diff --git a/arch/arm/core/aarch32/CMakeLists.txt b/arch/arm/core/aarch32/CMakeLists.txt
index 00b0a477e9e..ef90462c911 100644
--- a/arch/arm/core/aarch32/CMakeLists.txt
+++ b/arch/arm/core/aarch32/CMakeLists.txt
@@ -21,7 +21,7 @@ zephyr_library_sources(
 zephyr_library_sources_ifdef(CONFIG_GEN_SW_ISR_TABLE isr_wrapper.S)
 zephyr_library_sources_ifdef(CONFIG_CPLUSPLUS __aeabi_atexit.c)
 zephyr_library_sources_ifdef(CONFIG_IRQ_OFFLOAD irq_offload.c)
-zephyr_library_sources_ifdef(CONFIG_CPU_CORTEX_M0 irq_relay.S)
+zephyr_library_sources_ifdef(CONFIG_SW_VECTOR_RELAY irq_relay.S)
 zephyr_library_sources_ifdef(CONFIG_USERSPACE userspace.S)
 
 add_subdirectory_ifdef(CONFIG_CPU_CORTEX_M cortex_m)
diff --git a/arch/arm/core/aarch32/cortex_m/Kconfig b/arch/arm/core/aarch32/cortex_m/Kconfig
index e1743197108..2761a0a6bea 100644
--- a/arch/arm/core/aarch32/cortex_m/Kconfig
+++ b/arch/arm/core/aarch32/cortex_m/Kconfig
@@ -267,21 +267,16 @@ config DYNAMIC_DIRECT_INTERRUPTS
 
 config SW_VECTOR_RELAY
 	bool "Enable Software Vector Relay"
-	depends on ARMV6_M_ARMV8_M_BASELINE && !(CPU_CORTEX_M0_HAS_VECTOR_TABLE_REMAP || CPU_CORTEX_M_HAS_VTOR)
 	help
-	  When building bootloader firmware this option adds a
-	  Vector Table relay handler and relay vector table, to
+	  When building a bootloader firmware this option adds a
+	  vector table relay handler and a vector relay table, to
 	  relay interrupts based on a vector table pointer.
-	  This is only
-	  required for Cortex-M0 (or an Armv8-M baseline core) with no hardware
-	  vector table relocation mechanisms or for Cortex-M0+
-	  (or an Armv8-M baseline core) with no VTOR and no other hardware
-	  relocation table mechanisms.
+	  This is only required but not limited to Cortex-M Baseline CPUs
+	  with no hardware vector table relocation mechanisms (e.g. VTOR).
 
 config SW_VECTOR_RELAY_CLIENT
 	bool "Enable Software Vector Relay (client)"
-	default y if BOOTLOADER_MCUBOOT
-	depends on ARMV6_M_ARMV8_M_BASELINE && !(CPU_CORTEX_M0_HAS_VECTOR_TABLE_REMAP || CPU_CORTEX_M_HAS_VTOR)
+	default y if BOOTLOADER_MCUBOOT && !(CPU_CORTEX_M0_HAS_VECTOR_TABLE_REMAP || CPU_CORTEX_M_HAS_VTOR)
 	help
 	  Another image has enabled SW_VECTOR_RELAY, and will relay interrupts
 	  to this image. Enable this to make sure the vector table pointer in
diff --git a/arch/arm/core/aarch32/irq_relay.S b/arch/arm/core/aarch32/irq_relay.S
index 34382d7a1cd..c9162c38d70 100644
--- a/arch/arm/core/aarch32/irq_relay.S
+++ b/arch/arm/core/aarch32/irq_relay.S
@@ -75,37 +75,10 @@ SECTION_FUNC(vector_relay_table, __vector_relay_table)
 	.word __vector_relay_handler
 	/* End of system exception */
 
+	.rept CONFIG_NUM_IRQS
 	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
-	.word __vector_relay_handler
+	.endr
+
+GTEXT(__vector_relay_table)
 
 #endif
diff --git a/arch/arm/core/aarch32/prep_c.c b/arch/arm/core/aarch32/prep_c.c
index 2e9f0f2a48e..7638352e835 100644
--- a/arch/arm/core/aarch32/prep_c.c
+++ b/arch/arm/core/aarch32/prep_c.c
@@ -40,28 +40,39 @@
 #ifdef CONFIG_CPU_CORTEX_M_HAS_VTOR
 
 #ifdef CONFIG_XIP
+#ifdef CONFIG_SW_VECTOR_RELAY
+#define VECTOR_ADDRESS ((uintptr_t)__vector_relay_table)
+#else
 #define VECTOR_ADDRESS ((uintptr_t)_vector_start)
-#else
-#define VECTOR_ADDRESS CONFIG_SRAM_BASE_ADDRESS
 #endif
-static inline void relocate_vector_table(void)
-{
-	SCB->VTOR = VECTOR_ADDRESS & SCB_VTOR_TBLOFF_Msk;
-	__DSB();
-	__ISB();
-}
+#else /* CONFIG_XIP */
+#define VECTOR_ADDRESS CONFIG_SRAM_BASE_ADDRESS
+#endif /* CONFIG_XIP */
 
-#else
+#else /* CONFIG_CPU_CORTEX_M_HAS_VTOR */
+
+#define VECTOR_ADDRESS 0
+
+#endif /* CONFIG_CPU_CORTEX_M_HAS_VTOR */
 
 #if defined(CONFIG_SW_VECTOR_RELAY) || defined(CONFIG_SW_VECTOR_RELAY_CLIENT)
 Z_GENERIC_SECTION(.vt_pointer_section) __attribute__((used))
 void *_vector_table_pointer;
 #endif
 
-#define VECTOR_ADDRESS 0
 
+#ifdef CONFIG_CPU_CORTEX_M_HAS_VTOR
+static inline void relocate_vector_table(void)
+#else
 void __weak relocate_vector_table(void)
+#endif
 {
+#if defined(CONFIG_CPU_CORTEX_M_HAS_VTOR) && !defined(CONFIG_SW_VECTOR_RELAY_CLIENT)
+	SCB->VTOR = VECTOR_ADDRESS & SCB_VTOR_TBLOFF_Msk;
+	__DSB();
+	__ISB();
+#endif
+#if !defined(CONFIG_CPU_CORTEX_M_HAS_VTOR) || defined(CONFIG_SW_VECTOR_RELAY_CLIENT)
 #if defined(CONFIG_XIP) && (CONFIG_FLASH_BASE_ADDRESS != 0) || \
     !defined(CONFIG_XIP) && (CONFIG_SRAM_BASE_ADDRESS != 0)
 	size_t vector_size = (size_t)_vector_end - (size_t)_vector_start;
@@ -69,14 +80,13 @@ void __weak relocate_vector_table(void)
 #elif defined(CONFIG_SW_VECTOR_RELAY) || defined(CONFIG_SW_VECTOR_RELAY_CLIENT)
 	_vector_table_pointer = _vector_start;
 #endif
+#endif /* !defined(CONFIG_CPU_CORTEX_M_HAS_VTOR) || defined(CONFIG_SW_VECTOR_RELAY_CLIENT) */
 }
 
 #if defined(__GNUC__)
 #pragma GCC diagnostic pop
 #endif
 
-#endif /* CONFIG_CPU_CORTEX_M_HAS_VTOR */
-
 #if defined(CONFIG_CPU_HAS_FPU)
 static inline void z_arm_floating_point_init(void)
 {
diff --git a/include/linker/linker-defs.h b/include/linker/linker-defs.h
index b4d817e6a1b..39914574493 100644
--- a/include/linker/linker-defs.h
+++ b/include/linker/linker-defs.h
@@ -163,6 +163,10 @@ extern char _image_rodata_size[];
 extern char _vector_start[];
 extern char _vector_end[];
 
+#ifdef CONFIG_SW_VECTOR_RELAY
+extern char __vector_relay_table[];
+#endif
+
 #ifdef CONFIG_COVERAGE_GCOV
 extern char __gcov_bss_start[];
 extern char __gcov_bss_end[];