diff --git a/drivers/can/Kconfig b/drivers/can/Kconfig
index 3c137fa..9875c3d 100644
--- a/drivers/can/Kconfig
+++ b/drivers/can/Kconfig
@@ -55,17 +55,10 @@
 	help
 	  Enable CAN controller device statistics.
 
-config CAN_HAS_CANFD
-	bool
-	help
-	  driver supports CAN-FD
-
 config CAN_FD_MODE
 	bool "CAN-FD"
-	default y
-	depends on CAN_HAS_CANFD
 	help
-	  Enable CAN-FD compatible API
+	  Enable CAN-FD support. Not all CAN controllers support CAN-FD.
 
 config CAN_RX_TIMESTAMP
 	bool "Receiving timestamps"
diff --git a/drivers/can/Kconfig.fake b/drivers/can/Kconfig.fake
index 21453bd..641bae2 100644
--- a/drivers/can/Kconfig.fake
+++ b/drivers/can/Kconfig.fake
@@ -7,6 +7,5 @@
 	bool "Fake CAN driver"
 	default y
 	depends on DT_HAS_ZEPHYR_FAKE_CAN_ENABLED
-	select CAN_HAS_CANFD
 	help
 	  Enable support for the FFF-based fake CAN driver.
diff --git a/drivers/can/Kconfig.loopback b/drivers/can/Kconfig.loopback
index 4a812b1..b618da1 100644
--- a/drivers/can/Kconfig.loopback
+++ b/drivers/can/Kconfig.loopback
@@ -7,7 +7,6 @@
 	bool "Emulated CAN loopback driver"
 	default y
 	depends on DT_HAS_ZEPHYR_CAN_LOOPBACK_ENABLED
-	select CAN_HAS_CANFD
 	help
 	  This is an emulated driver that can only loopback messages.
 
diff --git a/drivers/can/Kconfig.mcan b/drivers/can/Kconfig.mcan
index e5d9518..6b25df3 100644
--- a/drivers/can/Kconfig.mcan
+++ b/drivers/can/Kconfig.mcan
@@ -5,7 +5,6 @@
 
 config CAN_MCAN
 	bool
-	select CAN_HAS_CANFD
 	help
 	  Enable Bosch m_can driver.
 	  This driver supports the Bosch m_can IP. This IP is built into the
diff --git a/samples/drivers/can/babbling/Kconfig b/samples/drivers/can/babbling/Kconfig
index dd25528..c980476 100644
--- a/samples/drivers/can/babbling/Kconfig
+++ b/samples/drivers/can/babbling/Kconfig
@@ -23,7 +23,7 @@
 
 config SAMPLE_CAN_BABBLING_FD_MODE
 	bool "Send CAN-FD format frames"
-	depends on CAN_FD_MODE
+	select CAN_FD_MODE
 	help
 	  Babbling node sends CAN-FD format frames.
 
diff --git a/samples/modules/canopennode/prj.conf b/samples/modules/canopennode/prj.conf
index 43fa66b..887f3e4 100644
--- a/samples/modules/canopennode/prj.conf
+++ b/samples/modules/canopennode/prj.conf
@@ -4,7 +4,6 @@
 CONFIG_GPIO=y
 
 CONFIG_CAN=y
-CONFIG_CAN_FD_MODE=n
 CONFIG_CAN_MAX_FILTER=13
 
 CONFIG_FLASH=y
diff --git a/samples/modules/canopennode/prj_no_storage.conf b/samples/modules/canopennode/prj_no_storage.conf
index 1e136a9..2d0ec6b 100644
--- a/samples/modules/canopennode/prj_no_storage.conf
+++ b/samples/modules/canopennode/prj_no_storage.conf
@@ -4,7 +4,6 @@
 CONFIG_GPIO=y
 
 CONFIG_CAN=y
-CONFIG_CAN_FD_MODE=n
 CONFIG_CAN_MAX_FILTER=13
 
 CONFIG_CANOPEN=y
diff --git a/tests/drivers/can/api/prj.conf b/tests/drivers/can/api/prj.conf
index 2fb7716..c84ba71 100644
--- a/tests/drivers/can/api/prj.conf
+++ b/tests/drivers/can/api/prj.conf
@@ -1,5 +1,4 @@
 CONFIG_CAN=y
-CONFIG_CAN_FD_MODE=n
 CONFIG_CAN_AUTO_BUS_OFF_RECOVERY=n
 CONFIG_TEST_USERSPACE=y
 CONFIG_ZTEST=y
diff --git a/tests/drivers/can/timing/prj.conf b/tests/drivers/can/timing/prj.conf
index 2f72acd..52b5adf 100644
--- a/tests/drivers/can/timing/prj.conf
+++ b/tests/drivers/can/timing/prj.conf
@@ -1,4 +1,5 @@
 CONFIG_CAN=y
+CONFIG_CAN_FD_MODE=y
 CONFIG_TEST_USERSPACE=y
 CONFIG_ZTEST=y
 CONFIG_ZTEST_NEW_API=y