diff --git a/boards/risc-v/esp32c3/common/src/esp_board_rmt.c b/boards/risc-v/esp32c3/common/src/esp_board_rmt.c
index aeb12505cdc..ed0cecc3521 100644
--- a/boards/risc-v/esp32c3/common/src/esp_board_rmt.c
+++ b/boards/risc-v/esp32c3/common/src/esp_board_rmt.c
@@ -31,7 +31,9 @@
 #include <stdio.h>
 
 #include <nuttx/kmalloc.h>
+#ifdef CONFIG_DRIVERS_RC
 #include "espressif/esp_lirc.h"
+#endif
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
 #include <nuttx/leds/ws2812.h>
 
@@ -96,12 +98,14 @@ int board_rmt_rxinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_rx_initialize(0, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_rx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
   return ret;
 }
@@ -135,12 +139,14 @@ int board_rmt_txinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_tx_initialize(1, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_tx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
   led = esp_ws2812_setup("/dev/leds0", rmt, CONFIG_WS2812_LED_COUNT, false);
diff --git a/boards/risc-v/esp32c6/common/src/esp_board_rmt.c b/boards/risc-v/esp32c6/common/src/esp_board_rmt.c
index a92a445c604..7be1f4ddc7b 100644
--- a/boards/risc-v/esp32c6/common/src/esp_board_rmt.c
+++ b/boards/risc-v/esp32c6/common/src/esp_board_rmt.c
@@ -31,7 +31,9 @@
 #include <stdio.h>
 
 #include <nuttx/kmalloc.h>
+#ifdef CONFIG_DRIVERS_RC
 #include "espressif/esp_lirc.h"
+#endif
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
 #include <nuttx/leds/ws2812.h>
 
@@ -96,12 +98,14 @@ int board_rmt_rxinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_rx_initialize(0, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_rx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
   return ret;
 }
@@ -135,12 +139,14 @@ int board_rmt_txinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_tx_initialize(1, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_tx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
   led = esp_ws2812_setup("/dev/leds0", rmt, CONFIG_WS2812_LED_COUNT, false);
diff --git a/boards/risc-v/esp32h2/common/src/esp_board_rmt.c b/boards/risc-v/esp32h2/common/src/esp_board_rmt.c
index 514fa6d5d17..a73489c381e 100644
--- a/boards/risc-v/esp32h2/common/src/esp_board_rmt.c
+++ b/boards/risc-v/esp32h2/common/src/esp_board_rmt.c
@@ -31,7 +31,9 @@
 #include <stdio.h>
 
 #include <nuttx/kmalloc.h>
+#ifdef CONFIG_DRIVERS_RC
 #include "espressif/esp_lirc.h"
+#endif
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
 #include <nuttx/leds/ws2812.h>
 
@@ -96,12 +98,14 @@ int board_rmt_rxinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_rx_initialize(0, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_rx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
   return ret;
 }
@@ -135,12 +139,14 @@ int board_rmt_txinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_tx_initialize(1, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_tx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
   led = esp_ws2812_setup("/dev/leds0", rmt, CONFIG_WS2812_LED_COUNT, false);
diff --git a/boards/risc-v/esp32p4/common/src/esp_board_rmt.c b/boards/risc-v/esp32p4/common/src/esp_board_rmt.c
index e432c914885..1e69828d874 100644
--- a/boards/risc-v/esp32p4/common/src/esp_board_rmt.c
+++ b/boards/risc-v/esp32p4/common/src/esp_board_rmt.c
@@ -31,7 +31,9 @@
 #include <stdio.h>
 
 #include <nuttx/kmalloc.h>
+#ifdef CONFIG_DRIVERS_RC
 #include "espressif/esp_lirc.h"
+#endif
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
 #include <nuttx/leds/ws2812.h>
 
@@ -96,12 +98,14 @@ int board_rmt_rxinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_rx_initialize(0, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_rx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
   return ret;
 }
@@ -135,12 +139,14 @@ int board_rmt_txinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_tx_initialize(1, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_tx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
   led = esp_ws2812_setup("/dev/leds0", rmt, CONFIG_WS2812_LED_COUNT, false);
diff --git a/boards/xtensa/esp32/common/src/esp32_board_rmt.c b/boards/xtensa/esp32/common/src/esp32_board_rmt.c
index 4e8c8864453..b4eb9172db3 100644
--- a/boards/xtensa/esp32/common/src/esp32_board_rmt.c
+++ b/boards/xtensa/esp32/common/src/esp32_board_rmt.c
@@ -33,7 +33,9 @@
 #include "xtensa.h"
 
 #include <nuttx/kmalloc.h>
+#ifdef CONFIG_DRIVERS_RC
 #include "espressif/esp_lirc.h"
+#endif
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
 #include <nuttx/leds/ws2812.h>
 
@@ -98,12 +100,14 @@ int board_rmt_rxinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_rx_initialize(0, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_rx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
   return ret;
 }
@@ -137,12 +141,14 @@ int board_rmt_txinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_tx_initialize(1, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_tx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
   led = esp_ws2812_setup("/dev/leds0", rmt,
diff --git a/boards/xtensa/esp32s2/common/src/esp32s2_board_rmt.c b/boards/xtensa/esp32s2/common/src/esp32s2_board_rmt.c
index 710af33ebde..6a4328d195f 100644
--- a/boards/xtensa/esp32s2/common/src/esp32s2_board_rmt.c
+++ b/boards/xtensa/esp32s2/common/src/esp32s2_board_rmt.c
@@ -33,7 +33,9 @@
 #include "xtensa.h"
 
 #include <nuttx/kmalloc.h>
+#ifdef CONFIG_DRIVERS_RC
 #include "espressif/esp_lirc.h"
+#endif
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
 #include <nuttx/leds/ws2812.h>
 
@@ -98,12 +100,14 @@ int board_rmt_rxinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_rx_initialize(0, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_rx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
   return ret;
 }
@@ -137,12 +141,14 @@ int board_rmt_txinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_tx_initialize(1, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_tx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
   led = esp_ws2812_setup("/dev/leds0", rmt, CONFIG_WS2812_LED_COUNT, false);
diff --git a/boards/xtensa/esp32s3/common/src/esp32s3_board_rmt.c b/boards/xtensa/esp32s3/common/src/esp32s3_board_rmt.c
index 3d96b8613d3..be1d8f2ca71 100644
--- a/boards/xtensa/esp32s3/common/src/esp32s3_board_rmt.c
+++ b/boards/xtensa/esp32s3/common/src/esp32s3_board_rmt.c
@@ -33,7 +33,9 @@
 #include "xtensa.h"
 
 #include <nuttx/kmalloc.h>
+#ifdef CONFIG_DRIVERS_RC
 #include "espressif/esp_lirc.h"
+#endif
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
 #include <nuttx/leds/ws2812.h>
 
@@ -98,12 +100,14 @@ int board_rmt_rxinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_rx_initialize(0, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_rx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
   return ret;
 }
@@ -137,12 +141,14 @@ int board_rmt_txinitialize(int pin)
       return -ENODEV;
     }
 
+#ifdef CONFIG_DRIVERS_RC
   ret = esp_lirc_tx_initialize(1, rmt);
   if (ret < 0)
     {
       rmterr("ERROR: esp_lirc_tx_initialize failed: %d\n", ret);
       return ret;
     }
+#endif
 
 #ifdef CONFIG_WS2812_NON_SPI_DRIVER
   led = esp_ws2812_setup("/dev/leds0", rmt, CONFIG_WS2812_LED_COUNT, false);