diff --git a/drivers/Kconfig b/drivers/Kconfig
index e4f74d5f39d8..ef22b40327d8 100644
--- a/drivers/Kconfig
+++ b/drivers/Kconfig
@@ -14,6 +14,7 @@ rsource "saul/Kconfig"
 menu "Actuator Device Drivers"
 rsource "aip31068/Kconfig"
 rsource "apa102/Kconfig"
+rsource "dac_dds/Kconfig"
 rsource "dfplayer/Kconfig"
 rsource "dynamixel/Kconfig"
 rsource "feetech/Kconfig"
@@ -37,6 +38,7 @@ menu "Miscellaneous Device Drivers"
 rsource "at/Kconfig"
 rsource "at24mac/Kconfig"
 rsource "bq2429x/Kconfig"
+rsource "cst816s/Kconfig"
 rsource "ds1307/Kconfig"
 rsource "ds3231/Kconfig"
 rsource "ds3234/Kconfig"
diff --git a/drivers/adcxx1c/Kconfig b/drivers/adcxx1c/Kconfig
index b2dd595fb5e0..deea57db747c 100644
--- a/drivers/adcxx1c/Kconfig
+++ b/drivers/adcxx1c/Kconfig
@@ -28,37 +28,34 @@ choice ADCXX1C_VARIANT
 
 config MODULE_ADC081C
     bool "ADC081C"
-    select MODULE_ADCXX1C
 
 config MODULE_ADC101C
     bool "ADC101C"
-    select MODULE_ADCXX1C
 
 config MODULE_ADC121C
     bool "ADC121C"
-    select MODULE_ADCXX1C
 
 endchoice
 
-select HAVE_ADCXX1C
+config HAVE_ADCXX1C
     bool
     help
         Indicates that ADCXX1C Analog-to-Digital is present.
 
-select HAVE_ADC081C
+config HAVE_ADC081C
     bool
     select HAVE_ADCXX1C
     help
         Indicates that ADC081C Analog-to-Digital is present.
 
-select HAVE_ADC101C
+config HAVE_ADC101C
     bool
     select HAVE_ADCXX1C
     help
         Indicates that ADC101C Analog-to-Digital is present.
 
-select HAVE_ADC121C
+config HAVE_ADC121C
     bool
     select HAVE_ADCXX1C
     help
-        Indicates that ADC121C Analog-to-Digital is present.
\ No newline at end of file
+        Indicates that ADC121C Analog-to-Digital is present.
diff --git a/drivers/at25xxx/Kconfig b/drivers/at25xxx/Kconfig
index bdda9e9e25c7..ada549c6b6b2 100644
--- a/drivers/at25xxx/Kconfig
+++ b/drivers/at25xxx/Kconfig
@@ -15,3 +15,8 @@ config MODULE_AT25XXX
     help
         This driver also supports M95xxx, 25AAxxx, 25LCxxx, CAT25xxx & BR25Sxxx
         families.
+
+config HAVE_APA102
+    bool
+    help
+        Indicates that the AT25xxx SPI-EEPROM RGB LED is present.
diff --git a/drivers/at30tse75x/Kconfig b/drivers/at30tse75x/Kconfig
index ab2a725cbc06..20d7b795c6bd 100644
--- a/drivers/at30tse75x/Kconfig
+++ b/drivers/at30tse75x/Kconfig
@@ -5,13 +5,8 @@
 # directory for more details.
 #
 
-comment "AT30TSE75X temperature sensor select by default for the current platform"
-    depends on MODULE_AT30TSE75X && MODULE_SAUL_DEFAULT && HAVE_AT30TSE75X
-
 config MODULE_AT30TSE75X
-    bool
-    prompt "AT30TSE75X temperature sensor" if !(MODULE_SAUL_DEFAULT && HAVE_AT30TSE75X)
-    default (MODULE_SAUL_DEFAULT && HAVE_AT30TSE75X)
+    bool "AT30TSE75X temperature sensor"
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
@@ -22,5 +17,6 @@ config MODULE_AT30TSE75X
 
 config HAVE_AT30TSE75X
     bool
+    select MODULE_AT30TSE75X if MODULE_SAUL_DEFAULT
     help
         Indicates that a AT30TSE75x sensor is present on the board.
diff --git a/drivers/bh1750fvi/Kconfig b/drivers/bh1750fvi/Kconfig
index 7b07db8e52ba..e0f83ff9c292 100644
--- a/drivers/bh1750fvi/Kconfig
+++ b/drivers/bh1750fvi/Kconfig
@@ -11,3 +11,8 @@ config MODULE_BH1750FVI
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
+
+config HAVE_BH1750FVI
+    bool
+    help
+        Indicates that the BH1750FVI ambient light sensor is present.
diff --git a/drivers/bh1900nux/Kconfig b/drivers/bh1900nux/Kconfig
index 367b5ed1e132..9f45138e06a0 100644
--- a/drivers/bh1900nux/Kconfig
+++ b/drivers/bh1900nux/Kconfig
@@ -10,3 +10,8 @@ config MODULE_BH1900NUX
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
+
+config HAVE_BH1900NUX
+    bool
+    help
+        Indicates that the BH1900NUX temperature sensor is present.
diff --git a/drivers/bme680/Kconfig b/drivers/bme680/Kconfig
index 623c1ee8bc22..0bddba4ef158 100644
--- a/drivers/bme680/Kconfig
+++ b/drivers/bme680/Kconfig
@@ -6,7 +6,9 @@
 #
 
 menuconfig MODULE_BME680
-    bool "BME680 Temperature/Humidity/Pressure/Gas sensor"
+    bool
+    prompt "BME680 Temperature/Humidity/Pressure/Gas sensor" if !(MODULE_SAUL_DEFAULT && HAVE_BME680)
+    default (MODULE_SAUL_DEFAULT && HAVE_BME680)
     depends on TEST_KCONFIG
     select PACKAGE_DRIVER_BME680
     select MODULE_ZTIMER if MODULE_SAUL
@@ -14,8 +16,10 @@ menuconfig MODULE_BME680
 
 if MODULE_BME680
 
-choice
+choice BME680_VARIANT
     bool "Device interface"
+    default MODULE_BME680_I2C if HAVE_BME680_I2C
+    default MODULE_BME680_SPI if HAVE_BME680_SPI
     help
         The device can be connected via different buses, select one.
 
@@ -37,3 +41,20 @@ config MODULE_BME680_FP
     bool "Enable floating point"
 
 endif # MODULE_BME680
+
+config HAVE_BME680
+    bool
+    help
+        Indicates that the BME680 Temperature/Humidity/Pressure/Gas sensor is present.
+
+config HAVE_BME680_I2C
+    bool
+    select HAVE_BME680
+    help
+        Indicates that the BME680 Temperature/Humidity/Pressure/Gas sensor is connected with i2c.
+
+config HAVE_BME680_SPI
+    bool
+    select HAVE_BME680
+    help
+        Indicates that the BME680 Temperature/Humidity/Pressure/Gas sensor is connected with spi.
diff --git a/drivers/bmx055/Kconfig b/drivers/bmx055/Kconfig
index 8438ea70bd6f..d8d05c38891f 100644
--- a/drivers/bmx055/Kconfig
+++ b/drivers/bmx055/Kconfig
@@ -11,7 +11,6 @@ config MODULE_BMX055
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
-    default y if HAVE_BMX055 && MODULE_SAUL_DEFAULT
 
 menuconfig KCONFIG_USEMODULE_BMX055
     bool "Configure BMX055 driver"
diff --git a/drivers/bmx280/Kconfig b/drivers/bmx280/Kconfig
index 9db3ead4d859..84a842e63bbf 100644
--- a/drivers/bmx280/Kconfig
+++ b/drivers/bmx280/Kconfig
@@ -5,7 +5,6 @@
 # directory for more details.
 #
 
-
 menuconfig MODULE_BMX280
     bool
     prompt "BMx280 Temperature, pressure and humidity sensors" if !(MODULE_SAUL_DEFAULT && HAVE_BMX280)
@@ -52,6 +51,11 @@ endchoice
 
 endif # MODULE_BMX280
 
+config HAVE_BMX280
+    bool
+    help
+        Indicates that a bmx280 sensor is present.
+
 config HAVE_BME280_I2C
     bool
     select HAVE_BMX280
@@ -75,9 +79,3 @@ config HAVE_BMP280_SPI
     select HAVE_BMX280
     help
       Indicates that a bmp280 sensor on the SPI bus is present.
-
-config HAVE_BMX280
-    bool
-    select MODULE_BMX280 if MODULE_SAUL_DEFAULT
-    help
-        Indicates that a bmx280 sensor is present.
diff --git a/drivers/bq2429x/Kconfig b/drivers/bq2429x/Kconfig
index c56b2ddead38..ac103f925a78 100644
--- a/drivers/bq2429x/Kconfig
+++ b/drivers/bq2429x/Kconfig
@@ -12,7 +12,6 @@ menuconfig MODULE_BQ2429X
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
     select MODULE_PERIPH_GPIO
-    default y if HAVE_BQ2429X
     help
         The driver can be used with Texas Instruments USB charger ICs: BQ24295,
         BQ24296, BQ24297, BQ24298, BQ24292I, BQ24296M.
@@ -33,6 +32,7 @@ config HAVE_BQ2429X
 
 config HAVE_BQ2429X_INT
     bool
+    select HAVE_BQ2429X
     help
         Indicates that a BQ2429x charger and power management IC is present,
         with interrupt functionality (the INT pin is connected).
diff --git a/drivers/ccs811/Kconfig b/drivers/ccs811/Kconfig
index 872c5f1f910c..0a6fecb79f8f 100644
--- a/drivers/ccs811/Kconfig
+++ b/drivers/ccs811/Kconfig
@@ -6,7 +6,9 @@
 #
 
 menuconfig MODULE_CCS811
-    bool "CCS811 digital gas sensor"
+    bool
+    prompt "CCS811 digital gas sensor" if !(MODULE_SAUL_DEFAULT && HAVE_CCS811)
+    default (MODULE_SAUL_DEFAULT && HAVE_CCS811)
     depends on HAS_PERIPH_GPIO
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
@@ -31,6 +33,5 @@ config MODULE_CCS811_FULL
 
 config HAVE_CCS811
     bool
-    select MODULE_CCS811 if MODULE_SAUL_DEFAULT
     help
         Indicates that a ccs811 sensor is present.
diff --git a/drivers/cst816s/Kconfig b/drivers/cst816s/Kconfig
new file mode 100644
index 000000000000..63de11b00516
--- /dev/null
+++ b/drivers/cst816s/Kconfig
@@ -0,0 +1,20 @@
+# Copyright (c) 2020 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+config MODULE_CST816S
+    bool "cst816s touch screen"
+    depends on HAS_PERIPH_GPIO_IRQ
+    depends on HAS_PERIPH_I2C
+    depends on TEST_KCONFIG
+    select MODULE_PERIPH_GPIO_IRQ
+    select MODULE_PERIPH_I2C
+    select MODULE_XTIMER
+
+config HAVE_CST816S
+    bool
+    help
+        Indicates that a cst816s touch screen is present.
diff --git a/drivers/dac_dds/Kconfig b/drivers/dac_dds/Kconfig
new file mode 100644
index 000000000000..189c2e6f41cb
--- /dev/null
+++ b/drivers/dac_dds/Kconfig
@@ -0,0 +1,14 @@
+# Copyright (c) 2022 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+config MODULE_DAC_DDS
+    bool "Common DAC function fallback implementations"
+    depends on HAS_PERIPH_DAC
+    depends on HAS_PERIPH_TIMER_PERIODIC
+    depends on TEST_KCONFIG
+    select MODULE_PERIPH_DAC
+    select MODULE_PERIPH_TIMER_PERIODIC
diff --git a/drivers/dcf77/Kconfig b/drivers/dcf77/Kconfig
index ab05a614ff72..e78b362a34dd 100644
--- a/drivers/dcf77/Kconfig
+++ b/drivers/dcf77/Kconfig
@@ -13,3 +13,8 @@ config MODULE_DCF77
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_GPIO_IRQ
     select MODULE_XTIMER
+
+config HAVE_DCF77
+    bool
+    help
+        Indicates that a dcf77 long wave receiver is present.
diff --git a/drivers/dfplayer/Kconfig b/drivers/dfplayer/Kconfig
index a59d6342d460..d70694fa49c0 100644
--- a/drivers/dfplayer/Kconfig
+++ b/drivers/dfplayer/Kconfig
@@ -27,3 +27,8 @@ config DFPLAYER_NO_STRERROR
     help
         Say y to print error codes as numbers when using the shell, instead of the corresponding
         standard error string.
+
+config HAVE_DFPLAYER
+    bool
+    help
+        Indicates that a DFPlayer Mini MP3 Player is present.
diff --git a/drivers/dht/Kconfig b/drivers/dht/Kconfig
index e46efbf8bb85..a21f124720d9 100644
--- a/drivers/dht/Kconfig
+++ b/drivers/dht/Kconfig
@@ -11,3 +11,9 @@ config MODULE_DHT
     depends on TEST_KCONFIG
     select MODULE_PERIPH_GPIO
     select MODULE_XTIMER
+
+config HAVE_DHT
+    bool
+    select MODULE_DHT if MODULE_SAUL_DEFAULT
+    help
+        Indicates that a DHT Humidity and Temperature Sensor is present.
diff --git a/drivers/ds1307/Kconfig b/drivers/ds1307/Kconfig
index b3706623b604..59ea0fc8a29e 100644
--- a/drivers/ds1307/Kconfig
+++ b/drivers/ds1307/Kconfig
@@ -10,3 +10,8 @@ config MODULE_DS1307
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
+
+config HAVE_DS1307
+    bool
+    help
+        Indicates that a DS1307 real-time clock is present.
diff --git a/drivers/ds18/Kconfig b/drivers/ds18/Kconfig
index 93c7ff824a49..2c94f31bb6a0 100644
--- a/drivers/ds18/Kconfig
+++ b/drivers/ds18/Kconfig
@@ -6,7 +6,9 @@
 #
 
 menuconfig MODULE_DS18
-    bool "DS18 temperature sensors"
+    bool
+    prompt "DS18 temperature sensors" if !(MODULE_SAUL_DEFAULT && HAVE_DS18)
+    default (MODULE_SAUL_DEFAULT && HAVE_DS18)
     depends on HAS_PERIPH_GPIO
     depends on TEST_KCONFIG
     select MODULE_PERIPH_GPIO
@@ -18,3 +20,8 @@ config MODULE_DS18_OPTIMIZED
     help
         Say y to use the optimized mode if the board can handle ~3us resolution
         with the xtimer.
+
+config HAVE_DS18
+    bool
+    help
+        Indicates that a DS18 temperature sensor is present.
diff --git a/drivers/ds3231/Kconfig b/drivers/ds3231/Kconfig
index 5d84ef7b62bb..5526ab0885fd 100644
--- a/drivers/ds3231/Kconfig
+++ b/drivers/ds3231/Kconfig
@@ -10,3 +10,8 @@ config MODULE_DS3231
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
+
+config HAVE_DS3231
+    bool
+    help
+        Indicates that a DS3231 real-time clock is present.
diff --git a/drivers/ds3234/Kconfig b/drivers/ds3234/Kconfig
index 5e8b32f1be59..554378c3c561 100644
--- a/drivers/ds3234/Kconfig
+++ b/drivers/ds3234/Kconfig
@@ -10,3 +10,8 @@ config MODULE_DS3234
     depends on HAS_PERIPH_SPI
     depends on TEST_KCONFIG
     select MODULE_PERIPH_SPI
+
+config HAVE_DS3234
+    bool
+    help
+        Indicates that a DS3234 real-time clock is present.
diff --git a/drivers/ds75lx/Kconfig b/drivers/ds75lx/Kconfig
index 088e38c00b0b..fd9787aa54b4 100644
--- a/drivers/ds75lx/Kconfig
+++ b/drivers/ds75lx/Kconfig
@@ -11,3 +11,9 @@ config MODULE_DS75LX
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
+
+config HAVE_DS75LX
+    bool
+    select MODULE_DS75LX if MODULE_SAUL_DEFAULT
+    help
+        Indicates that a DS75LX temperature sensor is present.
diff --git a/drivers/dsp0401/Kconfig b/drivers/dsp0401/Kconfig
index 00e612c225bf..39029a2ed723 100644
--- a/drivers/dsp0401/Kconfig
+++ b/drivers/dsp0401/Kconfig
@@ -14,3 +14,8 @@ config MODULE_DSP0401
     select MODULE_PERIPH_PWM
     select MODULE_ZTIMER
     select ZTIMER_USEC
+
+config HAVE_DSP0401
+    bool
+    help
+        Indicates that a DSP0401 alphanumeric display clock is present.
diff --git a/drivers/edbg_eui/Kconfig b/drivers/edbg_eui/Kconfig
index aa6df05a9f8d..53b8798e4415 100644
--- a/drivers/edbg_eui/Kconfig
+++ b/drivers/edbg_eui/Kconfig
@@ -10,12 +10,12 @@ config MODULE_EDBG_EUI
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
-    default y if MODULE_EUI_PROVIDER && HAVE_EDBG_EUI
     help
         Driver for getting a unique ID from the Atmel Embedded Debugger.
 
 config HAVE_EDBG_EUI
     bool
+    select MODULE_EDBG_EUI if MODULE_EUI_PROVIDER
     help
         Indicates that the Atmel Embedded Debugeger EUI is available on the
         platform.
diff --git a/drivers/gp2y10xx/Kconfig b/drivers/gp2y10xx/Kconfig
index 8e63163e27ca..d52eed2b47dc 100644
--- a/drivers/gp2y10xx/Kconfig
+++ b/drivers/gp2y10xx/Kconfig
@@ -14,6 +14,12 @@ config MODULE_GP2Y10XX
     select MODULE_PERIPH_ADC
     select MODULE_XTIMER
 
+config HAVE_GP2Y10XX
+    bool
+    select MODULE_GP2Y10XX if MODULE_SAUL_DEFAULT
+    help
+        Indicates that a GP2Y10xx Optical Dust Sensor is present.
+
 menuconfig KCONFIG_USEMODULE_GP2Y10XX
     bool "Configure GP2Y10xx driver"
     depends on USEMODULE_GP2Y10XX
diff --git a/drivers/grove_ledbar/Kconfig b/drivers/grove_ledbar/Kconfig
index b64facab67e0..e1f38009ba3e 100644
--- a/drivers/grove_ledbar/Kconfig
+++ b/drivers/grove_ledbar/Kconfig
@@ -9,3 +9,9 @@ config MODULE_GROVE_LEDBAR
     bool "Grove ledbar"
     depends on MODULE_MY9221
     depends on TEST_KCONFIG
+
+config HAVE_GROVE_LEDBAR
+    bool
+    select MODULE_GROVE_LEDBAR if MODULE_SAUL_DEFAULT
+    help
+        Indicates that a Grove ledbar is present.
diff --git a/drivers/hd44780/Kconfig b/drivers/hd44780/Kconfig
index 4873610e9772..9612cf3ffc17 100644
--- a/drivers/hd44780/Kconfig
+++ b/drivers/hd44780/Kconfig
@@ -13,3 +13,8 @@ config MODULE_HD44780
     select MODULE_XTIMER
     help
         The display is also known as LCM1602C from Arduino kits.
+
+config HAVE_HD44780
+    bool
+    help
+        Indicates that a HD44780 LCD is present.
diff --git a/drivers/hih6130/Kconfig b/drivers/hih6130/Kconfig
index 989bbb4599f5..db3ee79a6699 100644
--- a/drivers/hih6130/Kconfig
+++ b/drivers/hih6130/Kconfig
@@ -14,3 +14,8 @@ config MODULE_HIH6130
     help
         Device driver for Honeywell HumidIcon Digital Humidity/Temperature
         Sensors: HIH-6130/6131 Series.
+
+config HAVE_HIH6130
+    bool
+    help
+        Indicates that a HIH6130 humidity and temperature sensor is present.
diff --git a/drivers/hmc5883l/Kconfig b/drivers/hmc5883l/Kconfig
index e21791afe664..b1546a1fd8e5 100644
--- a/drivers/hmc5883l/Kconfig
+++ b/drivers/hmc5883l/Kconfig
@@ -6,7 +6,9 @@
 #
 
 menuconfig MODULE_HMC5883L
-    bool "HMC5883L 3-axis digital compass"
+    bool
+    prompt "HMC5883L 3-axis digital compass" if !(MODULE_SAUL_DEFAULT && HAVE_HMC5883L)
+    default (MODULE_SAUL_DEFAULT && HAVE_HMC5883L)
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
@@ -18,5 +20,18 @@ config MODULE_HMC5883L_INT
     depends on HAS_PERIPH_GPIO_IRQ
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_GPIO_IRQ
+    default y if HAVE_HMC5883L_INT
     help
         Allows to configure an interrupt pin to get an event on data ready.
+
+config HAVE_HMC5883L
+    bool
+    help
+        Indicates that a HMC5883L 3-axis digital compass is present.
+
+config HAVE_HMC5883L_INT
+    bool
+    select HAVE_HMC5883L
+    help
+        Indicates that a HMC5883L 3-axis digital compass is present with
+        data-ready interrupt pin connected.
diff --git a/drivers/hsc/Kconfig b/drivers/hsc/Kconfig
index 59919e9a40b2..46f646f8feba 100644
--- a/drivers/hsc/Kconfig
+++ b/drivers/hsc/Kconfig
@@ -14,6 +14,12 @@ config MODULE_HSC
         This driver supports the Honeywell HSC series pressure and temperature
         sensors that use an I2C interface.
 
+config HAVE_HSC
+    bool
+    select MODULE_HSC if MODULE_SAUL_DEFAULT
+    help
+        Indicates that a HSC series pressure and temperature sensor is present.
+
 menuconfig KCONFIG_USEMODULE_HSC
     bool "Configure HSC pressure and temperature sensor driver"
     depends on USEMODULE_HSC
diff --git a/drivers/ina2xx/Kconfig b/drivers/ina2xx/Kconfig
index 1b57d81ee215..e0229b8443e8 100644
--- a/drivers/ina2xx/Kconfig
+++ b/drivers/ina2xx/Kconfig
@@ -5,25 +5,44 @@
 # directory for more details.
 #
 
-choice
-    bool "INA2XX current/power monitor"
-    optional
+menuconfig MODULE_INA2XX
+    bool
+    prompt "INA2XX current/power monitor" if !(MODULE_SAUL_DEFAULT && HAVE_INA2XX)
+    default (MODULE_SAUL_DEFAULT && HAVE_INA2XX)
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
+    select MODULE_PERIPH_I2C
+
+choice INA2XX_VARIANT
+    bool "Variant"
+    depends on MODULE_INA2XX
+    default MODULE_INA219 if HAVE_INA219
+    default MODULE_INA220 if HAVE_INA220
     help
         Select one of the supported models.
 
 config MODULE_INA219
     bool "INA219"
-    select MODULE_INA2XX
 
 config MODULE_INA220
     bool "INA220"
-    select MODULE_INA2XX
 
 endchoice
 
-config MODULE_INA2XX
+config HAVE_INA2XX
     bool
-    depends on HAS_PERIPH_I2C
-    select MODULE_PERIPH_I2C
+    help
+        Indicates that a INA2XX current/power monitor is present.
+
+config HAVE_INA219
+    bool
+    select HAVE_INA2XX
+    help
+        Indicates that a INA219 current/power monitor is present.
+
+config HAVE_INA220
+    bool
+    select HAVE_INA2XX
+    help
+        Indicates that a INA220 current/power monitor is present.
+
diff --git a/drivers/ina3221/Kconfig b/drivers/ina3221/Kconfig
index 273da6170aff..73d12ce72741 100644
--- a/drivers/ina3221/Kconfig
+++ b/drivers/ina3221/Kconfig
@@ -6,7 +6,9 @@
 #
 
 menuconfig MODULE_INA3221
-    bool "INA3221 current/power monitor"
+    bool
+    prompt "INA3221 current/power monitor" if !(MODULE_SAUL_DEFAULT && HAVE_INA3221)
+    default (MODULE_SAUL_DEFAULT && HAVE_INA3221)
     depends on HAS_PERIPH_GPIO
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
@@ -14,9 +16,21 @@ menuconfig MODULE_INA3221
     select MODULE_PERIPH_I2C
 
 config MODULE_INA3221_ALERTS
-    bool "Altert pins"
+    bool "Alert pins"
     depends on HAS_PERIPH_GPIO_IRQ
     depends on MODULE_INA3221
     select MODULE_PERIPH_GPIO_IRQ
+    default HAVE_INA3221_ALERTS
     help
         Say y to enable the usage of alert pins.
+
+config HAVE_INA3221
+    bool
+    help
+        Indicates that a INA3221 current/power monitor is present.
+
+config HAVE_INA3221_ALERTS
+    bool
+    select HAVE_INA3221
+    help
+        Indicates that a INA3221 current/power monitor is present with alert pins wired.
diff --git a/drivers/io1_xplained/Kconfig b/drivers/io1_xplained/Kconfig
index 3e887949a825..92edc9c2ab57 100644
--- a/drivers/io1_xplained/Kconfig
+++ b/drivers/io1_xplained/Kconfig
@@ -14,3 +14,9 @@ config MODULE_IO1_XPLAINED
     depends on TEST_KCONFIG
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_ADC
+
+config HAVE_IO1_XPLAINED
+    bool
+    select MODULE_IO1_XPLAINED if MODULE_SAUL_DEFAULT
+    help
+        Indicates that a Atmel IO1 Xplained Extension board is present.
diff --git a/drivers/isl29020/Kconfig b/drivers/isl29020/Kconfig
index 8f38236d73c3..11cb02aee206 100644
--- a/drivers/isl29020/Kconfig
+++ b/drivers/isl29020/Kconfig
@@ -7,15 +7,14 @@
 #
 
 config MODULE_ISL29020
-    bool
-    prompt "ISL29020 light sensor" if !(MODULE_SAUL_DEFAULT && HAVE_ISL29020)
-    default y if (MODULE_SAUL_DEFAULT && HAVE_ISL29020)
+    bool "ISL29020 light sensor"
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
 
 config HAVE_ISL29020
     bool
+    select MODULE_ISL29020 if MODULE_SAUL_DEFAULT
     help
         Indicates that a isl29020 sensor is present.
 
diff --git a/drivers/isl29125/Kconfig b/drivers/isl29125/Kconfig
index bd9e787b8ed3..da0cd5319bda 100644
--- a/drivers/isl29125/Kconfig
+++ b/drivers/isl29125/Kconfig
@@ -14,3 +14,8 @@ config MODULE_ISL29125
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_GPIO_IRQ
     select MODULE_PERIPH_I2C
+
+config HAVE_ISL29125
+    bool
+    help
+        Indicates that a ISL29125 RGB light sensor is present.
diff --git a/drivers/itg320x/Kconfig b/drivers/itg320x/Kconfig
index 243c831c5ade..62e6e37c1eff 100644
--- a/drivers/itg320x/Kconfig
+++ b/drivers/itg320x/Kconfig
@@ -6,7 +6,9 @@
 #
 
 menuconfig MODULE_ITG320X
-    bool "ITG320X 3-axis gyroscope"
+    bool
+    prompt "ITG320X 3-axis gyroscope" if !(MODULE_SAUL_DEFAULT && HAVE_ITG320X)
+    default (MODULE_SAUL_DEFAULT && HAVE_ITG320X)
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
@@ -19,5 +21,18 @@ config MODULE_ITG320X_INT
     depends on MODULE_ITG320X
     depends on HAS_PERIPH_GPIO_IRQ
     select MODULE_PERIPH_GPIO_IRQ
+    default HAVE_ITG320X_INT
     help
         Say y to fetch the data when the data-ready interrupt is triggered.
+
+config HAVE_ITG320X
+    bool
+    help
+        Indicates that a ITG320X 3-axis gyroscope is present.
+
+config HAVE_ITG320X_INT
+    bool
+    select HAVE_ITG320X
+    help
+        Indicates that a ITG320X 3-axis gyroscope is present with interrupt pin
+        wired.
diff --git a/drivers/jc42/Kconfig b/drivers/jc42/Kconfig
index b2ad9a07f493..5d223a846d8d 100644
--- a/drivers/jc42/Kconfig
+++ b/drivers/jc42/Kconfig
@@ -10,3 +10,9 @@ config MODULE_JC42
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
+
+config HAVE_JC42
+    bool
+    select MODULE_JC42 if MODULE_SAUL_DEFAULT
+    help
+        Indicates that a JC42 compliant temperature sensor is present.
diff --git a/drivers/lc709203f/Kconfig b/drivers/lc709203f/Kconfig
index e3bc874ddcd0..b2fb0ac5d95c 100644
--- a/drivers/lc709203f/Kconfig
+++ b/drivers/lc709203f/Kconfig
@@ -14,3 +14,8 @@ config MODULE_LC709203F
     select MODULE_PERIPH_I2C
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_GPIO_IRQ
+
+config HAVE_LC709203F
+    bool
+    help
+        Indicates that a LC709203F Battery Fuel Gauge is present.
diff --git a/drivers/lis2dh12/Kconfig b/drivers/lis2dh12/Kconfig
index 28681964ae7f..24b7663de76d 100644
--- a/drivers/lis2dh12/Kconfig
+++ b/drivers/lis2dh12/Kconfig
@@ -36,12 +36,12 @@ config MODULE_LIS2DH12_INT
     bool "Interrupt lines support"
     depends on HAS_PERIPH_GPIO_IRQ
     select MODULE_PERIPH_GPIO_IRQ
+    default HAVE_LIS2DH12_INT
 
 endif # MODULE_LIS2DH12
 
 config HAVE_LIS2DH12
     bool
-    select MODULE_LIS2DH12 if MODULE_SAUL_DEFAULT
     help
       Indicates that a LIS2DH12 Accelerometer is present.
 
@@ -56,3 +56,10 @@ config HAVE_LIS2DH12_SPI
     select HAVE_LIS2DH12
     help
       Indicates that a LIS2DH12 Accelerometer on the SPI bus is present.
+
+config HAVE_LIS2DH12_INT
+    bool
+    select HAVE_LIS2DH12
+    help
+      Indicates that a LIS2DH12 Accelerometer is present with the interrupt
+      pin wired.
diff --git a/drivers/lpd8808/Kconfig b/drivers/lpd8808/Kconfig
index 2435f70f7bfa..3c75840564c6 100644
--- a/drivers/lpd8808/Kconfig
+++ b/drivers/lpd8808/Kconfig
@@ -11,3 +11,8 @@ config MODULE_LPD8808
     depends on TEST_KCONFIG
     select MODULE_PERIPH_GPIO
     select MODULE_COLOR
+
+config HAVE_LPD8808
+    bool
+    help
+        Indicates that a LPD8808 based LED Strip is present.
diff --git a/drivers/mcp2515/Kconfig b/drivers/mcp2515/Kconfig
index 0fa4dfc29ca8..7f17e9f10018 100644
--- a/drivers/mcp2515/Kconfig
+++ b/drivers/mcp2515/Kconfig
@@ -15,3 +15,8 @@ config MODULE_MCP2515
     select MODULE_PERIPH_GPIO_IRQ
     select MODULE_PERIPH_SPI
     select MODULE_XTIMER
+
+config HAVE_MCP2515
+    bool
+    help
+        Indicates that a MCP2515 CAN controller is present.
diff --git a/drivers/mhz19/Kconfig b/drivers/mhz19/Kconfig
index c57d19de1e93..93f9dba2bc30 100644
--- a/drivers/mhz19/Kconfig
+++ b/drivers/mhz19/Kconfig
@@ -5,30 +5,39 @@
 # directory for more details.
 #
 
-if TEST_KCONFIG
-
-menu "MH-Z19 CO2 sensor"
-    depends on HAS_PERIPH_GPIO || HAS_PERIPH_UART
-
-config MODULE_MHZ19_UART
-    bool "MH-Z19 over UART"
-    depends on HAS_PERIPH_UART
-    select MODULE_PERIPH_UART
-    select MODULE_MHZ19
+menuconfig MODULE_MHZ19
+    bool
+    prompt "MH-Z19 CO2 sensor" if !(MODULE_SAUL_DEFAULT && HAVE_MHZ19)
+    default (MODULE_SAUL_DEFAULT && HAVE_MHZ19)
+    depends on TEST_KCONFIG
     select MODULE_ZTIMER
     select MODULE_ZTIMER_MSEC
 
 config MODULE_MHZ19_PWM
     bool "MH-Z19 over PWM"
+    default HAVE_MHZ19_PWM
+    depends on MODULE_MHZ19
     depends on HAS_PERIPH_GPIO
     select MODULE_PERIPH_GPIO
-    select MODULE_MHZ19
-    select MODULE_ZTIMER
-    select MODULE_ZTIMER_MSEC
 
-config MODULE_MHZ19
+config MODULE_MHZ19_UART
+    bool "MH-Z19 over UART"
+    default HAVE_MHZ19_UART
+    depends on MODULE_MHZ19
+    depends on HAS_PERIPH_UART
+    select MODULE_PERIPH_UART
+
+config HAVE_MHZ19
     bool
+    help
+        Indicates that a MH-Z19 CO2 sensor is present.
 
-endmenu # MH-Z19 CO2 sensor
+config HAVE_MHZ19_PWM
+    bool
+    help
+        Indicates that a MH-Z19 CO2 sensor is present on the pwm.
 
-endif # TEST_KCONFIG
+config HAVE_MHZ19_UART
+    bool
+    help
+        Indicates that a MH-Z19 CO2 sensor is present on the uart.
diff --git a/drivers/mma7660/Kconfig b/drivers/mma7660/Kconfig
index 48b28384394d..a41b293807b7 100644
--- a/drivers/mma7660/Kconfig
+++ b/drivers/mma7660/Kconfig
@@ -10,3 +10,9 @@ config MODULE_MMA7660
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
+
+config HAVE_MMA7660
+    bool
+    select MODULE_MMA7660 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a MMA7660 Accelerometer is present.
diff --git a/drivers/mq3/Kconfig b/drivers/mq3/Kconfig
index 6affb935cc7a..598b25e768e4 100644
--- a/drivers/mq3/Kconfig
+++ b/drivers/mq3/Kconfig
@@ -10,3 +10,8 @@ config MODULE_MQ3
     depends on HAS_PERIPH_ADC
     depends on TEST_KCONFIG
     select MODULE_PERIPH_ADC
+
+config HAVE_MQ3
+    bool
+    help
+      Indicates that a MQ-3 Alcohol Tester is present.
diff --git a/drivers/my9221/Kconfig b/drivers/my9221/Kconfig
index e17f1f71bd2d..492d3d6eca81 100644
--- a/drivers/my9221/Kconfig
+++ b/drivers/my9221/Kconfig
@@ -11,3 +11,8 @@ config MODULE_MY9221
     depends on TEST_KCONFIG
     select MODULE_PERIPH_GPIO
     select MODULE_XTIMER
+
+config HAVE_MY9221
+    bool
+    help
+      Indicates that a MY9221 LED controller is present.
diff --git a/drivers/ncv7356/Kconfig b/drivers/ncv7356/Kconfig
index ddb14f849299..73bf8347b74a 100644
--- a/drivers/ncv7356/Kconfig
+++ b/drivers/ncv7356/Kconfig
@@ -11,3 +11,8 @@ config MODULE_NCV7356
     depends on TEST_KCONFIG
     select MODULE_PERIPH_GPIO
     select MODULE_CAN_TRX
+
+config HAVE_NCV7356
+    bool
+    help
+      Indicates that a NCV7356 Single Wire CAN Transceiver is present.
diff --git a/drivers/opt3001/Kconfig b/drivers/opt3001/Kconfig
index 46bc1799bee1..05b5608be985 100644
--- a/drivers/opt3001/Kconfig
+++ b/drivers/opt3001/Kconfig
@@ -13,6 +13,12 @@ config MODULE_OPT3001
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
 
+config HAVE_OPT3001
+    bool
+    select MODULE_OPT3001 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a OPT3001 Ambient Light Sensor is present.
+
 menuconfig KCONFIG_USEMODULE_OPT3001
     bool "Configure OPT3001 driver"
     depends on USEMODULE_OPT3001
diff --git a/drivers/pca9633/Kconfig b/drivers/pca9633/Kconfig
index f85deec2ee00..e306bdc330d5 100644
--- a/drivers/pca9633/Kconfig
+++ b/drivers/pca9633/Kconfig
@@ -10,3 +10,8 @@ config MODULE_PCA9633
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
+
+config HAVE_PCA9633
+    bool
+    help
+      Indicates that a PCA9633 I2C PWM controller is present.
diff --git a/drivers/pca9685/Kconfig b/drivers/pca9685/Kconfig
index 4eb7bf8c8561..bbf7b565bd51 100644
--- a/drivers/pca9685/Kconfig
+++ b/drivers/pca9685/Kconfig
@@ -14,3 +14,9 @@ config MODULE_PCA9685
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
+
+config HAVE_PCA9685
+    bool
+    select MODULE_PCA9685 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a PCA9685 I2C PWM controller controller is present.
diff --git a/drivers/pcd8544/Kconfig b/drivers/pcd8544/Kconfig
index a6fee34b3bb2..e0ca09203515 100644
--- a/drivers/pcd8544/Kconfig
+++ b/drivers/pcd8544/Kconfig
@@ -13,3 +13,8 @@ config MODULE_PCD8544
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_SPI
     select MODULE_XTIMER
+
+config HAVE_PCD8544
+    bool
+    help
+      Indicates that a PCD8544 LCD is present.
diff --git a/drivers/pcf857x/Kconfig b/drivers/pcf857x/Kconfig
index f60a2ab8580c..f20a392d7155 100644
--- a/drivers/pcf857x/Kconfig
+++ b/drivers/pcf857x/Kconfig
@@ -6,7 +6,9 @@
 #
 
 menuconfig MODULE_PCF857X
-    bool "PCF857x Remote I/O Expander for I2C Bus"
+    bool
+    prompt "PCF857x Remote I/O Expander for I2C Bus" if !(MODULE_SAUL_DEFAULT && HAVE_PCF857X)
+    default (MODULE_SAUL_DEFAULT && HAVE_PCF857X)
     depends on HAS_PERIPH_GPIO
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
@@ -21,16 +23,19 @@ if MODULE_PCF857X
 
 config MODULE_PCF8574
     bool "PCF8574  Remote  8-Bit I/O is used"
+    default HAVE_PCF8574
 
 config MODULE_PCF8574A
     bool "PCF8574A Remote  8-Bit I/O is used"
+    default HAVE_PCF8574A
 
 config MODULE_PCF8575
     bool "PCF8575  Remote 16-Bit I/O is used"
-    default y
+    default (!(HAVE_PCF8574A || HAVE_PCF8574) || HAVE_PCF8575)
 
 config MODULE_PCF857X_IRQ
     bool "Interrupt support for PCF857x I/O Expander pins"
+    default PCF857X_IRQ
     depends on MODULE_PCF857X
     depends on HAS_PERIPH_GPIO_IRQ
     select MODULE_PERIPH_GPIO_IRQ
@@ -63,3 +68,33 @@ config MODULE_PCF857X_IRQ_HIGHEST
 endchoice
 
 endif # MODULE_PCF857X
+
+config HAVE_PCF857X
+    bool
+    help
+      Indicates that a PCF857x Remote I/O Expander is present.
+
+config HAVE_PCF8574
+    bool
+    select HAVE_PCF857X
+    help
+      Indicates that a PCF8574 Remote I/O Expander is present.
+
+config HAVE_PCF8574A
+    bool
+    select HAVE_PCF857X
+    help
+      Indicates that a PCF8574A Remote I/O Expander is present.
+
+config HAVE_PCF8575
+    bool
+    select HAVE_PCF857X
+    help
+      Indicates that a PCF8575 Remote I/O Expander is present.
+
+config HAVE_PCF857X_IRQ
+    bool
+    select HAVE_PCF857X
+    help
+      Indicates that a PCF857x Remote I/O Expander is present with the
+      interrupt pin wired.
diff --git a/drivers/ph_oem/Kconfig b/drivers/ph_oem/Kconfig
index db65bc035e30..a2b0108ebf6f 100644
--- a/drivers/ph_oem/Kconfig
+++ b/drivers/ph_oem/Kconfig
@@ -15,3 +15,9 @@ config MODULE_PH_OEM
     select MODULE_PERIPH_GPIO_IRQ
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
+
+config HAVE_PH_OEM
+    bool
+    select MODULE_PH_OEM if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a Atlas Scientific pH OEM sensor is present.
diff --git a/drivers/pn532/Kconfig b/drivers/pn532/Kconfig
index 45314ca0be41..d2ca1ecafaad 100644
--- a/drivers/pn532/Kconfig
+++ b/drivers/pn532/Kconfig
@@ -6,32 +6,50 @@
 # directory for more details.
 #
 
-if TEST_KCONFIG && HAS_PERIPH_GPIO && HAS_PERIPH_GPIO_IRQ
+menuconfig MODULE_PN532
+    bool
+    prompt "PN532 NFC reader" if !(MODULE_SAUL_DEFAULT && HAVE_PN532)
+    default (MODULE_SAUL_DEFAULT && HAVE_PN532)
+    depends on TEST_KCONFIG
+    depends on HAS_PERIPH_GPIO
+    depends on HAS_PERIPH_GPIO_IRQ
+    select MODULE_PERIPH_GPIO
+    select MODULE_PERIPH_GPIO_IRQ
+    select MODULE_ZTIMER
+    select MODULE_ZTIMER_MSEC
 
-menu "PN532 NFC reader"
+if MODULE_PN532
 
 config MODULE_PN532_I2C
     bool "PN532 with I2C support"
+    default HAVE_PN532_I2C
     depends on HAS_PERIPH_I2C
     select MODULE_PERIPH_I2C
-    select MODULE_PN532
 
 config MODULE_PN532_SPI
     bool "PN532 with SPI support"
+    default HAVE_PN532_SPI
     depends on HAS_PERIPH_SPI
     select MODULE_PERIPH_SPI
-    select MODULE_PN532
 
-config MODULE_PN532
+endif # MODULE_PN532
+
+config HAVE_PN532
     bool
-    select MODULE_PERIPH_GPIO
-    select MODULE_PERIPH_GPIO_IRQ
-    select MODULE_ZTIMER
-    select MODULE_ZTIMER_MSEC
+    help
+      Indicates that a PN532 NFC reader is present.
 
-endmenu # PN532 NFC reader
+config HAVE_PN532_I2C
+    bool
+    select HAVE_PN532
+    help
+      Indicates that a PN532 NFC reader is present on the i2c bus.
 
-endif # TEST_KCONFIG && HAS_PERIPH_GPIO && HAS_PERIPH_GPIO_IRQ
+config HAVE_PN532_SPI
+    bool
+    select HAVE_PN532
+    help
+      Indicates that a PN532 NFC reader is present on the spi bus.
 
 menuconfig KCONFIG_USEMODULE_PN532
     bool "Configure PN532 driver"
diff --git a/drivers/qmc5883l/Kconfig b/drivers/qmc5883l/Kconfig
index b37c7a7d17f6..7e855ae12bf6 100644
--- a/drivers/qmc5883l/Kconfig
+++ b/drivers/qmc5883l/Kconfig
@@ -6,15 +6,30 @@
 #
 
 menuconfig MODULE_QMC5883L
-    bool "QMC5883L 3-Axis Digital Magnetic sensor"
+    bool
+    prompt "QMC5883L 3-Axis Digital Magnetic sensor" if !(MODULE_SAUL_DEFAULT && HAVE_QMC5883L)
+    default (MODULE_SAUL_DEFAULT && HAVE_QMC5883L)
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
 
 config MODULE_QMC5883L_INT
     bool "Interrupt support"
+    default HAVE_QMC5883L_INT
     depends on HAS_PERIPH_GPIO
     depends on HAS_PERIPH_GPIO_IRQ
     depends on MODULE_QMC5883L
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_GPIO_IRQ
+
+config HAVE_QMC5883L
+    bool
+    help
+      Indicates that a QMC5883L 3-Axis Digital Magnetic sensor is present.
+
+config HAVE_QMC5883L_INT
+    bool
+    select HAVE_QMC5883L
+    help
+      Indicates that a QMC5883L 3-Axis Digital Magnetic sensor is present with
+      the interrupt wired.
diff --git a/drivers/scd30/Kconfig b/drivers/scd30/Kconfig
index 07847c192e1f..b2ca540b45c0 100644
--- a/drivers/scd30/Kconfig
+++ b/drivers/scd30/Kconfig
@@ -12,3 +12,9 @@ config MODULE_SCD30
     select MODULE_PERIPH_I2C
     select MODULE_CHECKSUM
     select MODULE_XTIMER
+
+config HAVE_SCD30
+    bool
+    select MODULE_SCD30 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a SCD30 CO2, temperature and humidity sensor is present.
diff --git a/drivers/sdcard_spi/Kconfig b/drivers/sdcard_spi/Kconfig
index 2b2f42d65993..c172cedd5bcd 100644
--- a/drivers/sdcard_spi/Kconfig
+++ b/drivers/sdcard_spi/Kconfig
@@ -15,3 +15,8 @@ config MODULE_SDCARD_SPI
     select MODULE_PERIPH_SPI_RECONFIGURE if HAS_PERIPH_SPI_RECONFIGURE
     select MODULE_CHECKSUM
     select ZTIMER_USEC
+
+config HAVE_SDCARD_SPI
+    bool
+    help
+      Indicates that a SPI SD-Card is present.
diff --git a/drivers/sdp3x/Kconfig b/drivers/sdp3x/Kconfig
index 57c13385acba..0725f82c4673 100644
--- a/drivers/sdp3x/Kconfig
+++ b/drivers/sdp3x/Kconfig
@@ -6,7 +6,9 @@
 #
 
 menuconfig MODULE_SDP3X
-    bool "SDP3X temperature and differential pressure sensor"
+    bool
+    prompt "SDP3X temperature and differential pressure sensor" if !(MODULE_SAUL_DEFAULT && HAVE_SDP3X)
+    default (MODULE_SAUL_DEFAULT && HAVE_SDP3X)
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
@@ -15,8 +17,21 @@ menuconfig MODULE_SDP3X
 
 config MODULE_SDP3X_IRQ
     bool "GPIO interrupt support"
+    default HAVE_SDP3X_IRQ
     depends on HAS_PERIPH_GPIO
     depends on HAS_PERIPH_GPIO_IRQ
     depends on MODULE_SDP3X
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_GPIO_IRQ
+
+config HAVE_SDP3X
+    bool
+    help
+      Indicates that a SDP3X temperature and differential pressure sensor is present.
+
+config HAVE_SDP3X_IRQ
+    bool
+    select HAVE_SDP3X
+    help
+      Indicates that a SDP3X temperature and differential pressure sensor is
+      present with the interrupt pin wired.
diff --git a/drivers/sds011/Kconfig b/drivers/sds011/Kconfig
index 727d23629c91..093de7685ffb 100644
--- a/drivers/sds011/Kconfig
+++ b/drivers/sds011/Kconfig
@@ -10,3 +10,9 @@ config MODULE_SDS011
     depends on HAS_PERIPH_UART
     depends on TEST_KCONFIG
     select MODULE_PERIPH_UART
+
+config HAVE_SDP3X
+    bool
+    select MODULE_SDS011 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a SDS011 Laser Dust Sensor is present.
diff --git a/drivers/seesaw_soil/Kconfig b/drivers/seesaw_soil/Kconfig
index 1997fdc3b5ca..a69008864e7a 100644
--- a/drivers/seesaw_soil/Kconfig
+++ b/drivers/seesaw_soil/Kconfig
@@ -13,6 +13,12 @@ config MODULE_SEESAW_SOIL
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
 
+config HAVE_SEESAW_SOIL
+    bool
+    select MODULE_SEESAW_SOIL if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a Adafruit Seesaw Soil Moisture and Temperature Sensor is present.
+
 menuconfig KCONFIG_MODULE_SEESAW_SOIL
     bool "Configure SEESAW_SOIL driver"
     depends on MODULE_SEESAW_SOIL
diff --git a/drivers/sgp30/Kconfig b/drivers/sgp30/Kconfig
index d9771a0f80f0..9e93004d1511 100644
--- a/drivers/sgp30/Kconfig
+++ b/drivers/sgp30/Kconfig
@@ -5,8 +5,10 @@
 # directory for more details.
 #
 
-config MODULE_SGP30
-    bool "SGP30 Particulate Matter Sensor"
+menuconfig MODULE_SGP30
+    bool
+    prompt "SGP30 Particulate Matter Sensor" if !(MODULE_SAUL_DEFAULT && HAVE_SGP30)
+    default (MODULE_SAUL_DEFAULT && HAVE_SGP30)
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_CHECKSUM
@@ -23,3 +25,8 @@ config MODULE_SGP30_STRICT
         If this module is enabled regular measurements will be performed
         every second and no values will be returned before the 15s warmup
         period, see the datasheet for more.
+
+config HAVE_SGP30
+    bool
+    help
+      Indicates that a SGP30 Particulate Matter Sensor is present.
diff --git a/drivers/sht1x/Kconfig b/drivers/sht1x/Kconfig
index 5adf5834f6c2..b3dfe10e4d76 100644
--- a/drivers/sht1x/Kconfig
+++ b/drivers/sht1x/Kconfig
@@ -14,7 +14,7 @@ menuconfig MODULE_SHT1X
     select MODULE_PERIPH_GPIO
     select MODULE_XTIMER
 
-choice
+choice SHT1X_VARIANT
     bool "Select sensor variant"
     depends on MODULE_SHT1X
     default MODULE_SHT10 if HAVE_SHT10
diff --git a/drivers/sht2x/Kconfig b/drivers/sht2x/Kconfig
index 4fbc0ab7bffd..40ec641a7815 100644
--- a/drivers/sht2x/Kconfig
+++ b/drivers/sht2x/Kconfig
@@ -11,3 +11,9 @@ config MODULE_SHT2X
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
+
+config HAVE_SHT2X
+    bool
+    select MODULE_SHT2X if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a SHT2x temperature and humidity sensor is present.
diff --git a/drivers/shtc1/Kconfig b/drivers/shtc1/Kconfig
index ada7d211bc65..8d5c69fa93b4 100644
--- a/drivers/shtc1/Kconfig
+++ b/drivers/shtc1/Kconfig
@@ -11,3 +11,9 @@ config MODULE_SHTC1
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
     select MODULE_CHECKSUM
+
+config HAVE_SHTC1
+    bool
+    select MODULE_SHTC1 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a SHTC1 temperature and humidity sensor is present.
diff --git a/drivers/si1133/Kconfig b/drivers/si1133/Kconfig
index 75b6500dfed5..3b9eb3bda385 100644
--- a/drivers/si1133/Kconfig
+++ b/drivers/si1133/Kconfig
@@ -11,3 +11,9 @@ config MODULE_SI1133
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
     select ZTIMER_USEC
+
+config HAVE_SI1133
+    bool
+    select MODULE_SI1133 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a Si1133 UV Index/Ambient Light Sensor is present.
diff --git a/drivers/si114x/Kconfig b/drivers/si114x/Kconfig
index 099f545860ab..9c77c819190b 100644
--- a/drivers/si114x/Kconfig
+++ b/drivers/si114x/Kconfig
@@ -5,33 +5,53 @@
 # directory for more details.
 #
 
-if TEST_KCONFIG
-
-choice
-    bool "Si1145/6/7 UV/Ambient light/Proximity sensors"
-    optional
-    depends on HAS_PERIPH_I2C
+menuconfig MODULE_SI114X
+    bool
+    prompt "Si1145/6/7 UV/Ambient light/Proximity sensors" if !(MODULE_SAUL_DEFAULT && HAVE_SI114X)
+    default (MODULE_SAUL_DEFAULT && HAVE_SI114X)
     depends on TEST_KCONFIG
+    depends on HAS_PERIPH_I2C
+    select MODULE_PERIPH_I2C
+    select MODULE_ZTIMER
+    select MODULE_ZTIMER_MSEC
+
+choice SI114X_VARIANT
+    bool "variant"
+    depends on MODULE_SI114X
+    default MODULE_SI1145 if HAVE_SI1145
+    default MODULE_SI1146 if HAVE_SI1146
+    default MODULE_SI1147 if HAVE_SI1147
 
 config MODULE_SI1145
     bool "SI1145"
-    select MODULE_SI114X
 
 config MODULE_SI1146
     bool "SI1146"
-    select MODULE_SI114X
 
 config MODULE_SI1147
     bool "SI1147"
-    select MODULE_SI114X
 
 endchoice
 
-config MODULE_SI114X
+config HAVE_SI114X
     bool
-    depends on HAS_PERIPH_I2C
-    select MODULE_PERIPH_I2C
-    select MODULE_ZTIMER
-    select MODULE_ZTIMER_MSEC
+    help
+        Indicates that a Si114X UV/Ambient light/Proximity sensor is present.
+
+config HAVE_SI1145
+    bool
+    select HAVE_SI114X
+    help
+        Indicates that a Si1145 UV/Ambient light/Proximity sensor is present.
+
+config HAVE_SI1146
+    bool
+    select HAVE_SI114X
+    help
+        Indicates that a Si1146 UV/Ambient light/Proximity sensor is present.
 
-endif # TEST_KCONFIG
+config HAVE_SI1147
+    bool
+    select HAVE_SI114X
+    help
+        Indicates that a Si1147 UV/Ambient light/Proximity sensor is present.
diff --git a/drivers/si70xx/Kconfig b/drivers/si70xx/Kconfig
index ccf773efd722..cb5486d6ce73 100644
--- a/drivers/si70xx/Kconfig
+++ b/drivers/si70xx/Kconfig
@@ -5,15 +5,17 @@
 # directory for more details.
 #
 
-config MODULE_SI70XX
-    bool "Si7006/13/20/21 temperature and humidity sensors"
+menuconfig MODULE_SI70XX
+    bool
+    prompt "Si7006/13/20/21 temperature and humidity sensors" if !(MODULE_SAUL_DEFAULT && HAVE_SI70XX)
+    default (MODULE_SAUL_DEFAULT && HAVE_SI70XX)
     depends on TEST_KCONFIG
     depends on HAS_PERIPH_I2C
     select MODULE_PERIPH_I2C
     select MODULE_ZTIMER
     select MODULE_ZTIMER_MSEC
 
-choice
+choice SI70XX_VARIANT
     bool "Sensor variant"
     depends on MODULE_SI70XX
     default MODULE_SI7006 if HAVE_SI7006
@@ -35,26 +37,31 @@ config MODULE_SI7021
 
 endchoice
 
+config HAVE_SI70XX
+    bool
+    help
+        Indicates that a si70XX sensor is present.
+
 config HAVE_SI7006
     bool
-    select MODULE_SI70XX if MODULE_SAUL_DEFAULT
+    select HAVE_SI70XX
     help
         Indicates that a si7006 sensor is present.
 
 config HAVE_SI7013
     bool
-    select MODULE_SI70XX if MODULE_SAUL_DEFAULT
+    select HAVE_SI70XX
     help
         Indicates that a si7013 sensor is present.
 
 config HAVE_SI7020
     bool
-    select MODULE_SI70XX if MODULE_SAUL_DEFAULT
+    select HAVE_SI70XX
     help
         Indicates that a si7020 sensor is present.
 
 config HAVE_SI7021
     bool
-    select MODULE_SI70XX if MODULE_SAUL_DEFAULT
+    select HAVE_SI70XX
     help
         Indicates that a si7021 sensor is present.
diff --git a/drivers/sm_pwm_01c/Kconfig b/drivers/sm_pwm_01c/Kconfig
index 6b24b278defc..d52c46e716cc 100644
--- a/drivers/sm_pwm_01c/Kconfig
+++ b/drivers/sm_pwm_01c/Kconfig
@@ -5,7 +5,9 @@
 # directory for more details.
 #
 menuconfig MODULE_SM_PWM_01C
-    bool "SM_PWM_01C Amphenol infrared dust sensor"
+    bool
+    prompt "SM_PWM_01C Amphenol infrared dust sensor" if !(MODULE_SAUL_DEFAULT && HAVE_SM_PWM_01C)
+    default (MODULE_SAUL_DEFAULT && HAVE_SM_PWM_01C)
     depends on HAS_PERIPH_GPIO
     depends on HAS_PERIPH_GPIO_IRQ
     depends on TEST_KCONFIG
@@ -20,6 +22,12 @@ config MODULE_SM_PWM_01C_MA
     depends on MODULE_SM_PWM_01C
     default y
 
+config HAVE_SM_PWM_01C
+    bool
+    help
+      Indicates that a SM_PWM_01C Amphenol infrared dust sensor is present.
+
+
 menuconfig KCONFIG_USEMODULE_SM_PWM_01C
     bool "Configure SM_PWM_01C driver"
     depends on USEMODULE_SM_PWM_01C
diff --git a/drivers/sps30/Kconfig b/drivers/sps30/Kconfig
index fc81f9010d12..5967f849c1a4 100644
--- a/drivers/sps30/Kconfig
+++ b/drivers/sps30/Kconfig
@@ -13,6 +13,12 @@ config MODULE_SPS30
     select MODULE_CHECKSUM
     select MODULE_PERIPH_I2C
 
+config HAVE_SPS30
+    bool
+    select MODULE_SPS30 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a SPS30 Particulate Matter Sensor is present.
+
 menuconfig KCONFIG_USEMODULE_SPS30
     bool "Configure SPS30 driver"
     depends on USEMODULE_SPS30
diff --git a/drivers/srf02/Kconfig b/drivers/srf02/Kconfig
index 2b2189917e30..33d9925e64b6 100644
--- a/drivers/srf02/Kconfig
+++ b/drivers/srf02/Kconfig
@@ -11,3 +11,8 @@ config MODULE_SRF02
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
+
+config HAVE_SRF02
+    bool
+    help
+      Indicates that a SRF02 ultrasonic range sensor is present.
diff --git a/drivers/srf04/Kconfig b/drivers/srf04/Kconfig
index cacfa8514575..4f73e1bad297 100644
--- a/drivers/srf04/Kconfig
+++ b/drivers/srf04/Kconfig
@@ -13,3 +13,8 @@ config MODULE_SRF04
     select MODULE_PERIPH_GPIO
     select MODULE_PERIPH_GPIO_IRQ
     select MODULE_XTIMER
+
+config HAVE_SRF04
+    bool
+    help
+      Indicates that a SRF04 ultrasonic range finder is present.
diff --git a/drivers/srf08/Kconfig b/drivers/srf08/Kconfig
index 9b92e9c1664c..849dafa042c2 100644
--- a/drivers/srf08/Kconfig
+++ b/drivers/srf08/Kconfig
@@ -11,3 +11,8 @@ config MODULE_SRF08
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
+
+config HAVE_SRF08
+    bool
+    help
+      Indicates that a SRF08 ultrasonic range finder is present.
diff --git a/drivers/sx127x/Kconfig b/drivers/sx127x/Kconfig
index 0af68723af88..689798942c13 100644
--- a/drivers/sx127x/Kconfig
+++ b/drivers/sx127x/Kconfig
@@ -6,8 +6,9 @@
 #
 
 menuconfig MODULE_SX127X
-    bool "Semtech SX1272 and SX1276 radios driver" if !(HAVE_SX127X && MODULE_NETDEV_DEFAULT)
-    default y if (HAVE_SX127X && MODULE_NETDEV_DEFAULT)
+    bool
+    prompt "Semtech SX1272 and SX1276 radios driver" if !(MODULE_NETDEV_DEFAULT && HAVE_SX127X)
+    default y if (MODULE_NETDEV_DEFAULT && HAVE_SX127X)
     depends on TEST_KCONFIG
     depends on HAS_PERIPH_GPIO
     depends on HAS_PERIPH_GPIO_IRQ
@@ -24,7 +25,7 @@ menuconfig MODULE_SX127X
     help
         Only LoRa long range modem is supported at the moment.
 
-choice
+choice SX127X_VARIANT
     bool "Radio variant"
     depends on MODULE_SX127X
     default MODULE_SX1272 if HAVE_SX1272
diff --git a/drivers/tja1042/Kconfig b/drivers/tja1042/Kconfig
index ddc914a6ea24..2ef31b88aa7c 100644
--- a/drivers/tja1042/Kconfig
+++ b/drivers/tja1042/Kconfig
@@ -11,3 +11,8 @@ config MODULE_TJA1042
     depends on TEST_KCONFIG
     select MODULE_PERIPH_GPIO
     select MODULE_CAN_TRX
+
+config HAVE_TJA1042
+    bool
+    help
+      Indicates that a TJA1042 High Speed CAN transceiver is present.
diff --git a/drivers/tps6274x/Kconfig b/drivers/tps6274x/Kconfig
index 2dde65a84bb1..dea7a4888040 100644
--- a/drivers/tps6274x/Kconfig
+++ b/drivers/tps6274x/Kconfig
@@ -10,3 +10,8 @@ config MODULE_TPS6274X
     depends on HAS_PERIPH_GPIO
     depends on TEST_KCONFIG
     select MODULE_PERIPH_GPIO
+
+config HAVE_TPS6274X
+    bool
+    help
+      Indicates that a TPS6274x DC-DC converter is present.
diff --git a/drivers/tsl2561/Kconfig b/drivers/tsl2561/Kconfig
index b394276f6c80..6a9d4944ae9c 100644
--- a/drivers/tsl2561/Kconfig
+++ b/drivers/tsl2561/Kconfig
@@ -12,3 +12,9 @@ config MODULE_TSL2561
     select MODULE_PERIPH_I2C
     select MODULE_ZTIMER
     select MODULE_ZTIMER_MSEC
+
+config HAVE_TSL2561
+    bool
+    select MODULE_TSL2561 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a TSL2561 illuminance sensor is present.
diff --git a/drivers/tsl4531x/Kconfig b/drivers/tsl4531x/Kconfig
index 9cdd583c00c6..643477edc85b 100644
--- a/drivers/tsl4531x/Kconfig
+++ b/drivers/tsl4531x/Kconfig
@@ -11,3 +11,9 @@ config MODULE_TSL4531X
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
     select MODULE_XTIMER
+
+config HAVE_TSL4531X
+    bool
+    select MODULE_TSL4531X if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a TSL4531X illuminance sensor is present.
diff --git a/drivers/vcnl40x0/Kconfig b/drivers/vcnl40x0/Kconfig
index c96af4a68e2c..5e615406f720 100644
--- a/drivers/vcnl40x0/Kconfig
+++ b/drivers/vcnl40x0/Kconfig
@@ -5,30 +5,51 @@
 # directory for more details.
 #
 
-if TEST_KCONFIG
-
-choice
-    bool "VCNL4010/VCNL4020/VCNL4040 Proximity and Ambient Light sensors"
-    optional
+menuconfig MODULE_VCNL40X0
+    bool
+    prompt "VCNL4010/VCNL4020/VCNL4040 Proximity and Ambient Light sensors" if !(MODULE_SAUL_DEFAULT && HAVE_VCNL40X0)
+    default (MODULE_SAUL_DEFAULT && HAVE_VCNL40X0)
+    depends on TEST_KCONFIG
     depends on HAS_PERIPH_I2C
+    select MODULE_PERIPH_I2C
+
+choice VCNL40X0_VARIANT
+    bool "variant"
+    depends on MODULE_VCNL40X0
+    default MODULE_VCNL4010 if HAVE_VCNL4010
+    default MODULE_VCNL4020 if HAVE_VCNL4020
+    default MODULE_VCNL4040 if HAVE_VCNL4040
 
 config MODULE_VCNL4010
     bool "VCNL4010"
-    select MODULE_VCNL40X0
 
 config MODULE_VCNL4020
     bool "VCNL4020"
-    select MODULE_VCNL40X0
 
 config MODULE_VCNL4040
     bool "VCNL4040"
-    select MODULE_VCNL40X0
 
 endchoice
 
-config MODULE_VCNL40X0
+config HAVE_VCNL40X0
     bool
-    depends on HAS_PERIPH_I2C
-    select MODULE_PERIPH_I2C
+    help
+      Indicates that a VCNL40X0 Proximity and Ambient Light sensor is present.
 
-endif # TEST_KCONFIG
+config HAVE_VCNL4010
+    bool
+    select HAVE_VCNL40X0
+    help
+      Indicates that a VCNL4010 Proximity and Ambient Light sensor is present.
+
+config HAVE_VCNL4020
+    bool
+    select HAVE_VCNL40X0
+    help
+      Indicates that a VCNL4020 Proximity and Ambient Light sensor is present.
+
+config HAVE_VCNL4040
+    bool
+    select HAVE_VCNL40X0
+    help
+      Indicates that a VCNL4040 Proximity and Ambient Light sensor is present.
diff --git a/drivers/veml6070/Kconfig b/drivers/veml6070/Kconfig
index 53039e1fd6bc..c5a967fbb555 100644
--- a/drivers/veml6070/Kconfig
+++ b/drivers/veml6070/Kconfig
@@ -10,3 +10,9 @@ config MODULE_VEML6070
     depends on HAS_PERIPH_I2C
     depends on TEST_KCONFIG
     select MODULE_PERIPH_I2C
+
+config HAVE_VEML6070
+    bool
+    select MODULE_VEML6070 if MODULE_SAUL_DEFAULT
+    help
+      Indicates that a VEML6070 UV sensor is present.
diff --git a/drivers/ws281x/Kconfig b/drivers/ws281x/Kconfig
index fa59466733fb..f197f2d34f2e 100644
--- a/drivers/ws281x/Kconfig
+++ b/drivers/ws281x/Kconfig
@@ -25,3 +25,8 @@ config MODULE_WS281X_VT100
 config MODULE_WS281X_ESP32
     bool
     depends on HAS_ARCH_ESP32
+
+config HAVE_WS281X
+    bool
+    help
+      Indicates that a WS2812/SK6812 RGB LED sensor is present.
diff --git a/tests/driver_cst816s/app.config.test b/tests/driver_cst816s/app.config.test
new file mode 100644
index 000000000000..bdd638ac3121
--- /dev/null
+++ b/tests/driver_cst816s/app.config.test
@@ -0,0 +1,4 @@
+# this file enables modules defined in Kconfig. Do not use this file for
+# application configuration. This is only needed during migration.
+CONFIG_MODULE_CST816S=y
+CONFIG_MODULE_CORE_THREAD_FLAGS=y
diff --git a/tests/driver_dac_dds/app.config.test b/tests/driver_dac_dds/app.config.test
new file mode 100644
index 000000000000..7ce787bc0125
--- /dev/null
+++ b/tests/driver_dac_dds/app.config.test
@@ -0,0 +1,4 @@
+# this file enables modules defined in Kconfig. Do not use this file for
+# application configuration. This is only needed during migration.
+CONFIG_MODULE_DAC_DDS=y
+CONFIG_MODULE_SHELL=y