diff --git a/board/ti/am64x/Kconfig b/board/ti/am64x/Kconfig
index 7150dbb3b0..d4ec759d7f 100644
--- a/board/ti/am64x/Kconfig
+++ b/board/ti/am64x/Kconfig
@@ -12,6 +12,7 @@ config TARGET_AM642_A53_EVM
 	select SOC_K3_AM642
 	imply BOARD
 	imply SPL_BOARD
+	imply TI_I2C_BOARD_DETECT
 
 config TARGET_AM642_R5_EVM
 	bool "TI K3 based AM642 EVM running on R5"
@@ -38,6 +39,8 @@ config SYS_VENDOR
 config SYS_CONFIG_NAME
        default "am64x_evm"
 
+source "board/ti/common/Kconfig"
+
 endif
 
 if TARGET_AM642_R5_EVM
diff --git a/configs/am64x_evm_a53_defconfig b/configs/am64x_evm_a53_defconfig
index 43885827a5..ab87e98fff 100644
--- a/configs/am64x_evm_a53_defconfig
+++ b/configs/am64x_evm_a53_defconfig
@@ -23,6 +23,7 @@ CONFIG_DISTRO_DEFAULTS=y
 # CONFIG_SYS_MALLOC_CLEAR_ON_INIT is not set
 CONFIG_SPL_LOAD_FIT=y
 CONFIG_BOOTCOMMAND="run findfdt; run envboot; run init_${boot}; run get_kern_${boot}; run get_fdt_${boot}; run run_kern"
+CONFIG_BOARD_LATE_INIT=y
 CONFIG_SPL_SYS_MALLOC_SIMPLE=y
 CONFIG_SPL_STACK_R=y
 CONFIG_SPL_SEPARATE_BSS=y
@@ -35,6 +36,7 @@ CONFIG_SPL_RAM_DEVICE=y
 CONFIG_SPL_SPI_LOAD=y
 CONFIG_SPL_YMODEM_SUPPORT=y
 CONFIG_CMD_ASKENV=y
+CONFIG_CMD_I2C=y
 CONFIG_CMD_MMC=y
 CONFIG_CMD_TIME=y
 CONFIG_OF_CONTROL=y
@@ -57,6 +59,8 @@ 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_SYS_I2C_OMAP24XX=y
 CONFIG_DM_MAILBOX=y
 CONFIG_K3_SEC_PROXY=y
 CONFIG_DM_MMC=y