diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp
index dd3ffd589b..9444c8503a 100644
--- a/Marlin/src/core/utility.cpp
+++ b/Marlin/src/core/utility.cpp
@@ -51,7 +51,7 @@ void safe_delay(millis_t ms) {
 
   #include "../module/probe.h"
   #include "../module/motion.h"
-  #include "../module/stepper.h"
+  #include "../module/planner.h"
   #include "../libs/numtostr.h"
   #include "../feature/bedlevel/bedlevel.h"
 
diff --git a/Marlin/src/core/utility.h b/Marlin/src/core/utility.h
index 2bbc07edb8..628b3c7209 100644
--- a/Marlin/src/core/utility.h
+++ b/Marlin/src/core/utility.h
@@ -59,6 +59,11 @@ void safe_delay(millis_t ms);           // Delay ensuring that temperatures are
   #define log_machine_info() NOOP
 #endif
 
+/**
+ * A restorer instance remembers a variable's value before setting a
+ * new value, then restores the old value when it goes out of scope.
+ * Put operator= on your type to get extended behavior on value change.
+ */
 template<typename T>
 class restorer {
   T& ref_;
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
index eed9f61ebb..6b45e483ad 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -31,7 +31,6 @@
 #include "../../../libs/hex_print.h"
 #include "../../../module/settings.h"
 #include "../../../lcd/marlinui.h"
-#include "../../../module/stepper.h"
 #include "../../../module/planner.h"
 #include "../../../module/motion.h"
 #include "../../../module/probe.h"
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
index e6eec0de63..dbf513c340 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
@@ -26,7 +26,6 @@
 
 #include "../bedlevel.h"
 #include "../../../module/planner.h"
-#include "../../../module/stepper.h"
 #include "../../../module/motion.h"
 
 #if ENABLED(DELTA)
diff --git a/Marlin/src/feature/dac/dac_dac084s085.cpp b/Marlin/src/feature/dac/dac_dac084s085.cpp
index b88aaf802b..772bb68de4 100644
--- a/Marlin/src/feature/dac/dac_dac084s085.cpp
+++ b/Marlin/src/feature/dac/dac_dac084s085.cpp
@@ -11,7 +11,6 @@
 #include "dac_dac084s085.h"
 
 #include "../../MarlinCore.h"
-#include "../../module/stepper.h"
 #include "../../HAL/shared/Delay.h"
 
 dac084s085::dac084s085() { }
diff --git a/Marlin/src/feature/fwretract.cpp b/Marlin/src/feature/fwretract.cpp
index 172c97accd..28355640d2 100644
--- a/Marlin/src/feature/fwretract.cpp
+++ b/Marlin/src/feature/fwretract.cpp
@@ -34,7 +34,6 @@ FWRetract fwretract; // Single instance - this calls the constructor
 
 #include "../module/motion.h"
 #include "../module/planner.h"
-#include "../module/stepper.h"
 
 #include "../gcode/gcode.h"
 
diff --git a/Marlin/src/feature/max7219.cpp b/Marlin/src/feature/max7219.cpp
index 474933aa19..ef698f888c 100644
--- a/Marlin/src/feature/max7219.cpp
+++ b/Marlin/src/feature/max7219.cpp
@@ -44,7 +44,6 @@
 #include "max7219.h"
 
 #include "../module/planner.h"
-#include "../module/stepper.h"
 #include "../MarlinCore.h"
 #include "../HAL/shared/Delay.h"
 
diff --git a/Marlin/src/feature/pause.cpp b/Marlin/src/feature/pause.cpp
index e9cb2df594..106b251677 100644
--- a/Marlin/src/feature/pause.cpp
+++ b/Marlin/src/feature/pause.cpp
@@ -35,10 +35,13 @@
 #include "../gcode/gcode.h"
 #include "../module/motion.h"
 #include "../module/planner.h"
-#include "../module/stepper.h"
 #include "../module/printcounter.h"
 #include "../module/temperature.h"
 
+#if HAS_EXTRUDERS
+  #include "../module/stepper.h"
+#endif
+
 #if ENABLED(AUTO_BED_LEVELING_UBL)
   #include "bedlevel/bedlevel.h"
 #endif
diff --git a/Marlin/src/feature/power.cpp b/Marlin/src/feature/power.cpp
index c2ed169aa8..8a16628bac 100644
--- a/Marlin/src/feature/power.cpp
+++ b/Marlin/src/feature/power.cpp
@@ -30,7 +30,7 @@
 
 #include "power.h"
 #include "../module/planner.h"
-#include "../module/stepper.h"
+#include "../module/stepper/indirection.h" // for restore_stepper_drivers
 #include "../module/temperature.h"
 #include "../MarlinCore.h"
 
@@ -46,6 +46,7 @@ Power powerManager;
 bool Power::psu_on;
 
 #if ENABLED(AUTO_POWER_CONTROL)
+  #include "../module/stepper.h"
   #include "../module/temperature.h"
 
   #if BOTH(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN)
diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp
index c69772bebc..ef3fb3a248 100644
--- a/Marlin/src/feature/tmc_util.cpp
+++ b/Marlin/src/feature/tmc_util.cpp
@@ -33,17 +33,12 @@
 #include "../gcode/gcode.h"
 
 #if ENABLED(TMC_DEBUG)
-  #include "../module/planner.h"
   #include "../libs/hex_print.h"
   #if ENABLED(MONITOR_DRIVER_STATUS)
     static uint16_t report_tmc_status_interval; // = 0
   #endif
 #endif
 
-#if HAS_MARLINUI_MENU
-  #include "../module/stepper.h"
-#endif
-
 /**
  * Check for over temperature or short to ground error flags.
  * Report and log warning of overtemperature condition.
diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp
index 1e436ffd96..aa6e0c1f0c 100644
--- a/Marlin/src/gcode/bedlevel/G26.cpp
+++ b/Marlin/src/gcode/bedlevel/G26.cpp
@@ -107,7 +107,6 @@
 
 #include "../../MarlinCore.h"
 #include "../../module/planner.h"
-#include "../../module/stepper.h"
 #include "../../module/motion.h"
 #include "../../module/tool_change.h"
 #include "../../module/temperature.h"
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index 0d247e4767..a540eae263 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -32,7 +32,6 @@
 #include "../../../feature/bedlevel/bedlevel.h"
 #include "../../../module/motion.h"
 #include "../../../module/planner.h"
-#include "../../../module/stepper.h"
 #include "../../../module/probe.h"
 #include "../../queue.h"
 
diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
index 10b044b056..227964e915 100644
--- a/Marlin/src/gcode/bedlevel/mbl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
@@ -36,7 +36,7 @@
 #include "../../../libs/buzzer.h"
 #include "../../../lcd/marlinui.h"
 #include "../../../module/motion.h"
-#include "../../../module/stepper.h"
+#include "../../../module/planner.h"
 
 #if ENABLED(EXTENSIBLE_UI)
   #include "../../../lcd/extui/ui_api.h"
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index fbfffd1de7..5f8c81f32d 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -24,8 +24,9 @@
 
 #include "../gcode.h"
 
-#include "../../module/stepper.h"
 #include "../../module/endstops.h"
+#include "../../module/planner.h"
+#include "../../module/stepper.h" // for various
 
 #if HAS_MULTI_HOTEND
   #include "../../module/tool_change.h"
diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp
index 05da2f9457..f1af2959c1 100644
--- a/Marlin/src/gcode/calibrate/G33.cpp
+++ b/Marlin/src/gcode/calibrate/G33.cpp
@@ -27,7 +27,7 @@
 #include "../gcode.h"
 #include "../../module/delta.h"
 #include "../../module/motion.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 #include "../../module/endstops.h"
 #include "../../lcd/marlinui.h"
 
diff --git a/Marlin/src/gcode/calibrate/G34.cpp b/Marlin/src/gcode/calibrate/G34.cpp
index 6fdebb69b0..1be3952ffe 100644
--- a/Marlin/src/gcode/calibrate/G34.cpp
+++ b/Marlin/src/gcode/calibrate/G34.cpp
@@ -26,9 +26,12 @@
 
 #include "../gcode.h"
 #include "../../module/motion.h"
-#include "../../module/stepper.h"
 #include "../../module/endstops.h"
 
+#if ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_TRINAMIC_CONFIG)
+  #include "../../module/stepper.h"
+#endif
+
 #if HAS_LEVELING
   #include "../../feature/bedlevel/bedlevel.h"
 #endif
diff --git a/Marlin/src/gcode/config/M540.cpp b/Marlin/src/gcode/config/M540.cpp
index 54d52f3a31..e751248dd6 100644
--- a/Marlin/src/gcode/config/M540.cpp
+++ b/Marlin/src/gcode/config/M540.cpp
@@ -25,7 +25,7 @@
 #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
 
 #include "../gcode.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 
 /**
  * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
diff --git a/Marlin/src/gcode/control/M17_M18_M84.cpp b/Marlin/src/gcode/control/M17_M18_M84.cpp
index 26c7c6575b..9e24a38e7d 100644
--- a/Marlin/src/gcode/control/M17_M18_M84.cpp
+++ b/Marlin/src/gcode/control/M17_M18_M84.cpp
@@ -24,6 +24,7 @@
 #include "../../MarlinCore.h" // for stepper_inactive_time, disable_e_steppers
 #include "../../lcd/marlinui.h"
 #include "../../module/motion.h" // for e_axis_mask
+#include "../../module/planner.h"
 #include "../../module/stepper.h"
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
diff --git a/Marlin/src/gcode/control/M226.cpp b/Marlin/src/gcode/control/M226.cpp
index 63f022e82b..4eb3db4bc3 100644
--- a/Marlin/src/gcode/control/M226.cpp
+++ b/Marlin/src/gcode/control/M226.cpp
@@ -26,7 +26,7 @@
 
 #include "../gcode.h"
 #include "../../MarlinCore.h" // for pin_is_protected and idle()
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 
 void protected_pin_err();
 
diff --git a/Marlin/src/gcode/control/M3-M5.cpp b/Marlin/src/gcode/control/M3-M5.cpp
index 3c51de6f6f..5d5d44e8bf 100644
--- a/Marlin/src/gcode/control/M3-M5.cpp
+++ b/Marlin/src/gcode/control/M3-M5.cpp
@@ -26,7 +26,7 @@
 
 #include "../gcode.h"
 #include "../../feature/spindle_laser.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 
 /**
  * Laser:
diff --git a/Marlin/src/gcode/control/M400.cpp b/Marlin/src/gcode/control/M400.cpp
index 9a5ad4e9df..6058fb894e 100644
--- a/Marlin/src/gcode/control/M400.cpp
+++ b/Marlin/src/gcode/control/M400.cpp
@@ -21,7 +21,7 @@
  */
 
 #include "../gcode.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 
 /**
  * M400: Finish all moves
diff --git a/Marlin/src/gcode/control/M605.cpp b/Marlin/src/gcode/control/M605.cpp
index c327b977ee..3a30ff9d97 100644
--- a/Marlin/src/gcode/control/M605.cpp
+++ b/Marlin/src/gcode/control/M605.cpp
@@ -28,7 +28,6 @@
 
 #include "../gcode.h"
 #include "../../module/motion.h"
-#include "../../module/stepper.h"
 #include "../../module/tool_change.h"
 #include "../../module/planner.h"
 
diff --git a/Marlin/src/gcode/feature/advance/M900.cpp b/Marlin/src/gcode/feature/advance/M900.cpp
index 8b59e88fb1..db09faa883 100644
--- a/Marlin/src/gcode/feature/advance/M900.cpp
+++ b/Marlin/src/gcode/feature/advance/M900.cpp
@@ -26,7 +26,6 @@
 
 #include "../../gcode.h"
 #include "../../../module/planner.h"
-#include "../../../module/stepper.h"
 
 #if ENABLED(EXTRA_LIN_ADVANCE_K)
   float other_extruder_advance_K[EXTRUDERS];
diff --git a/Marlin/src/gcode/feature/trinamic/M122.cpp b/Marlin/src/gcode/feature/trinamic/M122.cpp
index fdab548774..520d41c0f9 100644
--- a/Marlin/src/gcode/feature/trinamic/M122.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M122.cpp
@@ -26,7 +26,7 @@
 
 #include "../../gcode.h"
 #include "../../../feature/tmc_util.h"
-#include "../../../module/stepper/indirection.h"
+#include "../../../module/stepper/indirection.h" // for restore_stepper_drivers
 
 /**
  * M122: Debug TMC drivers
diff --git a/Marlin/src/gcode/geometry/G53-G59.cpp b/Marlin/src/gcode/geometry/G53-G59.cpp
index db2404a28d..4863fb8cd3 100644
--- a/Marlin/src/gcode/geometry/G53-G59.cpp
+++ b/Marlin/src/gcode/geometry/G53-G59.cpp
@@ -25,8 +25,6 @@
 
 #if ENABLED(CNC_COORDINATE_SYSTEMS)
 
-#include "../../module/stepper.h"
-
 //#define DEBUG_M53
 
 /**
diff --git a/Marlin/src/gcode/geometry/G92.cpp b/Marlin/src/gcode/geometry/G92.cpp
index 4fc882f6ec..6ff69491ec 100644
--- a/Marlin/src/gcode/geometry/G92.cpp
+++ b/Marlin/src/gcode/geometry/G92.cpp
@@ -22,7 +22,6 @@
 
 #include "../gcode.h"
 #include "../../module/motion.h"
-#include "../../module/stepper.h"
 
 #if ENABLED(I2C_POSITION_ENCODERS)
   #include "../../feature/encoder_i2c.h"
diff --git a/Marlin/src/gcode/motion/G0_G1.cpp b/Marlin/src/gcode/motion/G0_G1.cpp
index 493fd00da1..f32b97141e 100644
--- a/Marlin/src/gcode/motion/G0_G1.cpp
+++ b/Marlin/src/gcode/motion/G0_G1.cpp
@@ -32,7 +32,7 @@
 #include "../../sd/cardreader.h"
 
 #if ENABLED(NANODLP_Z_SYNC)
-  #include "../../module/stepper.h"
+  #include "../../module/planner.h"
 #endif
 
 extern xyze_pos_t destination;
diff --git a/Marlin/src/gcode/motion/G4.cpp b/Marlin/src/gcode/motion/G4.cpp
index df3f5b010e..ebaa6aabc0 100644
--- a/Marlin/src/gcode/motion/G4.cpp
+++ b/Marlin/src/gcode/motion/G4.cpp
@@ -21,7 +21,7 @@
  */
 
 #include "../gcode.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 #include "../../lcd/marlinui.h"
 
 /**
diff --git a/Marlin/src/gcode/probe/G38.cpp b/Marlin/src/gcode/probe/G38.cpp
index 6906805fca..eee8a075df 100644
--- a/Marlin/src/gcode/probe/G38.cpp
+++ b/Marlin/src/gcode/probe/G38.cpp
@@ -28,7 +28,7 @@
 
 #include "../../module/endstops.h"
 #include "../../module/motion.h"
-#include "../../module/stepper.h"
+#include "../../module/planner.h"
 #include "../../module/probe.h"
 
 inline void G38_single_probe(const uint8_t move_value) {
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index ce19ae47b4..13a7c19b40 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -1477,14 +1477,14 @@ void Stepper::isr() {
     // Enable ISRs to reduce USART processing latency
     hal.isr_on();
 
-    if (!nextMainISR) pulse_phase_isr();                            // 0 = Do coordinated axes Stepper pulses
+    if (!nextMainISR) pulse_phase_isr();                    // 0 = Do coordinated axes Stepper pulses
 
     #if ENABLED(LIN_ADVANCE)
-      if (!nextAdvanceISR) nextAdvanceISR = advance_isr();          // 0 = Do Linear Advance E Stepper pulses
+      if (!nextAdvanceISR) nextAdvanceISR = advance_isr();  // 0 = Do Linear Advance E Stepper pulses
     #endif
 
     #if ENABLED(INTEGRATED_BABYSTEPPING)
-      const bool is_babystep = (nextBabystepISR == 0);              // 0 = Do Babystepping (XY)Z pulses
+      const bool is_babystep = (nextBabystepISR == 0);      // 0 = Do Babystepping (XY)Z pulses
       if (is_babystep) nextBabystepISR = babystepping_isr();
     #endif