diff --git a/Makefile b/Makefile
index 55d910d7c5..d23ead0e16 100644
--- a/Makefile
+++ b/Makefile
@@ -226,6 +226,11 @@ CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG
 $(CONFIG_TARGETS_DEFAULT):
 	@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
 
+# Multi-processor boards: build all processor targets together
+# VOXL2 apps processor (default) depends on SLPI DSP being built first
+modalai_voxl2_default: modalai_voxl2_slpi
+modalai_voxl2: modalai_voxl2_slpi
+
 all_config_targets: $(ALL_CONFIG_TARGETS)
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
diff --git a/boards/modalai/voxl2/companion_targets b/boards/modalai/voxl2/companion_targets
new file mode 100644
index 0000000000..f637aaf1fa
--- /dev/null
+++ b/boards/modalai/voxl2/companion_targets
@@ -0,0 +1,3 @@
+# Companion processor targets - built automatically by the parent (default) target
+# These are excluded from CI target lists to avoid redundant builds
+modalai_voxl2_slpi