diff --git a/arch/arm/mach-k3/am625_init.c b/arch/arm/mach-k3/am625_init.c
index d5d741cb93..ccbfad29d7 100644
--- a/arch/arm/mach-k3/am625_init.c
+++ b/arch/arm/mach-k3/am625_init.c
@@ -135,6 +135,8 @@ void board_init_f(ulong dummy)
 	/* Init DM early */
 	spl_early_init();
 
+	wkup_ctrl_remove_can_io_isolation_if_set();
+
 	/*
 	 * Process pinctrl for the serial0 and serial3, aka WKUP_UART0 and
 	 * MAIN_UART1 modules and continue regardless of the result of pinctrl.
diff --git a/arch/arm/mach-k3/am62a7_init.c b/arch/arm/mach-k3/am62a7_init.c
index 0b044bf037..5a96683c53 100644
--- a/arch/arm/mach-k3/am62a7_init.c
+++ b/arch/arm/mach-k3/am62a7_init.c
@@ -103,6 +103,8 @@ void board_init_f(ulong dummy)
 	/* Init DM early */
 	spl_early_init();
 
+	wkup_ctrl_remove_can_io_isolation_if_set();
+
 	/*
 	 * Process pinctrl for the serial0 and serial3, aka WKUP_UART0 and
 	 * MAIN_UART1 modules and continue regardless of the result of pinctrl.
diff --git a/arch/arm/mach-k3/am62p5_init.c b/arch/arm/mach-k3/am62p5_init.c
index 55535a3ff9..ac1b01bd84 100644
--- a/arch/arm/mach-k3/am62p5_init.c
+++ b/arch/arm/mach-k3/am62p5_init.c
@@ -88,6 +88,8 @@ void board_init_f(ulong dummy)
 	if (ret)
 		panic("spl_early_init() failed: %d\n", ret);
 
+	wkup_ctrl_remove_can_io_isolation_if_set();
+
 	/*
 	 * Process pinctrl for the serial0 and serial3, aka WKUP_UART0 and
 	 * MAIN_UART1 modules and continue regardless of the result of pinctrl.
diff --git a/arch/arm/mach-k3/common.c b/arch/arm/mach-k3/common.c
index 0d070a8c95..a64f7e3cba 100644
--- a/arch/arm/mach-k3/common.c
+++ b/arch/arm/mach-k3/common.c
@@ -27,6 +27,9 @@
 #include <env.h>
 #include <elf.h>
 #include <soc.h>
+#include <wait_bit.h>
+
+#define CLKSTOP_TRANSITION_TIMEOUT_MS	10
 
 #if IS_ENABLED(CONFIG_SYS_K3_SPL_ATF)
 enum {
@@ -100,6 +103,59 @@ void mmr_unlock(phys_addr_t base, u32 partition)
 	writel(CTRLMMR_LOCK_KICK1_UNLOCK_VAL, part_base + CTRLMMR_LOCK_KICK1);
 }
 
+static void wkup_ctrl_remove_can_io_isolation(void)
+{
+	const void *wait_reg = (const void *)(WKUP_CTRL_MMR0_BASE +
+					      WKUP_CTRL_MMR_CANUART_WAKE_STAT1);
+	int ret;
+	u32 reg = 0;
+
+	/* Program magic word */
+	reg = readl(WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_CANUART_WAKE_CTRL);
+	reg |= WKUP_CTRL_MMR_CANUART_WAKE_CTRL_MW << WKUP_CTRL_MMR_CANUART_WAKE_CTRL_MW_SHIFT;
+	writel(reg, WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_CANUART_WAKE_CTRL);
+
+	/* Set enable bit. */
+	reg |= WKUP_CTRL_MMR_CANUART_WAKE_CTRL_MW_LOAD_EN;
+	writel(reg, WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_CANUART_WAKE_CTRL);
+
+       /* Clear enable bit. */
+	reg &= ~WKUP_CTRL_MMR_CANUART_WAKE_CTRL_MW_LOAD_EN;
+	writel(reg, WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_CANUART_WAKE_CTRL);
+
+	/* wait for CAN_ONLY_IO signal to be 0 */
+	ret = wait_for_bit_32(wait_reg,
+			      WKUP_CTRL_MMR_CANUART_WAKE_STAT1_CANUART_IO_MODE,
+			      false,
+			      CLKSTOP_TRANSITION_TIMEOUT_MS,
+			      false);
+	if (ret < 0)
+		return;
+
+	/* Reset magic word */
+	writel(0, WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_CANUART_WAKE_CTRL);
+
+	/* Remove WKUP IO isolation */
+	reg = readl(WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_PMCTRL_IO_0);
+	reg = reg & WKUP_CTRL_MMR_PMCTRL_IO_0_WRITE_MASK & ~WKUP_CTRL_MMR_PMCTRL_IO_0_GLOBAL_WUEN_0;
+	writel(reg, WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_PMCTRL_IO_0);
+
+	/* clear global IO isolation */
+	reg = readl(WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_PMCTRL_IO_0);
+	reg = reg & WKUP_CTRL_MMR_PMCTRL_IO_0_WRITE_MASK & ~WKUP_CTRL_MMR_PMCTRL_IO_0_IO_ISO_CTRL_0;
+	writel(reg, WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_PMCTRL_IO_0);
+
+	writel(0, WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_DEEPSLEEP_CTRL);
+	writel(0, WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_PMCTRL_IO_GLB);
+}
+
+void wkup_ctrl_remove_can_io_isolation_if_set(void)
+{
+	if (readl(WKUP_CTRL_MMR0_BASE + WKUP_CTRL_MMR_CANUART_WAKE_STAT1) &
+	    WKUP_CTRL_MMR_CANUART_WAKE_STAT1_CANUART_IO_MODE)
+		wkup_ctrl_remove_can_io_isolation();
+}
+
 bool is_rom_loaded_sysfw(struct rom_extended_boot_data *data)
 {
 	if (strncmp(data->header, K3_ROM_BOOT_HEADER_MAGIC, 7))
diff --git a/arch/arm/mach-k3/common.h b/arch/arm/mach-k3/common.h
index e71c7453cb..4c0d4666d7 100644
--- a/arch/arm/mach-k3/common.h
+++ b/arch/arm/mach-k3/common.h
@@ -44,3 +44,4 @@ bool is_rom_loaded_sysfw(struct rom_extended_boot_data *data);
 enum k3_device_type get_device_type(void);
 void ti_secure_image_post_process(void **p_image, size_t *p_size);
 void ti_secure_image_check_binary(void **p_image, size_t *p_size);
+void wkup_ctrl_remove_can_io_isolation_if_set(void);
diff --git a/arch/arm/mach-k3/include/mach/hardware.h b/arch/arm/mach-k3/include/mach/hardware.h
index ca53b43962..20e9634513 100644
--- a/arch/arm/mach-k3/include/mach/hardware.h
+++ b/arch/arm/mach-k3/include/mach/hardware.h
@@ -102,6 +102,35 @@ K3_SOC_ID(am62px, AM62PX)
 #define CTRLMMR_LOCK_KICK1			0x100c
 #define CTRLMMR_LOCK_KICK1_UNLOCK_VAL		0xd172bc5a
 
+/*
+ * Shared WKUP_CTRL_MMR0 definitions used to remove IO isolation
+ */
+#define WKUP_CTRL_MMR_CANUART_WAKE_CTRL				0x18300
+#define WKUP_CTRL_MMR_CANUART_WAKE_CTRL_MW			0x2aaaaaaa
+#define WKUP_CTRL_MMR_CANUART_WAKE_CTRL_MW_SHIFT		1
+#define WKUP_CTRL_MMR_CANUART_WAKE_CTRL_MW_LOAD_EN		BIT(0)
+
+#define WKUP_CTRL_MMR_CANUART_WAKE_STAT1			0x1830c
+#define WKUP_CTRL_MMR_CANUART_WAKE_STAT1_CANUART_IO_MODE	BIT(0)
+
+#define WKUP_CTRL_MMR_PMCTRL_IO_0				0x18084
+#define WKUP_CTRL_MMR_PMCTRL_IO_0_ISOCLK_OVRD_0			BIT(0)
+#define WKUP_CTRL_MMR_PMCTRL_IO_0_ISOOVR_EXTEND_0		BIT(4)
+#define WKUP_CTRL_MMR_PMCTRL_IO_0_ISO_BYPASS_OVR_0		BIT(6)
+#define WKUP_CTRL_MMR_PMCTRL_IO_0_WUCLK_CTRL_0			BIT(8)
+#define WKUP_CTRL_MMR_PMCTRL_IO_0_GLOBAL_WUEN_0			BIT(16)
+#define WKUP_CTRL_MMR_PMCTRL_IO_0_IO_ISO_CTRL_0			BIT(24)
+#define WKUP_CTRL_MMR_PMCTRL_IO_0_WRITE_MASK ( \
+		WKUP_CTRL_MMR_PMCTRL_IO_0_ISOCLK_OVRD_0 |	\
+		WKUP_CTRL_MMR_PMCTRL_IO_0_ISOOVR_EXTEND_0 |	\
+		WKUP_CTRL_MMR_PMCTRL_IO_0_ISO_BYPASS_OVR_0 |	\
+		WKUP_CTRL_MMR_PMCTRL_IO_0_WUCLK_CTRL_0 |	\
+		WKUP_CTRL_MMR_PMCTRL_IO_0_GLOBAL_WUEN_0 |	\
+		WKUP_CTRL_MMR_PMCTRL_IO_0_IO_ISO_CTRL_0)
+
+#define WKUP_CTRL_MMR_PMCTRL_IO_GLB				0x1809c
+#define WKUP_CTRL_MMR_DEEPSLEEP_CTRL				0x18160
+
 #define K3_ROM_BOOT_HEADER_MAGIC	"EXTBOOT"
 
 struct rom_extended_boot_data {