diff --git a/arch/arm/mach-k3/j721s2_init.c b/arch/arm/mach-k3/j721s2_init.c
index 467f2900fa..f30a65c375 100644
--- a/arch/arm/mach-k3/j721s2_init.c
+++ b/arch/arm/mach-k3/j721s2_init.c
@@ -207,6 +207,13 @@ void k3_spl_init(void)
 
 	/* Output System Firmware version info */
 	k3_sysfw_print_ver();
+
+	if (IS_ENABLED(CONFIG_K3_AVS0)) {
+		ret = uclass_get_device_by_driver(UCLASS_MISC, DM_DRIVER_GET(k3_avs),
+						  &dev);
+		if (ret)
+			printf("AVS init failed: %d\n", ret);
+	}
 }
 
 bool check_rom_loaded_sysfw(void)
diff --git a/configs/j721s2_evm_r5_defconfig b/configs/j721s2_evm_r5_defconfig
index fc54456922..58afb4b563 100644
--- a/configs/j721s2_evm_r5_defconfig
+++ b/configs/j721s2_evm_r5_defconfig
@@ -155,6 +155,7 @@ CONFIG_K3_SYSTEM_CONTROLLER=y
 CONFIG_DM_PMIC=y
 CONFIG_PMIC_TPS65941=y
 CONFIG_DM_REGULATOR=y
+CONFIG_K3_AVS0=y
 CONFIG_SPL_DM_REGULATOR=y
 CONFIG_DM_REGULATOR_TPS65941=y
 CONFIG_REMOTEPROC_TI_K3_ARM64=y