diff --git a/arch/risc-v/src/common/espressif/Kconfig b/arch/risc-v/src/common/espressif/Kconfig
index ce4b46dd8e2..337e5562196 100644
--- a/arch/risc-v/src/common/espressif/Kconfig
+++ b/arch/risc-v/src/common/espressif/Kconfig
@@ -654,6 +654,8 @@ config ESP_PCNT_TEST_MODE
 config ESP_PCNT_AS_QE
 	bool
 	default n
+	select SENSORS
+	select SENSORS_QENCODER
 
 config ESP_PCNT_U0
 	bool "Enable PCNT Unit 0"
diff --git a/arch/xtensa/src/common/espressif/Kconfig b/arch/xtensa/src/common/espressif/Kconfig
index cf7af49e928..39b205d2a63 100644
--- a/arch/xtensa/src/common/espressif/Kconfig
+++ b/arch/xtensa/src/common/espressif/Kconfig
@@ -167,6 +167,8 @@ config ESP_PCNT_TEST_MODE
 config ESP_PCNT_AS_QE
 	bool
 	default n
+	select SENSORS
+	select SENSORS_QENCODER
 
 config ESP_PCNT_U0
 	bool "Enable PCNT Unit 0"