diff --git a/boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_m4-pinctrl.dtsi b/boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_m4-pinctrl.dtsi
index 7f54984345a..2fef62d3099 100644
--- a/boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_m4-pinctrl.dtsi
+++ b/boards/beagle/pocketbeagle_2/pocketbeagle_2_am6232_m4-pinctrl.dtsi
@@ -14,4 +14,14 @@
 	mcu_uart0_tx_default: mcu_uart0_tx_default {
 		pinmux = <K3_PINMUX(0x0018, PIN_OUTPUT, MUX_MODE_0)>;
 	};
+
+	P2_09_D4_gpio: P2-09-D4-gpio-pins {
+		/* (D4) MCU_MCAN1_RX.MCU_GPIO0_16 */
+		pinmux = <K3_PINMUX(0x0040, PIN_INPUT, MUX_MODE_7)>;
+	};
+
+	P2_11_E5_gpio: P2-11-E5-gpio-pins {
+		/* (E5) MCU_MCAN1_TX.MCU_GPIO0_15 */
+		pinmux = <K3_PINMUX(0x003c, PIN_INPUT, MUX_MODE_7)>;
+	};
 };