How to kconfig zephyr?

It would be great to be able to run menuconfig or guiconfig and explore the configuration options for Zephyr. However, since PlatformIO doesn’t use Zephyr’s build system it’s not merely a question of typing west build -t menuconfig. I’ve tried the python based kconfiglib and various combinations of trying to get west running but to no avail. What’s the “zero fighting” way of doing this? Is there a vscode plugin for Kconfig that does anything other than syntax highlighting?

According to the the docs I only see the configuration way via editing the .prj files directly.

Unless @valeros can correct me on that one.

According to the post below, a ‘menuconfig’ option is on the roadmap.

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OK, Gotcha. Thanks. 20 chars.