diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 175a301568..27551fb109 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -321,7 +321,9 @@ void GcodeSuite::G28() {
       stepperW.rms_current(W_CURRENT_HOME);
       if (DEBUGGING(LEVELING)) debug_current(F(STR_W), tmc_save_current_W, W_CURRENT_HOME);
     #endif
-    safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+    #if SENSORLESS_STALLGUARD_DELAY
+      safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+    #endif
   #endif
 
   #if ENABLED(IMPROVE_HOMING_RELIABILITY)
@@ -577,7 +579,9 @@ void GcodeSuite::G28() {
     #if HAS_CURRENT_HOME(W)
       stepperW.rms_current(tmc_save_current_W);
     #endif
-    safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+    #if SENSORLESS_STALLGUARD_DELAY
+      safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+    #endif
   #endif // HAS_HOMING_CURRENT
 
   ui.refresh();
diff --git a/Marlin/src/inc/Conditionals_adv.h b/Marlin/src/inc/Conditionals_adv.h
index fc690fa724..130e68f61e 100644
--- a/Marlin/src/inc/Conditionals_adv.h
+++ b/Marlin/src/inc/Conditionals_adv.h
@@ -1048,8 +1048,3 @@
 #if ANY(DISABLE_INACTIVE_X, DISABLE_INACTIVE_Y, DISABLE_INACTIVE_Z, DISABLE_INACTIVE_I, DISABLE_INACTIVE_J, DISABLE_INACTIVE_K, DISABLE_INACTIVE_U, DISABLE_INACTIVE_V, DISABLE_INACTIVE_W, DISABLE_INACTIVE_E)
   #define HAS_DISABLE_INACTIVE_AXIS 1
 #endif
-
-// Delay Sensorless Homing/Probing
-#if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING) && !defined(SENSORLESS_STALLGUARD_DELAY)
-  #define SENSORLESS_STALLGUARD_DELAY 0
-#endif
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index f22ab08658..8207dacaf7 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -240,7 +240,9 @@ void home_delta() {
     TERN_(U_SENSORLESS, sensorless_t stealth_states_u = start_sensorless_homing_per_axis(U_AXIS));
     TERN_(V_SENSORLESS, sensorless_t stealth_states_v = start_sensorless_homing_per_axis(V_AXIS));
     TERN_(W_SENSORLESS, sensorless_t stealth_states_w = start_sensorless_homing_per_axis(W_AXIS));
-    safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+    #if SENSORLESS_STALLGUARD_DELAY
+      safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+    #endif
   #endif
 
   // Move all carriages together linearly until an endstop is hit.
@@ -260,7 +262,9 @@ void home_delta() {
     TERN_(U_SENSORLESS, end_sensorless_homing_per_axis(U_AXIS, stealth_states_u));
     TERN_(V_SENSORLESS, end_sensorless_homing_per_axis(V_AXIS, stealth_states_v));
     TERN_(W_SENSORLESS, end_sensorless_homing_per_axis(W_AXIS, stealth_states_w));
-    safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+    #if SENSORLESS_STALLGUARD_DELAY
+      safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+    #endif
   #endif
 
   endstops.validate_homing_move();
diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 261ab80217..1ee4b92b5f 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -1679,7 +1679,10 @@ void Endstops::update() {
       }
 
       TERN_(IMPROVE_HOMING_RELIABILITY, planner.enable_stall_prevention(onoff));
-      safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+
+      #if SENSORLESS_STALLGUARD_DELAY
+        safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+      #endif
 
     #endif // XYZ
   }
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index b5061f637b..36afdb2e48 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -1665,7 +1665,9 @@ void prepare_line_to_destination() {
       // Disable stealthChop if used. Enable diag1 pin on driver.
       #if ENABLED(SENSORLESS_HOMING)
         stealth_states = start_sensorless_homing_per_axis(axis);
-        safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+        #if SENSORLESS_STALLGUARD_DELAY
+          safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+        #endif
       #endif
     }
 
@@ -1704,7 +1706,9 @@ void prepare_line_to_destination() {
       // Re-enable stealthChop if used. Disable diag1 pin on driver.
       #if ENABLED(SENSORLESS_HOMING)
         end_sensorless_homing_per_axis(axis, stealth_states);
-        safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+        #if SENSORLESS_STALLGUARD_DELAY
+          safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle
+        #endif
       #endif
     }
   }