diff --git a/configs/am65x_hs_evm_a53_defconfig b/configs/am65x_hs_evm_a53_defconfig
index 62e9d720fe..7e36b2805b 100644
--- a/configs/am65x_hs_evm_a53_defconfig
+++ b/configs/am65x_hs_evm_a53_defconfig
@@ -35,6 +35,7 @@ CONFIG_SPL_REMOTEPROC=y
 CONFIG_SPL_YMODEM_SUPPORT=y
 CONFIG_CMD_ASKENV=y
 # CONFIG_CMD_FLASH is not set
+CONFIG_CMD_I2C=y
 CONFIG_CMD_MMC=y
 CONFIG_CMD_REMOTEPROC=y
 # CONFIG_CMD_SETEXPR is not set
@@ -58,6 +59,9 @@ CONFIG_CLK_TI_SCI=y
 CONFIG_DMA_CHANNELS=y
 CONFIG_TI_K3_NAVSS_UDMA=y
 CONFIG_TI_SCI_PROTOCOL=y
+CONFIG_DM_I2C=y
+CONFIG_I2C_SET_DEFAULT_BUS_NUM=y
+CONFIG_SYS_I2C_OMAP24XX=y
 CONFIG_DM_MAILBOX=y
 CONFIG_K3_SEC_PROXY=y
 CONFIG_DM_MMC=y
diff --git a/configs/am65x_hs_evm_r5_defconfig b/configs/am65x_hs_evm_r5_defconfig
index 9e01899031..d378d1e9ee 100644
--- a/configs/am65x_hs_evm_r5_defconfig
+++ b/configs/am65x_hs_evm_r5_defconfig
@@ -39,6 +39,7 @@ CONFIG_CMD_BOOTZ=y
 CONFIG_CMD_ASKENV=y
 # CONFIG_CMD_FLASH is not set
 CONFIG_CMD_GPT=y
+CONFIG_CMD_I2C=y
 CONFIG_CMD_MMC=y
 CONFIG_CMD_REMOTEPROC=y
 # CONFIG_CMD_SETEXPR is not set
@@ -62,6 +63,9 @@ CONFIG_CLK_TI_SCI=y
 CONFIG_TI_SCI_PROTOCOL=y
 CONFIG_DM_GPIO=y
 CONFIG_DA8XX_GPIO=y
+CONFIG_DM_I2C=y
+CONFIG_I2C_SET_DEFAULT_BUS_NUM=y
+CONFIG_SYS_I2C_OMAP24XX=y
 CONFIG_DM_MAILBOX=y
 CONFIG_K3_SEC_PROXY=y
 CONFIG_MISC=y