diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index d06fe732a4..82cf3e1949 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1035,8 +1035,8 @@
   // Enable this option and set to HIGH if your SD cards are incorrectly detected.
   //#define SD_DETECT_STATE HIGH
 
-  #define SD_FINISHED_STEPPERRELEASE true          // Disable steppers when SD Print is finished
-  #define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the Z enabled so your bed stays in place.
+  #define SD_FINISHED_STEPPERRELEASE true   // Disable steppers when SD Print is finished
+  #define SD_FINISHED_RELEASECOMMAND "M84"  // Use "M84XYE" to keep Z enabled so your bed stays in place
 
   // Reverse SD sort to show "more recent" files first, according to the card's FAT.
   // Since the FAT gets out of order with usage, SDCARD_SORT_ALPHA is recommended.
diff --git a/Marlin/src/gcode/sd/M1001.cpp b/Marlin/src/gcode/sd/M1001.cpp
index 4261b57f97..8f8d4cf56a 100644
--- a/Marlin/src/gcode/sd/M1001.cpp
+++ b/Marlin/src/gcode/sd/M1001.cpp
@@ -27,6 +27,10 @@
 #include "../gcode.h"
 #include "../../module/printcounter.h"
 
+#ifdef SD_FINISHED_RELEASECOMMAND
+  #include "../queue.h"
+#endif
+
 #if EITHER(LCD_SET_PROGRESS_MANUALLY, SD_REPRINT_LAST_SELECTED_FILE)
   #include "../../lcd/ultralcd.h"
 #endif
@@ -47,10 +51,6 @@
   #include "../../feature/host_actions.h"
 #endif
 
-#if ENABLED(SD_FINISHED_STEPPERRELEASE) && defined(SD_FINISHED_RELEASECOMMAND)
-  #include "../../module/planner.h"
-#endif
-
 #ifndef PE_LEDS_COMPLETED_TIME
   #define PE_LEDS_COMPLETED_TIME (30*60)
 #endif
@@ -95,9 +95,9 @@ void GcodeSuite::M1001() {
     }
   #endif
 
-  // Wait for the queue to empty (and "clean"), inject SD_FINISHED_RELEASECOMMAND
-  #if ENABLED(SD_FINISHED_STEPPERRELEASE) && defined(SD_FINISHED_RELEASECOMMAND)
-    planner.finish_and_disable();
+  // Inject SD_FINISHED_RELEASECOMMAND, if any
+  #ifdef SD_FINISHED_RELEASECOMMAND
+    queue.inject_P(PSTR(SD_FINISHED_RELEASECOMMAND));
   #endif
 
   // Re-select the last printed file in the UI
diff --git a/Marlin/src/inc/Conditionals_adv.h b/Marlin/src/inc/Conditionals_adv.h
index cda744d81b..65dac5a004 100644
--- a/Marlin/src/inc/Conditionals_adv.h
+++ b/Marlin/src/inc/Conditionals_adv.h
@@ -68,6 +68,15 @@
   #define HAS_FILAMENT_SENSOR 1
 #endif
 
+// Let SD_FINISHED_RELEASECOMMAND stand in for SD_FINISHED_STEPPERRELEASE
+#if ENABLED(SD_FINISHED_STEPPERRELEASE)
+  #ifndef SD_FINISHED_RELEASECOMMAND
+    #define SD_FINISHED_RELEASECOMMAND "M84" // planner.finish_and_disable()
+  #endif
+#else
+  #undef SD_FINISHED_RELEASECOMMAND
+#endif
+
 #if EITHER(SDSUPPORT, LCD_SET_PROGRESS_MANUALLY)
   #define HAS_PRINT_PROGRESS 1
 #endif
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 4ad7a79431..f6be8df9c9 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -1601,8 +1601,8 @@ void Planner::quick_stop() {
     clear_block_buffer_runtime();
   #endif
 
-  // Make sure to drop any attempt of queuing moves for at least 1 second
-  cleaning_buffer_counter = 1000;
+  // Make sure to drop any attempt of queuing moves for 1 second
+  cleaning_buffer_counter = TEMP_TIMER_FREQUENCY;
 
   // Reenable Stepper ISR
   if (was_enabled) stepper.wake_up();
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index a42c84c1fa..97e907e26b 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -807,12 +807,7 @@ class Planner {
     // Periodic tick to handle cleaning timeouts
     // Called from the Temperature ISR at ~1kHz
     static void tick() {
-      if (cleaning_buffer_counter) {
-        --cleaning_buffer_counter;
-        #if ENABLED(SD_FINISHED_STEPPERRELEASE) && defined(SD_FINISHED_RELEASECOMMAND)
-          if (!cleaning_buffer_counter) queue.inject_P(PSTR(SD_FINISHED_RELEASECOMMAND));
-        #endif
-      }
+      if (cleaning_buffer_counter) --cleaning_buffer_counter;
     }
 
     /**
diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h
index 083867ab48..7b920ab82c 100644
--- a/Marlin/src/module/probe.h
+++ b/Marlin/src/module/probe.h
@@ -47,7 +47,6 @@ public:
 
     static bool set_deployed(const bool deploy);
 
-
     #if IS_KINEMATIC
 
       #if HAS_PROBE_XY_OFFSET