diff --git a/arch/arm/mach-k3/j721s2/j721s2_init.c b/arch/arm/mach-k3/j721s2/j721s2_init.c
index fe9766e9b4..05453fcad4 100644
--- a/arch/arm/mach-k3/j721s2/j721s2_init.c
+++ b/arch/arm/mach-k3/j721s2/j721s2_init.c
@@ -22,6 +22,24 @@
 #include "../sysfw-loader.h"
 #include "../common.h"
 
+/* NAVSS North Bridge (NB) */
+#define NAVSS0_NBSS_NB0_CFG_MMRS		0x03702000
+#define NAVSS0_NBSS_NB1_CFG_MMRS		0x03703000
+#define NAVSS0_NBSS_NB0_CFG_NB_THREADMAP	(NAVSS0_NBSS_NB0_CFG_MMRS + 0x10)
+#define NAVSS0_NBSS_NB1_CFG_NB_THREADMAP	(NAVSS0_NBSS_NB1_CFG_MMRS + 0x10)
+/*
+ * Thread Map for North Bridge Configuration
+ * Each bit is for each VBUSM source.
+ * Bit[0] maps orderID 0-3 to VBUSM.C thread number
+ * Bit[1] maps orderID 4-9 to VBUSM.C thread number
+ * Bit[2] maps orderID 10-15 to VBUSM.C thread number
+ * When bit has value 0: VBUSM.C thread 0 (non-real time traffic)
+ * When bit has value 1: VBUSM.C thread 2 (real time traffic)
+ */
+#define NB_THREADMAP_BIT0				BIT(0)
+#define NB_THREADMAP_BIT1				BIT(1)
+#define NB_THREADMAP_BIT2				BIT(2)
+
 struct fwl_data cbass_hc_cfg0_fwls[] = {
 	{ "PCIE0_CFG", 2577, 7 },
 	{ "EMMC8SS0_CFG", 2579, 4 },
@@ -123,6 +141,13 @@ void k3_mmc_restart_clock(void)
 	}
 }
 
+/* Setup North Bridge registers to map ORDERID 10-15 to RT traffic */
+static void setup_navss_nb(void)
+{
+	writel(NB_THREADMAP_BIT1, (uintptr_t)NAVSS0_NBSS_NB0_CFG_NB_THREADMAP);
+	writel(NB_THREADMAP_BIT2, (uintptr_t)NAVSS0_NBSS_NB1_CFG_NB_THREADMAP);
+}
+
 /*
  * This uninitialized global variable would normal end up in the .bss section,
  * but the .bss is cleared between writing and reading this variable, so move
@@ -295,6 +320,11 @@ void board_init_f(ulong dummy)
 	do_dt_magic();
 #endif
 	k3_mem_init();
+
+	if (IS_ENABLED(CONFIG_CPU_V7R))
+		setup_navss_nb();
+
+	setup_qos();
 }
 #endif
 
diff --git a/arch/arm/mach-k3/r5/j721s2/Makefile b/arch/arm/mach-k3/r5/j721s2/Makefile
index 8588c5e4c3..89c0284b56 100644
--- a/arch/arm/mach-k3/r5/j721s2/Makefile
+++ b/arch/arm/mach-k3/r5/j721s2/Makefile
@@ -3,3 +3,4 @@
 # Copyright (C) 2021 Texas Instruments Incorporated - https://www.ti.com/
 obj-y += clk-data.o
 obj-y += dev-data.o
+obj-y += j721s2_qos_uboot.o
diff --git a/arch/arm/mach-k3/r5/j721s2/j721s2_qos.h b/arch/arm/mach-k3/r5/j721s2/j721s2_qos.h
new file mode 100644
index 0000000000..ab3e4773a4
--- /dev/null
+++ b/arch/arm/mach-k3/r5/j721s2/j721s2_qos.h
@@ -0,0 +1,79 @@
+/* SPDX-License-Identifier: GPL-2.0+ */
+/*
+ * Keystone3 Quality of service endpoint definitions
+ * Auto generated by K3 Resource Partitioning Tool
+ *
+ * Copyright (C) 2024 Texas Instruments Incorporated - https://www.ti.com/
+ */
+
+#define SMS_WKUP_0_TIFS_VBUSP_M	0x45D00000
+#define SMS_WKUP_0_HSM_VBUSP_M	0x45D00400
+#define PULSAR_SL_MCU_0_CPU0_RMST	0x45D10000
+#define PULSAR_SL_MCU_0_CPU0_WMST	0x45D10400
+#define PULSAR_SL_MCU_0_CPU0_PMST	0x45D10800
+#define PULSAR_SL_MCU_0_CPU1_RMST	0x45D11000
+#define PULSAR_SL_MCU_0_CPU1_WMST	0x45D11400
+#define PULSAR_SL_MCU_0_CPU1_PMST	0x45D11800
+#define SA3SS_AM62_MCU_0_CTXCACH_EXT_DMA	0x45D13000
+#define PULSAR_SL_MAIN_0_PBDG_RMST0	0x45D78000
+#define PULSAR_SL_MAIN_0_PBDG_WMST0	0x45D78400
+#define PULSAR_SL_MAIN_0_PBDG_RMST1	0x45D78800
+#define PULSAR_SL_MAIN_0_PBDG_WMST1	0x45D78C00
+#define EMMCSD4SS_MAIN_0_EMMCSDSS_RD	0x45D82800
+#define EMMCSD4SS_MAIN_0_EMMCSDSS_WR	0x45D82C00
+#define COMPUTE_CLUSTER_J7AHP_MAIN_0_GIC_MEM_RD_VBUSM	0x45D86000
+#define COMPUTE_CLUSTER_J7AHP_MAIN_0_GIC_MEM_WR_VBUSM	0x45D86400
+#define PCIE_G3X4_128_MAIN_0_PCIE_MST_RD	0x45D98400
+#define PCIE_G3X4_128_MAIN_0_PCIE_MST_WR	0x45D98C00
+#define PCIE_G3X4_128_MAIN_1_PCIE_MST_RD	0x45D99400
+#define PCIE_G3X4_128_MAIN_1_PCIE_MST_WR	0x45D99C00
+#define USB3P0SS_16FFC_MAIN_0_MSTR0	0x45D9A000
+#define USB3P0SS_16FFC_MAIN_0_MSTW0	0x45D9A400
+#define UFSHCI2P1SS_16FFC_MAIN_0_UFSHCI_VBM_MST_RD	0x45D9AC00
+#define UFSHCI2P1SS_16FFC_MAIN_0_UFSHCI_VBM_MST_WR	0x45D9B000
+#define EMMC8SS_16FFC_MAIN_0_EMMCSS_WR	0x45D9B400
+#define EMMC8SS_16FFC_MAIN_0_EMMCSS_RD	0x45D9B800
+#define SA2_UL_MAIN_0_CTXCACH_EXT_DMA	0x45D9BC00
+#define VUSR_DUAL_MAIN_0_V0_M	0x45D9C000
+#define VUSR_DUAL_MAIN_0_V1_M	0x45D9C400
+#define DEBUGSS_K3_WRAP_CV0_MAIN_0_VBUSMR	0x45DA0000
+#define DEBUGSS_K3_WRAP_CV0_MAIN_0_VBUSMW	0x45DA0400
+#define PULSAR_SL_MAIN_1_CPU0_RMST	0x45DA8000
+#define PULSAR_SL_MAIN_1_CPU0_WMST	0x45DA8400
+#define PULSAR_SL_MAIN_1_CPU1_RMST	0x45DA8800
+#define PULSAR_SL_MAIN_1_CPU1_WMST	0x45DA8C00
+#define PULSAR_SL_MAIN_2_CPU0_RMST	0x45DA9000
+#define PULSAR_SL_MAIN_2_CPU0_WMST	0x45DA9400
+#define PULSAR_SL_MAIN_2_CPU1_RMST	0x45DA9800
+#define PULSAR_SL_MAIN_2_CPU1_WMST	0x45DA9C00
+#define DMPAC_TOP_MAIN_0_DATA_MST	0x45DC0000
+#define K3_VPU_WAVE521CL_MAIN_0_SEC_M_VBUSM_R_ASYNC	0x45DC0C00
+#define K3_VPU_WAVE521CL_MAIN_0_SEC_M_VBUSM_W_ASYNC	0x45DC1000
+#define VPAC_TOP_MAIN_0_DATA_MST_0	0x45DC1400
+#define VPAC_TOP_MAIN_0_DATA_MST_1	0x45DC1800
+#define VPAC_TOP_MAIN_0_LDC0_M_MST	0x45DC1C00
+#define K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA	0x45DC2000
+#define K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC	0x45DC2400
+#define VPAC_TOP_MAIN_1_LDC0_M_MST	0x45DC2800
+#define VPAC_TOP_MAIN_1_DATA_MST_0	0x45DC2C00
+#define VPAC_TOP_MAIN_1_DATA_MST_1	0x45DC3000
+#define K3_VPU_WAVE521CL_MAIN_0_PRI_M_VBUSM_R_ASYNC	0x45DC3400
+#define K3_VPU_WAVE521CL_MAIN_0_PRI_M_VBUSM_W_ASYNC	0x45DC3800
+#define K3_VPU_WAVE521CL_MAIN_1_SEC_M_VBUSM_R_ASYNC	0x45DC3C00
+#define K3_VPU_WAVE521CL_MAIN_1_SEC_M_VBUSM_W_ASYNC	0x45DC4000
+#define K3_VPU_WAVE521CL_MAIN_1_PRI_M_VBUSM_R_ASYNC	0x45DC4400
+#define K3_VPU_WAVE521CL_MAIN_1_PRI_M_VBUSM_W_ASYNC	0x45DC4800
+#define J7AEP_GPU_BXS464_WRAP_MAIN_0_M_VBUSM_R_SYNC	0x45DC5000
+#define J7AEP_GPU_BXS464_WRAP_MAIN_0_M_VBUSM_W_SYNC	0x45DC5800
+#define PULSAR_SL_MAIN_0_CPU0_RMST	0x45DC8000
+#define PULSAR_SL_MAIN_0_CPU0_WMST	0x45DC8400
+#define PULSAR_SL_MAIN_0_CPU1_RMST	0x45DC8800
+#define PULSAR_SL_MAIN_0_CPU1_WMST	0x45DC8C00
+#define PULSAR_SL_MAIN_1_PBDG_RMST0	0x45DCA000
+#define PULSAR_SL_MAIN_1_PBDG_WMST0	0x45DCA400
+#define PULSAR_SL_MAIN_1_PBDG_RMST1	0x45DCA800
+#define PULSAR_SL_MAIN_1_PBDG_WMST1	0x45DCAC00
+#define PULSAR_SL_MAIN_2_PBDG_RMST0	0x45DCB000
+#define PULSAR_SL_MAIN_2_PBDG_WMST0	0x45DCB400
+#define PULSAR_SL_MAIN_2_PBDG_RMST1	0x45DCB800
+#define PULSAR_SL_MAIN_2_PBDG_WMST1	0x45DCBC00
diff --git a/arch/arm/mach-k3/r5/j721s2/j721s2_qos_uboot.c b/arch/arm/mach-k3/r5/j721s2/j721s2_qos_uboot.c
new file mode 100644
index 0000000000..e8ad87bdac
--- /dev/null
+++ b/arch/arm/mach-k3/r5/j721s2/j721s2_qos_uboot.c
@@ -0,0 +1,109 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * j721s2 Quality of Service (QoS) Configuration Data
+ * Auto generated from K3 Resource Partitioning tool
+ */
+
+#include <asm/arch/k3-qos.h>
+#include "j721s2_qos.h"
+
+struct k3_qos_data qos_data[] = {
+	/* DSS_PIPE_VID1 - 2 endpoints, 2 channels */
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA + 0x100 + 0x4 * 0,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA + 0x100 + 0x4 * 1,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC + 0x100 + 0x4 * 0,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC + 0x100 + 0x4 * 1,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+
+	/* DSS_PIPE_VIDL1 - 2 endpoints, 2 channels */
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA + 0x100 + 0x4 * 2,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA + 0x100 + 0x4 * 3,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC + 0x100 + 0x4 * 2,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC + 0x100 + 0x4 * 3,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+
+	/* DSS_PIPE_VID2 - 2 endpoints, 2 channels */
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA + 0x100 + 0x4 * 4,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA + 0x100 + 0x4 * 5,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC + 0x100 + 0x4 * 4,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC + 0x100 + 0x4 * 5,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+
+	/* DSS_PIPE_VIDL2 - 2 endpoints, 2 channels */
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA + 0x100 + 0x4 * 6,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA + 0x100 + 0x4 * 7,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC + 0x100 + 0x4 * 6,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC + 0x100 + 0x4 * 7,
+		.val = ATYPE_3 | ORDERID_15,
+	},
+
+	/* Following registers set 1:1 mapping for orderID MAP1/MAP2
+	 * remap registers. orderID x is remapped to orderID x again
+	 * This is to ensure orderID from MAP register is unchanged
+	 */
+
+	/* K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA - 1 groups */
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA + 0,
+		.val = 0x76543210,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_DMA + 4,
+		.val = 0xfedcba98,
+	},
+
+	/* K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC - 1 groups */
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC + 0,
+		.val = 0x76543210,
+	},
+	{
+		.reg = K3_DSS_MAIN_0_DSS_INST0_VBUSM_FBDC + 4,
+		.val = 0xfedcba98,
+	},
+};
+
+u32 qos_count = ARRAY_SIZE(qos_data);
