diff --git a/drivers/sensor/vcnl4040/vcnl4040.c b/drivers/sensor/vcnl4040/vcnl4040.c
index 9180f6756de..efac2444036 100644
--- a/drivers/sensor/vcnl4040/vcnl4040.c
+++ b/drivers/sensor/vcnl4040/vcnl4040.c
@@ -43,7 +43,7 @@ int vcnl4040_write(const struct device *dev, uint8_t reg, uint16_t value)
 
 	ret = i2c_write_dt(&config->i2c, buf, sizeof(buf));
 	if (ret < 0) {
-		LOG_ERR("write: %u", ret);
+		LOG_ERR("write[%02X]: %u", reg, ret);
 		return ret;
 	}
 
@@ -119,67 +119,20 @@ static int vcnl4040_channel_get(const struct device *dev,
 	return ret;
 }
 
-static int vcnl4040_proxy_setup(const struct device *dev)
+static int vcnl4040_reg_setup(const struct device *dev)
 {
 	const struct vcnl4040_config *config = dev->config;
-	uint16_t conf = 0;
-
-	if (vcnl4040_read(dev, VCNL4040_REG_PS_MS, &conf)) {
-		LOG_ERR("Could not read proximity config");
-		return -EIO;
-	}
-
-	/* Set LED current */
-	conf |= config->led_i << VCNL4040_LED_I_POS;
-
-	if (vcnl4040_write(dev, VCNL4040_REG_PS_MS, conf)) {
-		LOG_ERR("Could not write proximity config");
-		return -EIO;
-	}
-
-	if (vcnl4040_read(dev, VCNL4040_REG_PS_CONF, &conf)) {
-		LOG_ERR("Could not read proximity config");
-		return -EIO;
-	}
-
-	/* Set PS_HD */
-	conf |= VCNL4040_PS_HD_MASK;
-	/* Set duty cycle */
-	conf |= config->led_dc << VCNL4040_PS_DUTY_POS;
-	/* Set integration time */
-	conf |= config->proxy_it << VCNL4040_PS_IT_POS;
-	/* Clear proximity shutdown */
-	conf &= ~VCNL4040_PS_SD_MASK;
-
-	if (vcnl4040_write(dev, VCNL4040_REG_PS_CONF, conf)) {
-		LOG_ERR("Could not write proximity config");
-		return -EIO;
-	}
-
-	return 0;
-}
+	uint16_t value[VCNL4040_RW_REG_COUNT] = { 0 };
+	uint8_t reg;
+	int ret = 0;
 
 #ifdef CONFIG_VCNL4040_ENABLE_ALS
-static int vcnl4040_ambient_setup(const struct device *dev)
-{
-	const struct vcnl4040_config *config = dev->config;
 	struct vcnl4040_data *data = dev->data;
-	uint16_t conf = 0;
-
-	if (vcnl4040_read(dev, VCNL4040_REG_ALS_CONF, &conf)) {
-		LOG_ERR("Could not read proximity config");
-		return -EIO;
-	}
 
 	/* Set ALS integration time */
-	conf |= config->als_it << VCNL4040_ALS_IT_POS;
+	value[VCNL4040_REG_ALS_CONF] = config->als_it << VCNL4040_ALS_IT_POS;
 	/* Clear ALS shutdown */
-	conf &= ~VCNL4040_ALS_SD_MASK;
-
-	if (vcnl4040_write(dev, VCNL4040_REG_ALS_CONF, conf)) {
-		LOG_ERR("Could not write proximity config");
-		return -EIO;
-	}
+	value[VCNL4040_REG_ALS_CONF] &= ~VCNL4040_ALS_SD_MASK;
 
 	/*
 	 * scale the lux depending on the value of the integration time
@@ -205,11 +158,29 @@ static int vcnl4040_ambient_setup(const struct device *dev)
 			config->als_it);
 		break;
 	}
-
-	return 0;
-}
+#else
+	value[VCNL4040_REG_ALS_CONF] = VCNL4040_ALS_SD_MASK; /* default */
 #endif
 
+	/* Set PS_HD */
+	value[VCNL4040_REG_PS_CONF] = VCNL4040_PS_HD_MASK;
+	/* Set duty cycle */
+	value[VCNL4040_REG_PS_CONF] |= config->led_dc << VCNL4040_PS_DUTY_POS;
+	/* Set integration time */
+	value[VCNL4040_REG_PS_CONF] |= config->proxy_it << VCNL4040_PS_IT_POS;
+	/* Clear proximity shutdown */
+	value[VCNL4040_REG_PS_CONF] &= ~VCNL4040_PS_SD_MASK;
+
+	/* Set LED current */
+	value[VCNL4040_REG_PS_MS] = config->led_i << VCNL4040_LED_I_POS;
+
+	for (reg = 0; reg < ARRAY_SIZE(value); reg++) {
+		ret |= vcnl4040_write(dev, reg, value[reg]);
+	}
+
+	return ret;
+}
+
 #ifdef CONFIG_PM_DEVICE
 static int vcnl4040_pm_action(const struct device *dev,
 			      enum pm_device_action action)
@@ -295,18 +266,11 @@ static int vcnl4040_init(const struct device *dev)
 		return -EIO;
 	}
 
-	if (vcnl4040_proxy_setup(dev)) {
-		LOG_ERR("Failed to setup proximity functionality");
+	if (vcnl4040_reg_setup(dev)) {
+		LOG_ERR("register setup");
 		return -EIO;
 	}
 
-#ifdef CONFIG_VCNL4040_ENABLE_ALS
-	if (vcnl4040_ambient_setup(dev)) {
-		LOG_ERR("Failed to setup ambient light functionality");
-		return -EIO;
-	}
-#endif
-
 	k_sem_init(&data->sem, 0, K_SEM_MAX_LIMIT);
 
 #if CONFIG_VCNL4040_TRIGGER
diff --git a/drivers/sensor/vcnl4040/vcnl4040.h b/drivers/sensor/vcnl4040/vcnl4040.h
index 9df6c2aaba2..d5192310f09 100644
--- a/drivers/sensor/vcnl4040/vcnl4040.h
+++ b/drivers/sensor/vcnl4040/vcnl4040.h
@@ -27,6 +27,8 @@
 #define VCNL4040_REG_INT_FLAG	0x0B
 #define VCNL4040_REG_DEVICE_ID	0x0C
 
+#define VCNL4040_RW_REG_COUNT	0x08 /* [0x00, 0x07] */
+
 #define VCNL4040_DEFAULT_ID	0x0186
 
 #define VCNL4040_LED_I_POS	8