diff --git a/boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20_cpuflpr_0_9_0.yaml b/boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20_cpuflpr_0_9_0.yaml
index ff9513fd593b6..11a0e72716716 100644
--- a/boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20_cpuflpr_0_9_0.yaml
+++ b/boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20_cpuflpr_0_9_0.yaml
@@ -11,7 +11,6 @@ sysbuild: true
 ram: 46
 flash: 46
 supported:
-  - counter
   - gpio
   - i2c
   - pwm
diff --git a/boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20_cpuflpr_xip_0_9_0.yaml b/boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20_cpuflpr_xip_0_9_0.yaml
index e2880af9be356..39f81211a0b10 100644
--- a/boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20_cpuflpr_xip_0_9_0.yaml
+++ b/boards/nordic/nrf54h20dk/nrf54h20dk_nrf54h20_cpuflpr_xip_0_9_0.yaml
@@ -12,3 +12,4 @@ ram: 46
 flash: 48
 supported:
   - gpio
+  - counter
diff --git a/tests/drivers/counter/counter_basic_api/boards/nrf54h20dk_nrf54h20_cpuflpr_xip.overlay b/tests/drivers/counter/counter_basic_api/boards/nrf54h20dk_nrf54h20_cpuflpr_xip.overlay
new file mode 100644
index 0000000000000..bc24f669d92d0
--- /dev/null
+++ b/tests/drivers/counter/counter_basic_api/boards/nrf54h20dk_nrf54h20_cpuflpr_xip.overlay
@@ -0,0 +1,44 @@
+/* SPDX-License-Identifier: Apache-2.0 */
+
+#include "nrf54h20dk_nrf54h20_common.dtsi"
+
+/* FLPR does not have interrupts for slow peripherals. */
+&timer130 {
+	status = "disabled";
+};
+
+&timer131 {
+	status = "disabled";
+};
+
+&timer132 {
+	status = "disabled";
+};
+
+&timer133 {
+	status = "disabled";
+};
+
+&timer134 {
+	status = "disabled";
+};
+
+&timer135 {
+	status = "disabled";
+};
+
+&timer136 {
+	status = "disabled";
+};
+
+&timer137 {
+	status = "disabled";
+};
+
+&rtc130 {
+	status = "disabled";
+};
+
+&rtc131 {
+	status = "disabled";
+};
diff --git a/tests/drivers/counter/counter_basic_api/sysbuild/vpr_launcher/boards/nrf54h20dk_nrf54h20_cpuapp.overlay b/tests/drivers/counter/counter_basic_api/sysbuild/vpr_launcher/boards/nrf54h20dk_nrf54h20_cpuapp.overlay
index cf3a4cf125870..71776f1d375c7 100644
--- a/tests/drivers/counter/counter_basic_api/sysbuild/vpr_launcher/boards/nrf54h20dk_nrf54h20_cpuapp.overlay
+++ b/tests/drivers/counter/counter_basic_api/sysbuild/vpr_launcher/boards/nrf54h20dk_nrf54h20_cpuapp.overlay
@@ -1,5 +1,15 @@
 /* SPDX-License-Identifier: Apache-2.0 */
 
+&timer120 {
+	status = "reserved";
+	interrupt-parent = <&cpuflpr_clic>;
+};
+
+&timer121 {
+	status = "reserved";
+	interrupt-parent = <&cpuflpr_clic>;
+};
+
 &timer130 {
 	status = "reserved";
 	interrupt-parent = <&cpuppr_clic>;