diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 0f33b4799d..04848bd0d6 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -2932,10 +2932,9 @@
 #endif
 #if !BOTH(HAS_BED_PROBE, HAS_EXTRUDERS)
   #undef PROBING_ESTEPPERS_OFF
-#endif
-#if BOTH(PROBING_STEPPERS_OFF, PROBING_ESTEPPERS_OFF)
-  #undef PROBING_ESTEPPERS_OFF
-  #warning "PROBING_STEPPERS_OFF includes PROBING_ESTEPPERS_OFF. Disabling PROBING_ESTEPPERS_OFF."
+#elif ENABLED(PROBING_STEPPERS_OFF)
+  // PROBING_STEPPERS_OFF implies PROBING_ESTEPPERS_OFF, make sure it is defined
+  #define PROBING_ESTEPPERS_OFF
 #endif
 #if EITHER(ADVANCED_PAUSE_FEATURE, PROBING_HEATERS_OFF)
   #define HEATER_IDLE_HANDLER 1
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index d0f32a32c0..ded5d43893 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -250,21 +250,16 @@ xyz_pos_t Probe::offset; // Initialized by settings.load()
     TERN_(PROBING_HEATERS_OFF, thermalManager.pause_heaters(dopause));
     TERN_(PROBING_FANS_OFF, thermalManager.set_fans_paused(dopause));
     TERN_(PROBING_ESTEPPERS_OFF, if (dopause) disable_e_steppers());
-    #if ENABLED(PROBING_STEPPERS_OFF)
-      IF_DISABLED(DELTA, static uint8_t old_trusted);
+    #if ENABLED(PROBING_STEPPERS_OFF) && DISABLED(DELTA)
+      static uint8_t old_trusted;
       if (dopause) {
-        #if DISABLED(DELTA)
-          old_trusted = axis_trusted;
-          DISABLE_AXIS_X();
-          DISABLE_AXIS_Y();
-        #endif
-        IF_DISABLED(PROBING_ESTEPPERS_OFF, disable_e_steppers());
+        old_trusted = axis_trusted;
+        DISABLE_AXIS_X();
+        DISABLE_AXIS_Y();
       }
       else {
-        #if DISABLED(DELTA)
-          if (TEST(old_trusted, X_AXIS)) ENABLE_AXIS_X();
-          if (TEST(old_trusted, Y_AXIS)) ENABLE_AXIS_Y();
-        #endif
+        if (TEST(old_trusted, X_AXIS)) ENABLE_AXIS_X();
+        if (TEST(old_trusted, Y_AXIS)) ENABLE_AXIS_Y();
         axis_trusted = old_trusted;
       }
     #endif