diff --git a/arch/arm/dts/k3-j721s2-r5-common-proc-board.dts b/arch/arm/dts/k3-j721s2-r5-common-proc-board.dts
index 506ad9b7910..09afdf3954a 100644
--- a/arch/arm/dts/k3-j721s2-r5-common-proc-board.dts
+++ b/arch/arm/dts/k3-j721s2-r5-common-proc-board.dts
@@ -13,6 +13,10 @@
 
 &tps659411 {
 	bootph-pre-ram;
+	esm: esm {
+		compatible = "ti,tps659413-esm";
+		bootph-pre-ram;
+	};
 };
 
 &wkup_vtm0 {
diff --git a/board/ti/j721s2/evm.c b/board/ti/j721s2/evm.c
index 2cfeb3bec6c..9bcf67b7bfb 100644
--- a/board/ti/j721s2/evm.c
+++ b/board/ti/j721s2/evm.c
@@ -326,4 +326,27 @@ int board_late_init(void)
 
 void spl_board_init(void)
 {
+	struct udevice *dev;
+	int ret;
+
+	if (IS_ENABLED(CONFIG_ESM_K3)) {
+		const char * const esms[] = {"esm@700000", "esm@40800000", "esm@42080000"};
+
+		for (int i = 0; i < ARRAY_SIZE(esms); ++i) {
+			ret = uclass_get_device_by_name(UCLASS_MISC, esms[i],
+							&dev);
+			if (ret) {
+				printf("MISC init for %s failed: %d\n", esms[i], ret);
+				break;
+			}
+		}
+	}
+
+	if (IS_ENABLED(CONFIG_ESM_PMIC) && ret == 0) {
+		ret = uclass_get_device_by_driver(UCLASS_MISC,
+						  DM_DRIVER_GET(pmic_esm),
+						  &dev);
+		if (ret)
+			printf("ESM PMIC init failed: %d\n", ret);
+	}
 }
diff --git a/configs/am68_sk_r5_defconfig b/configs/am68_sk_r5_defconfig
index 81fa58743da..097bed62061 100644
--- a/configs/am68_sk_r5_defconfig
+++ b/configs/am68_sk_r5_defconfig
@@ -5,6 +5,9 @@ CONFIG_ARCH_K3=y
 CONFIG_SOC_K3_J721S2=y
 CONFIG_TARGET_J721S2_R5_EVM=y
 
+CONFIG_ESM_K3=n
+CONFIG_K3_AVS0=n
+CONFIG_ESM_PMIC=n
 CONFIG_DM_REGULATOR_TPS65941=n
 CONFIG_PMIC_TPS65941=n
 
diff --git a/configs/j721s2_evm_r5_defconfig b/configs/j721s2_evm_r5_defconfig
index f4441d6667e..23ae991e2f6 100644
--- a/configs/j721s2_evm_r5_defconfig
+++ b/configs/j721s2_evm_r5_defconfig
@@ -111,7 +111,9 @@ CONFIG_DM_MAILBOX=y
 CONFIG_K3_SEC_PROXY=y
 CONFIG_FS_LOADER=y
 CONFIG_SPL_FS_LOADER=y
+CONFIG_ESM_K3=y
 CONFIG_K3_AVS0=y
+CONFIG_ESM_PMIC=y
 CONFIG_SUPPORT_EMMC_BOOT=y
 CONFIG_SPL_MMC_HS400_SUPPORT=y
 CONFIG_MMC_SDHCI=y