diff --git a/lib/libc/Kconfig b/lib/libc/Kconfig
index c9678adf2c..8b71808ff5 100644
--- a/lib/libc/Kconfig
+++ b/lib/libc/Kconfig
@@ -12,7 +12,6 @@ config REQUIRES_FULL_LIBC
 
 config REQUIRES_FLOAT_PRINTF
 	bool "Requires floating point support in printf"
-	select PICOLIBC_IO_FLOAT if PICOLIBC
 	select CBPRINTF_FP_SUPPORT if MINIMAL_LIBC
 	select NEWLIB_LIBC_FLOAT_PRINTF if NEWLIB_LIBC
 	help
diff --git a/lib/libc/picolibc/CMakeLists.txt b/lib/libc/picolibc/CMakeLists.txt
index 3bbe8128a1..232e4ba8fc 100644
--- a/lib/libc/picolibc/CMakeLists.txt
+++ b/lib/libc/picolibc/CMakeLists.txt
@@ -17,6 +17,12 @@ if(NOT CONFIG_PICOLIBC_USE_MODULE)
   if(CONFIG_PICOLIBC_IO_FLOAT)
     zephyr_compile_definitions(PICOLIBC_DOUBLE_PRINTF_SCANF)
     zephyr_link_libraries(-DPICOLIBC_DOUBLE_PRINTF_SCANF)
+  elseif(CONFIG_PICOLIBC_IO_MINIMAL)
+    zephyr_compile_definitions(PICOLIBC_MINIMAL_PRINTF_SCANF)
+    zephyr_link_libraries(-DPICOLIBC_MINIMAL_PRINTF_SCANF)
+  elseif(CONFIG_PICOLIBC_IO_LONG_LONG)
+    zephyr_compile_definitions(PICOLIBC_LONG_LONG_PRINTF_SCANF)
+    zephyr_link_libraries(-DPICOLIBC_LONG_LONG_PRINTF_SCANF)
   else()
     zephyr_compile_definitions(PICOLIBC_INTEGER_PRINTF_SCANF)
     zephyr_link_libraries(-DPICOLIBC_INTEGER_PRINTF_SCANF)
diff --git a/lib/libc/picolibc/Kconfig b/lib/libc/picolibc/Kconfig
index 6adc9fd0b7..fa6ae7e6e9 100644
--- a/lib/libc/picolibc/Kconfig
+++ b/lib/libc/picolibc/Kconfig
@@ -31,16 +31,42 @@ config PICOLIBC_HEAP_SIZE
 	  If set to -2, then the value of COMMON_LIBC_MALLOC_ARENA_SIZE
 	  will be used.
 
-config PICOLIBC_IO_LONG_LONG
-	bool "support for long long in integer-only printf/scanf"
+choice PICOLIBC_IO_LEVEL
+	prompt "Picolibc printf/scanf level"
+	default PICOLIBC_IO_MINIMAL if CBPRINTF_NANO
+	default PICOLIBC_IO_LONG_LONG if CBPRINTF_FULL_INTEGRAL
+	default PICOLIBC_IO_INTEGER
 	help
-	  Includes support for long long in integer-only printf/scanf. long long
-	  types are always supported in the floating-point versions.
+	  Selects the level of printf and scanf support
 
 config PICOLIBC_IO_FLOAT
-	bool "support for floating point values in printf/scanf"
+	bool "full support for integer/floating point values in printf/scanf"
 	help
-	  Include floating point support in printf/scanf functions.
+	  Include full floating point and integer support in printf/scanf
+	  functions.
+
+config PICOLIBC_IO_LONG_LONG
+	bool "full support for integer values, including long long, in printf/scanf"
+	depends on !REQUIRES_FLOAT_PRINTF && (!CBPRINTF_FP_SUPPORT || CBPRINTF_NANO)
+	help
+	  Includes full integer with long long, but no floating
+	  point in printf/scanf.
+
+config PICOLIBC_IO_INTEGER
+	bool "full support for integer values, other than long long, in printf/scanf"
+	depends on !REQUIRES_FLOAT_PRINTF && ((!CBPRINTF_FP_SUPPORT && !CBPRINTF_FULL_INTEGRAL) || CBPRINTF_NANO)
+	help
+	  Include full integer other than long long, but no floating point
+	  in printf/scanf.
+
+config PICOLIBC_IO_MINIMAL
+	bool "limited support for integer values in printf/scanf"
+	depends on !REQUIRES_FLOAT_PRINTF && CBPRINTF_NANO
+	help
+	  Include limited integer and no floating point support in
+	  printf/scanf.
+
+endchoice
 
 if PICOLIBC_USE_MODULE
 
@@ -101,17 +127,18 @@ config PICOLIBC_IO_C99_FORMATS
 	bool "support C99 format additions in printf/scanf"
 	default y
 	help
-	  Includes support for hex floats (in floating-point version) and j, z,
-	  t size modifiers.
+	  Includes C99 printf and scanf support for j, z, t size
+	  modifiers. C99 support is always included in the floating-point
+	  variant
 
 config PICOLIBC_IO_POS_ARGS
 	bool "Support POSIX positional args (e.g. %$1d) in printf/scanf"
 	default y
-	depends on !PICOLIBC_IO_FLOAT
+	depends on !PICOLIBC_IO_MINIMAL
 	help
-	  Includes support for positional args (e.g. $1) in integer-only printf
-	  and scanf. Positional args are always supported in the floating-point
-	  versions.
+	  Includes support for positional args (e.g. $1) in integer-only
+	  printf and scanf. Positional args are always supported in the
+	  floating-point variant.
 
 config PICOLIBC_IO_FLOAT_EXACT
 	bool "support for exact float/string conversion"
@@ -121,6 +148,21 @@ config PICOLIBC_IO_FLOAT_EXACT
 	  This ensures that printf values with enough digits can be
 	  fed to scanf and generate exactly the same binary value.
 
+config PICOLIBC_IO_SMALL_ULTOA
+	bool "avoid soft division in printf"
+	default y
+	help
+	  Replaces division and modulus by 10 with shifts and adds when
+	  doing binary to decimal conversion in printf for 64-bit
+	  values on 32-bit targets.
+
+config PICOLIBC_IO_MINIMAL_LONG_LONG
+	bool "Include long long support in minimal printf"
+	depends on PICOLIBC_IO_MINIMAL
+	default y if CBPRINTF_FULL_INTEGRAL
+	help
+	  Include long long support in the minimal picolibc printf code
+
 config PICOLIBC_LOCALE_INFO
 	bool "support locales in libc functions"
 	help
diff --git a/lib/os/Kconfig.cbprintf b/lib/os/Kconfig.cbprintf
index 777cd7d9cf..54ba8ccfa5 100644
--- a/lib/os/Kconfig.cbprintf
+++ b/lib/os/Kconfig.cbprintf
@@ -31,7 +31,7 @@ choice CBPRINTF_INTEGRAL_CONV
 # 01: 0% / 0 B (01 / 00)
 config CBPRINTF_FULL_INTEGRAL
 	bool "Convert the full range of integer values"
-	select PICOLIBC_IO_LONG_LONG if PICOLIBC && !CBPRINTF_NANO
+	select PICOLIBC_IO_MINIMAL_LONG_LONG if PICOLIBC_IO_MINIMAL && PICOLIBC_USE_MODULE
 	help
 	  Build cbprintf with buffers sized to support converting the full
 	  range of all integral and pointer values.
@@ -67,7 +67,6 @@ config CBPRINTF_FP_SUPPORT
 	bool "Floating point formatting in cbprintf"
 	default y if FPU
 	depends on CBPRINTF_COMPLETE
-	select PICOLIBC_IO_FLOAT if PICOLIBC
 	help
 	  Build the cbprintf utility function with support for floating
 	  point format specifiers.  Selecting this increases stack size