diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5a40538598b..c29fa6885a4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -118,19 +118,7 @@ zephyr_include_directories(
 
 include(${ZEPHYR_BASE}/cmake/linker_script/${ARCH}/linker.cmake OPTIONAL)
 
-# Don't add non-existing include directories, it creates noise and
-# warnings in some tooling
-foreach(optional_include_dir
-  ${SOC_DIR}/${ARCH}/${SOC_PATH}
-  ${SOC_DIR}/${ARCH}/${SOC_PATH}/include
-  ${SOC_DIR}/${ARCH}/${SOC_PATH}/include/${SOC_NAME}
-  ${SOC_DIR}/${ARCH}/${SOC_FAMILY}/include
-  ${SOC_DIR}/${ARCH}/${SOC_FAMILY}/common/include
-  )
-  if(EXISTS ${optional_include_dir})
-    zephyr_include_directories(${optional_include_dir})
-  endif()
-endforeach()
+zephyr_include_directories(${SOC_DIR}/${ARCH}/${SOC_PATH})
 
 # Don't inherit compiler flags from the environment
 foreach(var AFLAGS CFLAGS CXXFLAGS CPPFLAGS LDFLAGS)
diff --git a/soc/nios2/nios2-qemu/CMakeLists.txt b/soc/nios2/nios2-qemu/CMakeLists.txt
index 66d55c6ba96..b6dd454d035 100644
--- a/soc/nios2/nios2-qemu/CMakeLists.txt
+++ b/soc/nios2/nios2-qemu/CMakeLists.txt
@@ -1,3 +1,4 @@
 # SPDX-License-Identifier: Apache-2.0
 
+zephyr_include_directories(include)
 set(SOC_LINKER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/linker.ld CACHE INTERNAL "")
diff --git a/soc/nios2/nios2f-zephyr/CMakeLists.txt b/soc/nios2/nios2f-zephyr/CMakeLists.txt
index 66d55c6ba96..789c4c81fc9 100644
--- a/soc/nios2/nios2f-zephyr/CMakeLists.txt
+++ b/soc/nios2/nios2f-zephyr/CMakeLists.txt
@@ -1,3 +1,5 @@
 # SPDX-License-Identifier: Apache-2.0
 
+zephyr_include_directories(include)
+
 set(SOC_LINKER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/linker.ld CACHE INTERNAL "")
diff --git a/soc/xtensa/dc233c/CMakeLists.txt b/soc/xtensa/dc233c/CMakeLists.txt
index 8108448b61d..8012661a437 100644
--- a/soc/xtensa/dc233c/CMakeLists.txt
+++ b/soc/xtensa/dc233c/CMakeLists.txt
@@ -1,5 +1,6 @@
 # SPDX-License-Identifier: Apache-2.0
 
+zephyr_include_directories(include)
 zephyr_library_sources_ifdef(CONFIG_XTENSA_MMU mmu.c)
 
 set(SOC_LINKER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/include/xtensa-dc233c.ld CACHE INTERNAL "")
diff --git a/soc/xtensa/intel_adsp/CMakeLists.txt b/soc/xtensa/intel_adsp/CMakeLists.txt
index 8a3b1f01f25..2cee15bbcf6 100644
--- a/soc/xtensa/intel_adsp/CMakeLists.txt
+++ b/soc/xtensa/intel_adsp/CMakeLists.txt
@@ -10,3 +10,4 @@ endif()
 if(CONFIG_INTEL_ADSP_CAVS)
 	add_subdirectory(cavs)
 endif()
+zephyr_include_directories(common/include)
diff --git a/soc/xtensa/intel_adsp/ace/CMakeLists.txt b/soc/xtensa/intel_adsp/ace/CMakeLists.txt
index fddb595fa6d..a5aa90b59d0 100644
--- a/soc/xtensa/intel_adsp/ace/CMakeLists.txt
+++ b/soc/xtensa/intel_adsp/ace/CMakeLists.txt
@@ -13,6 +13,8 @@ zephyr_library_sources(
   boot.c
   )
 
+zephyr_include_directories(include)
+zephyr_include_directories(include/${SOC_NAME})
 zephyr_library_sources_ifdef(CONFIG_SOC_INTEL_COMM_WIDGET comm_widget.c)
 zephyr_library_sources_ifdef(CONFIG_SOC_INTEL_COMM_WIDGET comm_widget_messages.c)
 
diff --git a/soc/xtensa/intel_adsp/cavs/CMakeLists.txt b/soc/xtensa/intel_adsp/cavs/CMakeLists.txt
index 2b5bf93a592..5226f1b0535 100644
--- a/soc/xtensa/intel_adsp/cavs/CMakeLists.txt
+++ b/soc/xtensa/intel_adsp/cavs/CMakeLists.txt
@@ -3,7 +3,8 @@
 # Copyright (c) 2022 Intel Corporation
 # SPDX-License-Identifier: Apache-2.0
 
-zephyr_library_include_directories(include)
+zephyr_include_directories(include)
+zephyr_include_directories(include/${SOC_NAME})
 zephyr_library_include_directories(${ZEPHYR_BASE}/drivers)
 
 zephyr_library_sources(
diff --git a/soc/xtensa/intel_adsp/common/CMakeLists.txt b/soc/xtensa/intel_adsp/common/CMakeLists.txt
index ff09b1e4ea8..c463e4453fc 100644
--- a/soc/xtensa/intel_adsp/common/CMakeLists.txt
+++ b/soc/xtensa/intel_adsp/common/CMakeLists.txt
@@ -6,7 +6,7 @@
 zephyr_interface_library_named(INTEL_ADSP_COMMON)
 
 zephyr_library_named(intel_adsp_common)
-zephyr_library_include_directories(include)
+zephyr_include_directories(include)
 zephyr_library_include_directories(${ZEPHYR_BASE}/drivers)
 
 zephyr_library_sources_ifdef(CONFIG_INTEL_ADSP_IPC ipc.c)
diff --git a/soc/xtensa/nxp_adsp/CMakeLists.txt b/soc/xtensa/nxp_adsp/CMakeLists.txt
index 575c7f47cca..a0ab21fb6a8 100644
--- a/soc/xtensa/nxp_adsp/CMakeLists.txt
+++ b/soc/xtensa/nxp_adsp/CMakeLists.txt
@@ -8,6 +8,7 @@ if(CONFIG_SOC_NXP_RT595)
 endif()
 
 add_subdirectory(common)
+zephyr_include_directories(${SOC_SERIES}/include)
 
 #  west sign
 
diff --git a/soc/xtensa/nxp_adsp/common/CMakeLists.txt b/soc/xtensa/nxp_adsp/common/CMakeLists.txt
index 8d6294a6777..02c2ef503e3 100644
--- a/soc/xtensa/nxp_adsp/common/CMakeLists.txt
+++ b/soc/xtensa/nxp_adsp/common/CMakeLists.txt
@@ -3,10 +3,11 @@
 # Copyright (c) 2021 NXP
 # SPDX-License-Identifier: Apache-2.0
 
+zephyr_include_directories(include)
+
 zephyr_interface_library_named(NXP_ADSP_COMMON)
 
 zephyr_library_named(nxp_adsp_common)
-zephyr_library_include_directories(include)
 zephyr_library_include_directories(${ZEPHYR_BASE}/drivers)
 
 zephyr_library_sources(soc.c)
diff --git a/soc/xtensa/sample_controller/CMakeLists.txt b/soc/xtensa/sample_controller/CMakeLists.txt
index 3aff8c6b8b3..20e40128eeb 100644
--- a/soc/xtensa/sample_controller/CMakeLists.txt
+++ b/soc/xtensa/sample_controller/CMakeLists.txt
@@ -1,3 +1,5 @@
 # SPDX-License-Identifier: Apache-2.0
 
+zephyr_include_directories(include)
+
 set(SOC_LINKER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/include/xtensa-sample-controller.ld CACHE INTERNAL "")