diff --git a/boards/sim/sim/sim/configs/rpproxy/defconfig b/boards/sim/sim/sim/configs/rpproxy/defconfig
index 98ca711c3ca..d678dbe0a66 100644
--- a/boards/sim/sim/sim/configs/rpproxy/defconfig
+++ b/boards/sim/sim/sim/configs/rpproxy/defconfig
@@ -5,7 +5,6 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_NET_ETHERNET is not set
 CONFIG_ARCH="sim"
 CONFIG_ARCH_BOARD="sim"
 CONFIG_ARCH_BOARD_SIM=y
@@ -13,13 +12,17 @@ CONFIG_ARCH_CHIP="sim"
 CONFIG_ARCH_SIM=y
 CONFIG_BOARDCTL_POWEROFF=y
 CONFIG_BUILTIN=y
+CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEV_SIMPLE_ADDRENV=y
 CONFIG_EXAMPLES_RPMSGSOCKET=y
 CONFIG_FS_HOSTFS=y
 CONFIG_FS_HOSTFS_RPMSG=y
 CONFIG_FS_PROCFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_HAVE_CXX=y
 CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIB_HOSTNAME="proxy"
 CONFIG_NET=y
 CONFIG_NETDB_DNSCLIENT=y
@@ -36,10 +39,14 @@ CONFIG_NET_USRSOCK=y
 CONFIG_NET_USRSOCK_OTHER=y
 CONFIG_NET_USRSOCK_TCP=y
 CONFIG_NET_USRSOCK_UDP=y
+CONFIG_NFILE_DESCRIPTORS=64
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_DISABLE_UNAME=y
 CONFIG_NSH_PROMPT_STRING="proxy> "
 CONFIG_NSH_READLINE=y
+CONFIG_NSH_ROMFSETC=y
 CONFIG_OPENAMP=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
@@ -49,8 +56,10 @@ CONFIG_SCHED_CHILD_STATUS=y
 CONFIG_SCHED_HAVE_PARENT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_WAITPID=y
+CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIM_M32=y
+CONFIG_STACK_COLORATION=y
 CONFIG_SYSLOG_PREFIX=y
 CONFIG_SYSLOG_PREFIX_STRING="proxy: "
 CONFIG_SYSLOG_RPMSG=y
@@ -59,6 +68,10 @@ CONFIG_SYSTEM_CLE=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGSTP=y
+CONFIG_TTY_SIGINT_CHAR=0x04
+CONFIG_UORB=y
+CONFIG_UORB_LISTENER=y
+CONFIG_UORB_RPMSG_COMMUNICATOR=y
+CONFIG_UORB_TESTS=y
 CONFIG_USERMAIN_STACKSIZE=4096
 CONFIG_USER_ENTRYPOINT="nsh_main"
diff --git a/boards/sim/sim/sim/configs/rpserver/defconfig b/boards/sim/sim/sim/configs/rpserver/defconfig
index 40760973189..ef66d275ce5 100644
--- a/boards/sim/sim/sim/configs/rpserver/defconfig
+++ b/boards/sim/sim/sim/configs/rpserver/defconfig
@@ -12,13 +12,17 @@ CONFIG_ARCH_CHIP="sim"
 CONFIG_ARCH_SIM=y
 CONFIG_BOARDCTL_POWEROFF=y
 CONFIG_BUILTIN=y
+CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEV_SIMPLE_ADDRENV=y
 CONFIG_EXAMPLES_RPMSGSOCKET=y
 CONFIG_FS_HOSTFS=y
 CONFIG_FS_HOSTFS_RPMSG_SERVER=y
 CONFIG_FS_PROCFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_HAVE_CXX=y
 CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIB_HOSTNAME="server"
 CONFIG_NET=y
 CONFIG_NETDB_DNSCLIENT=y
@@ -45,10 +49,14 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_BINDTODEVICE=y
 CONFIG_NET_UDP_WRITE_BUFFERS=y
+CONFIG_NFILE_DESCRIPTORS=64
 CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_DISABLE_UNAME=y
 CONFIG_NSH_PROMPT_STRING="server> "
 CONFIG_NSH_READLINE=y
+CONFIG_NSH_ROMFSETC=y
 CONFIG_OPENAMP=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
@@ -58,9 +66,16 @@ CONFIG_SCHED_CHILD_STATUS=y
 CONFIG_SCHED_HAVE_PARENT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_WAITPID=y
+CONFIG_SENSORS_WTGAHRS2=y
+CONFIG_SENSOR_MANAGER=y
+CONFIG_SIG_DEFAULT=y
 CONFIG_SIM_M32=y
 CONFIG_SIM_NET_BRIDGE=y
 CONFIG_SIM_RPTUN_MASTER=y
+CONFIG_SIM_UART0_NAME="/dev/ttySensor"
+CONFIG_SIM_UART_NUMBER=1
+CONFIG_SIM_WTGAHRS2_UARTN=0
+CONFIG_STACK_COLORATION=y
 CONFIG_SYSLOG_PREFIX=y
 CONFIG_SYSLOG_PREFIX_STRING="server: "
 CONFIG_SYSLOG_RPMSG_SERVER=y
@@ -70,7 +85,10 @@ CONFIG_SYSTEM_CUTERM=y
 CONFIG_SYSTEM_CUTERM_DEFAULT_DEVICE="/dev/ttyproxy"
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
+CONFIG_TESTING_SENSORTEST=y
 CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGSTP=y
+CONFIG_UORB_LISTENER=y
+CONFIG_UORB_RPMSG_COMMUNICATOR=y
+CONFIG_UORB_TESTS=y
 CONFIG_USERMAIN_STACKSIZE=4096
 CONFIG_USER_ENTRYPOINT="nsh_main"