diff --git a/tools/lib/bpf/libbpf.c b/tools/lib/bpf/libbpf.c
index 81bf01d67671b..1da4a438ba00c 100644
--- a/tools/lib/bpf/libbpf.c
+++ b/tools/lib/bpf/libbpf.c
@@ -201,11 +201,12 @@ struct reloc_desc {
 	};
 };
 
-struct bpf_sec_def;
-
-typedef int (*init_fn_t)(struct bpf_program *prog, long cookie);
-typedef int (*preload_fn_t)(struct bpf_program *prog, struct bpf_prog_load_opts *opts, long cookie);
-typedef struct bpf_link *(*attach_fn_t)(const struct bpf_program *prog, long cookie);
+typedef int (*libbpf_prog_setup_fn_t)(struct bpf_program *prog, long cookie);
+typedef int (*libbpf_prog_prepare_load_fn_t)(struct bpf_program *prog,
+					     struct bpf_prog_load_opts *opts, long cookie);
+/* If auto-attach is not supported, callback should return 0 and set link to NULL */
+typedef int (*libbpf_prog_attach_fn_t)(const struct bpf_program *prog, long cookie,
+				       struct bpf_link **link);
 
 /* stored as sec_def->cookie for all libbpf-supported SEC()s */
 enum sec_def_flags {
@@ -239,9 +240,9 @@ struct bpf_sec_def {
 	enum bpf_attach_type expected_attach_type;
 	long cookie;
 
-	init_fn_t init_fn;
-	preload_fn_t preload_fn;
-	attach_fn_t attach_fn;
+	libbpf_prog_setup_fn_t prog_setup_fn;
+	libbpf_prog_prepare_load_fn_t prog_prepare_load_fn;
+	libbpf_prog_attach_fn_t prog_attach_fn;
 };
 
 /*
@@ -6572,9 +6573,9 @@ static int bpf_object__sanitize_prog(struct bpf_object *obj, struct bpf_program
 static int libbpf_find_attach_btf_id(struct bpf_program *prog, const char *attach_name,
 				     int *btf_obj_fd, int *btf_type_id);
 
-/* this is called as prog->sec_def->preload_fn for libbpf-supported sec_defs */
-static int libbpf_preload_prog(struct bpf_program *prog,
-			       struct bpf_prog_load_opts *opts, long cookie)
+/* this is called as prog->sec_def->prog_prepare_load_fn for libbpf-supported sec_defs */
+static int libbpf_prepare_prog_load(struct bpf_program *prog,
+				    struct bpf_prog_load_opts *opts, long cookie)
 {
 	enum sec_def_flags def = cookie;
 
@@ -6670,8 +6671,8 @@ static int bpf_object_load_prog_instance(struct bpf_object *obj, struct bpf_prog
 	load_attr.fd_array = obj->fd_array;
 
 	/* adjust load_attr if sec_def provides custom preload callback */
-	if (prog->sec_def && prog->sec_def->preload_fn) {
-		err = prog->sec_def->preload_fn(prog, &load_attr, prog->sec_def->cookie);
+	if (prog->sec_def && prog->sec_def->prog_prepare_load_fn) {
+		err = prog->sec_def->prog_prepare_load_fn(prog, &load_attr, prog->sec_def->cookie);
 		if (err < 0) {
 			pr_warn("prog '%s': failed to prepare load attributes: %d\n",
 				prog->name, err);
@@ -6971,8 +6972,8 @@ static int bpf_object_init_progs(struct bpf_object *obj, const struct bpf_object
 		/* sec_def can have custom callback which should be called
 		 * after bpf_program is initialized to adjust its properties
 		 */
-		if (prog->sec_def->init_fn) {
-			err = prog->sec_def->init_fn(prog, prog->sec_def->cookie);
+		if (prog->sec_def->prog_setup_fn) {
+			err = prog->sec_def->prog_setup_fn(prog, prog->sec_def->cookie);
 			if (err < 0) {
 				pr_warn("prog '%s': failed to initialize: %d\n",
 					prog->name, err);
@@ -8593,16 +8594,16 @@ int bpf_program__set_log_buf(struct bpf_program *prog, char *log_buf, size_t log
 	.prog_type = BPF_PROG_TYPE_##ptype,				    \
 	.expected_attach_type = atype,					    \
 	.cookie = (long)(flags),					    \
-	.preload_fn = libbpf_preload_prog,				    \
+	.prog_prepare_load_fn = libbpf_prepare_prog_load,		    \
 	__VA_ARGS__							    \
 }
 
-static struct bpf_link *attach_kprobe(const struct bpf_program *prog, long cookie);
-static struct bpf_link *attach_tp(const struct bpf_program *prog, long cookie);
-static struct bpf_link *attach_raw_tp(const struct bpf_program *prog, long cookie);
-static struct bpf_link *attach_trace(const struct bpf_program *prog, long cookie);
-static struct bpf_link *attach_lsm(const struct bpf_program *prog, long cookie);
-static struct bpf_link *attach_iter(const struct bpf_program *prog, long cookie);
+static int attach_kprobe(const struct bpf_program *prog, long cookie, struct bpf_link **link);
+static int attach_tp(const struct bpf_program *prog, long cookie, struct bpf_link **link);
+static int attach_raw_tp(const struct bpf_program *prog, long cookie, struct bpf_link **link);
+static int attach_trace(const struct bpf_program *prog, long cookie, struct bpf_link **link);
+static int attach_lsm(const struct bpf_program *prog, long cookie, struct bpf_link **link);
+static int attach_iter(const struct bpf_program *prog, long cookie, struct bpf_link **link);
 
 static const struct bpf_sec_def section_defs[] = {
 	SEC_DEF("socket",		SOCKET_FILTER, 0, SEC_NONE | SEC_SLOPPY_PFX),
@@ -8752,7 +8753,7 @@ static char *libbpf_get_type_names(bool attach_type)
 		const struct bpf_sec_def *sec_def = &section_defs[i];
 
 		if (attach_type) {
-			if (sec_def->preload_fn != libbpf_preload_prog)
+			if (sec_def->prog_prepare_load_fn != libbpf_prepare_prog_load)
 				continue;
 
 			if (!(sec_def->cookie & SEC_ATTACHABLE))
@@ -9135,7 +9136,7 @@ int libbpf_attach_type_by_name(const char *name,
 		return libbpf_err(-EINVAL);
 	}
 
-	if (sec_def->preload_fn != libbpf_preload_prog)
+	if (sec_def->prog_prepare_load_fn != libbpf_prepare_prog_load)
 		return libbpf_err(-EINVAL);
 	if (!(sec_def->cookie & SEC_ATTACHABLE))
 		return libbpf_err(-EINVAL);
@@ -10109,14 +10110,13 @@ struct bpf_link *bpf_program__attach_kprobe(const struct bpf_program *prog,
 	return bpf_program__attach_kprobe_opts(prog, func_name, &opts);
 }
 
-static struct bpf_link *attach_kprobe(const struct bpf_program *prog, long cookie)
+static int attach_kprobe(const struct bpf_program *prog, long cookie, struct bpf_link **link)
 {
 	DECLARE_LIBBPF_OPTS(bpf_kprobe_opts, opts);
 	unsigned long offset = 0;
-	struct bpf_link *link;
 	const char *func_name;
 	char *func;
-	int n, err;
+	int n;
 
 	opts.retprobe = str_has_pfx(prog->sec_name, "kretprobe/");
 	if (opts.retprobe)
@@ -10126,21 +10126,19 @@ static struct bpf_link *attach_kprobe(const struct bpf_program *prog, long cooki
 
 	n = sscanf(func_name, "%m[a-zA-Z0-9_.]+%li", &func, &offset);
 	if (n < 1) {
-		err = -EINVAL;
 		pr_warn("kprobe name is invalid: %s\n", func_name);
-		return libbpf_err_ptr(err);
+		return -EINVAL;
 	}
 	if (opts.retprobe && offset != 0) {
 		free(func);
-		err = -EINVAL;
 		pr_warn("kretprobes do not support offset specification\n");
-		return libbpf_err_ptr(err);
+		return -EINVAL;
 	}
 
 	opts.offset = offset;
-	link = bpf_program__attach_kprobe_opts(prog, func, &opts);
+	*link = bpf_program__attach_kprobe_opts(prog, func, &opts);
 	free(func);
-	return link;
+	return libbpf_get_error(*link);
 }
 
 static void gen_uprobe_legacy_event_name(char *buf, size_t buf_sz,
@@ -10395,14 +10393,13 @@ struct bpf_link *bpf_program__attach_tracepoint(const struct bpf_program *prog,
 	return bpf_program__attach_tracepoint_opts(prog, tp_category, tp_name, NULL);
 }
 
-static struct bpf_link *attach_tp(const struct bpf_program *prog, long cookie)
+static int attach_tp(const struct bpf_program *prog, long cookie, struct bpf_link **link)
 {
 	char *sec_name, *tp_cat, *tp_name;
-	struct bpf_link *link;
 
 	sec_name = strdup(prog->sec_name);
 	if (!sec_name)
-		return libbpf_err_ptr(-ENOMEM);
+		return -ENOMEM;
 
 	/* extract "tp/<category>/<name>" or "tracepoint/<category>/<name>" */
 	if (str_has_pfx(prog->sec_name, "tp/"))
@@ -10412,14 +10409,14 @@ static struct bpf_link *attach_tp(const struct bpf_program *prog, long cookie)
 	tp_name = strchr(tp_cat, '/');
 	if (!tp_name) {
 		free(sec_name);
-		return libbpf_err_ptr(-EINVAL);
+		return -EINVAL;
 	}
 	*tp_name = '\0';
 	tp_name++;
 
-	link = bpf_program__attach_tracepoint(prog, tp_cat, tp_name);
+	*link = bpf_program__attach_tracepoint(prog, tp_cat, tp_name);
 	free(sec_name);
-	return link;
+	return libbpf_get_error(*link);
 }
 
 struct bpf_link *bpf_program__attach_raw_tracepoint(const struct bpf_program *prog,
@@ -10452,7 +10449,7 @@ struct bpf_link *bpf_program__attach_raw_tracepoint(const struct bpf_program *pr
 	return link;
 }
 
-static struct bpf_link *attach_raw_tp(const struct bpf_program *prog, long cookie)
+static int attach_raw_tp(const struct bpf_program *prog, long cookie, struct bpf_link **link)
 {
 	static const char *const prefixes[] = {
 		"raw_tp/",
@@ -10472,10 +10469,11 @@ static struct bpf_link *attach_raw_tp(const struct bpf_program *prog, long cooki
 	if (!tp_name) {
 		pr_warn("prog '%s': invalid section name '%s'\n",
 			prog->name, prog->sec_name);
-		return libbpf_err_ptr(-EINVAL);
+		return -EINVAL;
 	}
 
-	return bpf_program__attach_raw_tracepoint(prog, tp_name);
+	*link = bpf_program__attach_raw_tracepoint(prog, tp_name);
+	return libbpf_get_error(link);
 }
 
 /* Common logic for all BPF program types that attach to a btf_id */
@@ -10518,14 +10516,16 @@ struct bpf_link *bpf_program__attach_lsm(const struct bpf_program *prog)
 	return bpf_program__attach_btf_id(prog);
 }
 
-static struct bpf_link *attach_trace(const struct bpf_program *prog, long cookie)
+static int attach_trace(const struct bpf_program *prog, long cookie, struct bpf_link **link)
 {
-	return bpf_program__attach_trace(prog);
+	*link = bpf_program__attach_trace(prog);
+	return libbpf_get_error(*link);
 }
 
-static struct bpf_link *attach_lsm(const struct bpf_program *prog, long cookie)
+static int attach_lsm(const struct bpf_program *prog, long cookie, struct bpf_link **link)
 {
-	return bpf_program__attach_lsm(prog);
+	*link = bpf_program__attach_lsm(prog);
+	return libbpf_get_error(*link);
 }
 
 static struct bpf_link *
@@ -10654,17 +10654,33 @@ bpf_program__attach_iter(const struct bpf_program *prog,
 	return link;
 }
 
-static struct bpf_link *attach_iter(const struct bpf_program *prog, long cookie)
+static int attach_iter(const struct bpf_program *prog, long cookie, struct bpf_link **link)
 {
-	return bpf_program__attach_iter(prog, NULL);
+	*link = bpf_program__attach_iter(prog, NULL);
+	return libbpf_get_error(*link);
 }
 
 struct bpf_link *bpf_program__attach(const struct bpf_program *prog)
 {
-	if (!prog->sec_def || !prog->sec_def->attach_fn)
-		return libbpf_err_ptr(-ESRCH);
+	struct bpf_link *link = NULL;
+	int err;
+
+	if (!prog->sec_def || !prog->sec_def->prog_attach_fn)
+		return libbpf_err_ptr(-EOPNOTSUPP);
 
-	return prog->sec_def->attach_fn(prog, prog->sec_def->cookie);
+	err = prog->sec_def->prog_attach_fn(prog, prog->sec_def->cookie, &link);
+	if (err)
+		return libbpf_err_ptr(err);
+
+	/* When calling bpf_program__attach() explicitly, auto-attach support
+	 * is expected to work, so NULL returned link is considered an error.
+	 * This is different for skeleton's attach, see comment in
+	 * bpf_object__attach_skeleton().
+	 */
+	if (!link)
+		return libbpf_err_ptr(-EOPNOTSUPP);
+
+	return link;
 }
 
 static int bpf_link__detach_struct_ops(struct bpf_link *link)
@@ -11805,16 +11821,30 @@ int bpf_object__attach_skeleton(struct bpf_object_skeleton *s)
 			continue;
 
 		/* auto-attaching not supported for this program */
-		if (!prog->sec_def || !prog->sec_def->attach_fn)
+		if (!prog->sec_def || !prog->sec_def->prog_attach_fn)
 			continue;
 
-		*link = bpf_program__attach(prog);
-		err = libbpf_get_error(*link);
+		/* if user already set the link manually, don't attempt auto-attach */
+		if (*link)
+			continue;
+
+		err = prog->sec_def->prog_attach_fn(prog, prog->sec_def->cookie, link);
 		if (err) {
-			pr_warn("failed to auto-attach program '%s': %d\n",
+			pr_warn("prog '%s': failed to auto-attach: %d\n",
 				bpf_program__name(prog), err);
 			return libbpf_err(err);
 		}
+
+		/* It's possible that for some SEC() definitions auto-attach
+		 * is supported in some cases (e.g., if definition completely
+		 * specifies target information), but is not in other cases.
+		 * SEC("uprobe") is one such case. If user specified target
+		 * binary and function name, such BPF program can be
+		 * auto-attached. But if not, it shouldn't trigger skeleton's
+		 * attach to fail. It should just be skipped.
+		 * attach_fn signals such case with returning 0 (no error) and
+		 * setting link to NULL.
+		 */
 	}
 
 	return 0;