diff --git a/drivers/adc/Kconfig.rpi_pico b/drivers/adc/Kconfig.rpi_pico
index bb57a37751d3..5e8345b0c0a8 100644
--- a/drivers/adc/Kconfig.rpi_pico
+++ b/drivers/adc/Kconfig.rpi_pico
@@ -5,6 +5,5 @@ config ADC_RPI_PICO
 	bool "Raspberry Pi Pico ADC driver"
 	default y
 	depends on DT_HAS_RASPBERRYPI_PICO_ADC_ENABLED
-	select PICOSDK_USE_ADC
 	select PINCTRL
 	depends on RESET
diff --git a/drivers/counter/Kconfig.rpi_pico b/drivers/counter/Kconfig.rpi_pico
index 53fc748e2524..cfdc37c51168 100644
--- a/drivers/counter/Kconfig.rpi_pico
+++ b/drivers/counter/Kconfig.rpi_pico
@@ -4,5 +4,4 @@
 config COUNTER_TIMER_RPI_PICO
 	def_bool y
 	select PICOSDK_USE_TIMER
-	select PICOSDK_USE_CLAIM
 	depends on DT_HAS_RASPBERRYPI_PICO_TIMER_ENABLED
diff --git a/drivers/dma/Kconfig.rpi_pico b/drivers/dma/Kconfig.rpi_pico
index 434ac9fdf14c..f4cafb07b46b 100644
--- a/drivers/dma/Kconfig.rpi_pico
+++ b/drivers/dma/Kconfig.rpi_pico
@@ -5,8 +5,6 @@ config DMA_RPI_PICO
 	bool "Raspberry Pi Pico DMA driver"
 	default y
 	depends on DT_HAS_RASPBERRYPI_PICO_DMA_ENABLED
-	select PICOSDK_USE_DMA
-	select PICOSDK_USE_CLAIM
 	depends on RESET
 	help
 	  DMA driver for RaspberryPi Pico.
diff --git a/drivers/pwm/Kconfig.rpi_pico b/drivers/pwm/Kconfig.rpi_pico
index 75f6787df3c4..71d3d44f669e 100644
--- a/drivers/pwm/Kconfig.rpi_pico
+++ b/drivers/pwm/Kconfig.rpi_pico
@@ -6,7 +6,6 @@ config PWM_RPI_PICO
 	default y
 	depends on DT_HAS_RASPBERRYPI_PICO_PWM_ENABLED
 	depends on RESET
-	select PICOSDK_USE_PWM
 	select PINCTRL
 	help
 	  Enable PWM driver for RPi Pico family of MCUs
diff --git a/drivers/serial/Kconfig.rpi_pico b/drivers/serial/Kconfig.rpi_pico
index a4a1c7cc5cc0..27c591f05509 100644
--- a/drivers/serial/Kconfig.rpi_pico
+++ b/drivers/serial/Kconfig.rpi_pico
@@ -7,6 +7,5 @@ config UART_RPI_PICO_PIO
 	depends on DT_HAS_RASPBERRYPI_PICO_UART_PIO_ENABLED
 	select SERIAL_HAS_DRIVER
 	select PICOSDK_USE_PIO
-	select PICOSDK_USE_CLAIM
 	select PINCTRL
 	depends on RESET
diff --git a/drivers/spi/Kconfig.rpi_pico b/drivers/spi/Kconfig.rpi_pico
index 70bd45f19eca..c9341d9a8013 100644
--- a/drivers/spi/Kconfig.rpi_pico
+++ b/drivers/spi/Kconfig.rpi_pico
@@ -6,7 +6,6 @@ config SPI_RPI_PICO_PIO
 	default y
 	depends on DT_HAS_RASPBERRYPI_PICO_SPI_PIO_ENABLED
 	select PICOSDK_USE_PIO
-	select PICOSDK_USE_CLAIM
 	select PINCTRL
 	help
 	  Enable driving SPI via PIO on the PICO
diff --git a/modules/hal_rpi_pico/CMakeLists.txt b/modules/hal_rpi_pico/CMakeLists.txt
index 0a02aeae8929..1de8c7f6f5ec 100644
--- a/modules/hal_rpi_pico/CMakeLists.txt
+++ b/modules/hal_rpi_pico/CMakeLists.txt
@@ -57,87 +57,75 @@ if(CONFIG_HAS_RPI_PICO)
   # These contain definitions and implementation used mostly for
   # initializing the SoC, and therefore are always required.
 
-  zephyr_library_sources(
-    ${rp2_common_dir}/hardware_clocks/clocks.c
-    ${rp2_common_dir}/hardware_pll/pll.c
-    ${rp2_common_dir}/hardware_xosc/xosc.c
-    ${rp2_common_dir}/hardware_watchdog/watchdog.c
-    ${rp2_common_dir}/hardware_sync_spin_lock/sync_spin_lock.c
-    ${rp2_common_dir}/hardware_ticks/ticks.c
-    ${rp2_common_dir}/pico_bootrom/bootrom.c
-    ${rp2xxx_dir}/pico_platform/platform.c
-  )
-
   zephyr_include_directories(
+    ${common_dir}/boot_picobin_headers/include
+    ${common_dir}/boot_picoboot_headers/include
+    ${common_dir}/hardware_claim/include
     ${common_dir}/pico_base_headers/include
     ${rp2_common_dir}/boot_bootrom_headers/include
+    ${rp2_common_dir}/hardware_adc/include
     ${rp2_common_dir}/hardware_base/include
+    ${rp2_common_dir}/hardware_boot_lock/include
     ${rp2_common_dir}/hardware_clocks/include
-    ${rp2_common_dir}/hardware_watchdog/include
-    ${rp2_common_dir}/hardware_xosc/include
-    ${rp2_common_dir}/hardware_pll/include
+    ${rp2_common_dir}/hardware_dma/include
+    ${rp2_common_dir}/hardware_flash/include
+    ${rp2_common_dir}/hardware_gpio/include
     ${rp2_common_dir}/hardware_irq/include
-    ${rp2_common_dir}/hardware_sync/include
-    ${rp2_common_dir}/hardware_timer/include
+    ${rp2_common_dir}/hardware_pio/include
+    ${rp2_common_dir}/hardware_pll/include
+    ${rp2_common_dir}/hardware_pwm/include
     ${rp2_common_dir}/hardware_resets/include
-    ${rp2_common_dir}/hardware_boot_lock/include
-    ${rp2_common_dir}/hardware_ticks/include
+    ${rp2_common_dir}/hardware_rtc/include
+    ${rp2_common_dir}/hardware_sync/include
     ${rp2_common_dir}/hardware_sync_spin_lock/include
+    ${rp2_common_dir}/hardware_ticks/include
+    ${rp2_common_dir}/hardware_timer/include
+    ${rp2_common_dir}/hardware_watchdog/include
+    ${rp2_common_dir}/hardware_xip_cache/include
+    ${rp2_common_dir}/hardware_xosc/include
     ${rp2_common_dir}/pico_bootrom/include
     ${rp2_common_dir}/pico_flash/include
     ${rp2_common_dir}/pico_platform_compiler/include
-    ${rp2_common_dir}/pico_platform_sections/include
     ${rp2_common_dir}/pico_platform_panic/include
-    ${common_dir}/boot_picoboot_headers/include
-    ${common_dir}/boot_picobin_headers/include
+    ${rp2_common_dir}/pico_platform_sections/include
+    ${rp2_common_dir}/pico_runtime/include
+    ${rp2_common_dir}/pico_runtime_init/include
     ${rp2xxx_dir}/hardware_regs/include
     ${rp2xxx_dir}/hardware_structs/include
     ${rp2xxx_dir}/pico_platform/include
     ${CMAKE_CURRENT_LIST_DIR}
   )
 
-  zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_GPIO
-          ${rp2_common_dir}/hardware_gpio/gpio.c)
-  zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_GPIO
-          ${rp2_common_dir}/hardware_gpio/include)
+  zephyr_library_sources(
+    ${common_dir}/hardware_claim/claim.c
+    ${rp2_common_dir}/hardware_clocks/clocks.c
+    ${rp2_common_dir}/hardware_pll/pll.c
+    ${rp2_common_dir}/hardware_sync_spin_lock/sync_spin_lock.c
+    ${rp2_common_dir}/hardware_ticks/ticks.c
+    ${rp2_common_dir}/hardware_watchdog/watchdog.c
+    ${rp2_common_dir}/hardware_xosc/xosc.c
+    ${rp2_common_dir}/pico_bootrom/bootrom.c
+    ${rp2xxx_dir}/pico_platform/platform.c
+  )
 
-  zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_UART
-          ${rp2_common_dir}/hardware_uart/include)
+  zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_GPIO
+    ${rp2_common_dir}/hardware_gpio/gpio.c)
 
   zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_FLASH
-          ${rp2_common_dir}/hardware_flash/flash.c
-          ${rp2_common_dir}/hardware_xip_cache/xip_cache.c)
-  zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_FLASH
-          ${rp2_common_dir}/hardware_flash/include
-          ${rp2_common_dir}/hardware_xip_cache/include)
-
-  zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_PWM
-          ${rp2_common_dir}/hardware_pwm/include)
-
-  zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_ADC
-          ${rp2_common_dir}/hardware_adc/adc.c)
-  zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_ADC
-          ${rp2_common_dir}/hardware_adc/include)
-
-  zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_DMA
-          ${rp2_common_dir}/hardware_dma/dma.c)
-  zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_DMA
-          ${rp2_common_dir}/hardware_dma/include)
+    ${rp2_common_dir}/hardware_flash/flash.c
+    ${rp2_common_dir}/hardware_xip_cache/xip_cache.c)
 
   zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_TIMER
-          ${rp2_common_dir}/hardware_timer/timer.c)
-  zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_TIMER
-          ${rp2_common_dir}/hardware_timer/include)
+    ${rp2_common_dir}/hardware_timer/timer.c)
 
   zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_RTC
-          ${rp2_common_dir}/hardware_rtc/rtc.c)
-  zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_RTC
-          ${rp2_common_dir}/hardware_rtc/include)
+    ${rp2_common_dir}/hardware_rtc/rtc.c)
 
   zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_PIO
-          ${rp2_common_dir}/hardware_pio/pio.c)
-  zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_PIO
-          ${rp2_common_dir}/hardware_pio/include)
+    ${rp2_common_dir}/hardware_pio/pio.c)
+
+  zephyr_library_sources_ifdef(CONFIG_SOC_SERIES_RP2350
+    ${rp2_common_dir}/pico_runtime_init/runtime_init.c)
 
   # Some flash driver functions must be executed from the RAM.
   # Originally pico-sdk places them in the RW data section, so this
@@ -151,15 +139,4 @@ if(CONFIG_HAS_RPI_PICO)
     COMPILE_FLAGS $<TARGET_PROPERTY:compiler,warning_no_pointer_arithmetic>
   )
 
-  zephyr_library_sources_ifdef(CONFIG_PICOSDK_USE_CLAIM
-          ${common_dir}/hardware_claim/claim.c)
-  zephyr_include_directories_ifdef(CONFIG_PICOSDK_USE_CLAIM
-          ${common_dir}/hardware_claim/include)
-
-  zephyr_library_sources_ifdef(CONFIG_SOC_SERIES_RP2350
-          ${rp2_common_dir}/pico_runtime_init/runtime_init.c)
-  zephyr_include_directories_ifdef(CONFIG_SOC_SERIES_RP2350
-          ${rp2_common_dir}/pico_runtime/include
-          ${rp2_common_dir}/pico_runtime_init/include)
-
 endif()
diff --git a/modules/hal_rpi_pico/Kconfig b/modules/hal_rpi_pico/Kconfig
index 3c37c84f4c01..c9ec1dc3f3c9 100644
--- a/modules/hal_rpi_pico/Kconfig
+++ b/modules/hal_rpi_pico/Kconfig
@@ -4,11 +4,6 @@
 config HAS_RPI_PICO
 	bool
 
-config PICOSDK_USE_UART
-	bool
-	help
-	  Use the UART driver from pico-sdk
-
 config PICOSDK_USE_GPIO
 	bool
 	help
@@ -19,32 +14,11 @@ config PICOSDK_USE_FLASH
 	help
 	  Use the flash driver from pico-sdk
 
-config PICOSDK_USE_PWM
-	bool
-	help
-	  Use the PWM driver from pico-sdk
-
-config PICOSDK_USE_ADC
-	bool
-	help
-	  Use the ADC driver from pico-sdk
-
-config PICOSDK_USE_DMA
-	bool
-	help
-	  Use the DMA driver from pico-sdk
-
 config PICOSDK_USE_PIO
 	bool
-	select PICOSDK_USE_CLAIM
 	help
 	  Use the PIO driver from pico-sdk
 
-config PICOSDK_USE_CLAIM
-	bool
-	help
-	  Use the "claim" driver from pico-sdk
-
 config PICOSDK_USE_TIMER
 	bool
 	help