diff --git a/doc/source/user/howto.rst b/doc/source/user/howto.rst
index 690b6a1f9..b76f4b7d6 100644
--- a/doc/source/user/howto.rst
+++ b/doc/source/user/howto.rst
@@ -17,13 +17,13 @@ example::
 
     export OS_CLOUD=bifrost
     baremetal node list
-
-In noauth mode, a cloud called ``bifrost-inspector`` is also included that
-allows access to the Ironic Inspector API. For example::
-
-    export OS_CLOUD=bifrost-inspector
     baremetal introspection list
 
+.. note::
+   Previously, a separate cloud ``bifrost-inspector`` was provided for
+   introspection commands. It is not deprecated, the main ``bifrost`` cloud
+   should always be used.
+
 Environment variables
 ---------------------
 
diff --git a/playbooks/roles/bifrost-keystone-client-config/templates/clouds.yaml.j2 b/playbooks/roles/bifrost-keystone-client-config/templates/clouds.yaml.j2
index e19fe5952..0c39516f3 100644
--- a/playbooks/roles/bifrost-keystone-client-config/templates/clouds.yaml.j2
+++ b/playbooks/roles/bifrost-keystone-client-config/templates/clouds.yaml.j2
@@ -17,7 +17,9 @@ clouds:
 {% else %}
   bifrost:
     auth_type: "none"
-    endpoint: {{ ironic_api_url }}
+    baremetal_endpoint_override: {{ ironic_api_url }}
+    baremetal_introspection_endpoint_override: {{ ironic_inspector_api_url }}
+  # Deprecated
   bifrost-inspector:
     auth_type: "none"
     endpoint: {{ ironic_inspector_api_url }}
diff --git a/playbooks/roles/bifrost-test-inspection/tasks/main.yml b/playbooks/roles/bifrost-test-inspection/tasks/main.yml
index dab199e6e..38273ac52 100644
--- a/playbooks/roles/bifrost-test-inspection/tasks/main.yml
+++ b/playbooks/roles/bifrost-test-inspection/tasks/main.yml
@@ -16,7 +16,7 @@
   command: "baremetal introspection data save {{ uuid }}"
   register: inspection_data
   environment:
-    OS_CLOUD: "{% if enable_keystone | default(false) | bool %}bifrost{% else %}bifrost-inspector{% endif %}"
+    OS_CLOUD: bifrost
 
 # TODO(mgoddard): More validation of data format and contents.
 - name: Validate the inspection data format
diff --git a/playbooks/test-bifrost.yaml b/playbooks/test-bifrost.yaml
index 090569dfd..f5f27e7d5 100644
--- a/playbooks/test-bifrost.yaml
+++ b/playbooks/test-bifrost.yaml
@@ -115,7 +115,7 @@
     - name: "List introspection rules using openstack client"
       command: baremetal --debug introspection rule list
       environment:
-        OS_CLOUD: "{% if enable_keystone | default(false) | bool == true %}bifrost{% else %}bifrost-inspector{% endif %}"
+        OS_CLOUD: bifrost
         PATH: /usr/local/bin:{{ ansible_env.PATH }}
       when: enable_inspector is defined and enable_inspector | bool
 
diff --git a/releasenotes/notes/bifrost-inspector-a154561802d8d614.yaml b/releasenotes/notes/bifrost-inspector-a154561802d8d614.yaml
new file mode 100644
index 000000000..a373d58c0
--- /dev/null
+++ b/releasenotes/notes/bifrost-inspector-a154561802d8d614.yaml
@@ -0,0 +1,9 @@
+---
+deprecations:
+  - |
+    The ``bifrost-inspector`` cloud in ``clouds.yaml`` is now deprecated, use
+    the main ``bifrost`` cloud for all commands.
+fixes:
+  - |
+    It is now possible to use the ``bifrost`` cloud with introspection commands
+    even in no-auth mode.