diff --git a/boards/arm/mimxrt1062_fmurt6/mimxrt1062_fmurt6-pinctrl.dtsi b/boards/arm/mimxrt1062_fmurt6/mimxrt1062_fmurt6-pinctrl.dtsi
index 83899828bdf176d..587c66ac2878efe 100644
--- a/boards/arm/mimxrt1062_fmurt6/mimxrt1062_fmurt6-pinctrl.dtsi
+++ b/boards/arm/mimxrt1062_fmurt6/mimxrt1062_fmurt6-pinctrl.dtsi
@@ -313,6 +313,8 @@
 			pinmux = <&iomuxc_gpio_emc_32_lpuart7_rx>,
 				<&iomuxc_gpio_emc_31_lpuart7_tx>;
 			drive-strength = "r0-6";
+			bias-pull-up;
+			bias-pull-up-value = "100k";
 			slew-rate = "slow";
 			nxp,speed = "100-mhz";
 		};
@@ -330,10 +332,37 @@
 		};
 	};
 
+	pinmux_lpuart2: pinmux_lpuart2 {
+		group0 {
+			pinmux = <&iomuxc_gpio_ad_b1_02_lpuart2_tx>,
+				<&iomuxc_gpio_ad_b1_03_lpuart2_rx>;
+			drive-strength = "r0-6";
+			slew-rate = "slow";
+			nxp,speed = "100-mhz";
+		};
+	};
+
+	pinmux_lpuart2_sleep: pinmux_lpuart2_sleep {
+		group0 {
+			pinmux = <&iomuxc_gpio_ad_b1_03_lpuart2_rx>;
+			drive-strength = "r0";
+			bias-pull-up;
+			bias-pull-up-value = "100k";
+			slew-rate = "slow";
+			nxp,speed = "100-mhz";
+		};
+		group1 {
+			pinmux = <&iomuxc_gpio_ad_b1_02_lpuart2_tx>;
+			drive-strength = "r0-6";
+			slew-rate = "slow";
+			nxp,speed = "100-mhz";
+		};
+	};
+
 	pinmux_lpuart3: pinmux_lpuart3 {
 		group0 {
-			pinmux = <&iomuxc_gpio_ad_b1_06_lpuart3_tx>,
-				<&iomuxc_gpio_ad_b1_07_lpuart3_rx>;
+			pinmux = <&iomuxc_gpio_b0_08_lpuart3_tx>,
+				<&iomuxc_gpio_b0_09_lpuart3_rx>;
 			drive-strength = "r0-6";
 			slew-rate = "slow";
 			nxp,speed = "100-mhz";
@@ -343,10 +372,10 @@
 	/* Flow control for lpuart3 */
 	pinmux_lpuart3_flow_control: pinmux_lpuart3_flow_control {
 		group0 {
-			pinmux = <&iomuxc_gpio_ad_b1_06_lpuart3_tx>,
-				<&iomuxc_gpio_ad_b1_07_lpuart3_rx>,
-				<&iomuxc_gpio_ad_b1_04_lpuart3_cts_b>,
-				<&iomuxc_gpio_ad_b1_05_lpuart3_rts_b>;
+			pinmux = <&iomuxc_gpio_b0_08_lpuart3_tx>,
+				<&iomuxc_gpio_b0_09_lpuart3_rx>,
+				<&iomuxc_gpio_sd_b1_04_gpio3_io04>,
+				<&iomuxc_gpio_emc_24_gpio4_io24>;
 			drive-strength = "r0-6";
 			slew-rate = "slow";
 			nxp,speed = "100-mhz";
@@ -355,7 +384,34 @@
 
 	pinmux_lpuart3_sleep: pinmux_lpuart3_sleep {
 		group0 {
-			pinmux = <&iomuxc_gpio_ad_b1_06_gpio1_io22>;
+			pinmux = <&iomuxc_gpio_b0_09_lpuart3_rx>;
+			drive-strength = "r0";
+			bias-pull-up;
+			bias-pull-up-value = "100k";
+			slew-rate = "slow";
+			nxp,speed = "100-mhz";
+		};
+		group1 {
+			pinmux = <&iomuxc_gpio_b0_08_lpuart3_tx>;
+			drive-strength = "r0-6";
+			slew-rate = "slow";
+			nxp,speed = "100-mhz";
+		};
+	};
+
+	pinmux_lpuart5: pinmux_lpuart5 {
+		group0 {
+			pinmux = <&iomuxc_gpio_emc_23_lpuart5_tx>,
+				<&iomuxc_gpio_b1_13_lpuart5_rx>;
+			drive-strength = "r0-6";
+			slew-rate = "slow";
+			nxp,speed = "100-mhz";
+		};
+	};
+
+	pinmux_lpuart5_sleep: pinmux_lpuart5_sleep {
+		group0 {
+			pinmux = <&iomuxc_gpio_b1_13_lpuart5_rx>;
 			drive-strength = "r0";
 			bias-pull-up;
 			bias-pull-up-value = "100k";
@@ -363,7 +419,7 @@
 			nxp,speed = "100-mhz";
 		};
 		group1 {
-			pinmux = <&iomuxc_gpio_ad_b1_07_lpuart3_rx>;
+			pinmux = <&iomuxc_gpio_emc_23_lpuart5_tx>;
 			drive-strength = "r0-6";
 			slew-rate = "slow";
 			nxp,speed = "100-mhz";
diff --git a/boards/arm/mimxrt1062_fmurt6/mimxrt1062_fmurt6.dts b/boards/arm/mimxrt1062_fmurt6/mimxrt1062_fmurt6.dts
index ceebc7e2e4992c3..2c0812caf9e4863 100644
--- a/boards/arm/mimxrt1062_fmurt6/mimxrt1062_fmurt6.dts
+++ b/boards/arm/mimxrt1062_fmurt6/mimxrt1062_fmurt6.dts
@@ -33,6 +33,9 @@
 		zephyr,console = &lpuart7;
 		zephyr,shell-uart = &lpuart7;
 		zephyr,canbus = &flexcan1;
+		zephyr,gps1 = &lpuart2;
+		zephyr,telem1 = &lpuart3;
+		zephyr,telem4-gps2 = &lpuart5;
 	};
 
 	leds {
@@ -284,6 +287,30 @@
 	pinctrl-names = "default", "sleep";
 };
 
+&lpuart2 {
+	status = "okay";
+	current-speed = <115200>;
+	pinctrl-0 = <&pinmux_lpuart2>;
+	pinctrl-1 = <&pinmux_lpuart2_sleep>;
+	pinctrl-names = "default", "sleep";
+};
+
+&lpuart3 {
+	status = "okay";
+	current-speed = <115200>;
+	pinctrl-0 = <&pinmux_lpuart3>;
+	pinctrl-1 = <&pinmux_lpuart3_sleep>;
+	pinctrl-names = "default", "sleep";
+};
+
+&lpuart5 {
+	status = "okay";
+	current-speed = <115200>;
+	pinctrl-0 = <&pinmux_lpuart5>;
+	pinctrl-1 = <&pinmux_lpuart5_sleep>;
+	pinctrl-names = "default", "sleep";
+};
+
 &lpspi1 {
 	status = "okay";
 	pinctrl-0 = <&pinmux_lpspi1>;