diff --git a/scripts/lib/devtool/ide_sdk.py b/scripts/lib/devtool/ide_sdk.py
index ac07dae656..9faf041957 100755
--- a/scripts/lib/devtool/ide_sdk.py
+++ b/scripts/lib/devtool/ide_sdk.py
@@ -1732,6 +1732,8 @@ class RecipeModified:
 def ide_setup(args, config, basepath, workspace):
     """Generate the IDE configuration for the workspace"""
 
+    modes = set(args.mode or [DevtoolIdeMode.modified])
+
     # Explicitely passing some special recipes does not make sense
     for recipe in args.recipenames:
         if recipe in ['meta-ide-support', 'build-sysroots']:
@@ -1780,8 +1782,8 @@ def ide_setup(args, config, basepath, workspace):
                     recipes_other_names.append(recipe)
 
         invalid_params = False
-        if args.mode == DevtoolIdeMode.shared:
-            if len(recipes_modified_names):
+        if DevtoolIdeMode.shared in modes:
+            if recipes_modified_names and DevtoolIdeMode.modified not in modes:
                 logger.error("In shared sysroots mode modified recipes %s cannot be handled." % str(
                     recipes_modified_names))
                 invalid_params = True
@@ -1791,7 +1793,7 @@ def ide_setup(args, config, basepath, workspace):
         if args.nfs_extract_dir and not args.nfs:
             logger.error("--nfs-extract-dir requires --nfs.")
             invalid_params = True
-        if args.mode == DevtoolIdeMode.modified:
+        if DevtoolIdeMode.modified in modes:
             if not recipes_modified_names:
                 appends_dir = os.path.join(config.workspace_path, 'appends')
                 recipes_modified_names = sorted(
@@ -1802,7 +1804,7 @@ def ide_setup(args, config, basepath, workspace):
                     logger.info(
                         "No modified recipes specified, using workspace bbappends from %s: %s",
                         appends_dir, ', '.join(recipes_modified_names))
-            if len(recipes_other_names):
+            if recipes_other_names and DevtoolIdeMode.shared not in modes:
                 logger.error("Only in shared sysroots mode not modified recipes %s can be handled." % str(
                     recipes_other_names))
                 invalid_params = True
@@ -1849,7 +1851,7 @@ def ide_setup(args, config, basepath, workspace):
 
         # Provide a Direct SDK with shared sysroots
         recipes_not_modified = []
-        if args.mode == DevtoolIdeMode.shared:
+        if DevtoolIdeMode.shared in modes:
             ide_support = RecipeMetaIdeSupport()
             ide_support.initialize(config, tinfoil)
             bootstrap_tasks += ide_support.bootstrap_tasks
@@ -1875,7 +1877,7 @@ def ide_setup(args, config, basepath, workspace):
                         config, tinfoil, recipes_images, recipe_name)
 
         recipes_modified = []
-        if args.mode == DevtoolIdeMode.modified:
+        if DevtoolIdeMode.modified in modes:
             logger.info("Setting up workspaces for modified recipe: %s" %
                         str(recipes_modified_names))
             DebuggerCrossConfig._port_next = int(args.gdbserver_port_start)
@@ -1920,7 +1922,7 @@ def ide_setup(args, config, basepath, workspace):
         if recipe_modified.update_bbappend():
             recipe_bbappend_changed = True
     shared_bbappend_changed = False
-    if args.mode == DevtoolIdeMode.shared:
+    if modes == {DevtoolIdeMode.shared}:
         for image in recipes_images:
             if image.extra_image_install_debugfs or args.nfs:
                 if image.update_image_bbappend([], args.nfs):
@@ -1945,28 +1947,20 @@ def ide_setup(args, config, basepath, workspace):
             exec_build_env_command(
                 config.init_path, basepath,
                 bb_cmd + ' '.join(bootstrap_tasks), watch=True)
-        if args.mode == DevtoolIdeMode.shared and image_bootstrap_tasks:
+        if modes == {DevtoolIdeMode.shared} and image_bootstrap_tasks:
             exec_build_env_command(
                 config.init_path, basepath,
                 bb_cmd + ' '.join(image_bootstrap_tasks), watch=True)
-        if bootstrap_tasks_late:
+        if modes == {DevtoolIdeMode.shared} and bootstrap_tasks_late:
             exec_build_env_command(
                 config.init_path, basepath,
                 bb_cmd + ' '.join(bootstrap_tasks_late), watch=True)
 
-    if args.mode == DevtoolIdeMode.shared:
+    if modes == {DevtoolIdeMode.shared}:
         if args.nfs and not args.skip_bitbake:
             for image in recipes_images:
                 image.extract_nfs_rootfs(nfs_export_base_dir, args.nfs, args.target)
-        for ide in ides:
-            ide.setup_shared_sysroots(shared_env)
-            for image in recipes_images:
-                ide.setup_shared_image(args, shared_env, image, config.workspace_path)
-            for recipe_name in recipes_other_names:
-                ide.setup_shared_recipe(
-                    args, shared_env, recipes_images[0] if recipes_images else None,
-                    config.workspace_path, recipe_name)
-    elif args.mode == DevtoolIdeMode.modified:
+    if DevtoolIdeMode.modified in modes:
         for recipe_modified in recipes_modified:
             if recipe_modified.build_tool is BuildTool.CMAKE:
                 recipe_modified.cmake_preset()
@@ -2022,8 +2016,20 @@ def ide_setup(args, config, basepath, workspace):
         if args.nfs and not args.skip_bitbake:
             for ri in recipes_images:
                 ri.extract_nfs_rootfs(nfs_export_base_dir, args.nfs, args.target)
-    else:
-        raise DevtoolError("Must not end up here.")
+
+    if DevtoolIdeMode.shared in modes:
+        if DevtoolIdeMode.modified in modes and bootstrap_tasks_late and not args.skip_bitbake:
+            exec_build_env_command(
+                config.init_path, basepath,
+                bb_cmd + ' '.join(bootstrap_tasks_late), watch=True)
+        for ide in ides:
+            ide.setup_shared_sysroots(shared_env)
+            for image in recipes_images:
+                ide.setup_shared_image(args, shared_env, image, config.workspace_path)
+            for recipe_name in recipes_other_names:
+                ide.setup_shared_recipe(
+                    args, shared_env, recipes_images[0] if recipes_images else None,
+                    config.workspace_path, recipe_name)
 
 
 def register_commands(subparsers, context):
@@ -2062,8 +2068,8 @@ def register_commands(subparsers, context):
         'In modified mode at least the image recipe is required; if no modified recipe is passed, '
         'all modified recipes are taken from <workspace>/appends/*.bbappend.')
     parser_ide_sdk.add_argument(
-        '-m', '--mode', type=DevtoolIdeMode, default=DevtoolIdeMode.modified,
-        help='Different SDK types are supported:\n'
+        '-m', '--mode', type=DevtoolIdeMode, action='append',
+        help='Different SDK types are supported. Repeat --mode to generate both:\n'
         '- "' + DevtoolIdeMode.modified.name + '" (default):\n'
         '  devtool modify creates a workspace to work on the source code of a recipe.\n'
         '  devtool ide-sdk builds the SDK and generates the IDE configuration(s) in the workspace directorie(s)\n'
@@ -2080,7 +2086,8 @@ def register_commands(subparsers, context):
         '  An image recipe may also be supplied to build a target image and generate image-based IDE configurations.\n'
         '  With an image recipe, --nfs exports its rootfs for NFS booting.\n'
         '  To use this tool-chain the environment-* file found in the deploy..image folder needs to be sourced into a shell.\n'
-        '  In case of VSCode and cmake the tool-chain is also exposed as a cmake-kit')
+        '  In case of VSCode and cmake the tool-chain is also exposed as a cmake-kit.\n'
+        '  Combine with --mode modified to generate recipe IDE configurations and shared sysroots from one image build.')
     default_ide = list(ide_plugins.keys())[0]
     ide_choices = list(ide_plugins.keys()) + ['all']
     parser_ide_sdk.add_argument(