diff --git a/boards/xtensa/esp32/common/include/esp32_board_i2c.h b/boards/xtensa/esp32/common/include/esp32_board_i2c.h
index 77eee87d621..781dc9dc41f 100644
--- a/boards/xtensa/esp32/common/include/esp32_board_i2c.h
+++ b/boards/xtensa/esp32/common/include/esp32_board_i2c.h
@@ -44,8 +44,6 @@ extern "C"
  * Public Function Prototypes
  ****************************************************************************/
 
-#ifdef CONFIG_I2C_DRIVER
-
 /****************************************************************************
  * Name: esp32_i2c_register
  *
@@ -60,8 +58,6 @@ extern "C"
 
 int esp32_i2c_register(int bus);
 
-#endif /* CONFIG_I2C_DRIVER */
-
 #undef EXTERN
 #if defined(__cplusplus)
 }
diff --git a/boards/xtensa/esp32/common/src/Make.defs b/boards/xtensa/esp32/common/src/Make.defs
index 94fefc1e1e9..af42351072e 100644
--- a/boards/xtensa/esp32/common/src/Make.defs
+++ b/boards/xtensa/esp32/common/src/Make.defs
@@ -34,7 +34,7 @@ ifeq ($(CONFIG_ONESHOT),y)
   CSRCS += esp32_oneshot.c
 endif
 
-ifeq ($(CONFIG_I2C_DRIVER),y)
+ifeq ($(CONFIG_ESP32_I2C),y)
   CSRCS += esp32_board_i2c.c
 endif
 
diff --git a/boards/xtensa/esp32/common/src/esp32_board_i2c.c b/boards/xtensa/esp32/common/src/esp32_board_i2c.c
index 3a8615a5aad..ca5d363018e 100644
--- a/boards/xtensa/esp32/common/src/esp32_board_i2c.c
+++ b/boards/xtensa/esp32/common/src/esp32_board_i2c.c
@@ -52,27 +52,25 @@
 int esp32_i2c_register(int bus)
 {
   struct i2c_master_s *i2c;
-  int ret;
+  int ret = OK;
 
   i2c = esp32_i2cbus_initialize(bus);
 
   if (i2c == NULL)
     {
      syslog(LOG_ERR, "ERROR: Failed to get I2C%d interface\n", bus);
+     ret = ERROR;
     }
-  else
+
+#ifdef CONFIG_I2C_DRIVER
+  ret = i2c_register(i2c, bus);
+  if (ret < 0)
     {
-      ret = i2c_register(i2c, bus);
-      if (ret < 0)
-        {
-          syslog(LOG_ERR, "ERROR: Failed to register I2C%d driver: %d\n",
-                 bus, ret);
-          esp32_i2cbus_uninitialize(i2c);
-        }
-
-      return ret;
+      syslog(LOG_ERR, "ERROR: Failed to register I2C%d driver: %d\n",
+             bus, ret);
+      esp32_i2cbus_uninitialize(i2c);
     }
+#endif
 
-  return -1;
+  return ret;
 }
-
diff --git a/boards/xtensa/esp32/esp32-audio-kit/configs/audio/defconfig b/boards/xtensa/esp32/esp32-audio-kit/configs/audio/defconfig
index 99bc7ebd535..09b92984a8c 100644
--- a/boards/xtensa/esp32/esp32-audio-kit/configs/audio/defconfig
+++ b/boards/xtensa/esp32/esp32-audio-kit/configs/audio/defconfig
@@ -60,7 +60,6 @@ CONFIG_EXAMPLES_I2SCHAR_TXSTACKSIZE=2048
 CONFIG_EXAMPLES_ROMFS=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_ROMFS=y
-CONFIG_I2C=y
 CONFIG_I2S_DMADESC_NUM=4
 CONFIG_IDLETHREAD_STACKSIZE=3072
 CONFIG_INIT_ENTRYPOINT="nsh_main"
diff --git a/boards/xtensa/esp32/esp32-audio-kit/src/esp32_bringup.c b/boards/xtensa/esp32/esp32-audio-kit/src/esp32_bringup.c
index 076d08c014a..de60a22ba44 100644
--- a/boards/xtensa/esp32/esp32-audio-kit/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/esp32-audio-kit/src/esp32_bringup.c
@@ -316,8 +316,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_I2C_DRIVER
-
 #ifdef CONFIG_ESP32_I2C0
   ret = esp32_i2c_register(0);
 
@@ -336,8 +334,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#endif
-
 #ifdef CONFIG_ESPRESSIF_I2S
 
 #ifdef CONFIG_ESPRESSIF_I2S0
diff --git a/boards/xtensa/esp32/esp32-devkitc/configs/i2c/defconfig b/boards/xtensa/esp32/esp32-devkitc/configs/i2c/defconfig
new file mode 100644
index 00000000000..7127a7ae58b
--- /dev/null
+++ b/boards/xtensa/esp32/esp32-devkitc/configs/i2c/defconfig
@@ -0,0 +1,48 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_ARCH_LEDS is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD="esp32-devkitc"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_ESP32_DEVKITC=y
+CONFIG_ARCH_CHIP="esp32"
+CONFIG_ARCH_CHIP_ESP32=y
+CONFIG_ARCH_CHIP_ESP32WROVER=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_ESP32_I2C0=y
+CONFIG_ESP32_UART0=y
+CONFIG_FS_PROCFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=3072
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3072
+CONFIG_INTELHEX_BINARY=y
+CONFIG_LINE_MAX=64
+CONFIG_MM_REGIONS=3
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_WAITPID=y
+CONFIG_START_DAY=28
+CONFIG_START_MONTH=6
+CONFIG_START_YEAR=2022
+CONFIG_SYSLOG_BUFFER=y
+CONFIG_SYSTEM_I2CTOOL=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_UART0_SERIAL_CONSOLE=y
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c b/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
index 1ba046fcab8..d54042e8b4e 100644
--- a/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
@@ -518,8 +518,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_I2C_DRIVER
-
 #ifdef CONFIG_ESP32_I2C0
   ret = esp32_i2c_register(0);
 
@@ -538,8 +536,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#endif
-
 #ifdef CONFIG_SENSORS_BMP180
   /* Try to register BMP180 device in I2C0 */
 
diff --git a/boards/xtensa/esp32/esp32-lyrat/configs/audio/defconfig b/boards/xtensa/esp32/esp32-lyrat/configs/audio/defconfig
index 7ad325f58a8..802721ee600 100644
--- a/boards/xtensa/esp32/esp32-lyrat/configs/audio/defconfig
+++ b/boards/xtensa/esp32/esp32-lyrat/configs/audio/defconfig
@@ -59,7 +59,6 @@ CONFIG_FS_PROCFS=y
 CONFIG_FS_ROMFS=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
 CONFIG_I2S_DMADESC_NUM=4
 CONFIG_IDLETHREAD_STACKSIZE=3072
 CONFIG_INIT_ENTRYPOINT="nsh_main"
diff --git a/boards/xtensa/esp32/esp32-lyrat/configs/nxrecorder/defconfig b/boards/xtensa/esp32/esp32-lyrat/configs/nxrecorder/defconfig
index cc890fb76d4..cd23636a9f4 100644
--- a/boards/xtensa/esp32/esp32-lyrat/configs/nxrecorder/defconfig
+++ b/boards/xtensa/esp32/esp32-lyrat/configs/nxrecorder/defconfig
@@ -54,7 +54,6 @@ CONFIG_FS_FAT=y
 CONFIG_FS_PROCFS=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
 CONFIG_I2S_DMADESC_NUM=4
 CONFIG_IDLETHREAD_STACKSIZE=3072
 CONFIG_INIT_ENTRYPOINT="nsh_main"
diff --git a/boards/xtensa/esp32/esp32-lyrat/configs/rtptools/defconfig b/boards/xtensa/esp32/esp32-lyrat/configs/rtptools/defconfig
index 824f1fd2ff8..953e1f3e484 100644
--- a/boards/xtensa/esp32/esp32-lyrat/configs/rtptools/defconfig
+++ b/boards/xtensa/esp32/esp32-lyrat/configs/rtptools/defconfig
@@ -63,7 +63,6 @@ CONFIG_FS_ROMFS=y
 CONFIG_FS_SPIFFS=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
 CONFIG_I2S_DMADESC_NUM=4
 CONFIG_IDLETHREAD_STACKSIZE=3072
 CONFIG_INIT_ENTRYPOINT="nsh_main"
diff --git a/boards/xtensa/esp32/esp32-lyrat/src/esp32_bringup.c b/boards/xtensa/esp32/esp32-lyrat/src/esp32_bringup.c
index 14090a48d28..1d2d1eea236 100644
--- a/boards/xtensa/esp32/esp32-lyrat/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/esp32-lyrat/src/esp32_bringup.c
@@ -317,8 +317,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_I2C_DRIVER
-
 #ifdef CONFIG_ESP32_I2C0
   ret = esp32_i2c_register(0);
 
@@ -337,8 +335,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#endif
-
 #ifdef CONFIG_ESPRESSIF_I2S
 
 #ifdef CONFIG_ESPRESSIF_I2S0
diff --git a/boards/xtensa/esp32/esp32-pico-kit/src/esp32_bringup.c b/boards/xtensa/esp32/esp32-pico-kit/src/esp32_bringup.c
index cc6a3e6c896..0741b6bd288 100644
--- a/boards/xtensa/esp32/esp32-pico-kit/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/esp32-pico-kit/src/esp32_bringup.c
@@ -334,8 +334,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_I2C_DRIVER
-
 #ifdef CONFIG_ESP32_I2C0
   ret = esp32_i2c_register(0);
 
@@ -354,8 +352,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#endif
-
 #ifdef CONFIG_ESPRESSIF_I2S
 
 #if defined(CONFIG_ESPRESSIF_I2S0) && || defined(CONFIG_ESPRESSIF_I2S1)
diff --git a/boards/xtensa/esp32/esp32-sparrow-kit/src/esp32_bringup.c b/boards/xtensa/esp32/esp32-sparrow-kit/src/esp32_bringup.c
index 318f9208ac8..173e4f97511 100644
--- a/boards/xtensa/esp32/esp32-sparrow-kit/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/esp32-sparrow-kit/src/esp32_bringup.c
@@ -328,8 +328,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_I2C_DRIVER
-
 #ifdef CONFIG_ESP32_I2C0
   ret = esp32_i2c_register(0);
 
@@ -348,8 +346,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#endif
-
 #ifdef CONFIG_ESPRESSIF_I2S
 
 #ifdef CONFIG_ESPRESSIF_I2S0
diff --git a/boards/xtensa/esp32/esp32-wrover-kit/configs/lcd1602/defconfig b/boards/xtensa/esp32/esp32-wrover-kit/configs/lcd1602/defconfig
index e41ccf40a1d..be605254d9c 100644
--- a/boards/xtensa/esp32/esp32-wrover-kit/configs/lcd1602/defconfig
+++ b/boards/xtensa/esp32/esp32-wrover-kit/configs/lcd1602/defconfig
@@ -25,7 +25,6 @@ CONFIG_EXAMPLES_SLCD=y
 CONFIG_FS_PROCFS=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
 CONFIG_IDLETHREAD_STACKSIZE=3072
 CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_INIT_STACKSIZE=3072
diff --git a/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_bringup.c b/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_bringup.c
index e285ed5af9b..53ff941e2aa 100644
--- a/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_bringup.c
@@ -316,8 +316,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_I2C_DRIVER
-
 #ifdef CONFIG_ESP32_I2C0
   ret = esp32_i2c_register(0);
 
@@ -336,8 +334,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#endif
-
 #ifdef CONFIG_SENSORS_BMP180
   /* Try to register BMP180 device in I2C0 */
 
diff --git a/boards/xtensa/esp32/lilygo_tbeam_lora_gps/src/esp32_bringup.c b/boards/xtensa/esp32/lilygo_tbeam_lora_gps/src/esp32_bringup.c
index 8309cee1c44..44393e5b65a 100644
--- a/boards/xtensa/esp32/lilygo_tbeam_lora_gps/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/lilygo_tbeam_lora_gps/src/esp32_bringup.c
@@ -333,8 +333,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_I2C_DRIVER
-
 #ifdef CONFIG_ESP32_I2C0
   ret = esp32_i2c_register(0);
 
@@ -355,8 +353,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#endif
-
 #ifdef CONFIG_SENSORS_BMP180
   /* Try to register BMP180 device in I2C0 */
 
diff --git a/boards/xtensa/esp32/ttgo_eink5_v2/src/esp32_bringup.c b/boards/xtensa/esp32/ttgo_eink5_v2/src/esp32_bringup.c
index 98400f1cb78..8b23e705c2d 100644
--- a/boards/xtensa/esp32/ttgo_eink5_v2/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/ttgo_eink5_v2/src/esp32_bringup.c
@@ -419,8 +419,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_I2C_DRIVER
-
 #ifdef CONFIG_ESP32_I2C0
   ret = esp32_i2c_register(0);
 
@@ -439,8 +437,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#endif
-
 #ifdef CONFIG_SENSORS_BMP180
   /* Try to register BMP180 device in I2C0 */
 
diff --git a/boards/xtensa/esp32/ttgo_lora_esp32/src/esp32_bringup.c b/boards/xtensa/esp32/ttgo_lora_esp32/src/esp32_bringup.c
index 34509662c32..e841b9bd9b5 100644
--- a/boards/xtensa/esp32/ttgo_lora_esp32/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/ttgo_lora_esp32/src/esp32_bringup.c
@@ -333,8 +333,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_I2C_DRIVER
-
 #ifdef CONFIG_ESP32_I2C0
   ret = esp32_i2c_register(0);
 
@@ -355,8 +353,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#endif
-
 #ifdef CONFIG_SENSORS_BMP180
   /* Try to register BMP180 device in I2C0 */
 
diff --git a/boards/xtensa/esp32/ttgo_t_display_esp32/src/esp32_bringup.c b/boards/xtensa/esp32/ttgo_t_display_esp32/src/esp32_bringup.c
index ac5c314793f..66d6a2a7168 100644
--- a/boards/xtensa/esp32/ttgo_t_display_esp32/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/ttgo_t_display_esp32/src/esp32_bringup.c
@@ -422,8 +422,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#ifdef CONFIG_I2C_DRIVER
-
 #ifdef CONFIG_ESP32_I2C0
   ret = esp32_i2c_register(0);
 
@@ -442,8 +440,6 @@ int esp32_bringup(void)
     }
 #endif
 
-#endif
-
 #ifdef CONFIG_SENSORS_BMP180
   /* Try to register BMP180 device in I2C0 */