diff --git a/Marlin/src/pins/stm32f1/pins_FLSUN_HISPEED.h b/Marlin/src/pins/stm32f1/pins_FLSUN_HISPEED.h
index 93403b9ddda..e980d884a7b 100644
--- a/Marlin/src/pins/stm32f1/pins_FLSUN_HISPEED.h
+++ b/Marlin/src/pins/stm32f1/pins_FLSUN_HISPEED.h
@@ -40,6 +40,9 @@
 
 #define BOARD_NO_NATIVE_USB
 
+// Avoid conflict with TIMER_SERVO when using the STM32 HAL
+#define TEMP_TIMER 5
+
 //
 // Release PB4 (Y_ENABLE_PIN) from JTAG NRST role
 //
diff --git a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO.h b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO.h
index 4b644d693b8..c430671b2ef 100644
--- a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO.h
+++ b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO.h
@@ -36,6 +36,9 @@
 
 #define BOARD_NO_NATIVE_USB
 
+// Avoid conflict with TIMER_SERVO when using the STM32 HAL
+#define TEMP_TIMER 5
+
 //
 // Release PB4 (Y_ENABLE_PIN) from JTAG NRST role
 //
diff --git a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO_V2.h b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO_V2.h
index 1816d6bd41f..063e548a329 100644
--- a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO_V2.h
+++ b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO_V2.h
@@ -37,6 +37,9 @@
 
 #define BOARD_NO_NATIVE_USB
 
+// Avoid conflict with TIMER_SERVO when using the STM32 HAL
+#define TEMP_TIMER 5
+
 //
 // Release PB4 (Y_ENABLE_PIN) from JTAG NRST role
 //
diff --git a/Marlin/src/pins/stm32f4/pins_FLYF407ZG.h b/Marlin/src/pins/stm32f4/pins_FLYF407ZG.h
index 808751d7a53..933ee532a9c 100644
--- a/Marlin/src/pins/stm32f4/pins_FLYF407ZG.h
+++ b/Marlin/src/pins/stm32f4/pins_FLYF407ZG.h
@@ -31,6 +31,10 @@
 #define BOARD_WEBSITE_URL    "github.com/FLYmaker/FLYF407ZG"
 #define DEFAULT_MACHINE_NAME BOARD_INFO_NAME
 
+// Avoid conflict with fans and TIMER_TONE
+#define TEMP_TIMER 3
+#define STEP_TIMER 5
+
 //
 // EEPROM Emulation
 //
diff --git a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3.h b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3.h
index 5ff29a1f1ca..c48cbc9e565 100644
--- a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3.h
+++ b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3.h
@@ -31,6 +31,9 @@
 
 #define BOARD_INFO_NAME "MKS Robin Nano V3"
 
+// Avoid conflict with TIMER_TONE
+#define STEP_TIMER 13
+
 // Use one of these or SDCard-based Emulation will be used
 //#define SRAM_EEPROM_EMULATION                   // Use BackSRAM-based EEPROM emulation
 //#define FLASH_EEPROM_EMULATION                  // Use Flash-based EEPROM emulation
diff --git a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_PRO_V2.h b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_PRO_V2.h
index 48943ad973f..40da409185e 100644
--- a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_PRO_V2.h
+++ b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_PRO_V2.h
@@ -29,6 +29,9 @@
 
 #define BOARD_INFO_NAME "MKS Robin PRO V2"
 
+// Avoid conflict with TIMER_TONE
+#define STEP_TIMER 13
+
 // Use one of these or SDCard-based Emulation will be used
 //#define SRAM_EEPROM_EMULATION                   // Use BackSRAM-based EEPROM emulation
 //#define FLASH_EEPROM_EMULATION                  // Use Flash-based EEPROM emulation
diff --git a/platformio.ini b/platformio.ini
index e7f22e3f09e..acb5990edbf 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -980,7 +980,7 @@ board_build.ldscript = ldscript.ld
 board_build.offset   = 0x7000
 board_build.firmware = Robin.bin
 build_flags          = ${common_stm32.build_flags}
-  -DENABLE_HWSERIAL3 -DTRANSFER_CLOCK_DIV=8
+  -DENABLE_HWSERIAL3 -DTRANSFER_CLOCK_DIV=8 -DTIMER_SERIAL=TIM5
 build_unflags        = ${common_stm32.build_unflags}
  -DUSBCON -DUSBD_USE_CDC
 extra_scripts        = ${common.extra_scripts}