diff --git a/arch/arm/mach-k3/am6_init.c b/arch/arm/mach-k3/am6_init.c
index e326f57..cb96581 100644
--- a/arch/arm/mach-k3/am6_init.c
+++ b/arch/arm/mach-k3/am6_init.c
@@ -11,6 +11,7 @@
 #include <spl.h>
 #include <asm/arch/hardware.h>
 #include <asm/arch/sysfw-loader.h>
+#include <asm/arch/sys_proto.h>
 #include "common.h"
 #include <dm.h>
 #include <dm/uclass-internal.h>
@@ -111,6 +112,9 @@
 	preloader_console_init();
 #endif
 
+	/* Perform EEPROM-based board detection */
+	do_board_detect();
+
 #ifdef CONFIG_K3_AM654_DDRSS
 	ret = uclass_get_device(UCLASS_RAM, 0, &dev);
 	if (ret)
diff --git a/arch/arm/mach-k3/include/mach/sys_proto.h b/arch/arm/mach-k3/include/mach/sys_proto.h
index 018725b..787a274 100644
--- a/arch/arm/mach-k3/include/mach/sys_proto.h
+++ b/arch/arm/mach-k3/include/mach/sys_proto.h
@@ -12,4 +12,6 @@
 		  u32 bound);
 struct ti_sci_handle *get_ti_sci_handle(void);
 int fdt_fixup_msmc_ram(void *blob, char *parent_path, char *node_name);
+int do_board_detect(void);
+
 #endif
diff --git a/board/ti/am65x/Kconfig b/board/ti/am65x/Kconfig
index 60bb834..47b41cd 100644
--- a/board/ti/am65x/Kconfig
+++ b/board/ti/am65x/Kconfig
@@ -12,6 +12,8 @@
 	select ARM64
 	select SOC_K3_AM6
 	select SYS_DISABLE_DCACHE_OPS
+	select BOARD_LATE_INIT
+	imply TI_I2C_BOARD_DETECT
 
 config TARGET_AM654_R5_EVM
 	bool "TI K3 based AM654 EVM running on R5"
@@ -21,6 +23,7 @@
 	select K3_LOAD_SYSFW
 	select K3_AM654_DDRSS
 	imply SYS_K3_SPL_ATF
+	imply TI_I2C_BOARD_DETECT
 
 endchoice
 
@@ -35,6 +38,8 @@
 config SYS_CONFIG_NAME
        default "am65x_evm"
 
+source "board/ti/common/Kconfig"
+
 endif
 
 if TARGET_AM654_R5_EVM
@@ -51,4 +56,6 @@
 config SPL_LDSCRIPT
 	default "arch/arm/mach-omap2/u-boot-spl.lds"
 
+source "board/ti/common/Kconfig"
+
 endif
diff --git a/board/ti/am65x/evm.c b/board/ti/am65x/evm.c
index 52f5d6b..7bd8c4f 100644
--- a/board/ti/am65x/evm.c
+++ b/board/ti/am65x/evm.c
@@ -8,10 +8,31 @@
  */
 
 #include <common.h>
+#include <dm.h>
+#include <asm/arch/sys_proto.h>
+#include <asm/arch/hardware.h>
+#include <asm/gpio.h>
 #include <asm/io.h>
+#include <asm/omap_common.h>
 #include <spl.h>
 #include <asm/arch/sys_proto.h>
 
+#include "../common/board_detect.h"
+
+#define board_is_am65x_base_board()	board_ti_is("AM6-COMPROCEVM")
+
+/* Daughter card presence detection signals */
+enum {
+	AM65X_EVM_APP_BRD_DET,
+	AM65X_EVM_LCD_BRD_DET,
+	AM65X_EVM_SERDES_BRD_DET,
+	AM65X_EVM_HDMI_GPMC_BRD_DET,
+	AM65X_EVM_BRD_DET_COUNT,
+};
+
+/* Max number of MAC addresses that are parsed/processed per daughter card */
+#define DAUGHTER_CARD_NO_OF_MAC_ADDR	8
+
 DECLARE_GLOBAL_DATA_PTR;
 
 int board_init(void)
@@ -80,3 +101,223 @@
 	return ret;
 }
 #endif
+
+int do_board_detect(void)
+{
+	int ret;
+
+	ret = ti_i2c_eeprom_am6_get_base(CONFIG_EEPROM_BUS_ADDRESS,
+					 CONFIG_EEPROM_CHIP_ADDRESS);
+	if (ret)
+		pr_err("Reading on-board EEPROM at 0x%02x failed %d\n",
+		       CONFIG_EEPROM_CHIP_ADDRESS, ret);
+
+	return ret;
+}
+
+static void setup_board_eeprom_env(void)
+{
+	char *name = "am65x";
+
+	if (do_board_detect())
+		goto invalid_eeprom;
+
+	if (board_is_am65x_base_board())
+		name = "am65x";
+	else
+		printf("Unidentified board claims %s in eeprom header\n",
+		       board_ti_get_name());
+
+invalid_eeprom:
+	set_board_info_env_am6(name);
+}
+
+static int init_daughtercard_det_gpio(char *gpio_name, struct gpio_desc *desc)
+{
+	int ret;
+
+	memset(desc, 0, sizeof(*desc));
+
+	ret = dm_gpio_lookup_name(gpio_name, desc);
+	if (ret < 0)
+		return ret;
+
+	/* Request GPIO, simply re-using the name as label */
+	ret = dm_gpio_request(desc, gpio_name);
+	if (ret < 0)
+		return ret;
+
+	return dm_gpio_set_dir_flags(desc, GPIOD_IS_IN);
+}
+
+static int probe_daughtercards(void)
+{
+	struct ti_am6_eeprom ep;
+	struct gpio_desc board_det_gpios[AM65X_EVM_BRD_DET_COUNT];
+	char mac_addr[DAUGHTER_CARD_NO_OF_MAC_ADDR][TI_EEPROM_HDR_ETH_ALEN];
+	u8 mac_addr_cnt;
+	char name_overlays[1024] = { 0 };
+	int i, j;
+	int ret;
+
+	/*
+	 * Daughter card presence detection signal name to GPIO (via I2C I/O
+	 * expander @ address 0x38) name and EEPROM I2C address mapping.
+	 */
+	const struct {
+		char *gpio_name;
+		u8 i2c_addr;
+	} slot_map[AM65X_EVM_BRD_DET_COUNT] = {
+		{ "gpio@38_0", 0x52, },	/* AM65X_EVM_APP_BRD_DET */
+		{ "gpio@38_1", 0x55, },	/* AM65X_EVM_LCD_BRD_DET */
+		{ "gpio@38_2", 0x54, },	/* AM65X_EVM_SERDES_BRD_DET */
+		{ "gpio@38_3", 0x53, },	/* AM65X_EVM_HDMI_GPMC_BRD_DET */
+	};
+
+	/* Declaration of daughtercards to probe */
+	const struct {
+		u8 slot_index;		/* Slot the card is installed */
+		char *card_name;	/* EEPROM-programmed card name */
+		char *dtbo_name;	/* Device tree overlay to apply */
+		u8 eth_offset;		/* ethXaddr MAC address index offset */
+	} cards[] = {
+		{
+			AM65X_EVM_APP_BRD_DET,
+			"AM6-GPAPPEVM",
+			"k3-am654-gp.dtbo",
+			0,
+		},
+		{
+			AM65X_EVM_APP_BRD_DET,
+			"AM6-IDKAPPEVM",
+			"k3-am654-idk.dtbo",
+			3,
+		},
+		{
+			AM65X_EVM_SERDES_BRD_DET,
+			"SER-PCIE2LEVM",
+			"k3-am654-pcie-usb2.dtbo",
+			0,
+		},
+		{
+			AM65X_EVM_SERDES_BRD_DET,
+			"SER-PCIEUSBEVM",
+			"k3-am654-pcie-usb3.dtbo",
+			0,
+		},
+		{
+			AM65X_EVM_LCD_BRD_DET,
+			"OLDI-LCD1EVM",
+			"k3-am654-evm-oldi-lcd1evm.dtbo",
+			0,
+		},
+	};
+
+	/*
+	 * Initialize GPIO used for daughtercard slot presence detection and
+	 * keep the resulting handles in local array for easier access.
+	 */
+	for (i = 0; i < AM65X_EVM_BRD_DET_COUNT; i++) {
+		ret = init_daughtercard_det_gpio(slot_map[i].gpio_name,
+						 &board_det_gpios[i]);
+		if (ret < 0)
+			return ret;
+	}
+
+	for (i = 0; i < ARRAY_SIZE(cards); i++) {
+		/* Obtain card-specific slot index and associated I2C address */
+		u8 slot_index = cards[i].slot_index;
+		u8 i2c_addr = slot_map[slot_index].i2c_addr;
+
+		/*
+		 * The presence detection signal is active-low, hence skip
+		 * over this card slot if anything other than 0 is returned.
+		 */
+		ret = dm_gpio_get_value(&board_det_gpios[slot_index]);
+		if (ret < 0)
+			return ret;
+		else if (ret)
+			continue;
+
+		/* Get and parse the daughter card EEPROM record */
+		ret = ti_i2c_eeprom_am6_get(CONFIG_EEPROM_BUS_ADDRESS, i2c_addr,
+					    &ep,
+					    (char **)mac_addr,
+					    DAUGHTER_CARD_NO_OF_MAC_ADDR,
+					    &mac_addr_cnt);
+		if (ret) {
+			pr_err("Reading daughtercard EEPROM at 0x%02x failed %d\n",
+			       i2c_addr, ret);
+			/*
+			 * Even this is pretty serious let's just skip over
+			 * this particular daughtercard, rather than ending
+			 * the probing process altogether.
+			 */
+			continue;
+		}
+
+		/* Only process the parsed data if we found a match */
+		if (strncmp(ep.name, cards[i].card_name, sizeof(ep.name)))
+			continue;
+
+		printf("detected %s\n", cards[i].card_name);
+
+		/*
+		 * Populate any MAC addresses from daughtercard into the U-Boot
+		 * environment, starting with a card-specific offset so we can
+		 * have multiple cards contribute to the MAC pool in a well-
+		 * defined manner.
+		 */
+		for (j = 0; j < mac_addr_cnt; j++) {
+			if (!is_valid_ethaddr((u8 *)mac_addr[j]))
+				continue;
+
+			eth_env_set_enetaddr_by_index("eth",
+						      cards[i].eth_offset + j,
+						      (uchar *)mac_addr[j]);
+		}
+
+		/* Skip if no overlays are to be added */
+		if (!strlen(cards[i].dtbo_name))
+			continue;
+
+		/*
+		 * Make sure we are not running out of buffer space by checking
+		 * if we can fit the new overlay, a trailing space to be used
+		 * as a separator, plus the terminating zero.
+		 */
+		if (strlen(name_overlays) + strlen(cards[i].dtbo_name) + 2 >
+		    sizeof(name_overlays))
+			return -ENOMEM;
+
+		/* Append to our list of overlays */
+		strcat(name_overlays, cards[i].dtbo_name);
+		strcat(name_overlays, " ");
+	}
+
+	/* Apply device tree overlay(s) to the U-Boot environment, if any */
+	if (strlen(name_overlays))
+		return env_set("name_overlays", name_overlays);
+
+	return 0;
+}
+
+int board_late_init(void)
+{
+	struct ti_am6_eeprom *ep = TI_AM6_EEPROM_DATA;
+
+	setup_board_eeprom_env();
+
+	/*
+	 * The first MAC address for ethernet a.k.a. ethernet0 comes from
+	 * efuse populated via the am654 gigabit eth switch subsystem driver.
+	 * All the other ones are populated via EEPROM, hence continue with
+	 * an index of 1.
+	 */
+	board_ti_am6_set_ethaddr(1, ep->mac_addr_cnt);
+
+	/* Check for and probe any plugged-in daughtercards */
+	probe_daughtercards();
+
+	return 0;
+}
diff --git a/include/configs/am65x_evm.h b/include/configs/am65x_evm.h
index 1d291f5..552ef78 100644
--- a/include/configs/am65x_evm.h
+++ b/include/configs/am65x_evm.h
@@ -65,12 +65,9 @@
 /* U-Boot general configuration */
 #define EXTRA_ENV_AM65X_BOARD_SETTINGS					\
 	"findfdt="							\
-		"if test $board_name = am65x; then "			\
-			"setenv name_fdt k3-am654-base-board.dtb; "	\
-		"else if test $name_fdt = undefined; then "		\
-			"echo WARNING: Could not determine device tree to use;"\
-		"fi; fi; "						\
-		"setenv fdtfile ${name_fdt}\0"				\
+		"setenv name_fdt k3-am654-base-board.dtb;"		\
+		"setenv fdtfile ${name_fdt};"				\
+		"setenv overlay_files ${name_overlays}\0"		\
 	"loadaddr=0x80080000\0"						\
 	"fdtaddr=0x82000000\0"						\
 	"name_kern=Image\0"						\