diff --git a/arch/arm64/configs/am6xxx_defconfig b/arch/arm64/configs/am6xxx_defconfig
index 3ef45b31a749..529e870e9a68 100644
--- a/arch/arm64/configs/am6xxx_defconfig
+++ b/arch/arm64/configs/am6xxx_defconfig
@@ -259,6 +259,7 @@ CONFIG_SERIAL_8250_DW=y
 CONFIG_SERIAL_8250_OMAP=y
 CONFIG_SERIAL_OF_PLATFORM=y
 # CONFIG_SERIAL_OMAP_MODBUS is not set
+CONFIG_RPMSG_TTY=y
 CONFIG_HW_RANDOM=y
 CONFIG_TCG_TPM=y
 CONFIG_TCG_TIS=y
@@ -376,6 +377,9 @@ CONFIG_REMOTEPROC_CDEV=y
 CONFIG_TI_K3_DSP_REMOTEPROC=y
 CONFIG_TI_K3_M4_REMOTEPROC=y
 CONFIG_TI_K3_R5_REMOTEPROC=y
+CONFIG_RPMSG_CHAR=y
+CONFIG_RPMSG_CTRL=y
+CONFIG_RPMSG_VIRTIO=y
 CONFIG_SOC_BRCMSTB=y
 CONFIG_TI_SCI_PM_DOMAINS=y
 CONFIG_PM_DEVFREQ=y