diff --git a/boards/arm/sam_e70_xplained/sam_e70_xplained-common.dtsi b/boards/arm/sam_e70_xplained/sam_e70_xplained-common.dtsi
index ce313b8e445..0dbeac1a779 100644
--- a/boards/arm/sam_e70_xplained/sam_e70_xplained-common.dtsi
+++ b/boards/arm/sam_e70_xplained/sam_e70_xplained-common.dtsi
@@ -177,7 +177,10 @@ zephyr_udc0: &usbhs {
 
 &can0 {
 	status = "okay";
-	pinctrl-0 = <&pb3a_can0_rx0 &pb2a_can0_tx0>;
+
+	pinctrl-0 = <&can0_default>;
+	pinctrl-names = "default";
+
 	bus-speed = <125000>;
 	bus-speed-data = <1000000>;
 
diff --git a/boards/arm/sam_e70_xplained/sam_e70_xplained-pinctrl.dtsi b/boards/arm/sam_e70_xplained/sam_e70_xplained-pinctrl.dtsi
index 12351e3809c..b3ff88ca76d 100644
--- a/boards/arm/sam_e70_xplained/sam_e70_xplained-pinctrl.dtsi
+++ b/boards/arm/sam_e70_xplained/sam_e70_xplained-pinctrl.dtsi
@@ -20,6 +20,13 @@
 		};
 	};
 
+	can0_default: can0_default {
+		group1 {
+			pinmux = <PB3A_CAN0_RX>,
+				 <PB2A_CAN0_TX>;
+		};
+	};
+
 	spi0_default: spi0_default {
 		group1 {
 			pinmux = <PD20B_SPI0_MISO>,
diff --git a/boards/arm/sam_e70_xplained/sam_e70b_xplained.yaml b/boards/arm/sam_e70_xplained/sam_e70b_xplained.yaml
index 4498cfb6e5d..4aca69c57b0 100644
--- a/boards/arm/sam_e70_xplained/sam_e70b_xplained.yaml
+++ b/boards/arm/sam_e70_xplained/sam_e70b_xplained.yaml
@@ -16,4 +16,6 @@ supported:
   - watchdog
   - usb_device
   - pwm
+  - can
+  - canfd
   - hwinfo
diff --git a/boards/arm/sam_v71_xult/sam_v71_xult-common.dtsi b/boards/arm/sam_v71_xult/sam_v71_xult-common.dtsi
index 516e33f24e3..a3e56721481 100644
--- a/boards/arm/sam_v71_xult/sam_v71_xult-common.dtsi
+++ b/boards/arm/sam_v71_xult/sam_v71_xult-common.dtsi
@@ -305,7 +305,10 @@ zephyr_udc0: &usbhs {
 
 &can1 {
 	status = "okay";
-	pinctrl-0 = <&pc12c_can1_rx1 &pc14c_can1_tx1>;
+
+	pinctrl-0 = <&can1_default>;
+	pinctrl-names = "default";
+
 	bus-speed = <125000>;
 	bus-speed-data = <1000000>;
 
diff --git a/boards/arm/sam_v71_xult/sam_v71_xult-pinctrl.dtsi b/boards/arm/sam_v71_xult/sam_v71_xult-pinctrl.dtsi
index 1180ebe0a9f..91c1ee044fe 100644
--- a/boards/arm/sam_v71_xult/sam_v71_xult-pinctrl.dtsi
+++ b/boards/arm/sam_v71_xult/sam_v71_xult-pinctrl.dtsi
@@ -20,6 +20,13 @@
 		};
 	};
 
+	can1_default: can1_default {
+		group1 {
+			pinmux = <PC12C_CAN1_RX>,
+				 <PC14C_CAN1_TX>;
+		};
+	};
+
 	spi0_default: spi0_default {
 		group1 {
 			pinmux = <PD20B_SPI0_MISO>,
diff --git a/boards/arm/sam_v71_xult/sam_v71b_xult.yaml b/boards/arm/sam_v71_xult/sam_v71b_xult.yaml
index bd95a80c7d4..24e205a501a 100644
--- a/boards/arm/sam_v71_xult/sam_v71b_xult.yaml
+++ b/boards/arm/sam_v71_xult/sam_v71b_xult.yaml
@@ -21,4 +21,6 @@ supported:
   - xpro_i2c
   - xpro_serial
   - xpro_spi
+  - can
+  - canfd
   - hwinfo
diff --git a/drivers/can/can_sam.c b/drivers/can/can_sam.c
index 405dc16ef9f..910813b238a 100644
--- a/drivers/can/can_sam.c
+++ b/drivers/can/can_sam.c
@@ -8,6 +8,7 @@
 
 #include <drivers/can.h>
 #include <drivers/can/transceiver.h>
+#include <drivers/pinctrl.h>
 #include <soc.h>
 #include <kernel.h>
 #include <logging/log.h>
@@ -19,7 +20,7 @@ LOG_MODULE_REGISTER(can_sam, CONFIG_CAN_LOG_LEVEL);
 struct can_sam_config {
 	struct can_mcan_config mcan_cfg;
 	void (*config_irq)(void);
-	struct soc_gpio_pin pin_list[2];
+	const struct pinctrl_dev_config *pcfg;
 	uint8_t pmc_id;
 };
 
@@ -62,7 +63,12 @@ static int can_sam_init(const struct device *dev)
 	int ret;
 
 	can_sam_clock_enable(cfg);
-	soc_gpio_list_configure(cfg->pin_list, ARRAY_SIZE(cfg->pin_list));
+
+	ret = pinctrl_apply_state(cfg->pcfg, PINCTRL_STATE_DEFAULT);
+	if (ret < 0) {
+		return ret;
+	}
+
 	ret = can_mcan_init(dev, mcan_cfg, msg_ram, mcan_data);
 	if (ret) {
 		return ret;
@@ -255,7 +261,7 @@ static void config_can_##inst##_irq(void)
 #define CAN_SAM_CFG_INST(inst)                                                                 \
 static const struct can_sam_config can_sam_cfg_##inst = {                                      \
 	.pmc_id = DT_INST_PROP(inst, peripheral_id),                                           \
-	.pin_list = { ATMEL_SAM_DT_INST_PIN(inst, 0), ATMEL_SAM_DT_INST_PIN(inst, 1) },        \
+	.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst),                                          \
 	.config_irq = config_can_##inst##_irq,                                                 \
 	.mcan_cfg = CAN_SAM_MCAN_CFG(inst)                                                     \
 };
@@ -268,6 +274,7 @@ DEVICE_DT_INST_DEFINE(inst, &can_sam_init, NULL, &can_sam_dev_data_##inst,
 		      &can_api_funcs);
 
 #define CAN_SAM_INST(inst)                                                     \
+	PINCTRL_DT_INST_DEFINE(inst);                                          \
 	CAN_SAM_IRQ_CFG_FUNCTION(inst)                                         \
 	CAN_SAM_CFG_INST(inst)                                                 \
 	CAN_SAM_DATA_INST(inst)                                                \
diff --git a/dts/bindings/can/atmel,sam-can.yaml b/dts/bindings/can/atmel,sam-can.yaml
index b2c49c2ba3d..149b0aec5a0 100644
--- a/dts/bindings/can/atmel,sam-can.yaml
+++ b/dts/bindings/can/atmel,sam-can.yaml
@@ -2,18 +2,12 @@ description: Specialization of Bosch m_can CAN-FD controller for Atmel SAM
 
 compatible: "atmel,sam-can"
 
-include: bosch,m-can.yaml
+include:
+    - name: bosch,m-can.yaml
+    - name: pinctrl-device.yaml
 
 properties:
     peripheral-id:
       type: int
       required: true
       description: peripheral ID
-    pinctrl-0:
-      type: phandles
-      required: true
-      description: |
-        PIO configuration for CAN_RX and CAN_TX. We expect that the phandles will
-        reference pinctrl nodes.  These nodes will have a nodelabel that
-        matches the Atmel SoC HAL defines and be of the form
-          pinctrl-0 = <&pb3a_can0_rx0 &pb2a_can0_tx0>;