diff --git a/CODEOWNERS b/CODEOWNERS
index 5b41a17eacc..99501cba1c0 100644
--- a/CODEOWNERS
+++ b/CODEOWNERS
@@ -22,7 +22,7 @@
 /arch/arm/core/aarch64/                   @carlocaione
 /arch/arm/include/aarch32/cortex_m/cmse.h @ioannisg
 /arch/arm/include/aarch64/                @carlocaione
-/arch/arm/core/aarch32/cortex_r/          @MaureenHelm @galak @ioannisg @bbolen @stephanosio
+/arch/arm/core/aarch32/cortex_a_r/        @MaureenHelm @galak @ioannisg @bbolen @stephanosio
 /arch/common/                             @andrewboie @ioannisg @andyross
 /soc/arc/snps_*/                          @vonhust @ruuddw
 /soc/nios2/                               @nashif @wentongwu
@@ -298,7 +298,7 @@
 /include/arch/arc/arch.h                  @andrewboie
 /include/arch/arc/v2/irq.h                @andrewboie
 /include/arch/arm/aarch32/                @MaureenHelm @galak @ioannisg
-/include/arch/arm/aarch32/cortex_r/       @stephanosio
+/include/arch/arm/aarch32/cortex_a_r/     @stephanosio
 /include/arch/arm/aarch64/                @carlocaione
 /include/arch/arm/aarch32/irq.h           @andrewboie
 /include/arch/nios2/                      @andrewboie
diff --git a/arch/arm/core/aarch32/CMakeLists.txt b/arch/arm/core/aarch32/CMakeLists.txt
index 0e17c1112ef..854612839bf 100644
--- a/arch/arm/core/aarch32/CMakeLists.txt
+++ b/arch/arm/core/aarch32/CMakeLists.txt
@@ -32,6 +32,6 @@ add_subdirectory_ifdef(CONFIG_CPU_CORTEX_M_HAS_CMSE cortex_m/cmse)
 add_subdirectory_ifdef(CONFIG_ARM_SECURE_FIRMWARE cortex_m/tz)
 add_subdirectory_ifdef(CONFIG_ARM_NONSECURE_FIRMWARE cortex_m/tz)
 
-add_subdirectory_ifdef(CONFIG_CPU_CORTEX_R cortex_r)
+add_subdirectory_ifdef(CONFIG_CPU_CORTEX_R cortex_a_r)
 
 zephyr_linker_sources(ROM_START SORT_KEY 0x0vectors vector_table.ld)
diff --git a/arch/arm/core/aarch32/Kconfig b/arch/arm/core/aarch32/Kconfig
index 25ee5c3fd96..c7af443aee0 100644
--- a/arch/arm/core/aarch32/Kconfig
+++ b/arch/arm/core/aarch32/Kconfig
@@ -238,6 +238,6 @@ config FP_SOFTABI
 endchoice
 
 rsource "cortex_m/Kconfig"
-rsource "cortex_r/Kconfig"
+rsource "cortex_a_r/Kconfig"
 
 endif # !ARM64
diff --git a/arch/arm/core/aarch32/cortex_r/CMakeLists.txt b/arch/arm/core/aarch32/cortex_a_r/CMakeLists.txt
similarity index 100%
rename from arch/arm/core/aarch32/cortex_r/CMakeLists.txt
rename to arch/arm/core/aarch32/cortex_a_r/CMakeLists.txt
diff --git a/arch/arm/core/aarch32/cortex_r/Kconfig b/arch/arm/core/aarch32/cortex_a_r/Kconfig
similarity index 100%
rename from arch/arm/core/aarch32/cortex_r/Kconfig
rename to arch/arm/core/aarch32/cortex_a_r/Kconfig
diff --git a/arch/arm/core/aarch32/cortex_r/fault.c b/arch/arm/core/aarch32/cortex_a_r/fault.c
similarity index 100%
rename from arch/arm/core/aarch32/cortex_r/fault.c
rename to arch/arm/core/aarch32/cortex_a_r/fault.c
diff --git a/arch/arm/core/aarch32/cortex_r/irq_init.c b/arch/arm/core/aarch32/cortex_a_r/irq_init.c
similarity index 100%
rename from arch/arm/core/aarch32/cortex_r/irq_init.c
rename to arch/arm/core/aarch32/cortex_a_r/irq_init.c
diff --git a/arch/arm/core/aarch32/cortex_r/reboot.c b/arch/arm/core/aarch32/cortex_a_r/reboot.c
similarity index 100%
rename from arch/arm/core/aarch32/cortex_r/reboot.c
rename to arch/arm/core/aarch32/cortex_a_r/reboot.c
diff --git a/arch/arm/core/aarch32/cortex_r/reset.S b/arch/arm/core/aarch32/cortex_a_r/reset.S
similarity index 100%
rename from arch/arm/core/aarch32/cortex_r/reset.S
rename to arch/arm/core/aarch32/cortex_a_r/reset.S
diff --git a/arch/arm/core/aarch32/cortex_r/stacks.c b/arch/arm/core/aarch32/cortex_a_r/stacks.c
similarity index 96%
rename from arch/arm/core/aarch32/cortex_r/stacks.c
rename to arch/arm/core/aarch32/cortex_a_r/stacks.c
index f8d54dd4db1..59499e694d2 100644
--- a/arch/arm/core/aarch32/cortex_r/stacks.c
+++ b/arch/arm/core/aarch32/cortex_a_r/stacks.c
@@ -5,7 +5,7 @@
  */
 
 #include <kernel.h>
-#include <aarch32/cortex_r/stack.h>
+#include <aarch32/cortex_a_r/stack.h>
 #include <string.h>
 #include <kernel_internal.h>
 
diff --git a/arch/arm/core/aarch32/cortex_r/vector_table.S b/arch/arm/core/aarch32/cortex_a_r/vector_table.S
similarity index 100%
rename from arch/arm/core/aarch32/cortex_r/vector_table.S
rename to arch/arm/core/aarch32/cortex_a_r/vector_table.S
diff --git a/arch/arm/core/aarch32/cortex_r/vector_table.h b/arch/arm/core/aarch32/cortex_a_r/vector_table.h
similarity index 100%
rename from arch/arm/core/aarch32/cortex_r/vector_table.h
rename to arch/arm/core/aarch32/cortex_a_r/vector_table.h
diff --git a/arch/arm/core/aarch32/prep_c.c b/arch/arm/core/aarch32/prep_c.c
index 4a20f5253e2..eeef525e6cb 100644
--- a/arch/arm/core/aarch32/prep_c.c
+++ b/arch/arm/core/aarch32/prep_c.c
@@ -21,7 +21,7 @@
 #include <linker/linker-defs.h>
 
 #if defined(CONFIG_ARMV7_R)
-#include <aarch32/cortex_r/stack.h>
+#include <aarch32/cortex_a_r/stack.h>
 #endif
 
 #if defined(__GNUC__)
diff --git a/arch/arm/include/aarch32/cortex_r/exc.h b/arch/arm/include/aarch32/cortex_a_r/exc.h
similarity index 81%
rename from arch/arm/include/aarch32/cortex_r/exc.h
rename to arch/arm/include/aarch32/cortex_a_r/exc.h
index 5d965d6bb32..d6d11bfa9e9 100644
--- a/arch/arm/include/aarch32/cortex_r/exc.h
+++ b/arch/arm/include/aarch32/cortex_a_r/exc.h
@@ -6,13 +6,13 @@
 
 /**
  * @file
- * @brief Exception/interrupt context helpers for Cortex-R CPUs
+ * @brief Exception/interrupt context helpers for Cortex-A and Cortex-R CPUs
  *
  * Exception/interrupt context helpers.
  */
 
-#ifndef _ARM_CORTEXR_ISR__H_
-#define _ARM_CORTEXR_ISR__H_
+#ifndef ZEPHYR_ARCH_ARM_INCLUDE_AARCH32_CORTEX_A_R_EXC_H_
+#define ZEPHYR_ARCH_ARM_INCLUDE_AARCH32_CORTEX_A_R_EXC_H_
 
 #include <arch/cpu.h>
 
@@ -77,4 +77,4 @@ extern void z_arm_cortex_r_svc(void);
 
 #endif /* _ASMLANGUAGE */
 
-#endif /* _ARM_CORTEXRM_ISR__H_ */
+#endif /* ZEPHYR_ARCH_ARM_INCLUDE_AARCH32_CORTEX_A_R_EXC_H_ */
diff --git a/arch/arm/include/aarch32/cortex_r/stack.h b/arch/arm/include/aarch32/cortex_a_r/stack.h
similarity index 68%
rename from arch/arm/include/aarch32/cortex_r/stack.h
rename to arch/arm/include/aarch32/cortex_a_r/stack.h
index a06edcb1374..0ef544d6f55 100644
--- a/arch/arm/include/aarch32/cortex_r/stack.h
+++ b/arch/arm/include/aarch32/cortex_a_r/stack.h
@@ -6,13 +6,13 @@
 
 /**
  * @file
- * @brief Stack helpers for Cortex-R CPUs
+ * @brief Stack helpers for Cortex-A and Cortex-R CPUs
  *
  * Stack helper functions.
  */
 
-#ifndef _ARM_CORTEXR_STACK__H_
-#define _ARM_CORTEXR_STACK__H_
+#ifndef ZEPHYR_ARCH_ARM_INCLUDE_AARCH32_CORTEX_A_R_STACK_H_
+#define ZEPHYR_ARCH_ARM_INCLUDE_AARCH32_CORTEX_A_R_STACK_H_
 
 #ifdef __cplusplus
 extern "C" {
@@ -44,4 +44,4 @@ static ALWAYS_INLINE void z_arm_interrupt_stack_setup(void)
 }
 #endif
 
-#endif /* _ARM_CORTEXR_STACK__H_ */
+#endif /* ZEPHYR_ARCH_ARM_INCLUDE_AARCH32_CORTEX_A_R_STACK_H_ */
diff --git a/arch/arm/include/cortex_r/exc.h b/arch/arm/include/cortex_r/exc.h
index 201e225f0fc..36f01b9b17e 100644
--- a/arch/arm/include/cortex_r/exc.h
+++ b/arch/arm/include/cortex_r/exc.h
@@ -8,9 +8,9 @@
 #define ZEPHYR_ARCH_ARM_INCLUDE_CORTEX_R_EXC_H_
 
 #ifndef CONFIG_COMPAT_INCLUDES
-#warning "This header file has moved, include <aarch32/cortex_r/exc.h> instead."
+#warning "This header file has moved, include <aarch32/cortex_a_r/exc.h> instead."
 #endif
 
-#include <aarch32/cortex_r/exc.h>
+#include <aarch32/cortex_a_r/exc.h>
 
 #endif /* ZEPHYR_ARCH_ARM_INCLUDE_CORTEX_R_EXC_H_ */
diff --git a/arch/arm/include/cortex_r/stack.h b/arch/arm/include/cortex_r/stack.h
index 4b1256eea4c..312b5ce0f5f 100644
--- a/arch/arm/include/cortex_r/stack.h
+++ b/arch/arm/include/cortex_r/stack.h
@@ -8,9 +8,9 @@
 #define ZEPHYR_ARCH_ARM_INCLUDE_CORTEX_R_STACK_H_
 
 #ifndef CONFIG_COMPAT_INCLUDES
-#warning "This header file has moved, include <aarch32/cortex_r/stack.h> instead."
+#warning "This header file has moved, include <aarch32/cortex_a_r/stack.h> instead."
 #endif
 
-#include <aarch32/cortex_r/stack.h>
+#include <aarch32/cortex_a_r/stack.h>
 
 #endif /* ZEPHYR_ARCH_ARM_INCLUDE_CORTEX_R_STACK_H_ */
diff --git a/include/arch/arm/aarch32/arch.h b/include/arch/arm/aarch32/arch.h
index fa985318b26..7f7667d7111 100644
--- a/include/arch/arm/aarch32/arch.h
+++ b/include/arch/arm/aarch32/arch.h
@@ -37,8 +37,8 @@
 #include <arch/arm/aarch32/cortex_m/memory_map.h>
 #include <arch/common/sys_io.h>
 #elif defined(CONFIG_CPU_CORTEX_R)
-#include <arch/arm/aarch32/cortex_r/cpu.h>
-#include <arch/arm/aarch32/cortex_r/sys_io.h>
+#include <arch/arm/aarch32/cortex_a_r/cpu.h>
+#include <arch/arm/aarch32/cortex_a_r/sys_io.h>
 #endif
 
 #ifdef __cplusplus
diff --git a/include/arch/arm/aarch32/asm_inline_gcc.h b/include/arch/arm/aarch32/asm_inline_gcc.h
index e7c96a70168..90df28f09e6 100644
--- a/include/arch/arm/aarch32/asm_inline_gcc.h
+++ b/include/arch/arm/aarch32/asm_inline_gcc.h
@@ -23,7 +23,7 @@
 #include <irq.h>
 
 #if defined(CONFIG_CPU_CORTEX_R)
-#include <arch/arm/cortex_r/cpu.h>
+#include <arch/arm/aarch32/cortex_a_r/cpu.h>
 #endif
 
 #ifdef __cplusplus
diff --git a/include/arch/arm/aarch32/cortex_r/cmsis.h b/include/arch/arm/aarch32/cortex_a_r/cmsis.h
similarity index 73%
rename from include/arch/arm/aarch32/cortex_r/cmsis.h
rename to include/arch/arm/aarch32/cortex_a_r/cmsis.h
index cf0ee31a6ca..78c701c82b0 100644
--- a/include/arch/arm/aarch32/cortex_r/cmsis.h
+++ b/include/arch/arm/aarch32/cortex_a_r/cmsis.h
@@ -11,8 +11,8 @@
  * This header contains the interface to the ARM CMSIS Core headers.
  */
 
-#ifndef ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_R_CMSIS_H_
-#define ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_R_CMSIS_H_
+#ifndef ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_A_R_CMSIS_H_
+#define ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_A_R_CMSIS_H_
 
 #include <soc.h>
 
@@ -37,7 +37,7 @@ extern "C" {
 #elif defined(CONFIG_CPU_CORTEX_R5)
 #include <core_cr5.h>
 #else
-#error "Unknown Cortex-R device"
+#error "Unknown device"
 #endif
 
-#endif /* ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_R_CMSIS_H_ */
+#endif /* ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_A_R_CMSIS_H_ */
diff --git a/include/arch/arm/aarch32/cortex_r/cpu.h b/include/arch/arm/aarch32/cortex_a_r/cpu.h
similarity index 74%
rename from include/arch/arm/aarch32/cortex_r/cpu.h
rename to include/arch/arm/aarch32/cortex_a_r/cpu.h
index 984ec9d907b..0aad3290afa 100644
--- a/include/arch/arm/aarch32/cortex_r/cpu.h
+++ b/include/arch/arm/aarch32/cortex_a_r/cpu.h
@@ -4,8 +4,8 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#ifndef _CORTEX_R_CPU_H
-#define _CORTEX_R_CPU_H
+#ifndef ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_A_R_CPU_H_
+#define ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_A_R_CPU_H_
 
 #define MODE_USR	0x10
 #define MODE_FIQ	0x11
@@ -31,4 +31,4 @@
 
 #define FPEXC_EN	(1 << 30)
 
-#endif
+#endif /* ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_A_R_CPU_H_ */
diff --git a/include/arch/arm/aarch32/cortex_r/scripts/app_data_alignment.ld b/include/arch/arm/aarch32/cortex_a_r/scripts/app_data_alignment.ld
similarity index 100%
rename from include/arch/arm/aarch32/cortex_r/scripts/app_data_alignment.ld
rename to include/arch/arm/aarch32/cortex_a_r/scripts/app_data_alignment.ld
diff --git a/include/arch/arm/aarch32/cortex_r/scripts/linker.ld b/include/arch/arm/aarch32/cortex_a_r/scripts/linker.ld
similarity index 99%
rename from include/arch/arm/aarch32/cortex_r/scripts/linker.ld
rename to include/arch/arm/aarch32/cortex_a_r/scripts/linker.ld
index e4735234949..f2725e36b2f 100644
--- a/include/arch/arm/aarch32/cortex_r/scripts/linker.ld
+++ b/include/arch/arm/aarch32/cortex_a_r/scripts/linker.ld
@@ -8,7 +8,7 @@
  * @file
  * @brief Linker command/script file
  *
- * Linker script for the Cortex-R platforms.
+ * Linker script for the Cortex-A and Cortex-R platforms.
  */
 
 #include <autoconf.h>
diff --git a/include/arch/arm/aarch32/cortex_r/sys_io.h b/include/arch/arm/aarch32/cortex_a_r/sys_io.h
similarity index 92%
rename from include/arch/arm/aarch32/cortex_r/sys_io.h
rename to include/arch/arm/aarch32/cortex_a_r/sys_io.h
index 92a321251e0..771e82c5ff4 100644
--- a/include/arch/arm/aarch32/cortex_r/sys_io.h
+++ b/include/arch/arm/aarch32/cortex_a_r/sys_io.h
@@ -9,14 +9,14 @@
  * gcc builtins)
  */
 
-#ifndef ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_R_SYS_IO_H_
-#define ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_R_SYS_IO_H_
+#ifndef ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_A_R_SYS_IO_H_
+#define ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_A_R_SYS_IO_H_
 
 #ifndef _ASMLANGUAGE
 
 #include <zephyr/types.h>
 #include <sys/sys_io.h>
-#include <arch/arm/aarch32/cortex_r/cmsis.h>
+#include <arch/arm/aarch32/cortex_a_r/cmsis.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -160,4 +160,4 @@ static ALWAYS_INLINE
 
 #endif /* _ASMLANGUAGE */
 
-#endif /* ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_R_SYS_IO_H_ */
+#endif /* ZEPHYR_INCLUDE_ARCH_ARM_AARCH32_CORTEX_A_R_SYS_IO_H_ */
diff --git a/include/arch/arm/cortex_r/cpu.h b/include/arch/arm/cortex_r/cpu.h
index f4b12cdca38..88e72f87c89 100644
--- a/include/arch/arm/cortex_r/cpu.h
+++ b/include/arch/arm/cortex_r/cpu.h
@@ -8,9 +8,9 @@
 #define ZEPHYR_INCLUDE_ARCH_ARM_CORTEX_R_CPU_H_
 
 #ifndef CONFIG_COMPAT_INCLUDES
-#warning "This header file has moved, include <arch/arm/aarch32/cortex_r/cpu.h> instead."
+#warning "This header file has moved, include <arch/arm/aarch32/cortex_a_r/cpu.h> instead."
 #endif
 
-#include <arch/arm/aarch32/cortex_r/cpu.h>
+#include <arch/arm/aarch32/cortex_a_r/cpu.h>
 
 #endif /* ZEPHYR_INCLUDE_ARCH_ARM_CORTEX_R_CPU_H_ */
diff --git a/include/arch/arm/cortex_r/scripts/linker.ld b/include/arch/arm/cortex_r/scripts/linker.ld
index 3b4125efa6f..f1af2e15576 100644
--- a/include/arch/arm/cortex_r/scripts/linker.ld
+++ b/include/arch/arm/cortex_r/scripts/linker.ld
@@ -4,4 +4,4 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include <arch/arm/aarch32/cortex_r/scripts/linker.ld>
+#include <arch/arm/aarch32/cortex_a_r/scripts/linker.ld>
diff --git a/include/arch/arm/cortex_r/sys_io.h b/include/arch/arm/cortex_r/sys_io.h
index 79212a0b641..1367dff9636 100644
--- a/include/arch/arm/cortex_r/sys_io.h
+++ b/include/arch/arm/cortex_r/sys_io.h
@@ -8,9 +8,9 @@
 #define ZEPHYR_INCLUDE_ARCH_ARM_CORTEX_R_SYS_IO_H_
 
 #ifndef CONFIG_COMPAT_INCLUDES
-#warning "This header file has moved, include <arch/arm/aarch32/cortex_r/sys_io.h> instead."
+#warning "This header file has moved, include <arch/arm/aarch32/cortex_a_r/sys_io.h> instead."
 #endif
 
-#include <arch/arm/aarch32/cortex_r/sys_io.h>
+#include <arch/arm/aarch32/cortex_a_r/sys_io.h>
 
 #endif /* ZEPHYR_INCLUDE_ARCH_ARM_CORTEX_R_SYS_IO_H_ */
diff --git a/soc/arm/xilinx_zynqmp/linker.ld b/soc/arm/xilinx_zynqmp/linker.ld
index c8e3aaa7bc0..92d28053f2f 100644
--- a/soc/arm/xilinx_zynqmp/linker.ld
+++ b/soc/arm/xilinx_zynqmp/linker.ld
@@ -8,5 +8,5 @@
 #include <autoconf.h>
 
 #if defined(CONFIG_SOC_XILINX_ZYNQMP_RPU)
-#include <arch/arm/aarch32/cortex_r/scripts/linker.ld>
+#include <arch/arm/aarch32/cortex_a_r/scripts/linker.ld>
 #endif
diff --git a/soc/arm/xilinx_zynqmp/soc.c b/soc/arm/xilinx_zynqmp/soc.c
index b828e39f8a2..1e621c95a04 100644
--- a/soc/arm/xilinx_zynqmp/soc.c
+++ b/soc/arm/xilinx_zynqmp/soc.c
@@ -8,7 +8,7 @@
 #include <kernel.h>
 #include <device.h>
 #include <init.h>
-#include <arch/arm/aarch32/cortex_r/cmsis.h>
+#include <arch/arm/aarch32/cortex_a_r/cmsis.h>
 
 /**
  *
diff --git a/subsys/testsuite/include/test_asm_inline_gcc.h b/subsys/testsuite/include/test_asm_inline_gcc.h
index 2e3d306790f..439e1efb448 100644
--- a/subsys/testsuite/include/test_asm_inline_gcc.h
+++ b/subsys/testsuite/include/test_asm_inline_gcc.h
@@ -31,7 +31,7 @@ static inline void timestamp_serialize(void)
 	__ISB();
 }
 #elif defined(CONFIG_CPU_CORTEX_R)
-#include <arch/arm/aarch32/cortex_r/cpu.h>
+#include <arch/arm/aarch32/cortex_a_r/cpu.h>
 static inline void timestamp_serialize(void)
 {
 	__ISB();