diff --git a/samples/drivers/ipm/ipm_esp32/Kconfig.sysbuild b/samples/drivers/ipm/ipm_esp32/Kconfig.sysbuild
index 143c6c08eb505a8..3e6504f65bbf70f 100644
--- a/samples/drivers/ipm/ipm_esp32/Kconfig.sysbuild
+++ b/samples/drivers/ipm/ipm_esp32/Kconfig.sysbuild
@@ -3,9 +3,3 @@
 # SPDX-License-Identifier: Apache-2.0
 
 source "share/sysbuild/Kconfig"
-
-config IPM_REMOTE_BOARD
-	string
-	default "esp32_devkitc_wrover/esp32/appcpu" if $(BOARD) = "esp32_devkitc_wroom"
-	default "esp32_devkitc_wroom/esp32/appcpu" if $(BOARD) = "esp32_devkitc_wroom"
-	default "esp32s3_devkitm/esp32s3/appcpu" if $(BOARD) = "esp32s3_devkitm"
diff --git a/samples/drivers/ipm/ipm_esp32/boards/esp32s3_devkitm_procpu.overlay b/samples/drivers/ipm/ipm_esp32/boards/esp32s3_devkitm_procpu.overlay
deleted file mode 100644
index ab1795abad77272..000000000000000
--- a/samples/drivers/ipm/ipm_esp32/boards/esp32s3_devkitm_procpu.overlay
+++ /dev/null
@@ -1,3 +0,0 @@
-&ipm0 {
-	status = "okay";
-};
diff --git a/samples/drivers/ipm/ipm_esp32/boards/yd_esp32_procpu.overlay b/samples/drivers/ipm/ipm_esp32/boards/yd_esp32_procpu.overlay
deleted file mode 100644
index ab1795abad77272..000000000000000
--- a/samples/drivers/ipm/ipm_esp32/boards/yd_esp32_procpu.overlay
+++ /dev/null
@@ -1,3 +0,0 @@
-&ipm0 {
-	status = "okay";
-};
diff --git a/samples/drivers/ipm/ipm_esp32/src/procpu_shell.c b/samples/drivers/ipm/ipm_esp32/src/procpu_shell.c
index e3889efa4ba5b22..c808c81b36c13cf 100644
--- a/samples/drivers/ipm/ipm_esp32/src/procpu_shell.c
+++ b/samples/drivers/ipm/ipm_esp32/src/procpu_shell.c
@@ -4,6 +4,8 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
+#if defined(CONFIG_IPM) || defined(CONIFG_MBOX)
+
 #include <stdlib.h>
 
 #include <zephyr/device.h>
@@ -57,3 +59,4 @@ SHELL_STATIC_SUBCMD_SET_CREATE(sub_amp,
 );
 
 SHELL_CMD_REGISTER(amp, &sub_amp, "AMP debug commands.", NULL);
+#endif
diff --git a/samples/drivers/ipm/ipm_esp32/sysbuild.cmake b/samples/drivers/ipm/ipm_esp32/sysbuild.cmake
index 1ec5cf9c3e4d335..1acb297b8b3c26f 100644
--- a/samples/drivers/ipm/ipm_esp32/sysbuild.cmake
+++ b/samples/drivers/ipm/ipm_esp32/sysbuild.cmake
@@ -2,11 +2,20 @@
 #
 # Copyright 2024 Espressif
 
+# Prepare the full board name to be used for the remote target
+string(REPLACE "procpu" "appcpu" REMOTE_CPU "${BOARD_QUALIFIERS}")
+string(CONFIGURE "${BOARD}${REMOTE_CPU}" IPM_REMOTE_BOARD)
+
+if(${REMOTE_CPU} STREQUAL ${BOARD_QUALIFIERS})
+  # Make sure the remote build is using different target than host CPU
+  message(FATAL_ERROR "BOARD_QUALIFIERS name error. Please check the target board name string.")
+endif()
+
 # Add external project
 ExternalZephyrProject_Add(
     APPLICATION ipm_esp32_remote
     SOURCE_DIR ${APP_DIR}/remote
-    BOARD ${SB_CONFIG_IPM_REMOTE_BOARD}
+    BOARD ${IPM_REMOTE_BOARD}
   )
 
 # Add dependencies so that the remote sample will be built first