diff --git a/samples/subsys/ipc/ipc_service/multi_endpoint/CMakeLists.txt b/samples/subsys/ipc/ipc_service/multi_endpoint/CMakeLists.txt
index fca156d9fe2..d8c7b1367e8 100644
--- a/samples/subsys/ipc/ipc_service/multi_endpoint/CMakeLists.txt
+++ b/samples/subsys/ipc/ipc_service/multi_endpoint/CMakeLists.txt
@@ -8,11 +8,7 @@ cmake_minimum_required(VERSION 3.20.0)
 
 find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
 
-if(NOT CONFIG_BOARD_NRF5340DK_NRF5340_CPUAPP AND
-    NOT CONFIG_BOARD_NRF5340BSIM_NRF5340_CPUAPP )
-  message(FATAL_ERROR "${BOARD} is not supported for this sample")
-endif()
-
 project(ipc_service)
 
-target_sources(app PRIVATE src/main.c)
+FILE(GLOB app_sources src/*.c)
+target_sources(app PRIVATE ${app_sources})
diff --git a/samples/subsys/ipc/ipc_service/multi_endpoint/Kconfig.sysbuild b/samples/subsys/ipc/ipc_service/multi_endpoint/Kconfig.sysbuild
index 5e4c6d497cf..abaec58fdf4 100644
--- a/samples/subsys/ipc/ipc_service/multi_endpoint/Kconfig.sysbuild
+++ b/samples/subsys/ipc/ipc_service/multi_endpoint/Kconfig.sysbuild
@@ -6,5 +6,6 @@ source "share/sysbuild/Kconfig"
 
 config NET_CORE_BOARD
 string
-	default "nrf5340dk/nrf5340/cpunet" if $(BOARD) = "nrf5340dk"
-	default "nrf5340bsim/nrf5340/cpunet" if $(BOARD) = "nrf5340bsim"
+	default "$(BOARD)/nrf5340/cpunet" if $(BOARD) = "nrf5340dk"
+	default "$(BOARD)/nrf5340/cpunet" if $(BOARD) = "nrf5340bsim"
+	default "$(BOARD)/nrf54h20/cpurad" if $(BOARD) = "nrf54h20dk"
diff --git a/samples/subsys/ipc/ipc_service/multi_endpoint/boards/nrf54h20dk_nrf54h20_cpuapp.conf b/samples/subsys/ipc/ipc_service/multi_endpoint/boards/nrf54h20dk_nrf54h20_cpuapp.conf
new file mode 100644
index 00000000000..a6fa5758d9a
--- /dev/null
+++ b/samples/subsys/ipc/ipc_service/multi_endpoint/boards/nrf54h20dk_nrf54h20_cpuapp.conf
@@ -0,0 +1 @@
+CONFIG_SOC_NRF54H20_CPURAD_ENABLE=y
diff --git a/samples/subsys/ipc/ipc_service/multi_endpoint/boards/nrf54h20dk_nrf54h20_cpuapp.overlay b/samples/subsys/ipc/ipc_service/multi_endpoint/boards/nrf54h20dk_nrf54h20_cpuapp.overlay
new file mode 100644
index 00000000000..1698d7a800d
--- /dev/null
+++ b/samples/subsys/ipc/ipc_service/multi_endpoint/boards/nrf54h20dk_nrf54h20_cpuapp.overlay
@@ -0,0 +1,50 @@
+/ {
+	reserved-memory {
+	/delete-node/ memory@2f0bf000;
+	/delete-node/ memory@2f0bf800;
+
+		cpuapp_cpurad_ipc_shm_a: memory@2f0bf000 {
+			reg = <0x2f0bf000 DT_SIZE_K(1)>;
+		};
+
+		cpurad_cpuapp_ipc_shm_a: memory@2f0bf400 {
+			reg = <0x2f0bf400 DT_SIZE_K(1)>;
+		};
+
+		cpuapp_cpurad_ipc_shm_b: memory@2f0bf800 {
+			reg = <0x2f0bf800 DT_SIZE_K(1)>;
+		};
+
+		cpurad_cpuapp_ipc_shm_b: memory@2f0bfC00 {
+			reg = <0x2f0bfC00 DT_SIZE_K(1)>;
+		};
+	};
+
+	ipc {
+		cpuapp_cpurad_ipc_b: ipc-2-3-b {
+			compatible = "zephyr,ipc-icbmsg";
+			dcache-alignment = <32>;
+			status = "okay";
+			mboxes = <&cpuapp_bellboard 20>,
+					<&cpurad_bellboard 14>;
+		};
+	};
+};
+
+&cpuapp_bellboard {
+	nordic,interrupt-mapping = <0x146041 0x0>;
+};
+
+&ipc0 {
+	tx-region = <&cpuapp_cpurad_ipc_shm_a>;
+	rx-region = <&cpurad_cpuapp_ipc_shm_a>;
+};
+
+ipc1: &cpuapp_cpurad_ipc_b {
+	status = "okay";
+	mbox-names = "rx", "tx";
+	tx-region = <&cpuapp_cpurad_ipc_shm_b>;
+	rx-region = <&cpurad_cpuapp_ipc_shm_b>;
+	tx-blocks = <32>;
+	rx-blocks = <32>;
+};
diff --git a/samples/subsys/ipc/ipc_service/multi_endpoint/remote/boards/nrf54h20dk_nrf54h20_cpurad.overlay b/samples/subsys/ipc/ipc_service/multi_endpoint/remote/boards/nrf54h20dk_nrf54h20_cpurad.overlay
new file mode 100644
index 00000000000..26ef0518b8b
--- /dev/null
+++ b/samples/subsys/ipc/ipc_service/multi_endpoint/remote/boards/nrf54h20dk_nrf54h20_cpurad.overlay
@@ -0,0 +1,50 @@
+/ {
+	reserved-memory {
+		/delete-node/ memory@2f0bf000;
+		/delete-node/ memory@2f0bf800;
+
+		cpuapp_cpurad_ipc_shm_a: memory@2f0bf000 {
+			reg = <0x2f0bf000 DT_SIZE_K(1)>;
+		};
+
+		cpurad_cpuapp_ipc_shm_a: memory@2f0bf400 {
+			reg = <0x2f0bf400 DT_SIZE_K(1)>;
+		};
+
+		cpuapp_cpurad_ipc_shm_b: memory@2f0bf800 {
+			reg = <0x2f0bf800 DT_SIZE_K(1)>;
+		};
+
+		cpurad_cpuapp_ipc_shm_b: memory@2f0bfC00 {
+			reg = <0x2f0bfC00 DT_SIZE_K(1)>;
+		};
+	};
+
+	ipc {
+		cpuapp_cpurad_ipc_b: ipc-2-3-b {
+			compatible = "zephyr,ipc-icbmsg";
+			dcache-alignment = <32>;
+			status = "okay";
+			mboxes = <&cpuapp_bellboard 20>,
+					<&cpurad_bellboard 14>;
+		};
+	};
+};
+
+&cpurad_bellboard {
+	nordic,interrupt-mapping = <0x5041 0>;
+};
+
+&ipc0 {
+	tx-region = <&cpurad_cpuapp_ipc_shm_a>;
+	rx-region = <&cpuapp_cpurad_ipc_shm_a>;
+};
+
+ipc1: &cpuapp_cpurad_ipc_b {
+	status = "okay";
+	mbox-names = "tx", "rx";
+	tx-region = <&cpurad_cpuapp_ipc_shm_b>;
+	rx-region = <&cpuapp_cpurad_ipc_shm_b>;
+	tx-blocks = <32>;
+	rx-blocks = <32>;
+};
diff --git a/samples/subsys/ipc/ipc_service/multi_endpoint/sample.yaml b/samples/subsys/ipc/ipc_service/multi_endpoint/sample.yaml
index 4505f76ac51..1e08253ca2b 100644
--- a/samples/subsys/ipc/ipc_service/multi_endpoint/sample.yaml
+++ b/samples/subsys/ipc/ipc_service/multi_endpoint/sample.yaml
@@ -17,9 +17,11 @@ tests:
     platform_allow:
       - nrf5340dk/nrf5340/cpuapp
       - nrf5340bsim/nrf5340/cpuapp
+      - nrf54h20dk/nrf54h20/cpuapp
     integration_platforms:
       - nrf5340dk/nrf5340/cpuapp
       - nrf5340bsim/nrf5340/cpuapp
+      - nrf54h20dk/nrf54h20/cpuapp
     tags: ipc
     sysbuild: true
   sample.ipc.multi_endpoint.icbmsg:
diff --git a/samples/subsys/ipc/ipc_service/multi_endpoint/src/main.c b/samples/subsys/ipc/ipc_service/multi_endpoint/src/main.c
index 4ad5659df38..d7d74daaf10 100644
--- a/samples/subsys/ipc/ipc_service/multi_endpoint/src/main.c
+++ b/samples/subsys/ipc/ipc_service/multi_endpoint/src/main.c
@@ -228,6 +228,7 @@ static void ipc1_entry(void *dummy0, void *dummy1, void *dummy2)
 		return;
 	}
 
+	printf("Waiting for bind\n");
 	k_sem_take(&ipc1_bound_sem, K_FOREVER);
 
 	/*