diff --git a/boards/arm/rp23xx/common/include/rp23xx_common_pico.h b/boards/arm/rp23xx/common/include/rp23xx_common_pico.h
new file mode 100644
index 00000000000..fb2bbd65551
--- /dev/null
+++ b/boards/arm/rp23xx/common/include/rp23xx_common_pico.h
@@ -0,0 +1,72 @@
+/****************************************************************************
+ * boards/arm/rp23xx/common/include/rp23xx_common_pico.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_ARM_RP23XX_COMMON_INCLUDE_RP23XX_COMMON_PICO_H
+#define __BOARDS_ARM_RP23XX_COMMON_INCLUDE_RP23XX_COMMON_PICO_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Inline Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: rp23xx_dev_gpio_init
+ ****************************************************************************/
+
+#ifdef CONFIG_DEV_GPIO
+int rp23xx_dev_gpio_init(void);
+#endif
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __BOARDS_ARM_RP23XX_COMMON_INCLUDE_RP23XX_COMMON_PICO_H */
diff --git a/boards/arm/rp23xx/common/src/rp23xx_common_bringup.c b/boards/arm/rp23xx/common/src/rp23xx_common_bringup.c
index 19b25c56855..46d1e4cdbed 100644
--- a/boards/arm/rp23xx/common/src/rp23xx_common_bringup.c
+++ b/boards/arm/rp23xx/common/src/rp23xx_common_bringup.c
@@ -33,7 +33,7 @@
 
 #include <arch/board/board.h>
 
-#include "rp23xx_pico.h"
+#include "rp23xx_common_pico.h"
 #include "rp23xx_common_bringup.h"
 
 #ifdef CONFIG_RP23XX_PWM
diff --git a/boards/arm/rp23xx/pimoroni-pico-2-plus/src/rp23xx_pico.h b/boards/arm/rp23xx/pimoroni-pico-2-plus/src/rp23xx_pico.h
index b70c38ae9e8..f98ba60fe6b 100644
--- a/boards/arm/rp23xx/pimoroni-pico-2-plus/src/rp23xx_pico.h
+++ b/boards/arm/rp23xx/pimoroni-pico-2-plus/src/rp23xx_pico.h
@@ -46,7 +46,7 @@
 
 int rp23xx_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp23xx_dev_gpio_init(void);
 #endif
 
diff --git a/boards/arm/rp23xx/raspberrypi-pico-2/src/rp23xx_pico.h b/boards/arm/rp23xx/raspberrypi-pico-2/src/rp23xx_pico.h
index 3235b211169..75dfcce8607 100644
--- a/boards/arm/rp23xx/raspberrypi-pico-2/src/rp23xx_pico.h
+++ b/boards/arm/rp23xx/raspberrypi-pico-2/src/rp23xx_pico.h
@@ -46,7 +46,7 @@
 
 int rp23xx_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp23xx_dev_gpio_init(void);
 #endif
 
diff --git a/boards/arm/rp23xx/xiao-rp2350/src/rp23xx_pico.h b/boards/arm/rp23xx/xiao-rp2350/src/rp23xx_pico.h
index 8d855617730..e26d42e460a 100644
--- a/boards/arm/rp23xx/xiao-rp2350/src/rp23xx_pico.h
+++ b/boards/arm/rp23xx/xiao-rp2350/src/rp23xx_pico.h
@@ -35,7 +35,7 @@
 
 int rp23xx_bringup(void);
 
-#ifdef CONFIG_DEV_GPIO
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_ARCH_BOARD_COMMON)
 int rp23xx_dev_gpio_init(void);
 #endif