diff --git a/arch/arm/mm/Kconfig b/arch/arm/mm/Kconfig
index 22a3f4ad6ae5..29215f5f11b2 100644
--- a/arch/arm/mm/Kconfig
+++ b/arch/arm/mm/Kconfig
@@ -435,25 +435,30 @@ config CPU_32v3
 	bool
 	select TLS_REG_EMUL if SMP || !MMU
 	select NEEDS_SYSCALL_FOR_CMPXCHG if SMP
+	select CPU_USE_DOMAINS if MMU
 
 config CPU_32v4
 	bool
 	select TLS_REG_EMUL if SMP || !MMU
 	select NEEDS_SYSCALL_FOR_CMPXCHG if SMP
+	select CPU_USE_DOMAINS if MMU
 
 config CPU_32v4T
 	bool
 	select TLS_REG_EMUL if SMP || !MMU
 	select NEEDS_SYSCALL_FOR_CMPXCHG if SMP
+	select CPU_USE_DOMAINS if MMU
 
 config CPU_32v5
 	bool
 	select TLS_REG_EMUL if SMP || !MMU
 	select NEEDS_SYSCALL_FOR_CMPXCHG if SMP
+	select CPU_USE_DOMAINS if MMU
 
 config CPU_32v6
 	bool
 	select TLS_REG_EMUL if !CPU_32v6K && !MMU
+	select CPU_USE_DOMAINS if CPU_V6 && MMU
 
 config CPU_32v6K
 	bool "Support ARM V6K processor extensions" if !SMP
@@ -620,8 +625,6 @@ config CPU_CP15_MPU
 
 config CPU_USE_DOMAINS
 	bool
-	depends on MMU
-	default y if !CPU_32v6K
 	help
 	  This option enables or disables the use of domain switching
 	  via the set_fs() function.