diff --git a/src/jtag/drivers/sysfsgpio.c b/src/jtag/drivers/sysfsgpio.c
index 78a4c5b77..103b81009 100644
--- a/src/jtag/drivers/sysfsgpio.c
+++ b/src/jtag/drivers/sysfsgpio.c
@@ -468,72 +468,72 @@ COMMAND_HANDLER(sysfsgpio_handle_swd_gpionum_swdio)
 	return ERROR_OK;
 }
 
-static const struct command_registration sysfsgpio_command_handlers[] = {
+static const struct command_registration sysfsgpio_subcommand_handlers[] = {
 	{
-		.name = "sysfsgpio_jtag_nums",
+		.name = "jtag_nums",
 		.handler = &sysfsgpio_handle_jtag_gpionums,
 		.mode = COMMAND_CONFIG,
 		.help = "gpio numbers for tck, tms, tdi, tdo. (in that order)",
 		.usage = "[tck tms tdi tdo]",
 	},
 	{
-		.name = "sysfsgpio_tck_num",
+		.name = "tck_num",
 		.handler = &sysfsgpio_handle_jtag_gpionum_tck,
 		.mode = COMMAND_CONFIG,
 		.help = "gpio number for tck.",
 		.usage = "[tck]",
 	},
 	{
-		.name = "sysfsgpio_tms_num",
+		.name = "tms_num",
 		.handler = &sysfsgpio_handle_jtag_gpionum_tms,
 		.mode = COMMAND_CONFIG,
 		.help = "gpio number for tms.",
 		.usage = "[tms]",
 	},
 	{
-		.name = "sysfsgpio_tdo_num",
+		.name = "tdo_num",
 		.handler = &sysfsgpio_handle_jtag_gpionum_tdo,
 		.mode = COMMAND_CONFIG,
 		.help = "gpio number for tdo.",
 		.usage = "[tdo]",
 	},
 	{
-		.name = "sysfsgpio_tdi_num",
+		.name = "tdi_num",
 		.handler = &sysfsgpio_handle_jtag_gpionum_tdi,
 		.mode = COMMAND_CONFIG,
 		.help = "gpio number for tdi.",
 		.usage = "[tdi]",
 	},
 	{
-		.name = "sysfsgpio_srst_num",
+		.name = "srst_num",
 		.handler = &sysfsgpio_handle_jtag_gpionum_srst,
 		.mode = COMMAND_CONFIG,
 		.help = "gpio number for srst.",
 		.usage = "[srst]",
 	},
 	{
-		.name = "sysfsgpio_trst_num",
+		.name = "trst_num",
 		.handler = &sysfsgpio_handle_jtag_gpionum_trst,
 		.mode = COMMAND_CONFIG,
 		.help = "gpio number for trst.",
 		.usage = "[trst]",
 	},
 	{
-		.name = "sysfsgpio_swd_nums",
+		.name = "swd_nums",
 		.handler = &sysfsgpio_handle_swd_gpionums,
 		.mode = COMMAND_CONFIG,
 		.help = "gpio numbers for swclk, swdio. (in that order)",
 		.usage = "[swclk swdio]",
 	},
 	{
-		.name = "sysfsgpio_swclk_num",
+		.name = "swclk_num",
 		.handler = &sysfsgpio_handle_swd_gpionum_swclk,
 		.mode = COMMAND_CONFIG,
 		.help = "gpio number for swclk.",
 		.usage = "[swclk]",
 	},
 	{
-		.name = "sysfsgpio_swdio_num",
+		.name = "swdio_num",
 		.handler = &sysfsgpio_handle_swd_gpionum_swdio,
 		.mode = COMMAND_CONFIG,
 		.help = "gpio number for swdio.",
@@ -542,6 +542,17 @@ static const struct command_registration sysfsgpio_command_handlers[] = {
 	COMMAND_REGISTRATION_DONE
 };
 
+static const struct command_registration sysfsgpio_command_handlers[] = {
+	{
+		.name = "sysfsgpio",
+		.mode = COMMAND_ANY,
+		.help = "perform sysfsgpio management",
+		.chain = sysfsgpio_subcommand_handlers,
+		.usage = "",
+	},
+	COMMAND_REGISTRATION_DONE
+};
+
 static int sysfsgpio_init(void);
 static int sysfsgpio_quit(void);
 
diff --git a/src/jtag/startup.tcl b/src/jtag/startup.tcl
index 5a0f96773..9e5ac26f4 100644
--- a/src/jtag/startup.tcl
+++ b/src/jtag/startup.tcl
@@ -543,4 +543,64 @@ proc linuxgpiod_gpiochip args {
 	eval linuxgpiod gpiochip $args
 }
 
+lappend _telnet_autocomplete_skip sysfsgpio_jtag_nums
+proc sysfsgpio_jtag_nums args {
+	echo "DEPRECATED! use 'sysfsgpio jtag_nums' not 'sysfsgpio_jtag_nums'"
+	eval sysfsgpio jtag_nums $args
+}
+
+lappend _telnet_autocomplete_skip sysfsgpio_tck_num
+proc sysfsgpio_tck_num args {
+	echo "DEPRECATED! use 'sysfsgpio tck_num' not 'sysfsgpio_tck_num'"
+	eval sysfsgpio tck_num $args
+}
+
+lappend _telnet_autocomplete_skip sysfsgpio_tms_num
+proc sysfsgpio_tms_num args {
+	echo "DEPRECATED! use 'sysfsgpio tms_num' not 'sysfsgpio_tms_num'"
+	eval sysfsgpio tms_num $args
+}
+
+lappend _telnet_autocomplete_skip sysfsgpio_tdo_num
+proc sysfsgpio_tdo_num args {
+	echo "DEPRECATED! use 'sysfsgpio tdo_num' not 'sysfsgpio_tdo_num'"
+	eval sysfsgpio tdo_num $args
+}
+
+lappend _telnet_autocomplete_skip sysfsgpio_tdi_num
+proc sysfsgpio_tdi_num args {
+	echo "DEPRECATED! use 'sysfsgpio tdi_num' not 'sysfsgpio_tdi_num'"
+	eval sysfsgpio tdi_num $args
+}
+
+lappend _telnet_autocomplete_skip sysfsgpio_srst_num
+proc sysfsgpio_srst_num args {
+	echo "DEPRECATED! use 'sysfsgpio srst_num' not 'sysfsgpio_srst_num'"
+	eval sysfsgpio srst_num $args
+}
+
+lappend _telnet_autocomplete_skip sysfsgpio_trst_num
+proc sysfsgpio_trst_num args {
+	echo "DEPRECATED! use 'sysfsgpio trst_num' not 'sysfsgpio_trst_num'"
+	eval sysfsgpio trst_num $args
+}
+
+lappend _telnet_autocomplete_skip sysfsgpio_swd_nums
+proc sysfsgpio_swd_nums args {
+	echo "DEPRECATED! use 'sysfsgpio swd_nums' not 'sysfsgpio_swd_nums'"
+	eval sysfsgpio swd_nums $args
+}
+
+lappend _telnet_autocomplete_skip sysfsgpio_swclk_num
+proc sysfsgpio_swclk_num args {
+	echo "DEPRECATED! use 'sysfsgpio swclk_num' not 'sysfsgpio_swclk_num'"
+	eval sysfsgpio swclk_num $args
+}
+
+lappend _telnet_autocomplete_skip sysfsgpio_swdio_num
+proc sysfsgpio_swdio_num args {
+	echo "DEPRECATED! use 'sysfsgpio swdio_num' not 'sysfsgpio_swdio_num'"
+	eval sysfsgpio swdio_num $args
+}
+
 # END MIGRATION AIDS