diff --git a/boot/ti-k3-r5-loader/Config.in b/boot/ti-k3-r5-loader/Config.in
index 5f4f33b220..707f22ab4e 100644
--- a/boot/ti-k3-r5-loader/Config.in
+++ b/boot/ti-k3-r5-loader/Config.in
@@ -102,4 +102,44 @@ config BR2_TARGET_TI_K3_R5_LOADER_USE_BINMAN
 
 	  https://docs.u-boot.org/en/v2024.01/develop/package/binman.html
 
+config BR2_TARGET_TI_K3_R5_LOADER_TIBOOT3_BIN
+	string "tiboot3.bin binary name"
+	default "tiboot3.bin"
+	help
+	  Name of the TI K3 tiboot3.bin binary to use.
+
+	  The tiboot3 binary name must match with the TI K3 SoC boot
+	  ROM:
+
+	  - General Purpose devices (gp)
+	  - High Security - Field Securable devices (hs-fs)
+	  - High Security - Security Enforcing devices (hs)
+
+	  Or if the tiboot3 binary generated use a custom name.
+
+	  If unsure, use the default tiboot3.bin (symlink) generated by
+	  binman.
+
+config BR2_TARGET_TI_K3_R5_LOADER_SYSFW_ITB
+	string "sysfw.itb binary name"
+	default "sysfw.itb"
+	help
+	  Name of the TI K3 sysfw.itb binary to use (if any required).
+
+	  sysfw*.itb are only generated for Split binary based Boot
+	  Flow (eg: am65, j721e). This option is not used on other
+	  TI K3 devices.
+
+	  The sysfw binary name must match with the TI K3 SoC boot
+	  ROM:
+
+	  - General Purpose devices (gp)
+	  - High Security - Field Securable devices (hs-fs)
+	  - High Security - Security Enforcing devices (hs)
+
+	  Or if the sysfw binary generated use a custom name.
+
+	  If unsure, use the default sysfw.itb (symlink) generated by
+	  binman.
+
 endif
diff --git a/boot/ti-k3-r5-loader/ti-k3-r5-loader.mk b/boot/ti-k3-r5-loader/ti-k3-r5-loader.mk
index cf18b43871..36f87e577e 100644
--- a/boot/ti-k3-r5-loader/ti-k3-r5-loader.mk
+++ b/boot/ti-k3-r5-loader/ti-k3-r5-loader.mk
@@ -73,7 +73,24 @@ TI_K3_R5_LOADER_DEPENDENCIES += \
 	host-python-pylibfdt \
 	host-python-setuptools
 TI_K3_R5_LOADER_MAKE_OPTS += BINMAN_INDIRS=$(BINARIES_DIR)
-endif
+
+TI_K3_R5_LOADER_TIBOOT3_BIN = $(call qstrip,$(BR2_TARGET_TI_K3_R5_LOADER_TIBOOT3_BIN))
+
+define TI_K3_R5_LOADER_INSTALL_TIBOOT3_BIN
+	cp $(@D)/$(TI_K3_R5_LOADER_TIBOOT3_BIN) $(BINARIES_DIR)/tiboot3.bin
+endef
+
+TI_K3_R5_LOADER_SYSFW_ITB = $(call qstrip,$(BR2_TARGET_TI_K3_R5_LOADER_SYSFW_ITB))
+
+# sysfw*.itb are only generated for Split binary based Boot Flow (eg: am65, j721e).
+# So, if sysfw.itb symlink exist we must copy it or the custom sysfw.itb.
+define TI_K3_R5_LOADER_INSTALL_SWSFW_ITB
+	if test -e $(@D)/sysfw.itb ; then \
+		cp $(@D)/$(TI_K3_R5_LOADER_SYSFW_ITB) $(BINARIES_DIR)/sysfw.itb ; \
+	fi
+endef
+
+endif # BR2_TARGET_TI_K3_R5_LOADER_USE_BINMAN
 
 define TI_K3_R5_LOADER_BUILD_CMDS
 	$(TARGET_CONFIGURE_OPTS) $(TI_K3_R5_LOADER_MAKE) -C $(@D) $(TI_K3_R5_LOADER_MAKE_OPTS)
@@ -81,6 +98,22 @@ endef
 
 define TI_K3_R5_LOADER_INSTALL_IMAGES_CMDS
 	cp $(@D)/spl/u-boot-spl.bin $(BINARIES_DIR)/r5-u-boot-spl.bin
+	$(TI_K3_R5_LOADER_INSTALL_TIBOOT3_BIN)
+	$(TI_K3_R5_LOADER_INSTALL_SWSFW_ITB)
 endef
 
+# Checks to give errors that the user can understand
+# Must be before we call to kconfig-package
+ifeq ($(BR2_TARGET_TI_K3_R5_LOADER)$(BR_BUILDING),yy)
+
+ifeq ($(TI_K3_R5_LOADER_TIBOOT3_BIN),)
+$(error No custom tiboot3 name specified, check your BR2_TARGET_TI_K3_R5_LOADER_TIBOOT3_BIN setting)
+endif
+
+ifeq ($(TI_K3_R5_LOADER_SYSFW_ITB),)
+$(error No custom sysfw name specified, check your BR2_TARGET_TI_K3_R5_LOADER_SYSFW_ITB setting)
+endif
+
+endif # BR_BUILDING
+
 $(eval $(kconfig-package))