diff --git a/soc/arm/nxp_s32/common/cmsis_rtos_v2_adapt.h b/soc/arm/nxp_s32/common/cmsis_rtos_v2_adapt.h
new file mode 100644
index 00000000000..ab2bcd971f0
--- /dev/null
+++ b/soc/arm/nxp_s32/common/cmsis_rtos_v2_adapt.h
@@ -0,0 +1,19 @@
+/*
+ * Copyright 2023 NXP
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_SOC_ARM_NXP_S32_COMMON_CMSIS_RTOS_V2_ADAPT_H_
+#define ZEPHYR_SOC_ARM_NXP_S32_COMMON_CMSIS_RTOS_V2_ADAPT_H_
+
+/*
+ * The HAL is defining these symbols already. To avoid interference
+ * between HAL and the CMSIS RTOS wrapper, redefine them under an enum.
+ */
+#undef TRUE
+#undef FALSE
+
+enum { FALSE, TRUE};
+
+#endif /* ZEPHYR_SOC_ARM_NXP_S32_COMMON_CMSIS_RTOS_V2_ADAPT_H_ */
diff --git a/soc/arm/nxp_s32/s32k3/soc.h b/soc/arm/nxp_s32/s32k3/soc.h
index bbc53e18023..ef2734554df 100644
--- a/soc/arm/nxp_s32/s32k3/soc.h
+++ b/soc/arm/nxp_s32/s32k3/soc.h
@@ -10,12 +10,7 @@
 #include <S32K344.h>
 
 #if defined(CONFIG_CMSIS_RTOS_V2)
-/*
- * The HAL is defining these symbols already. To avoid redefinitions,
- * let CMSIS RTOS wrapper define them.
- */
-#undef TRUE
-#undef FALSE
+#include <cmsis_rtos_v2_adapt.h>
 #endif
 
 /* Aliases for peripheral base addresses */
diff --git a/soc/arm/nxp_s32/s32ze/soc.h b/soc/arm/nxp_s32/s32ze/soc.h
index f7c96aa2ed9..e042ebe8af9 100644
--- a/soc/arm/nxp_s32/s32ze/soc.h
+++ b/soc/arm/nxp_s32/s32ze/soc.h
@@ -16,6 +16,10 @@
 #error "SoC not supported"
 #endif
 
+#if defined(CONFIG_CMSIS_RTOS_V2)
+#include <cmsis_rtos_v2_adapt.h>
+#endif
+
 /* Aliases for peripheral base addresses */
 
 /* SIUL2 */