diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp
index 853f09838b..d28117c5ed 100644
--- a/Marlin/src/gcode/feature/trinamic/M906.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M906.cpp
@@ -37,7 +37,11 @@ void GcodeSuite::M906() {
   #define TMC_SET_CURRENT(Q) tmc_set_current(stepper##Q, value)
 
   bool report = true;
-  const uint8_t index = parser.byteval('I');
+
+  #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3)
+    const uint8_t index = parser.byteval('I'); 
+  #endif
+
   LOOP_XYZE(i) if (uint16_t value = parser.intval(axis_codes[i])) {
     report = false;
     switch (i) {
diff --git a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
index f741d935e8..4c60676bcf 100644
--- a/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M911-M915.cpp
@@ -30,10 +30,20 @@
 #include "../../../module/planner.h"
 #include "../../queue.h"
 
-#define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && PIN_EXISTS(ST##_SERIAL_RX)))
-#define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))
-
 #if ENABLED(MONITOR_DRIVER_STATUS)
+
+  #define M91x_USE(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || (AXIS_DRIVER_TYPE(ST, TMC2208) && PIN_EXISTS(ST##_SERIAL_RX)))
+  #define M91x_USE_E(N) (E_STEPPERS > N && M91x_USE(E##N))
+
+  #define M91x_SOME_X (M91x_USE(X) || M91x_USE(X2))
+  #define M91x_SOME_Y (M91x_USE(Y) || M91x_USE(Y2))
+  #define M91x_SOME_Z (M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3))
+  #define M91x_SOME_E (M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5))
+
+  #if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_SOME_E
+    #error "MONITOR_DRIVER_STATUS requires at least one TMC2130 or serial-connected TMC2208."
+  #endif
+
   /**
    * M911: Report TMC stepper driver overtemperature pre-warn flag
    *       This flag is held by the library, persisting until cleared by M912
@@ -93,68 +103,89 @@
    *       M912 E1  ; clear E1 only
    */
   void GcodeSuite::M912() {
-      const bool hasX = parser.seen(axis_codes[X_AXIS]),
-                 hasY = parser.seen(axis_codes[Y_AXIS]),
-                 hasZ = parser.seen(axis_codes[Z_AXIS]),
-                 hasE = parser.seen(axis_codes[E_AXIS]),
-                 hasNone = !hasX && !hasY && !hasZ && !hasE;
-
-      #if M91x_USE(X) || M91x_USE(X2)
-        const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
-        #if M91x_USE(X)
-          if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX);
-        #endif
-        #if M91x_USE(X2)
-          if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2);
-        #endif
+    #if M91x_SOME_X
+      const bool hasX = parser.seen(axis_codes[X_AXIS]);
+    #else
+      constexpr bool hasX = false;
+    #endif
+
+    #if M91x_SOME_Y
+      const bool hasY = parser.seen(axis_codes[Y_AXIS]);
+    #else
+      constexpr bool hasY = false;
+    #endif
+
+    #if M91x_SOME_Z
+      const bool hasZ = parser.seen(axis_codes[Z_AXIS]);
+    #else
+      constexpr bool hasZ = false;
+    #endif
+
+    #if M91x_SOME_E
+      const bool hasE = parser.seen(axis_codes[E_AXIS]);
+    #else
+      constexpr bool hasE = false;
+    #endif
+
+    const bool hasNone = !hasX && !hasY && !hasZ && !hasE;
+
+    #if M91x_SOME_X
+      const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
+      #if M91x_USE(X)
+        if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX);
+      #endif
+      #if M91x_USE(X2)
+        if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2);
       #endif
+    #endif
 
-      #if M91x_USE(Y) || M91x_USE(Y2)
-        const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
-        #if M91x_USE(Y)
-          if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY);
-        #endif
-        #if M91x_USE(Y2)
-          if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2);
-        #endif
+    #if M91x_SOME_Y
+      const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
+      #if M91x_USE(Y)
+        if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY);
       #endif
+      #if M91x_USE(Y2)
+        if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2);
+      #endif
+    #endif
 
-      #if M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3)
-        const int8_t zval = int8_t(parser.byteval(axis_codes[Z_AXIS], 0xFF));
-        #if M91x_USE(Z)
-          if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ);
-        #endif
-        #if M91x_USE(Z2)
-          if (hasNone || zval == 2 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ2);
-        #endif
-        #if M91x_USE(Z3)
-          if (hasNone || zval == 3 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ3);
-        #endif
+    #if M91x_SOME_Z
+      const int8_t zval = int8_t(parser.byteval(axis_codes[Z_AXIS], 0xFF));
+      #if M91x_USE(Z)
+        if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ);
       #endif
+      #if M91x_USE(Z2)
+        if (hasNone || zval == 2 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ2);
+      #endif
+      #if M91x_USE(Z3)
+        if (hasNone || zval == 3 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ3);
+      #endif
+    #endif
 
-      #if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5)
-        const int8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
-        #if M91x_USE_E(0)
-          if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0);
-        #endif
-        #if M91x_USE_E(1)
-          if (hasNone || eval == 1 || (hasE && eval < 0)) tmc_clear_otpw(stepperE1);
-        #endif
-        #if M91x_USE_E(2)
-          if (hasNone || eval == 2 || (hasE && eval < 0)) tmc_clear_otpw(stepperE2);
-        #endif
-        #if M91x_USE_E(3)
-          if (hasNone || eval == 3 || (hasE && eval < 0)) tmc_clear_otpw(stepperE3);
-        #endif
-        #if M91x_USE_E(4)
-          if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4);
-        #endif
-        #if M91x_USE_E(5)
-          if (hasNone || eval == 5 || (hasE && eval < 0)) tmc_clear_otpw(stepperE5);
-        #endif
+    #if M91x_SOME_E
+      const int8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
+      #if M91x_USE_E(0)
+        if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0);
+      #endif
+      #if M91x_USE_E(1)
+        if (hasNone || eval == 1 || (hasE && eval < 0)) tmc_clear_otpw(stepperE1);
+      #endif
+      #if M91x_USE_E(2)
+        if (hasNone || eval == 2 || (hasE && eval < 0)) tmc_clear_otpw(stepperE2);
+      #endif
+      #if M91x_USE_E(3)
+        if (hasNone || eval == 3 || (hasE && eval < 0)) tmc_clear_otpw(stepperE3);
+      #endif
+      #if M91x_USE_E(4)
+        if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4);
+      #endif
+      #if M91x_USE_E(5)
+        if (hasNone || eval == 5 || (hasE && eval < 0)) tmc_clear_otpw(stepperE5);
       #endif
+    #endif
   }
-#endif
+
+#endif // MONITOR_DRIVER_STATUS
 
 /**
  * M913: Set HYBRID_THRESHOLD speed.
@@ -167,7 +198,9 @@
     #define TMC_SET_PWMTHRS_E(E) tmc_set_pwmthrs(stepperE##E, value, planner.settings.axis_steps_per_mm[E_AXIS_N(E)])
 
     bool report = true;
-    const uint8_t index = parser.byteval('I');
+    #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3)
+      const uint8_t index = parser.byteval('I');
+    #endif
     LOOP_XYZE(i) if (int32_t value = parser.longval(axis_codes[i])) {
       report = false;
       switch (i) {
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 8bd14970d4..4f05d0e567 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -857,15 +857,13 @@
   #define AXIS_HAS_STEALTHCHOP(ST) (AXIS_DRIVER_TYPE(ST, TMC2130) || AXIS_DRIVER_TYPE(ST, TMC2208))
 
   #define USE_SENSORLESS (ENABLED(SENSORLESS_HOMING) || ENABLED(SENSORLESS_PROBING))
-  #if USE_SENSORLESS
-    // Disable Z axis sensorless homing if a probe is used to home the Z axis
-    #if HOMING_Z_WITH_PROBE
-      #undef Z_STALL_SENSITIVITY
-    #endif
-    #define X_SENSORLESS (AXIS_HAS_STALLGUARD(X) && defined(X_STALL_SENSITIVITY))
-    #define Y_SENSORLESS (AXIS_HAS_STALLGUARD(Y) && defined(Y_STALL_SENSITIVITY))
-    #define Z_SENSORLESS (AXIS_HAS_STALLGUARD(Z) && defined(Z_STALL_SENSITIVITY))
+  // Disable Z axis sensorless homing if a probe is used to home the Z axis
+  #if HOMING_Z_WITH_PROBE
+    #undef Z_STALL_SENSITIVITY
   #endif
+  #define X_SENSORLESS (AXIS_HAS_STALLGUARD(X) && defined(X_STALL_SENSITIVITY))
+  #define Y_SENSORLESS (AXIS_HAS_STALLGUARD(Y) && defined(Y_STALL_SENSITIVITY))
+  #define Z_SENSORLESS (AXIS_HAS_STALLGUARD(Z) && defined(Z_STALL_SENSITIVITY))
 #endif
 
 // Endstops and bed probe
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 9a94edfe1c..71726ff103 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -19,6 +19,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  *
  */
+#pragma once
 
 /**
  * SanityCheck.h
@@ -26,9 +27,6 @@
  * Test configuration values for errors at compile-time.
  */
 
-#ifndef _SANITYCHECK_H_
-#define _SANITYCHECK_H_
-
 /**
  * Require gcc 4.7 or newer (first included with Arduino 1.6.8) for C++11 features.
  */
@@ -1707,31 +1705,62 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
  * Check existing CS pins against enabled TMC SPI drivers.
  */
 #if AXIS_DRIVER_TYPE(X, TMC2130) && !PIN_EXISTS(X_CS)
-  #error "X_CS_PIN is required for TMC2130. Define X_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on X requires X_CS_PIN."
 #elif AXIS_DRIVER_TYPE(X2, TMC2130) && !PIN_EXISTS(X2_CS)
-  #error "X2_CS_PIN is required for X2. Define X2_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on X2 requires X2_CS_PIN."
 #elif AXIS_DRIVER_TYPE(Y, TMC2130) && !PIN_EXISTS(Y_CS)
-  #error "Y_CS_PIN is required for TMC2130. Define Y_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on Y requires Y_CS_PIN."
 #elif AXIS_DRIVER_TYPE(Y2, TMC2130) && !PIN_EXISTS(Y2_CS)
-  #error "Y2_CS_PIN is required for TMC2130. Define Y2_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on Y2 requires Y2_CS_PIN."
 #elif AXIS_DRIVER_TYPE(Z, TMC2130) && !PIN_EXISTS(Z_CS)
-  #error "Z_CS_PIN is required for TMC2130. Define Z_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on Z requires Z_CS_PIN."
 #elif AXIS_DRIVER_TYPE(Z2, TMC2130) && !PIN_EXISTS(Z2_CS)
-  #error "Z2_CS_PIN is required for TMC2130. Define Z2_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on Z2 requires Z2_CS_PIN."
 #elif AXIS_DRIVER_TYPE(Z3, TMC2130) && !PIN_EXISTS(Z3_CS)
-  #error "Z3_CS_PIN is required for TMC2130. Define Z3_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on Z3 requires Z3_CS_PIN."
 #elif AXIS_DRIVER_TYPE(E0, TMC2130) && !PIN_EXISTS(E0_CS)
-  #error "E0_CS_PIN is required for TMC2130. Define E0_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on E0 requires E0_CS_PIN."
 #elif AXIS_DRIVER_TYPE(E1, TMC2130) && !PIN_EXISTS(E1_CS)
-  #error "E1_CS_PIN is required for TMC2130. Define E1_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on E1 requires E1_CS_PIN."
 #elif AXIS_DRIVER_TYPE(E2, TMC2130) && !PIN_EXISTS(E2_CS)
-  #error "E2_CS_PIN is required for TMC2130. Define E2_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on E2 requires E2_CS_PIN."
 #elif AXIS_DRIVER_TYPE(E3, TMC2130) && !PIN_EXISTS(E3_CS)
-  #error "E3_CS_PIN is required for TMC2130. Define E3_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on E3 requires E3_CS_PIN."
 #elif AXIS_DRIVER_TYPE(E4, TMC2130) && !PIN_EXISTS(E4_CS)
-  #error "E4_CS_PIN is required for TMC2130. Define E4_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on E4 requires E4_CS_PIN."
 #elif AXIS_DRIVER_TYPE(E5, TMC2130) && !PIN_EXISTS(E5_CS)
-  #error "E5_CS_PIN is required for TMC2130. Define E5_CS_PIN in Configuration_adv.h."
+  #error "TMC2130 on E5 requires E5_CS_PIN."
+#endif
+
+/**
+ * Check existing RX/TX pins against enable TMC UART drivers.
+ */
+#if AXIS_DRIVER_TYPE(X, TMC2208) && !(defined(X_HARDWARE_SERIAL) || (PIN_EXISTS(X_SERIAL_RX) && PIN_EXISTS(X_SERIAL_TX)))
+  #error "TMC2208 on X requires X_HARDWARE_SERIAL or both X_SERIAL_RX_PIN and X_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(X2, TMC2208) && !(defined(X2_HARDWARE_SERIAL) || (PIN_EXISTS(X2_SERIAL_RX) && PIN_EXISTS(X2_SERIAL_TX)))
+  #error "TMC2208 on X2 requires X2_HARDWARE_SERIAL or both X2_SERIAL_RX_PIN and X2_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(Y, TMC2208) && !(defined(Y_HARDWARE_SERIAL) || (PIN_EXISTS(Y_SERIAL_RX) && PIN_EXISTS(Y_SERIAL_TX)))
+  #error "TMC2208 on Y requires Y_HARDWARE_SERIAL or both Y_SERIAL_RX_PIN and Y_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(Y2, TMC2208) && !(defined(Y2_HARDWARE_SERIAL) || (PIN_EXISTS(Y2_SERIAL_RX) && PIN_EXISTS(Y2_SERIAL_TX)))
+  #error "TMC2208 on Y2 requires Y2_HARDWARE_SERIAL or both Y2_SERIAL_RX_PIN and Y2_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(Z, TMC2208) && !(defined(Z_HARDWARE_SERIAL) || (PIN_EXISTS(Z_SERIAL_RX) && PIN_EXISTS(Z_SERIAL_TX)))
+  #error "TMC2208 on Z requires Z_HARDWARE_SERIAL or both Z_SERIAL_RX_PIN and Z_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(Z2, TMC2208) && !(defined(Z2_HARDWARE_SERIAL) || (PIN_EXISTS(Z2_SERIAL_RX) && PIN_EXISTS(Z2_SERIAL_TX)))
+  #error "TMC2208 on Z2 requires Z2_HARDWARE_SERIAL or both Z2_SERIAL_RX_PIN and Z2_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(Z3, TMC2208) && !(defined(Z3_HARDWARE_SERIAL) || (PIN_EXISTS(Z3_SERIAL_RX) && PIN_EXISTS(Z3_SERIAL_TX)))
+  #error "TMC2208 on Z3 requires Z3_HARDWARE_SERIAL or both Z3_SERIAL_RX_PIN and Z3_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(E0, TMC2208) && !(defined(E0_HARDWARE_SERIAL) || (PIN_EXISTS(E0_SERIAL_RX) && PIN_EXISTS(E0_SERIAL_TX)))
+  #error "TMC2208 on E0 requires E0_HARDWARE_SERIAL or both E0_SERIAL_RX_PIN and E0_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(E1, TMC2208) && !(defined(E1_HARDWARE_SERIAL) || (PIN_EXISTS(E1_SERIAL_RX) && PIN_EXISTS(E1_SERIAL_TX)))
+  #error "TMC2208 on E1 requires E1_HARDWARE_SERIAL or both E1_SERIAL_RX_PIN and E1_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(E2, TMC2208) && !(defined(E2_HARDWARE_SERIAL) || (PIN_EXISTS(E2_SERIAL_RX) && PIN_EXISTS(E2_SERIAL_TX)))
+  #error "TMC2208 on E2 requires E2_HARDWARE_SERIAL or both E2_SERIAL_RX_PIN and E2_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(E3, TMC2208) && !(defined(E3_HARDWARE_SERIAL) || (PIN_EXISTS(E3_SERIAL_RX) && PIN_EXISTS(E3_SERIAL_TX)))
+  #error "TMC2208 on E3 requires E3_HARDWARE_SERIAL or both E3_SERIAL_RX_PIN and E3_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(E4, TMC2208) && !(defined(E4_HARDWARE_SERIAL) || (PIN_EXISTS(E4_SERIAL_RX) && PIN_EXISTS(E4_SERIAL_TX)))
+  #error "TMC2208 on E4 requires E4_HARDWARE_SERIAL or both E4_SERIAL_RX_PIN and E4_SERIAL_TX_PIN."
+#elif AXIS_DRIVER_TYPE(E5, TMC2208) && !(defined(E5_HARDWARE_SERIAL) || (PIN_EXISTS(E5_SERIAL_RX) && PIN_EXISTS(E5_SERIAL_TX)))
+  #error "TMC2208 on E5 requires E5_HARDWARE_SERIAL or both E5_SERIAL_RX_PIN and E5_SERIAL_TX_PIN."
 #endif
 
 /**
@@ -1797,6 +1826,15 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
   #endif
 #endif
 
+// Sensorless homing/probing requirements
+#if ENABLED(SENSORLESS_HOMING) && !(X_SENSORLESS || Y_SENSORLESS || Z_SENSORLESS)
+  #error "SENSORLESS_HOMING requires a TMC stepper driver with StallGuard on X, Y, or Z axes."
+#elif ENABLED(SENSORLESS_PROBING) && ENABLED(DELTA) && !(X_SENSORLESS && Y_SENSORLESS && Z_SENSORLESS)
+  #error "SENSORLESS_PROBING for DELTA requires TMC stepper drivers with StallGuard on X, Y, and Z axes."
+#elif ENABLED(SENSORLESS_PROBING) && !Z_SENSORLESS
+  #error "SENSORLESS_PROBING requires a TMC stepper driver with StallGuard on Z."
+#endif
+
 // Sensorless homing is required for both combined steppers in an H-bot
 #if CORE_IS_XY && X_SENSORLESS != Y_SENSORLESS
   #error "CoreXY requires both X and Y to use sensorless homing if either does."
@@ -1904,5 +1942,3 @@ static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too m
 #if ENABLED(SD_FIRMWARE_UPDATE) && !defined(__AVR_ATmega2560__)
   #error "SD_FIRMWARE_UPDATE requires an ATmega2560-based (Arduino Mega) board."
 #endif
-
-#endif // _SANITYCHECK_H_
diff --git a/Marlin/src/lcd/menu/menu_bed_leveling.cpp b/Marlin/src/lcd/menu/menu_bed_leveling.cpp
index 9e1496a558..98b1063ea5 100644
--- a/Marlin/src/lcd/menu/menu_bed_leveling.cpp
+++ b/Marlin/src/lcd/menu/menu_bed_leveling.cpp
@@ -32,6 +32,10 @@
 #include "../../module/planner.h"
 #include "../../feature/bedlevel/bedlevel.h"
 
+#if HAS_BED_PROBE && DISABLED(BABYSTEP_ZPROBE_OFFSET)
+  #include "../../module/probe.h"
+#endif
+
 #if ENABLED(PROBE_MANUALLY) || ENABLED(MESH_BED_LEVELING)
 
   #include "../../module/motion.h"
diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp
index 4743b60ec8..c06549d8b7 100644
--- a/Marlin/src/lcd/menu/menu_motion.cpp
+++ b/Marlin/src/lcd/menu/menu_motion.cpp
@@ -155,9 +155,9 @@ static void _lcd_move_xyz(PGM_P name, AxisEnum axis) {
     lcd_implementation_drawedit(name, move_menu_scale >= 0.1f ? ftostr41sign(pos) : ftostr43sign(pos));
   }
 }
-inline void lcd_move_x() { _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS); }
-inline void lcd_move_y() { _lcd_move_xyz(PSTR(MSG_MOVE_Y), Y_AXIS); }
-inline void lcd_move_z() { _lcd_move_xyz(PSTR(MSG_MOVE_Z), Z_AXIS); }
+void lcd_move_x() { _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS); }
+void lcd_move_y() { _lcd_move_xyz(PSTR(MSG_MOVE_Y), Y_AXIS); }
+void lcd_move_z() { _lcd_move_xyz(PSTR(MSG_MOVE_Z), Z_AXIS); }
 static void _lcd_move_e(
   #if E_MANUAL > 1
     const int8_t eindex=-1
diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp
index 4c246b7ae0..6f706d36ce 100644
--- a/Marlin/src/lcd/ultralcd.cpp
+++ b/Marlin/src/lcd/ultralcd.cpp
@@ -224,10 +224,27 @@ bool lcd_blink() {
   volatile uint8_t buttons_reprapworld_keypad;
 #endif
 
-#if ENABLED(ADC_KEYPAD)
+#if ENABLED(REPRAPWORLD_KEYPAD) || ENABLED(ADC_KEYPAD)
+  #define REPRAPWORLD_BTN_OFFSET         0 // bit offset into buttons for shift register values
 
-  #define KEYPAD_HOME EN_REPRAPWORLD_KEYPAD_F1
-  #define KEYPAD_EN_C EN_REPRAPWORLD_KEYPAD_MIDDLE
+  #define BLEN_REPRAPWORLD_KEYPAD_F3     0
+  #define BLEN_REPRAPWORLD_KEYPAD_F2     1
+  #define BLEN_REPRAPWORLD_KEYPAD_F1     2
+
+  #define BLEN_REPRAPWORLD_KEYPAD_DOWN   3
+  #define BLEN_REPRAPWORLD_KEYPAD_RIGHT  4
+  #define BLEN_REPRAPWORLD_KEYPAD_MIDDLE 5
+  #define BLEN_REPRAPWORLD_KEYPAD_UP     6
+  #define BLEN_REPRAPWORLD_KEYPAD_LEFT   7
+  #define EN_REPRAPWORLD_KEYPAD_DOWN     (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_DOWN))
+  #define EN_REPRAPWORLD_KEYPAD_RIGHT    (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_RIGHT))
+  #define EN_REPRAPWORLD_KEYPAD_MIDDLE   (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_MIDDLE))
+  #define EN_REPRAPWORLD_KEYPAD_UP       (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_UP))
+  #define EN_REPRAPWORLD_KEYPAD_LEFT     (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_LEFT))
+  
+#endif // REPRAPWORLD_KEYPAD || ADC_KEYPAD
+
+#if ENABLED(ADC_KEYPAD)
 
   inline bool handle_adc_keypad() {
     #define ADC_MIN_KEY_DELAY 100
@@ -259,42 +276,27 @@ bool lcd_blink() {
 
 #elif ENABLED(REPRAPWORLD_KEYPAD)
 
-  #define REPRAPWORLD_BTN_OFFSET 0 // bit offset into buttons for shift register values
-
-  #define BLEN_REPRAPWORLD_KEYPAD_F3     0
-  #define BLEN_REPRAPWORLD_KEYPAD_F2     1
-  #define BLEN_REPRAPWORLD_KEYPAD_F1     2
-  #define BLEN_REPRAPWORLD_KEYPAD_DOWN   3
-  #define BLEN_REPRAPWORLD_KEYPAD_RIGHT  4
-  #define BLEN_REPRAPWORLD_KEYPAD_MIDDLE 5
-  #define BLEN_REPRAPWORLD_KEYPAD_UP     6
-  #define BLEN_REPRAPWORLD_KEYPAD_LEFT   7
-
-  #define EN_REPRAPWORLD_KEYPAD_F3      (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_F3))
-  #define EN_REPRAPWORLD_KEYPAD_F2      (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_F2))
-  #define EN_REPRAPWORLD_KEYPAD_F1      (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_F1))
-  #define EN_REPRAPWORLD_KEYPAD_DOWN    (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_DOWN))
-  #define EN_REPRAPWORLD_KEYPAD_RIGHT   (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_RIGHT))
-  #define EN_REPRAPWORLD_KEYPAD_MIDDLE  (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_MIDDLE))
-  #define EN_REPRAPWORLD_KEYPAD_UP      (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_UP))
-  #define EN_REPRAPWORLD_KEYPAD_LEFT    (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_LEFT))
+  #define KEYPAD_HOME EN_REPRAPWORLD_KEYPAD_F1
+  #define KEYPAD_EN_C EN_REPRAPWORLD_KEYPAD_MIDDLE
 
-  #define REPRAPWORLD_KEYPAD_MOVE_Z_DOWN  (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_F3)
+  #define EN_REPRAPWORLD_KEYPAD_F1        (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_F1))
+  #define EN_REPRAPWORLD_KEYPAD_F2        (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_F2))
+  #define EN_REPRAPWORLD_KEYPAD_F3        (_BV(REPRAPWORLD_BTN_OFFSET + BLEN_REPRAPWORLD_KEYPAD_F3))
+  
   #define REPRAPWORLD_KEYPAD_MOVE_Z_UP    (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_F2)
+  #define REPRAPWORLD_KEYPAD_MOVE_Z_DOWN  (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_F3)
   #define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN  (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_DOWN)
   #define REPRAPWORLD_KEYPAD_MOVE_X_RIGHT (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_RIGHT)
   #define REPRAPWORLD_KEYPAD_MOVE_Y_UP    (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_UP)
   #define REPRAPWORLD_KEYPAD_MOVE_X_LEFT  (buttons_reprapworld_keypad & EN_REPRAPWORLD_KEYPAD_LEFT)
 
-  #define KEYPAD_HOME EN_REPRAPWORLD_KEYPAD_MIDDLE
-  #define KEYPAD_EN_C EN_REPRAPWORLD_KEYPAD_F1
   #define REPRAPWORLD_KEYPAD_MOVE_HOME    (buttons_reprapworld_keypad & KEYPAD_HOME)
   #define REPRAPWORLD_KEYPAD_MOVE_MENU    (buttons_reprapworld_keypad & KEYPAD_EN_C)
 
   #define REPRAPWORLD_KEYPAD_PRESSED      (buttons_reprapworld_keypad & ( \
-                                            EN_REPRAPWORLD_KEYPAD_F3 | \
-                                            EN_REPRAPWORLD_KEYPAD_F2 | \
                                             EN_REPRAPWORLD_KEYPAD_F1 | \
+                                            EN_REPRAPWORLD_KEYPAD_F2 | \
+                                            EN_REPRAPWORLD_KEYPAD_F3 | \
                                             EN_REPRAPWORLD_KEYPAD_DOWN | \
                                             EN_REPRAPWORLD_KEYPAD_RIGHT | \
                                             EN_REPRAPWORLD_KEYPAD_MIDDLE | \
@@ -302,6 +304,10 @@ bool lcd_blink() {
                                             EN_REPRAPWORLD_KEYPAD_LEFT) \
                                           )
 
+  void lcd_move_x();
+  void lcd_move_y();
+  void lcd_move_z();
+
   void _reprapworld_keypad_move(const AxisEnum axis, const int16_t dir) {
     move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP;
     encoderPosition = dir;
@@ -347,9 +353,7 @@ bool lcd_blink() {
         if (REPRAPWORLD_KEYPAD_MOVE_Y_DOWN)   reprapworld_keypad_move_y_down();
         if (REPRAPWORLD_KEYPAD_MOVE_Y_UP)     reprapworld_keypad_move_y_up();
       }
-      else {
-        if (REPRAPWORLD_KEYPAD_MOVE_HOME)     reprapworld_keypad_move_home();
-      }
+      else if (REPRAPWORLD_KEYPAD_MOVE_HOME)  reprapworld_keypad_move_home();
     }
   }
 
diff --git a/buildroot/share/tests/LPC1768_tests b/buildroot/share/tests/LPC1768_tests
index 237d9d4d98..9d0742d9df 100755
--- a/buildroot/share/tests/LPC1768_tests
+++ b/buildroot/share/tests/LPC1768_tests
@@ -70,7 +70,8 @@ opt_disable Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
 opt_set X_DRIVER_TYPE TMC2130
 opt_set Y_DRIVER_TYPE TMC2130
 opt_set Z_DRIVER_TYPE TMC2130
-opt_enable_adv TMC_USE_SW_SPI MONITOR_DRIVER_STATUS STEALTHCHOP HYBRID_THRESHOLD TMC_DEBUG SENSORLESS_PROBING
+opt_enable_adv TMC_USE_SW_SPI MONITOR_DRIVER_STATUS STEALTHCHOP HYBRID_THRESHOLD TMC_DEBUG \
+               SENSORLESS_PROBING X_STALL_SENSITIVITY Y_STALL_SENSITIVITY Z_STALL_SENSITIVITY
 exec_test $1 $2 "Delta Config (generic) + BOARD_COHESION3D_REMIX + UBL + EEPROM_SETTINGS + SENSORLESS_PROBING"
 
 # clean up