diff --git a/cpu/arm7_common/Kconfig b/cpu/arm7_common/Kconfig
index 8d2959b5bf..edc4337c63 100644
--- a/cpu/arm7_common/Kconfig
+++ b/cpu/arm7_common/Kconfig
@@ -23,6 +23,7 @@ config CPU_CORE_ARM7TDMI_S
 ## Declaration of specific features
 config HAS_ARCH_ARM7
     bool
+    select HAS_PICOLIBC
     help
         Indicates that the core is part of the ARM7 group of cores.
 
diff --git a/cpu/arm7_common/Makefile.dep b/cpu/arm7_common/Makefile.dep
index 2d3962bb58..fabfff3190 100644
--- a/cpu/arm7_common/Makefile.dep
+++ b/cpu/arm7_common/Makefile.dep
@@ -1,7 +1,7 @@
 # use common ARM7 periph code
 USEMODULE += arm7_common_periph
 
-ifeq (1,$(PICOLIBC))
+ifneq (,$(filter picolibc,$(FEATURES_USED)))
   # Use Picolibc when explicitly selected
   USEMODULE += picolibc
 else
diff --git a/cpu/arm7_common/Makefile.features b/cpu/arm7_common/Makefile.features
index f382f9a5d8..b4681a50cd 100644
--- a/cpu/arm7_common/Makefile.features
+++ b/cpu/arm7_common/Makefile.features
@@ -7,5 +7,6 @@ FEATURES_PROVIDED += arch_arm7
 FEATURES_PROVIDED += cpp
 FEATURES_PROVIDED += libstdcpp
 FEATURES_PROVIDED += periph_pm
+FEATURES_PROVIDED += picolibc
 FEATURES_PROVIDED += puf_sram
 FEATURES_PROVIDED += ssp
diff --git a/cpu/cortexm_common/Kconfig b/cpu/cortexm_common/Kconfig
index 93418443fc..afd3726171 100644
--- a/cpu/cortexm_common/Kconfig
+++ b/cpu/cortexm_common/Kconfig
@@ -40,6 +40,7 @@ config CPU_CORE_CORTEX_M
     select HAS_CPU_CORE_CORTEXM
     select HAS_PERIPH_PM
     select HAS_PUF_SRAM
+    select HAS_PICOLIBC
     select HAS_CPP
     select HAS_LIBSTDCPP
     select HAS_CPU_CHECK_ADDRESS
diff --git a/cpu/cortexm_common/Makefile.dep b/cpu/cortexm_common/Makefile.dep
index edc2835da9..d2b74c516f 100644
--- a/cpu/cortexm_common/Makefile.dep
+++ b/cpu/cortexm_common/Makefile.dep
@@ -4,7 +4,7 @@ USEMODULE += cortexm_common
 # include common periph code
 USEMODULE += cortexm_common_periph
 
-ifeq (1,$(PICOLIBC))
+ifneq (,$(filter picolibc,$(FEATURES_USED)))
   # Use Picolibc when explicitly selected
   USEMODULE += picolibc
 else
diff --git a/cpu/cortexm_common/Makefile.features b/cpu/cortexm_common/Makefile.features
index 260ec2c31e..bc2895d380 100644
--- a/cpu/cortexm_common/Makefile.features
+++ b/cpu/cortexm_common/Makefile.features
@@ -7,6 +7,7 @@ FEATURES_PROVIDED += cpu_core_cortexm
 FEATURES_PROVIDED += libstdcpp
 FEATURES_PROVIDED += periph_pm
 FEATURES_PROVIDED += puf_sram
+FEATURES_PROVIDED += picolibc
 FEATURES_PROVIDED += ssp
 
 # cortex-m4f and cortex-m7 provide FPU support
diff --git a/cpu/fe310/Kconfig b/cpu/fe310/Kconfig
index bdadfff1b5..d1be703e52 100644
--- a/cpu/fe310/Kconfig
+++ b/cpu/fe310/Kconfig
@@ -8,6 +8,7 @@
 config CPU_ARCH_RISCV
     bool
     select HAS_ARCH_RISCV
+    select HAS_PICOLIBC if '$(RIOT_CI_BUILD)' != '1'
 
 config CPU_CORE_RV32M
     bool
diff --git a/cpu/fe310/Makefile.dep b/cpu/fe310/Makefile.dep
index ff4abe1366..99efb3df64 100644
--- a/cpu/fe310/Makefile.dep
+++ b/cpu/fe310/Makefile.dep
@@ -1,4 +1,4 @@
-ifeq (1,$(PICOLIBC))
+ifneq (,$(filter picolibc,$(FEATURES_USED)))
   USEMODULE += picolibc
 else
   USEMODULE += newlib_nano
diff --git a/cpu/fe310/Makefile.features b/cpu/fe310/Makefile.features
index 9f46d6ce83..5830696231 100644
--- a/cpu/fe310/Makefile.features
+++ b/cpu/fe310/Makefile.features
@@ -8,3 +8,8 @@ FEATURES_PROVIDED += periph_plic
 FEATURES_PROVIDED += periph_pm
 FEATURES_PROVIDED += periph_wdt
 FEATURES_PROVIDED += ssp
+
+# RISC-V toolchain on CI does not work properly with picolibc yet
+ifeq (,$(RIOT_CI_BUILD))
+  FEATURES_PROVIDED += picolibc
+endif
diff --git a/examples/gnrc_minimal/Makefile b/examples/gnrc_minimal/Makefile
index cb657e60b4..5f44b79cdb 100644
--- a/examples/gnrc_minimal/Makefile
+++ b/examples/gnrc_minimal/Makefile
@@ -26,6 +26,12 @@ USEMODULE += gnrc_icmpv6_echo
 # Use minimal standard PRNG
 USEMODULE += prng_minstd
 
+# llvm compatibility requires yet to be released picolibc 1.4.7
+ifneq (llvm, $(TOOLCHAIN))
+  # Use picolibc when available
+  FEATURES_OPTIONAL += picolibc
+endif
+
 CFLAGS += -DLOG_LEVEL=LOG_NONE  # disable log output
 # Set GNRC_PKTBUF_SIZE via CFLAGS if not being set via Kconfig.
 ifndef CONFIG_GNRC_PKTBUF_SIZE
diff --git a/kconfigs/Kconfig.features b/kconfigs/Kconfig.features
index c0f321edbc..26bfd998ec 100644
--- a/kconfigs/Kconfig.features
+++ b/kconfigs/Kconfig.features
@@ -296,6 +296,11 @@ config HAS_PERIPH_WDT_CB
     help
         Indicates that the WDT peripheral allows setting a callback.
 
+config HAS_PICOLIBC
+    bool
+    help
+        Indicates that the picolibc C library is available for the platform.
+
 config HAS_PUF_SRAM
     bool
     help