diff --git a/sys/dev/dpaa2/dpaa2_io.c b/sys/dev/dpaa2/dpaa2_io.c
index e2b7992bfdb6ba..7bf41beb98eba1 100644
--- a/sys/dev/dpaa2/dpaa2_io.c
+++ b/sys/dev/dpaa2/dpaa2_io.c
@@ -127,35 +127,48 @@ dpaa2_io_probe(device_t dev)
 static int
 dpaa2_io_detach(device_t dev)
 {
+	device_t pdev = device_get_parent(dev);
 	device_t child = dev;
 	struct dpaa2_io_softc *sc = device_get_softc(dev);
+	struct dpaa2_devinfo *rcinfo = device_get_ivars(pdev);
 	struct dpaa2_devinfo *dinfo = device_get_ivars(dev);
+	struct dpaa2_cmd cmd;
+	uint16_t rc_token;
+	uint16_t io_token __unused;
 	int error;
 
-	/* Tear down interrupt handler and release IRQ resources. */
 	dpaa2_io_release_irqs(dev);
-
-	/* Free software portal helper object. */
 	dpaa2_swp_free_portal(sc->swp);
+	error = dpaa2_mcp_init_command(&cmd, DPAA2_CMD_DEF);
+	if (error) {
+		device_printf(dev, "%s: failed to initialize dpaa2_cmd: "
+		    "error=%d\n", __func__, error);
+		goto unmap_res;
+	}
 
-	/* Disable DPIO object. */
-	error = DPAA2_CMD_IO_DISABLE(dev, child, dpaa2_mcp_tk(sc->cmd,
-	    sc->io_token));
-	if (error && bootverbose)
+	/* Disable DPIO object */
+
+	error = DPAA2_CMD_RC_OPEN(dev, child, &cmd, rcinfo->id, &rc_token);
+	if (error) {
+		device_printf(dev, "%s: failed to open DPRC: error=%d\n",
+		    __func__, error);
+		goto unmap_res;
+	}
+	error = DPAA2_CMD_IO_OPEN(dev, child, &cmd, dinfo->id, &io_token);
+	if (error) {
+		device_printf(dev, "%s: failed to open DPIO: id=%d, error=%d\n",
+		    __func__, dinfo->id, error);
+		goto unmap_res;
+	}
+	error = DPAA2_CMD_IO_DISABLE(dev, child, &cmd);
+	if (error && bootverbose) {
 		device_printf(dev, "%s: failed to disable DPIO: id=%d, "
 		    "error=%d\n", __func__, dinfo->id, error);
+	}
+	DPAA2_CMD_IO_CLOSE(dev, child, &cmd);
+	DPAA2_CMD_RC_CLOSE(dev, child, dpaa2_mcp_tk(&cmd, rc_token));
 
-	/* Close control sessions with the DPAA2 objects. */
-	DPAA2_CMD_IO_CLOSE(dev, child, dpaa2_mcp_tk(sc->cmd, sc->io_token));
-	DPAA2_CMD_RC_CLOSE(dev, child, dpaa2_mcp_tk(sc->cmd, sc->rc_token));
-
-	/* Free pre-allocated MC command. */
-	dpaa2_mcp_free_command(sc->cmd);
-	sc->cmd = NULL;
-	sc->io_token = 0;
-	sc->rc_token = 0;
-
-	/* Unmap memory resources of the portal. */
+unmap_res:
 	for (int i = 0; i < MEM_RES_NUM; i++) {
 		if (sc->res[MEM_RID(i)] == NULL)
 			continue;
@@ -166,8 +179,6 @@ dpaa2_io_detach(device_t dev)
 			    "resource: rid=%d, error=%d\n", __func__, MEM_RID(i),
 			    error);
 	}
-
-	/* Release allocated resources. */
 	bus_release_resources(dev, dpaa2_io_spec, sc->res);
 
 	return (0);
@@ -183,6 +194,7 @@ dpaa2_io_attach(device_t dev)
 	struct dpaa2_devinfo *rcinfo = device_get_ivars(pdev);
 	struct dpaa2_devinfo *dinfo = device_get_ivars(dev);
 	struct dpaa2_devinfo *mcp_dinfo;
+	struct dpaa2_cmd cmd;
 	struct resource_map_request req;
 	struct {
 		vm_memattr_t memattr;
@@ -192,15 +204,15 @@ dpaa2_io_attach(device_t dev)
 		{ VM_MEMATTR_DEVICE, "cache-inhibited part" },
 		{ VM_MEMATTR_DEVICE, "control registers" }
 	};
+	uint16_t rc_token;
+	uint16_t io_token __unused;
 	int error;
 
 	sc->dev = dev;
 	sc->swp = NULL;
-	sc->cmd = NULL;
 	sc->intr = NULL;
 	sc->irq_resource = NULL;
 
-	/* Allocate resources. */
 	error = bus_alloc_resources(sc->dev, dpaa2_io_spec, sc->res);
 	if (error) {
 		device_printf(dev, "%s: failed to allocate resources: "
@@ -208,16 +220,14 @@ dpaa2_io_attach(device_t dev)
 		return (ENXIO);
 	}
 
-	/* Set allocated MC portal up. */
+	/* Setup allocated MC portal */
 	mcp_dev = (device_t) rman_get_start(sc->res[MCP_RID(0)]);
 	mcp_dinfo = device_get_ivars(mcp_dev);
 	dinfo->portal = mcp_dinfo->portal;
 
-	/* Map memory resources of the portal. */
 	for (int i = 0; i < MEM_RES_NUM; i++) {
 		if (sc->res[MEM_RID(i)] == NULL)
 			continue;
-
 		resource_init_map_request(&req);
 		req.memattr = map_args[i].memattr;
 		error = bus_map_resource(sc->dev, SYS_RES_MEMORY,
@@ -229,46 +239,47 @@ dpaa2_io_attach(device_t dev)
 		}
 	}
 
-	/* Allocate a command to send to the MC hardware. */
-	error = dpaa2_mcp_init_command(&sc->cmd, DPAA2_CMD_DEF);
+	error = dpaa2_mcp_init_command(&cmd, DPAA2_CMD_DEF);
 	if (error) {
-		device_printf(dev, "%s: failed to allocate dpaa2_cmd: "
+		device_printf(dev, "%s: failed to initialize dpaa2_cmd: "
 		    "error=%d\n", __func__, error);
 		goto err_exit;
 	}
 
-	/* Prepare DPIO object. */
-	error = DPAA2_CMD_RC_OPEN(dev, child, sc->cmd, rcinfo->id,
-	    &sc->rc_token);
+	/* Enable DPIO object */
+
+	error = DPAA2_CMD_RC_OPEN(dev, child, &cmd, rcinfo->id, &rc_token);
 	if (error) {
 		device_printf(dev, "%s: failed to open DPRC: error=%d\n",
 		    __func__, error);
 		goto err_exit;
 	}
-	error = DPAA2_CMD_IO_OPEN(dev, child, sc->cmd, dinfo->id, &sc->io_token);
+	error = DPAA2_CMD_IO_OPEN(dev, child, &cmd, dinfo->id, &io_token);
 	if (error) {
 		device_printf(dev, "%s: failed to open DPIO: id=%d, error=%d\n",
 		    __func__, dinfo->id, error);
 		goto err_exit;
 	}
-	error = DPAA2_CMD_IO_RESET(dev, child, sc->cmd);
+	error = DPAA2_CMD_IO_RESET(dev, child, &cmd);
 	if (error) {
 		device_printf(dev, "%s: failed to reset DPIO: id=%d, error=%d\n",
 		    __func__, dinfo->id, error);
 		goto err_exit;
 	}
-	error = DPAA2_CMD_IO_GET_ATTRIBUTES(dev, child, sc->cmd, &sc->attr);
+	error = DPAA2_CMD_IO_GET_ATTRIBUTES(dev, child, &cmd, &sc->attr);
 	if (error) {
 		device_printf(dev, "%s: failed to get DPIO attributes: id=%d, "
 		    "error=%d\n", __func__, dinfo->id, error);
 		goto err_exit;
 	}
-	error = DPAA2_CMD_IO_ENABLE(dev, child, sc->cmd);
+	error = DPAA2_CMD_IO_ENABLE(dev, child, &cmd);
 	if (error) {
 		device_printf(dev, "%s: failed to enable DPIO: id=%d, "
 		    "error=%d\n", __func__, dinfo->id, error);
 		goto err_exit;
 	}
+	DPAA2_CMD_IO_CLOSE(dev, child, &cmd);
+	DPAA2_CMD_RC_CLOSE(dev, child, dpaa2_mcp_tk(&cmd, rc_token));
 
 	/* Prepare descriptor of the QBMan software portal. */
 	sc->swp_desc.dpio_dev = dev;
@@ -291,7 +302,6 @@ dpaa2_io_attach(device_t dev)
 	sc->swp_desc.swp_cycles_ratio = 256000 /
 	    (sc->swp_desc.swp_clk / 1000000);
 
-	/* Initialize QBMan software portal. */
 	error = dpaa2_swp_init_portal(&sc->swp, &sc->swp_desc, DPAA2_SWP_DEF);
 	if (error) {
 		device_printf(dev, "%s: failed to initialize dpaa2_swp: "
@@ -306,8 +316,6 @@ dpaa2_io_attach(device_t dev)
 		goto err_exit;
 	}
 
-#if 0
-	/* TODO: Enable debug output via sysctl (to reduce output). */
 	if (bootverbose)
 		device_printf(dev, "dpio_id=%d, swp_id=%d, chan_mode=%s, "
 		    "notif_priors=%d, swp_version=0x%x\n",
@@ -315,7 +323,7 @@ dpaa2_io_attach(device_t dev)
 		    sc->attr.chan_mode == DPAA2_IO_LOCAL_CHANNEL
 		    ? "local_channel" : "no_channel", sc->attr.priors_num,
 		    sc->attr.swp_version);
-#endif
+
 	return (0);
 
 err_exit:
diff --git a/sys/dev/dpaa2/dpaa2_io.h b/sys/dev/dpaa2/dpaa2_io.h
index d02dab8144df86..13def050fffb7f 100644
--- a/sys/dev/dpaa2/dpaa2_io.h
+++ b/sys/dev/dpaa2/dpaa2_io.h
@@ -92,11 +92,6 @@ struct dpaa2_io_softc {
 	struct dpaa2_swp	*swp;
 	struct dpaa2_io_attr	 attr;
 
-	/* Help to send commands to MC. */
-	struct dpaa2_cmd	*cmd;
-	uint16_t		 rc_token;
-	uint16_t		 io_token;
-
 	struct resource 	*res[DPAA2_IO_MAX_RESOURCES];
 	struct resource_map	 map[DPAA2_IO_MAX_RESOURCES];
 
diff --git a/sys/dev/dpaa2/dpaa2_mcp.c b/sys/dev/dpaa2/dpaa2_mcp.c
index f41d9a7d21b026..e6d22f149d163e 100644
--- a/sys/dev/dpaa2/dpaa2_mcp.c
+++ b/sys/dev/dpaa2/dpaa2_mcp.c
@@ -109,21 +109,14 @@ dpaa2_mcp_free_portal(struct dpaa2_mcp *mcp)
 }
 
 int
-dpaa2_mcp_init_command(struct dpaa2_cmd **cmd, uint16_t flags)
+dpaa2_mcp_init_command(struct dpaa2_cmd *cmd)
 {
-	const int mflags = flags & DPAA2_CMD_NOWAIT_ALLOC
-	    ? (M_NOWAIT | M_ZERO) : (M_WAITOK | M_ZERO);
-	struct dpaa2_cmd *c;
 	struct dpaa2_cmd_header *hdr;
 
 	if (!cmd)
 		return (DPAA2_CMD_STAT_EINVAL);
 
-	c = malloc(sizeof(struct dpaa2_cmd), M_DPAA2_MCP, mflags);
-	if (!c)
-		return (DPAA2_CMD_STAT_NO_MEMORY);
-
-	hdr = (struct dpaa2_cmd_header *) &c->header;
+	hdr = (struct dpaa2_cmd_header *) cmd->header;
 	hdr->srcid = 0;
 	hdr->status = DPAA2_CMD_STAT_OK;
 	hdr->token = 0;
@@ -134,20 +127,13 @@ dpaa2_mcp_init_command(struct dpaa2_cmd **cmd, uint16_t flags)
 		hdr->flags_hw |= DPAA2_HW_FLAG_HIGH_PRIO;
 	if (flags & DPAA2_CMD_INTR_DIS)
 		hdr->flags_sw |= DPAA2_SW_FLAG_INTR_DIS;
+
 	for (uint32_t i = 0; i < DPAA2_CMD_PARAMS_N; i++)
-		c->params[i] = 0;
-	*cmd = c;
+		cmd->params[i] = 0;
 
 	return (0);
 }
 
-void
-dpaa2_mcp_free_command(struct dpaa2_cmd *cmd)
-{
-	if (cmd != NULL)
-		free(cmd, M_DPAA2_MCP);
-}
-
 struct dpaa2_cmd *
 dpaa2_mcp_tk(struct dpaa2_cmd *cmd, uint16_t token)
 {
diff --git a/sys/dev/dpaa2/dpaa2_mcp.h b/sys/dev/dpaa2/dpaa2_mcp.h
index 55052ca7afb21e..4aaa0658220c50 100644
--- a/sys/dev/dpaa2/dpaa2_mcp.h
+++ b/sys/dev/dpaa2/dpaa2_mcp.h
@@ -437,9 +437,8 @@ struct dpaa2_mcp_softc {
 
 int	dpaa2_mcp_init_portal(struct dpaa2_mcp **mcp, struct resource *res,
 	    struct resource_map *map, uint16_t flags);
-int	dpaa2_mcp_init_command(struct dpaa2_cmd **cmd, uint16_t flags);
+int	dpaa2_mcp_init_command(struct dpaa2_cmd *cmd);
 void	dpaa2_mcp_free_portal(struct dpaa2_mcp *mcp);
-void	dpaa2_mcp_free_command(struct dpaa2_cmd *cmd);
 
 /* to quickly update command token */
 struct dpaa2_cmd *dpaa2_mcp_tk(struct dpaa2_cmd *cmd, uint16_t token);