diff --git a/pkg/lwip/contrib/lwip.c b/pkg/lwip/contrib/lwip.c
index f8e11e06d9..867186ca87 100644
--- a/pkg/lwip/contrib/lwip.c
+++ b/pkg/lwip/contrib/lwip.c
@@ -15,12 +15,10 @@
 
 #include "kernel_defines.h"
 
-#if IS_USED(MODULE_LWIP_DHCP_AUTO)
-#include "lwip/dhcp.h"
-#endif
 #include "lwip/tcpip.h"
 #include "lwip/netif/netdev.h"
 #include "lwip/netif.h"
+#include "lwip/netifapi.h"
 #include "netif/lowpan6.h"
 
 #ifdef MODULE_NETDEV_TAP
@@ -279,12 +277,17 @@ void lwip_bootstrap(void)
 #endif
     /* also allow for external interface definition */
     tcpip_init(NULL, NULL);
-#if IS_USED(MODULE_LWIP_DHCP_AUTO) && IS_USED(MODULE_NETDEV_TAP)
-    /* XXX: Hack to get DHCP with IPv4 with `netdev_tap`, as it does
-     * not emit a `NETDEV_EVENT_LINK_UP` event. Remove, once it does
-     * at an appropriate point.
-     * (see https://github.com/RIOT-OS/RIOT/pull/14150) */
-    dhcp_start(netif);
+#if IS_USED(MODULE_LWIP_DHCP_AUTO)
+    {
+        /* Start DHCP on all supported netifs. Interfaces that support
+         * link status events will reset DHCP retries when link comes up. */
+        struct netif *n = NULL;
+        NETIF_FOREACH(n) {
+            if (netif_is_flag_set(n, NETIF_FLAG_ETHERNET)) {
+                netifapi_dhcp_start(netif);
+            }
+        }
+    }
 #endif
 }
 
diff --git a/pkg/lwip/contrib/netdev/lwip_netdev.c b/pkg/lwip/contrib/netdev/lwip_netdev.c
index dedc2a9319..04daea7596 100644
--- a/pkg/lwip/contrib/netdev/lwip_netdev.c
+++ b/pkg/lwip/contrib/netdev/lwip_netdev.c
@@ -17,9 +17,6 @@
 #include <sys/uio.h>
 #include <inttypes.h>
 
-#if MODULE_LWIP_DHCP_AUTO
-#include "lwip/dhcp.h"
-#endif
 #include "lwip/err.h"
 #include "lwip/ethip6.h"
 #include "lwip/netif.h"
@@ -297,10 +294,8 @@ static void _event_cb(netdev_t *dev, netdev_event_t event)
                 break;
             }
             case NETDEV_EVENT_LINK_UP: {
+                /* Will wake up DHCP state machine */
                 netifapi_netif_set_link_up(netif);
-#ifdef MODULE_LWIP_DHCP_AUTO
-                netifapi_dhcp_start(netif);
-#endif
                 break;
             }
             case NETDEV_EVENT_LINK_DOWN: {