diff --git a/Makefile.dep b/Makefile.dep
index 5c468b343c..5fafcc774e 100644
--- a/Makefile.dep
+++ b/Makefile.dep
@@ -30,6 +30,10 @@ ifneq (,$(filter mpu_stack_guard,$(USEMODULE)))
   FEATURES_REQUIRED += cortexm_mpu
 endif
 
+ifneq (,$(filter auto_init_gnrc_netif,$(USEMODULE)))
+  USEMODULE += gnrc_netif_init_devs
+endif
+
 ifneq (,$(filter csma_sender,$(USEMODULE)))
   USEMODULE += random
   USEMODULE += xtimer
diff --git a/makefiles/pseudomodules.inc.mk b/makefiles/pseudomodules.inc.mk
index 2dd7267fd0..0f66cfd87d 100644
--- a/makefiles/pseudomodules.inc.mk
+++ b/makefiles/pseudomodules.inc.mk
@@ -210,7 +210,6 @@ PSEUDOMODULES += crypto_aes_unroll
 PSEUDOMODULES += auto_init_%
 NO_PSEUDOMODULES += auto_init_can
 NO_PSEUDOMODULES += auto_init_loramac
-NO_PSEUDOMODULES += auto_init_gnrc_netif
 NO_PSEUDOMODULES += auto_init_saul
 NO_PSEUDOMODULES += auto_init_security
 NO_PSEUDOMODULES += auto_init_storage
diff --git a/sys/auto_init/Makefile b/sys/auto_init/Makefile
index 5fedf1d828..3736bf1e52 100644
--- a/sys/auto_init/Makefile
+++ b/sys/auto_init/Makefile
@@ -1,4 +1,4 @@
-ifneq (,$(filter auto_init_gnrc_netif,$(USEMODULE)))
+ifneq (,$(filter gnrc_netif_init,$(USEMODULE)))
   DIRS += netif
 endif
 
diff --git a/sys/auto_init/auto_init.c b/sys/auto_init/auto_init.c
index f5f338296f..bc8dd5e571 100644
--- a/sys/auto_init/auto_init.c
+++ b/sys/auto_init/auto_init.c
@@ -26,134 +26,6 @@
 #include "kernel_defines.h"
 #include "log.h"
 
-/**
- * @brief   Initializes network devices
- */
-static void _auto_init_gnrc_netif(void)
-{
-    if (IS_USED(MODULE_STM32_ETH)) {
-        extern void auto_init_stm32_eth(void);
-        auto_init_stm32_eth();
-    }
-
-    if (IS_USED(MODULE_AUTO_INIT_AT86RF2XX)) {
-        extern void auto_init_at86rf2xx(void);
-        auto_init_at86rf2xx();
-    }
-
-    if (IS_USED(MODULE_MRF24J40)) {
-        extern void auto_init_mrf24j40(void);
-        auto_init_mrf24j40();
-    }
-
-    if (IS_USED(MODULE_CC110X)) {
-        extern void auto_init_cc110x(void);
-        auto_init_cc110x();
-    }
-
-    if (IS_USED(MODULE_CC2420)) {
-        extern void auto_init_cc2420(void);
-        auto_init_cc2420();
-    }
-
-    if (IS_USED(MODULE_ENCX24J600)) {
-        extern void auto_init_encx24j600(void);
-        auto_init_encx24j600();
-    }
-
-    if (IS_USED(MODULE_ENC28J60)) {
-        extern void auto_init_enc28j60(void);
-        auto_init_enc28j60();
-    }
-
-    if (IS_USED(MODULE_ESP_ETH)) {
-        extern void auto_init_esp_eth(void);
-        auto_init_esp_eth();
-    }
-
-    /* don't change the order of auto_init_esp_now and auto_init_esp_wifi */
-    if (IS_USED(MODULE_ESP_NOW)) {
-        extern void auto_init_esp_now(void);
-        auto_init_esp_now();
-    }
-
-    /* don't change the order of auto_init_esp_now and auto_init_esp_wifi */
-    if (IS_USED(MODULE_ESP_WIFI)) {
-        extern void auto_init_esp_wifi(void);
-        auto_init_esp_wifi();
-    }
-
-    if (IS_USED(MODULE_ETHOS)) {
-        extern void auto_init_ethos(void);
-        auto_init_ethos();
-    }
-
-    if (IS_USED(MODULE_DOSE)) {
-        extern void auto_init_dose(void);
-        auto_init_dose();
-    }
-
-    if (IS_USED(MODULE_SLIPDEV)) {
-        extern void auto_init_slipdev(void);
-        auto_init_slipdev();
-    }
-
-    if (IS_USED(MODULE_CC2538_RF)) {
-        extern void auto_init_cc2538_rf(void);
-        auto_init_cc2538_rf();
-    }
-
-    if (IS_USED(MODULE_XBEE)) {
-        extern void auto_init_xbee(void);
-        auto_init_xbee();
-    }
-
-    if (IS_USED(MODULE_KW2XRF)) {
-        extern void auto_init_kw2xrf(void);
-        auto_init_kw2xrf();
-    }
-
-    if (IS_USED(MODULE_USBUS_CDC_ECM)) {
-        extern void auto_init_netdev_cdcecm(void);
-        auto_init_netdev_cdcecm();
-    }
-
-    if (IS_USED(MODULE_NETDEV_TAP)) {
-        extern void auto_init_netdev_tap(void);
-        auto_init_netdev_tap();
-    }
-
-    if (IS_USED(MODULE_SOCKET_ZEP)) {
-        extern void auto_init_socket_zep(void);
-        auto_init_socket_zep();
-    }
-
-    if (IS_USED(MODULE_NORDIC_SOFTDEVICE_BLE)) {
-        extern void gnrc_nordic_ble_6lowpan_init(void);
-        gnrc_nordic_ble_6lowpan_init();
-    }
-
-    if (IS_USED(MODULE_NRFMIN)) {
-        extern void gnrc_nrfmin_init(void);
-        gnrc_nrfmin_init();
-    }
-
-    if (IS_USED(MODULE_W5100)) {
-        extern void auto_init_w5100(void);
-        auto_init_w5100();
-    }
-
-    if (IS_USED(MODULE_SX127X) && !IS_USED(MODULE_SEMTECH_LORAMAC)) {
-        extern void auto_init_sx127x(void);
-        auto_init_sx127x();
-    }
-
-    if (IS_USED(MODULE_NRF802154)) {
-        extern void auto_init_nrf802154(void);
-        auto_init_nrf802154();
-    }
-}
-
 /**
  * @brief   Initializes sensors and actuators for SAUL
  */
@@ -519,7 +391,8 @@ void auto_init(void)
     /* initialize network devices */
     if (IS_USED(MODULE_AUTO_INIT_GNRC_NETIF)) {
         LOG_DEBUG("Auto init gnrc_netif.\n");
-        _auto_init_gnrc_netif();
+        extern void gnrc_netif_init_devs(void);
+        gnrc_netif_init_devs();
     }
 
     if (IS_USED(MODULE_AUTO_INIT_GNRC_UHCPC)) {
diff --git a/sys/include/net/gnrc/netif.h b/sys/include/net/gnrc/netif.h
index f85e867e60..1ec02886ad 100644
--- a/sys/include/net/gnrc/netif.h
+++ b/sys/include/net/gnrc/netif.h
@@ -233,6 +233,16 @@ struct gnrc_netif_ops {
     void (*msg_handler)(gnrc_netif_t *netif, msg_t *msg);
 };
 
+/**
+ * @brief   Initialize all available network interfaces.
+ *          This function is called automatically if the auto_init_gnrc_netif
+ *          module is used.
+ *          If only the gnrc_netif_init module is used instead, you can call
+ *          this function to manually set up the network interfaces at a later
+ *          time.
+ */
+void gnrc_netif_init_devs(void);
+
 /**
  * @brief   Creates a network interface
  *
diff --git a/sys/net/gnrc/netif/Makefile b/sys/net/gnrc/netif/Makefile
index 872b604667..ca2ce0eb12 100644
--- a/sys/net/gnrc/netif/Makefile
+++ b/sys/net/gnrc/netif/Makefile
@@ -6,6 +6,9 @@ endif
 ifneq (,$(filter gnrc_netif_ieee802154,$(USEMODULE)))
   DIRS += ieee802154
 endif
+ifneq (,$(filter gnrc_netif_init_devs,$(USEMODULE)))
+  DIRS += init_devs
+endif
 ifneq (,$(filter gnrc_netif_hdr,$(USEMODULE)))
   DIRS += hdr
 endif
diff --git a/sys/auto_init/netif/Makefile b/sys/net/gnrc/netif/init_devs/Makefile
similarity index 53%
rename from sys/auto_init/netif/Makefile
rename to sys/net/gnrc/netif/init_devs/Makefile
index c1e60318c2..360285603a 100644
--- a/sys/auto_init/netif/Makefile
+++ b/sys/net/gnrc/netif/init_devs/Makefile
@@ -1,3 +1,3 @@
-MODULE = auto_init_gnrc_netif
+MODULE = gnrc_netif_init_devs
 
 include $(RIOTBASE)/Makefile.base
diff --git a/sys/auto_init/netif/auto_init_at86rf2xx.c b/sys/net/gnrc/netif/init_devs/auto_init_at86rf2xx.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_at86rf2xx.c
rename to sys/net/gnrc/netif/init_devs/auto_init_at86rf2xx.c
diff --git a/sys/auto_init/netif/auto_init_cc110x.c b/sys/net/gnrc/netif/init_devs/auto_init_cc110x.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_cc110x.c
rename to sys/net/gnrc/netif/init_devs/auto_init_cc110x.c
diff --git a/sys/auto_init/netif/auto_init_cc2420.c b/sys/net/gnrc/netif/init_devs/auto_init_cc2420.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_cc2420.c
rename to sys/net/gnrc/netif/init_devs/auto_init_cc2420.c
diff --git a/sys/auto_init/netif/auto_init_cc2538_rf.c b/sys/net/gnrc/netif/init_devs/auto_init_cc2538_rf.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_cc2538_rf.c
rename to sys/net/gnrc/netif/init_devs/auto_init_cc2538_rf.c
diff --git a/sys/auto_init/netif/auto_init_cdcecm.c b/sys/net/gnrc/netif/init_devs/auto_init_cdcecm.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_cdcecm.c
rename to sys/net/gnrc/netif/init_devs/auto_init_cdcecm.c
diff --git a/sys/auto_init/netif/auto_init_dose.c b/sys/net/gnrc/netif/init_devs/auto_init_dose.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_dose.c
rename to sys/net/gnrc/netif/init_devs/auto_init_dose.c
diff --git a/sys/auto_init/netif/auto_init_enc28j60.c b/sys/net/gnrc/netif/init_devs/auto_init_enc28j60.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_enc28j60.c
rename to sys/net/gnrc/netif/init_devs/auto_init_enc28j60.c
diff --git a/sys/auto_init/netif/auto_init_encx24j600.c b/sys/net/gnrc/netif/init_devs/auto_init_encx24j600.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_encx24j600.c
rename to sys/net/gnrc/netif/init_devs/auto_init_encx24j600.c
diff --git a/sys/auto_init/netif/auto_init_ethos.c b/sys/net/gnrc/netif/init_devs/auto_init_ethos.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_ethos.c
rename to sys/net/gnrc/netif/init_devs/auto_init_ethos.c
diff --git a/sys/auto_init/netif/auto_init_kw2xrf.c b/sys/net/gnrc/netif/init_devs/auto_init_kw2xrf.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_kw2xrf.c
rename to sys/net/gnrc/netif/init_devs/auto_init_kw2xrf.c
diff --git a/sys/auto_init/netif/auto_init_mrf24j40.c b/sys/net/gnrc/netif/init_devs/auto_init_mrf24j40.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_mrf24j40.c
rename to sys/net/gnrc/netif/init_devs/auto_init_mrf24j40.c
diff --git a/sys/auto_init/netif/auto_init_netdev_tap.c b/sys/net/gnrc/netif/init_devs/auto_init_netdev_tap.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_netdev_tap.c
rename to sys/net/gnrc/netif/init_devs/auto_init_netdev_tap.c
diff --git a/sys/auto_init/netif/auto_init_nrf802154.c b/sys/net/gnrc/netif/init_devs/auto_init_nrf802154.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_nrf802154.c
rename to sys/net/gnrc/netif/init_devs/auto_init_nrf802154.c
diff --git a/sys/auto_init/netif/auto_init_slipdev.c b/sys/net/gnrc/netif/init_devs/auto_init_slipdev.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_slipdev.c
rename to sys/net/gnrc/netif/init_devs/auto_init_slipdev.c
diff --git a/sys/auto_init/netif/auto_init_socket_zep.c b/sys/net/gnrc/netif/init_devs/auto_init_socket_zep.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_socket_zep.c
rename to sys/net/gnrc/netif/init_devs/auto_init_socket_zep.c
diff --git a/sys/auto_init/netif/auto_init_stm32_eth.c b/sys/net/gnrc/netif/init_devs/auto_init_stm32_eth.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_stm32_eth.c
rename to sys/net/gnrc/netif/init_devs/auto_init_stm32_eth.c
diff --git a/sys/auto_init/netif/auto_init_sx127x.c b/sys/net/gnrc/netif/init_devs/auto_init_sx127x.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_sx127x.c
rename to sys/net/gnrc/netif/init_devs/auto_init_sx127x.c
diff --git a/sys/auto_init/netif/auto_init_w5100.c b/sys/net/gnrc/netif/init_devs/auto_init_w5100.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_w5100.c
rename to sys/net/gnrc/netif/init_devs/auto_init_w5100.c
diff --git a/sys/auto_init/netif/auto_init_xbee.c b/sys/net/gnrc/netif/init_devs/auto_init_xbee.c
similarity index 100%
rename from sys/auto_init/netif/auto_init_xbee.c
rename to sys/net/gnrc/netif/init_devs/auto_init_xbee.c
diff --git a/sys/net/gnrc/netif/init_devs/init.c b/sys/net/gnrc/netif/init_devs/init.c
new file mode 100644
index 0000000000..7ca10c5697
--- /dev/null
+++ b/sys/net/gnrc/netif/init_devs/init.c
@@ -0,0 +1,151 @@
+/**
+ * Auto initialization for network devices
+ *
+ * Copyright (C) 2020 Freie Universität Berlin
+ *               2020 Kaspar Schleiser <kaspar@schleiser.de>
+ *               2013  INRIA.
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ * @ingroup sys_auto_init
+ * @{
+ * @file
+ * @brief   initializes any used network interface that has a trivial init function
+ * @author  Oliver Hahm <oliver.hahm@inria.fr>
+ * @author  Hauke Petersen <hauke.petersen@fu-berlin.de>
+ * @author  Kaspar Schleiser <kaspar@schleiser.de>
+ * @author  Martine S. Lenders <m.lenders@fu-berlin.de>
+ * @}
+ */
+
+#include "kernel_defines.h"
+
+/**
+ * @brief   Initializes network devices
+ */
+void gnrc_netif_init_devs(void)
+{
+    if (IS_USED(MODULE_STM32_ETH)) {
+        extern void auto_init_stm32_eth(void);
+        auto_init_stm32_eth();
+    }
+
+    if (IS_USED(MODULE_AUTO_INIT_AT86RF2XX)) {
+        extern void auto_init_at86rf2xx(void);
+        auto_init_at86rf2xx();
+    }
+
+    if (IS_USED(MODULE_MRF24J40)) {
+        extern void auto_init_mrf24j40(void);
+        auto_init_mrf24j40();
+    }
+
+    if (IS_USED(MODULE_CC110X)) {
+        extern void auto_init_cc110x(void);
+        auto_init_cc110x();
+    }
+
+    if (IS_USED(MODULE_CC2420)) {
+        extern void auto_init_cc2420(void);
+        auto_init_cc2420();
+    }
+
+    if (IS_USED(MODULE_ENCX24J600)) {
+        extern void auto_init_encx24j600(void);
+        auto_init_encx24j600();
+    }
+
+    if (IS_USED(MODULE_ENC28J60)) {
+        extern void auto_init_enc28j60(void);
+        auto_init_enc28j60();
+    }
+
+    if (IS_USED(MODULE_ESP_ETH)) {
+        extern void auto_init_esp_eth(void);
+        auto_init_esp_eth();
+    }
+
+    /* don't change the order of auto_init_esp_now and auto_init_esp_wifi */
+    if (IS_USED(MODULE_ESP_NOW)) {
+        extern void auto_init_esp_now(void);
+        auto_init_esp_now();
+    }
+
+    /* don't change the order of auto_init_esp_now and auto_init_esp_wifi */
+    if (IS_USED(MODULE_ESP_WIFI)) {
+        extern void auto_init_esp_wifi(void);
+        auto_init_esp_wifi();
+    }
+
+    if (IS_USED(MODULE_ETHOS)) {
+        extern void auto_init_ethos(void);
+        auto_init_ethos();
+    }
+
+    if (IS_USED(MODULE_DOSE)) {
+        extern void auto_init_dose(void);
+        auto_init_dose();
+    }
+
+    if (IS_USED(MODULE_SLIPDEV)) {
+        extern void auto_init_slipdev(void);
+        auto_init_slipdev();
+    }
+
+    if (IS_USED(MODULE_CC2538_RF)) {
+        extern void auto_init_cc2538_rf(void);
+        auto_init_cc2538_rf();
+    }
+
+    if (IS_USED(MODULE_XBEE)) {
+        extern void auto_init_xbee(void);
+        auto_init_xbee();
+    }
+
+    if (IS_USED(MODULE_KW2XRF)) {
+        extern void auto_init_kw2xrf(void);
+        auto_init_kw2xrf();
+    }
+
+    if (IS_USED(MODULE_USBUS_CDC_ECM)) {
+        extern void auto_init_netdev_cdcecm(void);
+        auto_init_netdev_cdcecm();
+    }
+
+    if (IS_USED(MODULE_NETDEV_TAP)) {
+        extern void auto_init_netdev_tap(void);
+        auto_init_netdev_tap();
+    }
+
+    if (IS_USED(MODULE_SOCKET_ZEP)) {
+        extern void auto_init_socket_zep(void);
+        auto_init_socket_zep();
+    }
+
+    if (IS_USED(MODULE_NORDIC_SOFTDEVICE_BLE)) {
+        extern void gnrc_nordic_ble_6lowpan_init(void);
+        gnrc_nordic_ble_6lowpan_init();
+    }
+
+    if (IS_USED(MODULE_NRFMIN)) {
+        extern void gnrc_nrfmin_init(void);
+        gnrc_nrfmin_init();
+    }
+
+    if (IS_USED(MODULE_W5100)) {
+        extern void auto_init_w5100(void);
+        auto_init_w5100();
+    }
+
+    if (IS_USED(MODULE_SX127X) && !IS_USED(MODULE_SEMTECH_LORAMAC)) {
+        extern void auto_init_sx127x(void);
+        auto_init_sx127x();
+    }
+
+    if (IS_USED(MODULE_NRF802154)) {
+        extern void auto_init_nrf802154(void);
+        auto_init_nrf802154();
+    }
+}