diff --git a/Config.in.legacy b/Config.in.legacy
index d00196e08b..4084ffa516 100644
--- a/Config.in.legacy
+++ b/Config.in.legacy
@@ -146,6 +146,14 @@ endif
 
 comment "Legacy options removed in 2024.05"
 
+config BR2_TARGET_UBOOT_NEEDS_TI_K3_DM
+	bool "u-boot TI K3 DM option has been renamed."
+	select BR2_LEGACY
+	select BR2_TARGET_UBOOT_NEEDS_TI_K3_BOOT_FIRMWARE
+	help
+	  The TI K3 Device Manager is already included in
+	  ti-k3-boot-firmware.
+
 config BR2_PACKAGE_FLUTTER_GALLERY
 	bool "flutter-gallery removed"
 	select BR2_LEGACY
diff --git a/boot/uboot/Config.in b/boot/uboot/Config.in
index 39b3f2c81b..e310c09217 100644
--- a/boot/uboot/Config.in
+++ b/boot/uboot/Config.in
@@ -240,18 +240,23 @@ config BR2_TARGET_UBOOT_NEEDS_OPTEE_TEE
 	  U-Boot, and that the TEE variable pointing to OPTEE's
 	  tee.elf, is passed during the Buildroot build.
 
-config BR2_TARGET_UBOOT_NEEDS_TI_K3_DM
-	bool "U-Boot needs TI K3 Device Manager (DM)"
-	# We use the SoC selection defined for the ti-k3-image-gen
-	# package
-	depends on BR2_TARGET_TI_K3_IMAGE_GEN
-	depends on BR2_TARGET_TI_K3_IMAGE_GEN_SOC_AM62AX || BR2_TARGET_TI_K3_IMAGE_GEN_SOC_AM62X
+config BR2_TARGET_UBOOT_NEEDS_TI_K3_BOOT_FIRMWARE
+	bool "U-Boot needs ti-k3-boot-firmware"
+	depends on BR2_TARGET_TI_K3_BOOT_FIRMWARE
 	help
-	  Some TI K3 devices need the Device Manager (DM) firmware to
-	  be available for the U-Boot build.
+	  TI K3 devices needs at least ti-sysfw (System Firmware) when
+	  built with u-boot's binman tool.
 
-if BR2_TARGET_UBOOT_NEEDS_TI_K3_DM
+	  Some TI K3 devices using a split firmware boot flow (AM62,
+	  j721e) also need the Device Manager (DM) firmware to be
+	  available for the U-Boot build.
 
+if BR2_TARGET_UBOOT_NEEDS_TI_K3_BOOT_FIRMWARE
+
+# TI_K3_DM_SOCNAME is only needed when ti-k3-image-gen is used for
+# TI K3 devices using the Device Manager (DM) firmware.
+# We use the SoC selection defined for the ti-k3-image-gen
+# package.
 config BR2_TARGET_UBOOT_TI_K3_DM_SOCNAME
 	string
 	default "am62axx" if BR2_TARGET_TI_K3_IMAGE_GEN_SOC_AM62AX
diff --git a/boot/uboot/uboot.mk b/boot/uboot/uboot.mk
index 491f654cec..47fb419e92 100644
--- a/boot/uboot/uboot.mk
+++ b/boot/uboot/uboot.mk
@@ -194,11 +194,13 @@ UBOOT_DEPENDENCIES += optee-os
 UBOOT_MAKE_OPTS += TEE=$(BINARIES_DIR)/tee.elf
 endif
 
-ifeq ($(BR2_TARGET_UBOOT_NEEDS_TI_K3_DM),y)
+ifeq ($(BR2_TARGET_UBOOT_NEEDS_TI_K3_BOOT_FIRMWARE),y)
 UBOOT_TI_K3_DM_SOCNAME = $(call qstrip,$(BR2_TARGET_UBOOT_TI_K3_DM_SOCNAME))
 UBOOT_DEPENDENCIES += ti-k3-boot-firmware
+ifneq ($(UBOOT_TI_K3_DM_SOCNAME),)
 UBOOT_MAKE_OPTS += DM=$(BINARIES_DIR)/ti-dm/$(UBOOT_TI_K3_DM_SOCNAME)/ipc_echo_testb_mcu1_0_release_strip.xer5f
 endif
+endif
 
 ifeq ($(BR2_TARGET_UBOOT_NEEDS_OPENSBI),y)
 UBOOT_DEPENDENCIES += opensbi
diff --git a/configs/ti_am62x_sk_defconfig b/configs/ti_am62x_sk_defconfig
index 37df7a93f7..b2814526bb 100644
--- a/configs/ti_am62x_sk_defconfig
+++ b/configs/ti_am62x_sk_defconfig
@@ -37,7 +37,7 @@ BR2_TARGET_UBOOT_BOARD_DEFCONFIG="am62x_evm_a53"
 BR2_TARGET_UBOOT_NEEDS_DTC=y
 BR2_TARGET_UBOOT_NEEDS_OPENSSL=y
 BR2_TARGET_UBOOT_NEEDS_ATF_BL31=y
-BR2_TARGET_UBOOT_NEEDS_TI_K3_DM=y
+BR2_TARGET_UBOOT_NEEDS_TI_K3_BOOT_FIRMWARE=y
 # BR2_TARGET_UBOOT_FORMAT_BIN is not set
 BR2_TARGET_UBOOT_FORMAT_IMG=y
 BR2_TARGET_UBOOT_SPL=y