diff --git a/Marlin/src/HAL/AVR/timers.h b/Marlin/src/HAL/AVR/timers.h
index 29907204ac..36b04eae0d 100644
--- a/Marlin/src/HAL/AVR/timers.h
+++ b/Marlin/src/HAL/AVR/timers.h
@@ -109,8 +109,8 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
  * (otherwise, characters will be lost due to UART overflow).
  * Then: Stepper, Endstops, Temperature, and -finally- all others.
  */
-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T)
+#define HAL_timer_isr_epilogue(T)
 
 /* 18 cycles maximum latency */
 #ifndef HAL_STEP_TIMER_ISR
diff --git a/Marlin/src/HAL/DUE/timers.h b/Marlin/src/HAL/DUE/timers.h
index bab67826df..e2932ff36f 100644
--- a/Marlin/src/HAL/DUE/timers.h
+++ b/Marlin/src/HAL/DUE/timers.h
@@ -125,4 +125,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR;
 }
 
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(T)
diff --git a/Marlin/src/HAL/ESP32/timers.h b/Marlin/src/HAL/ESP32/timers.h
index b651ffe6b1..266169848d 100644
--- a/Marlin/src/HAL/ESP32/timers.h
+++ b/Marlin/src/HAL/ESP32/timers.h
@@ -136,5 +136,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T)
+#define HAL_timer_isr_epilogue(T)
diff --git a/Marlin/src/HAL/LINUX/timers.h b/Marlin/src/HAL/LINUX/timers.h
index 21dba62071..a98ceb6f39 100644
--- a/Marlin/src/HAL/LINUX/timers.h
+++ b/Marlin/src/HAL/LINUX/timers.h
@@ -92,5 +92,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T)
+#define HAL_timer_isr_epilogue(T)
diff --git a/Marlin/src/HAL/LPC1768/timers.h b/Marlin/src/HAL/LPC1768/timers.h
index ef437cabac..78e856db28 100644
--- a/Marlin/src/HAL/LPC1768/timers.h
+++ b/Marlin/src/HAL/LPC1768/timers.h
@@ -170,4 +170,4 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   }
 }
 
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(T)
diff --git a/Marlin/src/HAL/NATIVE_SIM/timers.h b/Marlin/src/HAL/NATIVE_SIM/timers.h
index 4d140a4b6c..cedfdb62d6 100644
--- a/Marlin/src/HAL/NATIVE_SIM/timers.h
+++ b/Marlin/src/HAL/NATIVE_SIM/timers.h
@@ -87,5 +87,5 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T)
+#define HAL_timer_isr_epilogue(T)
diff --git a/Marlin/src/HAL/STM32/timers.cpp b/Marlin/src/HAL/STM32/timers.cpp
index 8f1659591b..53a1f2a8e9 100644
--- a/Marlin/src/HAL/STM32/timers.cpp
+++ b/Marlin/src/HAL/STM32/timers.cpp
@@ -97,9 +97,15 @@
 #define STEP_TIMER_DEV _TIMER_DEV(STEP_TIMER)
 #define TEMP_TIMER_DEV _TIMER_DEV(TEMP_TIMER)
 
-// ------------------------
+// --------------------------------------------------------------------------
+// Local defines
+// --------------------------------------------------------------------------
+
+#define NUM_HARDWARE_TIMERS 2
+
+// --------------------------------------------------------------------------
 // Private Variables
-// ------------------------
+// --------------------------------------------------------------------------
 
 HardwareTimer *timer_instance[NUM_HARDWARE_TIMERS] = { nullptr };
 
diff --git a/Marlin/src/HAL/STM32/timers.h b/Marlin/src/HAL/STM32/timers.h
index 33b5d8470f..aad543229e 100644
--- a/Marlin/src/HAL/STM32/timers.h
+++ b/Marlin/src/HAL/STM32/timers.h
@@ -41,7 +41,6 @@
 #define HAL_TIMER_TYPE_MAX UINT16_MAX
 
 // Marlin timer_instance[] content (unrelated to timer selection)
-#define NUM_HARDWARE_TIMERS 2
 #define MF_TIMER_STEP       0  // Timer Index for Stepper
 #define MF_TIMER_TEMP       1  // Timer Index for Temperature
 #define MF_TIMER_PULSE      MF_TIMER_STEP
@@ -117,5 +116,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha
   }
 }
 
-#define HAL_timer_isr_prologue(TIMER_NUM)
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_prologue(T)
+#define HAL_timer_isr_epilogue(T)
diff --git a/Marlin/src/HAL/STM32F1/fast_pwm.cpp b/Marlin/src/HAL/STM32F1/fast_pwm.cpp
index 994e62dbcd..98d56bc5e9 100644
--- a/Marlin/src/HAL/STM32F1/fast_pwm.cpp
+++ b/Marlin/src/HAL/STM32F1/fast_pwm.cpp
@@ -27,21 +27,35 @@
 #include "HAL.h"
 #include "timers.h"
 
+#define NR_TIMERS TERN(STM32_XL_DENSITY, 14, 8) // Maple timers, 14 for STM32_XL_DENSITY (F/G chips), 8 for HIGH density (C D E)
+
+static uint16_t timer_freq[NR_TIMERS];
+
+inline uint8_t timer_and_index_for_pin(const pin_t pin, timer_dev **timer_ptr) {
+  *timer_ptr = PIN_MAP[pin].timer_device;
+  for (uint8_t i = 0; i < NR_TIMERS; i++) if (*timer_ptr == HAL_get_timer_dev(i))
+    return i;
+  return 0;
+}
+
 void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) {
   if (!PWM_PIN(pin)) return;
-  timer_dev *timer = PIN_MAP[pin].timer_device;
-  if (!(timer->regs.bas->SR & TIMER_CR1_CEN))   // Ensure the timer is enabled
+
+  timer_dev *timer; UNUSED(timer);
+  if (timer_freq[timer_and_index_for_pin(pin, &timer)] == 0)
     set_pwm_frequency(pin, PWM_FREQUENCY);
-  uint16_t max_val = timer->regs.bas->ARR * v / v_size;
-  if (invert) max_val = v_size - max_val;
-  pwmWrite(pin, max_val);
+
+  const uint8_t channel = PIN_MAP[pin].timer_channel;
+  const uint16_t duty = invert ? v_size - v : v;
+  timer_set_compare(timer, channel, duty);
+  timer_set_mode(timer, channel, TIMER_PWM); // PWM Output Mode
 }
 
 void set_pwm_frequency(const pin_t pin, int f_desired) {
   if (!PWM_PIN(pin)) return;                    // Don't proceed if no hardware timer
 
-  timer_dev *timer = PIN_MAP[pin].timer_device;
-  uint8_t channel = PIN_MAP[pin].timer_channel;
+  timer_dev *timer; UNUSED(timer);
+  timer_freq[timer_and_index_for_pin(pin, &timer)] = f_desired;
 
   // Protect used timers
   if (timer == HAL_get_timer_dev(MF_TIMER_TEMP)) return;
@@ -53,8 +67,10 @@ void set_pwm_frequency(const pin_t pin, int f_desired) {
   if (!(timer->regs.bas->SR & TIMER_CR1_CEN))   // Ensure the timer is enabled
     timer_init(timer);
 
+  const uint8_t channel = PIN_MAP[pin].timer_channel;
   timer_set_mode(timer, channel, TIMER_PWM);
-  uint16_t preload = 255;                       // Lock 255 PWM resolution for high frequencies
+  // Preload (resolution) cannot be equal to duty of 255 otherwise it may not result in digital off or on.
+  uint16_t preload = 254;
   int32_t prescaler = (HAL_TIMER_RATE) / (preload + 1) / f_desired - 1;
   if (prescaler > 65535) {                      // For low frequencies increase prescaler
     prescaler = 65535;
diff --git a/Marlin/src/HAL/STM32F1/timers.h b/Marlin/src/HAL/STM32F1/timers.h
index 24e241ee3d..f9ab6d13d3 100644
--- a/Marlin/src/HAL/STM32F1/timers.h
+++ b/Marlin/src/HAL/STM32F1/timers.h
@@ -188,7 +188,7 @@ FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   }
 }
 
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(T)
 
 // No command is available in framework to turn off ARPE bit, which is turned on by default in libmaple.
 // Needed here to reset ARPE=0 for stepper timer
diff --git a/Marlin/src/HAL/TEENSY31_32/timers.h b/Marlin/src/HAL/TEENSY31_32/timers.h
index 08f82f0b7d..3b073d63ab 100644
--- a/Marlin/src/HAL/TEENSY31_32/timers.h
+++ b/Marlin/src/HAL/TEENSY31_32/timers.h
@@ -110,4 +110,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
 void HAL_timer_isr_prologue(const uint8_t timer_num);
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(T)
diff --git a/Marlin/src/HAL/TEENSY35_36/timers.h b/Marlin/src/HAL/TEENSY35_36/timers.h
index 4f65bdffd1..6c342bbe0d 100644
--- a/Marlin/src/HAL/TEENSY35_36/timers.h
+++ b/Marlin/src/HAL/TEENSY35_36/timers.h
@@ -109,4 +109,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
 void HAL_timer_isr_prologue(const uint8_t timer_num);
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(T)
diff --git a/Marlin/src/HAL/TEENSY40_41/timers.h b/Marlin/src/HAL/TEENSY40_41/timers.h
index afb373c599..81cf67f7bc 100644
--- a/Marlin/src/HAL/TEENSY40_41/timers.h
+++ b/Marlin/src/HAL/TEENSY40_41/timers.h
@@ -114,4 +114,4 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
 
 void HAL_timer_isr_prologue(const uint8_t timer_num);
 //void HAL_timer_isr_epilogue(const uint8_t timer_num) {}
-#define HAL_timer_isr_epilogue(TIMER_NUM)
+#define HAL_timer_isr_epilogue(T)