How to load driver automatically without using insmod

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I have added mychardev driver to a custom kernel 5.6.2 , when I go through the menu config my driver is visible in the drivers' folder. I then have created kconfig , makefile driver files.

I have compiled and loaded the kernel, but my character driver is not loaded, I checked it with lsmod.

How do I create a device file automatically i.e when I load a kernel module device file I need it to be present in the /dev directory

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