE_BMP180)) {
+        extern void auto_init_bmp180(void);
+        auto_init_bmp180();
+    }
+    if (IS_USED(MODULE_BMX280)) {
+        extern void auto_init_bmx280(void);
+        auto_init_bmx280();
+    }
+    if (IS_USED(MODULE_BMX055)) {
+        extern void auto_init_bmx055(void);
+        auto_init_bmx055();
+    }
+    if (IS_USED(MODULE_CCS811)) {
+        extern void auto_init_ccs811(void);
+        auto_init_ccs811();
+    }
+    if (IS_USED(MODULE_DHT)) {
+        extern void auto_init_dht(void);
+        auto_init_dht();
+    }
+    if (IS_USED(MODULE_DS18)) {
+        extern void auto_init_ds18(void);
+        auto_init_ds18();
+    }
+    if (IS_USED(MODULE_DS75LX)) {
+        extern void auto_init_ds75lx(void);
+        auto_init_ds75lx();
+    }
+    if (IS_USED(MODULE_FXOS8700)) {
+        extern void auto_init_fxos8700(void);
+        auto_init_fxos8700();
+    }
+    if (IS_USED(MODULE_GROVE_LEDBAR)) {
+        extern void auto_init_grove_ledbar(void);
+        auto_init_grove_ledbar();
+    }
+    if (IS_USED(MODULE_HDC1000)) {
+        extern void auto_init_hdc1000(void);
+        auto_init_hdc1000();
+    }
+    if (IS_USED(MODULE_HTS221)) {
+        extern void auto_init_hts221(void);
+        auto_init_hts221();
+    }
+    if (IS_USED(MODULE_INA2XX)) {
+        extern void auto_init_ina2xx(void);
+        auto_init_ina2xx();
+    }
+    if (IS_USED(MODULE_INA3221)) {
+        extern void auto_init_ina3221(void);
+        auto_init_ina3221();
+    }
+    if (IS_USED(MODULE_IO1_XPLAINED)) {
+        extern void auto_init_io1_xplained(void);
+        auto_init_io1_xplained();
+    }
+    if (IS_USED(MODULE_ISL29020)) {
+        extern void auto_init_isl29020(void);
+        auto_init_isl29020();
+    }
+    if (IS_USED(MODULE_ITG320X)) {
+        extern void auto_init_itg320x(void);
+        auto_init_itg320x();
+    }
+    if (IS_USED(MODULE_JC42)) {
+        extern void auto_init_jc42(void);
+        auto_init_jc42();
+    }
+    if (IS_USED(MODULE_L3G4200D)) {
+        extern void auto_init_l3g4200d(void);
+        auto_init_l3g4200d();
+    }
+    if (IS_USED(MODULE_LIS2DH12)) {
+        extern void auto_init_lis2dh12(void);
+        auto_init_lis2dh12();
+    }
+    if (IS_USED(MODULE_LIS3DH)) {
+        extern void auto_init_lis3dh(void);
+        auto_init_lis3dh();
+    }
+    if (IS_USED(MODULE_LIS3MDL)) {
+        extern void auto_init_lis3mdl(void);
+        auto_init_lis3mdl();
+    }
+    if (IS_USED(MODULE_LPSXXX)) {
+        extern void auto_init_lpsxxx(void);
+        auto_init_lpsxxx();
+    }
+    if (IS_USED(MODULE_LSM303DLHC)) {
+        extern void auto_init_lsm303dlhc(void);
+        auto_init_lsm303dlhc();
+    }
+    if (IS_USED(MODULE_LSM6DSL)) {
+        extern void auto_init_lsm6dsl(void);
+        auto_init_lsm6dsl();
+    }
+    if (IS_USED(MODULE_LTC4150)) {
+        extern void auto_init_ltc4150(void);
+        auto_init_ltc4150();
+    }
+    if (IS_USED(MODULE_MAG3110)) {
+        extern void auto_init_mag3110(void);
+        auto_init_mag3110();
+    }
+    if (IS_USED(MODULE_MMA7660)) {
+        extern void auto_init_mma7660(void);
+        auto_init_mma7660();
+    }
+    if (IS_USED(MODULE_MMA8X5X)) {
+        extern void auto_init_mma8x5x(void);
+        auto_init_mma8x5x();
+    }
+    if (IS_USED(MODULE_MPL3115A2)) {
+        extern void auto_init_mpl3115a2(void);
+        auto_init_mpl3115a2();
+    }
+    if (IS_USED(MODULE_MPU9X50)) {
+        extern void auto_init_mpu9x50(void);
+        auto_init_mpu9x50();
+    }
+    if (IS_USED(MODULE_OPT3001)) {
+        extern void auto_init_opt3001(void);
+        auto_init_opt3001();
+    }
+    if (IS_USED(MODULE_PCA9685)) {
+        extern void auto_init_pca9685(void);
+        auto_init_pca9685();
+    }
+    if (IS_USED(MODULE_PH_OEM)) {
+        extern void auto_init_ph_oem(void);
+        auto_init_ph_oem();
+    }
+    if (IS_USED(MODULE_PIR)) {
+        extern void auto_init_pir(void);
+        auto_init_pir();
+    }
+    if (IS_USED(MODULE_PULSE_COUNTER)) {
+        extern void auto_init_pulse_counter(void);
+        auto_init_pulse_counter();
+    }
+    if (IS_USED(MODULE_QMC5883L)) {
+        extern void auto_init_qmc5883l(void);
+        auto_init_qmc5883l();
+    }
+    if (IS_USED(MODULE_SHT2X)) {
+        extern void auto_init_sht2x(void);
+        auto_init_sht2x();
+    }
+    if (IS_USED(MODULE_SHT3X)) {
+        extern void auto_init_sht3x(void);
+        auto_init_sht3x();
+    }
+    if (IS_USED(MODULE_SHTC1)) {
+        extern void auto_init_shtc1(void);
+        auto_init_shtc1();
+    }
+    if (IS_USED(MODULE_SDS011)) {
+        extern void auto_init_sds011(void);
+        auto_init_sds011();
+    }
+    if (IS_USED(MODULE_SI114X)) {
+        extern void auto_init_si114x(void);
+        auto_init_si114x();
+    }
+    if (IS_USED(MODULE_SI70XX)) {
+        extern void auto_init_si70xx(void);
+        auto_init_si70xx();
+    }
+    if (IS_USED(MODULE_SPS30)) {
+        extern void auto_init_sps30(void);
+        auto_init_sps30();
+    }
+    if (IS_USED(MODULE_TCS37727)) {
+        extern void auto_init_tcs37727(void);
+        auto_init_tcs37727();
+    }
+    if (IS_USED(MODULE_TMP006)) {
+        extern void auto_init_tmp00x(void);
+        auto_init_tmp00x();
+    }
+    if (IS_USED(MODULE_TSL2561)) {
+        extern void auto_init_tsl2561(void);
+        auto_init_tsl2561();
+    }
+    if (IS_USED(MODULE_TSL4531X)) {
+        extern void auto_init_tsl4531x(void);
+        auto_init_tsl4531x();
+    }
+    if (IS_USED(MODULE_VCNL40X0)) {
+        extern void auto_init_vcnl40x0(void);
+        auto_init_vcnl40x0();
+    }
+    if (IS_USED(MODULE_VEML6070)) {
+        extern void auto_init_veml6070(void);
+        auto_init_veml6070();
+    }
+}
diff --git a/makefiles/pseudomodules.inc.mk b/makefiles/pseudomodules.inc.mk
index 0f66cfd87d..c3defd401a 100644
--- a/makefiles/pseudomodules.inc.mk
+++ b/makefiles/pseudomodules.inc.mk
@@ -210,7 +210,6 @@ PSEUDOMODULES += crypto_aes_unroll
 PSEUDOMODULES += auto_init_%
 NO_PSEUDOMODULES += auto_init_can
 NO_PSEUDOMODULES += auto_init_loramac
-NO_PSEUDOMODULES += auto_init_saul
 NO_PSEUDOMODULES += auto_init_security
 NO_PSEUDOMODULES += auto_init_storage
 NO_PSEUDOMODULES += auto_init_usbus
diff --git a/sys/auto_init/Makefile b/sys/auto_init/Makefile
index 3736bf1e52..24b4ecf5ba 100644
--- a/sys/auto_init/Makefile
+++ b/sys/auto_init/Makefile
@@ -2,7 +2,7 @@ ifneq (,$(filter gnrc_netif_init,$(USEMODULE)))
   DIRS += netif
 endif
 
-ifneq (,$(filter auto_init_saul,$(USEMODULE)))
+ifneq (,$(filter saul_init,$(USEMODULE)))
   DIRS += saul
 endif
 
diff --git a/sys/auto_init/auto_init.c b/sys/auto_init/auto_init.c
index bc8dd5e571..92c865b063 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -26,237 +26,6 @@
 #include "kernel_defines.h"
 #include "log.h"
 
-/**
- * @brief   Initializes sensors and actuators for SAUL
- */
-void _auto_init_saul(void)
-{
-    if (IS_USED(MODULE_SAUL_ADC)) {
-        extern void auto_init_adc(void);
-        auto_init_adc();
-    }
-    if (IS_USED(MODULE_SAUL_GPIO)) {
-        extern void auto_init_gpio(void);
-        auto_init_gpio();
-    }
-    if (IS_USED(MODULE_SAUL_NRF_TEMPERATURE)) {
-        extern void auto_init_nrf_temperature(void);
-        auto_init_nrf_temperature();
-    }
-    if (IS_USED(MODULE_AD7746)) {
-        extern void auto_init_ad7746(void);
-        auto_init_ad7746();
-    }
-    if (IS_USED(MODULE_ADCXX1C)) {
-        extern void auto_init_adcxx1c(void);
-        auto_init_adcxx1c();
-    }
-    if (IS_USED(MODULE_ADS101X)) {
-        extern void auto_init_ads101x(void);
-        auto_init_ads101x();
-    }
-    if (IS_USED(MODULE_ADXL345)) {
-        extern void auto_init_adxl345(void);
-        auto_init_adxl345();
-    }
-    if (IS_USED(MODULE_BMP180)) {
-        extern void auto_init_bmp180(void);
-        auto_init_bmp180();
-    }
-    if (IS_USED(MODULE_BMX280)) {
-        extern void auto_init_bmx280(void);
-        auto_init_bmx280();
-    }
-    if (IS_USED(MODULE_BMX055)) {
-        extern void auto_init_bmx055(void);
-        auto_init_bmx055();
-    }
-    if (IS_USED(MODULE_CCS811)) {
-        extern void auto_init_ccs811(void);
-        auto_init_ccs811();
-    }
-    if (IS_USED(MODULE_DHT)) {
-        extern void auto_init_dht(void);
-        auto_init_dht();
-    }
-    if (IS_USED(MODULE_DS18)) {
-        extern void auto_init_ds18(void);
-        auto_init_ds18();
-    }
-    if (IS_USED(MODULE_DS75LX)) {
-        extern void auto_init_ds75lx(void);
-        auto_init_ds75lx();
-    }
-    if (IS_USED(MODULE_FXOS8700)) {
-        extern void auto_init_fxos8700(void);
-        auto_init_fxos8700();
-    }
-    if (IS_USED(MODULE_GROVE_LEDBAR)) {
-        extern void auto_init_grove_ledbar(void);
-        auto_init_grove_ledbar();
-    }
-    if (IS_USED(MODULE_HDC1000)) {
-        extern void auto_init_hdc1000(void);
-        auto_init_hdc1000();
-    }
-    if (IS_USED(MODULE_HTS221)) {
-        extern void auto_init_hts221(void);
-        auto_init_hts221();
-    }
-    if (IS_USED(MODULE_INA2XX)) {
-        extern void auto_init_ina2xx(void);
-        auto_init_ina2xx();
-    }
-    if (IS_USED(MODULE_INA3221)) {
-        extern void auto_init_ina3221(void);
-        auto_init_ina3221();
-    }
-    if (IS_USED(MODULE_IO1_XPLAINED)) {
-        extern void auto_init_io1_xplained(void);
-        auto_init_io1_xplained();
-    }
-    if (IS_USED(MODULE_ISL29020)) {
-        extern void auto_init_isl29020(void);
-        auto_init_isl29020();
-    }
-    if (IS_USED(MODULE_ITG320X)) {
-        extern void auto_init_itg320x(void);
-        auto_init_itg320x();
-    }
-    if (IS_USED(MODULE_JC42)) {
-        extern void auto_init_jc42(void);
-        auto_init_jc42();
-    }
-    if (IS_USED(MODULE_L3G4200D)) {
-        extern void auto_init_l3g4200d(void);
-        auto_init_l3g4200d();
-    }
-    if (IS_USED(MODULE_LIS2DH12)) {
-        extern void auto_init_lis2dh12(void);
-        auto_init_lis2dh12();
-    }
-    if (IS_USED(MODULE_LIS3DH)) {
-        extern void auto_init_lis3dh(void);
-        auto_init_lis3dh();
-    }
-    if (IS_USED(MODULE_LIS3MDL)) {
-        extern void auto_init_lis3mdl(void);
-        auto_init_lis3mdl();
-    }
-    if (IS_USED(MODULE_LPSXXX)) {
-        extern void auto_init_lpsxxx(void);
-        auto_init_lpsxxx();
-    }
-    if (IS_USED(MODULE_LSM303DLHC)) {
-        extern void auto_init_lsm303dlhc(void);
-        auto_init_lsm303dlhc();
-    }
-    if (IS_USED(MODULE_LSM6DSL)) {
-        extern void auto_init_lsm6dsl(void);
-        auto_init_lsm6dsl();
-    }
-    if (IS_USED(MODULE_LTC4150)) {
-        extern void auto_init_ltc4150(void);
-        auto_init_ltc4150();
-    }
-    if (IS_USED(MODULE_MAG3110)) {
-        extern void auto_init_mag3110(void);
-        auto_init_mag3110();
-    }
-    if (IS_USED(MODULE_MMA7660)) {
-        extern void auto_init_mma7660(void);
-        auto_init_mma7660();
-    }
-    if (IS_USED(MODULE_MMA8X5X)) {
-        extern void auto_init_mma8x5x(void);
-        auto_init_mma8x5x();
-    }
-    if (IS_USED(MODULE_MPL3115A2)) {
-        extern void auto_init_mpl3115a2(void);
-        auto_init_mpl3115a2();
-    }
-    if (IS_USED(MODULE_MPU9X50)) {
-        extern void auto_init_mpu9x50(void);
-        auto_init_mpu9x50();
-    }
-    if (IS_USED(MODULE_OPT3001)) {
-        extern void auto_init_opt3001(void);
-        auto_init_opt3001();
-    }
-    if (IS_USED(MODULE_PCA9685)) {
-        extern void auto_init_pca9685(void);
-        auto_init_pca9685();
-    }
-    if (IS_USED(MODULE_PH_OEM)) {
-        extern void auto_init_ph_oem(void);
-        auto_init_ph_oem();
-    }
-    if (IS_USED(MODULE_PIR)) {
-        extern void auto_init_pir(void);
-        auto_init_pir();
-    }
-    if (IS_USED(MODULE_PULSE_COUNTER)) {
-        extern void auto_init_pulse_counter(void);
-        auto_init_pulse_counter();
-    }
-    if (IS_USED(MODULE_QMC5883L)) {
-        extern void auto_init_qmc5883l(void);
-        auto_init_qmc5883l();
-    }
-    if (IS_USED(MODULE_SHT2X)) {
-        extern void auto_init_sht2x(void);
-        auto_init_sht2x();
-    }
-    if (IS_USED(MODULE_SHT3X)) {
-        extern void auto_init_sht3x(void);
-        auto_init_sht3x();
-    }
-    if (IS_USED(MODULE_SHTC1)) {
-        extern void auto_init_shtc1(void);
-        auto_init_shtc1();
-    }
-    if (IS_USED(MODULE_SDS011)) {
-        extern void auto_init_sds011(void);
-        auto_init_sds011();
-    }
-    if (IS_USED(MODULE_SI114X)) {
-        extern void auto_init_si114x(void);
-        auto_init_si114x();
-    }
-    if (IS_USED(MODULE_SI70XX)) {
-        extern void auto_init_si70xx(void);
-        auto_init_si70xx();
-    }
-    if (IS_USED(MODULE_SPS30)) {
-        extern void auto_init_sps30(void);
-        auto_init_sps30();
-    }
-    if (IS_USED(MODULE_TCS37727)) {
-        extern void auto_init_tcs37727(void);
-        auto_init_tcs37727();
-    }
-    if (IS_USED(MODULE_TMP006)) {
-        extern void auto_init_tmp00x(void);
-        auto_init_tmp00x();
-    }
-    if (IS_USED(MODULE_TSL2561)) {
-        extern void auto_init_tsl2561(void);
-        auto_init_tsl2561();
-    }
-    if (IS_USED(MODULE_TSL4531X)) {
-        extern void auto_init_tsl4531x(void);
-        auto_init_tsl4531x();
-    }
-    if (IS_USED(MODULE_VCNL40X0)) {
-        extern void auto_init_vcnl40x0(void);
-        auto_init_vcnl40x0();
-    }
-    if (IS_USED(MODULE_VEML6070)) {
-        extern void auto_init_veml6070(void);
-        auto_init_veml6070();
-    }
-}
-
 void auto_init(void)
 {
     if (IS_USED(MODULE_AUTO_INIT_RANDOM)) {
@@ -421,7 +190,8 @@ void auto_init(void)
 
     if (IS_USED(MODULE_AUTO_INIT_SAUL)) {
         LOG_DEBUG("Auto init SAUL.\n");
-        _auto_init_saul();
+        extern void saul_init_devs(void);
+        saul_init_devs();
     }
 
     if (IS_USED(MODULE_AUTO_INIT_GNRC_RPL)) {