diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index edd9bbc6c..961917cd9 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -207,8 +207,8 @@ void clear_command_queue();
   #endif
 #endif
 
-extern millis_t previous_cmd_ms;
-inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
+extern millis_t previous_move_ms;
+inline void reset_stepper_timeout() { previous_move_ms = millis(); }
 
 /**
  * Feedrate scaling and conversion
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 3e91a87a9..0838a687c 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -522,7 +522,7 @@ const char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
 static int serial_count; // = 0;
 
 // Inactivity shutdown
-millis_t previous_cmd_ms; // = 0;
+millis_t previous_move_ms; // = 0;
 static millis_t max_inactive_time; // = 0;
 static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
 
@@ -1539,8 +1539,6 @@ inline void buffer_line_to_destination(const float &fr_mm_s) {
       if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
     #endif
 
-    refresh_cmd_timeout();
-
     #if UBL_SEGMENTED
       // ubl segmented line will do z-only moves in single segment
       ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s));
@@ -1705,7 +1703,6 @@ static void setup_for_endstop_or_probe_move() {
   saved_feedrate_mm_s = feedrate_mm_s;
   saved_feedrate_percentage = feedrate_percentage;
   feedrate_percentage = 100;
-  refresh_cmd_timeout();
 }
 
 static void clean_up_after_endstop_or_probe_move() {
@@ -1714,7 +1711,6 @@ static void clean_up_after_endstop_or_probe_move() {
   #endif
   feedrate_mm_s = saved_feedrate_mm_s;
   feedrate_percentage = saved_feedrate_percentage;
-  refresh_cmd_timeout();
 }
 
 #if HAS_AXIS_UNHOMED_ERR
@@ -2227,9 +2223,6 @@ static void clean_up_after_endstop_or_probe_move() {
       if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
     #endif
 
-    // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
-    refresh_cmd_timeout();
-
     // Double-probing does a fast probe followed by a slow probe
     #if MULTIPLE_PROBING == 2
 
@@ -3360,7 +3353,6 @@ inline void gcode_G0_G1(
 
         // Send the arc to the planner
         plan_arc(destination, arc_offset, clockwise);
-        refresh_cmd_timeout();
       }
       else {
         // Bad arguments
@@ -3373,8 +3365,7 @@ inline void gcode_G0_G1(
 #endif // ARC_SUPPORT
 
 void dwell(millis_t time) {
-  refresh_cmd_timeout();
-  time += previous_cmd_ms;
+  time += millis();
   while (PENDING(millis(), time)) idle();
 }
 
@@ -6236,10 +6227,9 @@ inline void gcode_G92() {
     wait_for_user = true;
 
     stepper.synchronize();
-    refresh_cmd_timeout();
 
     if (ms > 0) {
-      ms += previous_cmd_ms;  // wait until this time for a click
+      ms += millis();  // wait until this time for a click
       while (PENDING(millis(), ms) && wait_for_user) idle();
     }
     else {
@@ -7198,8 +7188,6 @@ inline void gcode_M42() {
       }
       if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
 
-      refresh_cmd_timeout();
-
       if (deploy_state != stow_state) {
         SERIAL_PROTOCOLLNPGM("BLTouch clone detected");
         if (deploy_state) {
@@ -7226,8 +7214,7 @@ inline void gcode_M42() {
 
           safe_delay(2);
 
-          if (0 == j % (500 * 1)) // keep cmd_timeout happy
-            refresh_cmd_timeout();
+          if (0 == j % (500 * 1)) reset_stepper_timeout(); // Keep steppers powered
 
           if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
 
@@ -7921,7 +7908,7 @@ inline void gcode_M109() {
     }
 
     idle();
-    refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
+    reset_stepper_timeout(); // Keep steppers powered
 
     const float temp = thermalManager.degHotend(target_extruder);
 
@@ -8058,7 +8045,7 @@ inline void gcode_M109() {
       }
 
       idle();
-      refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
+      reset_stepper_timeout(); // Keep steppers powered
 
       const float temp = thermalManager.degBed();
 
@@ -12199,6 +12186,8 @@ void process_next_command() {
     #endif
   }
 
+  reset_stepper_timeout(); // Keep steppers powered
+
   // Parse the next command in the queue
   parser.parse(current_command);
   process_parsed_command();
@@ -12226,7 +12215,6 @@ void flush_and_request_resend() {
  *   B<int>  Block queue space remaining
  */
 void ok_to_send() {
-  refresh_cmd_timeout();
   if (!send_ok[cmd_queue_index_r]) return;
   SERIAL_PROTOCOLPGM(MSG_OK);
   #if ENABLED(ADVANCED_OK)
@@ -13074,7 +13062,6 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
  */
 void prepare_move_to_destination() {
   clamp_to_software_endstops(destination);
-  refresh_cmd_timeout();
 
   #if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
 
@@ -13504,7 +13491,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
 
   const millis_t ms = millis();
 
-  if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) {
+  if (max_inactive_time && ELAPSED(ms, previous_move_ms + max_inactive_time)) {
     SERIAL_ERROR_START();
     SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
     kill(PSTR(MSG_KILLED));
@@ -13517,23 +13504,26 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
     #define MOVE_AWAY_TEST true
   #endif
 
-  if (MOVE_AWAY_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
-      && !ignore_stepper_queue && !planner.blocks_queued()) {
-    #if ENABLED(DISABLE_INACTIVE_X)
-      disable_X();
-    #endif
-    #if ENABLED(DISABLE_INACTIVE_Y)
-      disable_Y();
-    #endif
-    #if ENABLED(DISABLE_INACTIVE_Z)
-      disable_Z();
-    #endif
-    #if ENABLED(DISABLE_INACTIVE_E)
-      disable_e_steppers();
-    #endif
-    #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL)  // Only needed with an LCD
-      if (ubl.lcd_map_control) ubl.lcd_map_control = defer_return_to_status = false;
-    #endif
+  if (stepper_inactive_time) {
+    if (planner.has_blocks_queued())
+      previous_move_ms = ms; // reset_stepper_timeout to keep steppers powered
+    else if (MOVE_AWAY_TEST && !ignore_stepper_queue && ELAPSED(ms, previous_move_ms + stepper_inactive_time)) {
+      #if ENABLED(DISABLE_INACTIVE_X)
+        disable_X();
+      #endif
+      #if ENABLED(DISABLE_INACTIVE_Y)
+        disable_Y();
+      #endif
+      #if ENABLED(DISABLE_INACTIVE_Z)
+        disable_Z();
+      #endif
+      #if ENABLED(DISABLE_INACTIVE_E)
+        disable_e_steppers();
+      #endif
+      #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL)  // Only needed with an LCD
+        if (ubl.lcd_map_control) ubl.lcd_map_control = defer_return_to_status = false;
+      #endif
+    }
   }
 
   #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
@@ -13592,8 +13582,8 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
 
   #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
     if (thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP
-      && ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
-      && !planner.blocks_queued()
+      && ELAPSED(ms, previous_move_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
+      && !planner.has_blocks_queued()
     ) {
       #if ENABLED(SWITCHING_EXTRUDER)
         const bool oldstatus = E0_ENABLE_READ;
@@ -13617,8 +13607,6 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
         }
       #endif // !SWITCHING_EXTRUDER
 
-      previous_cmd_ms = ms; // refresh_cmd_timeout()
-
       const float olde = current_position[E_AXIS];
       current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
       planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
@@ -13644,6 +13632,8 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
           #endif // E_STEPPERS > 1
         }
       #endif // !SWITCHING_EXTRUDER
+
+      previous_move_ms = ms; // reset_stepper_timeout to keep steppers powered
     }
   #endif // EXTRUDER_RUNOUT_PREVENT
 
@@ -13702,7 +13692,7 @@ void idle(
 
   #if ENABLED(I2C_POSITION_ENCODERS)
     static millis_t i2cpem_next_update_ms;
-    if (planner.blocks_queued() && ELAPSED(millis(), i2cpem_next_update_ms)) {
+    if (planner.has_blocks_queued() && ELAPSED(millis(), i2cpem_next_update_ms)) {
       I2CPEM.update();
       i2cpem_next_update_ms = millis() + I2CPE_MIN_UPD_TIME_MS;
     }
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 0ef1e17fb..493abb50d 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -457,7 +457,7 @@ void Planner::check_axes_activity() {
     #endif
   #endif
 
-  if (blocks_queued()) {
+  if (has_blocks_queued()) {
 
     #if FAN_COUNT > 0
       for (uint8_t i = 0; i < FAN_COUNT; i++)
@@ -1536,7 +1536,7 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
   //*/
 
   // Always split the first move into two (if not homing or probing)
-  if (!blocks_queued()) {
+  if (!has_blocks_queued()) {
 
     #define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
     const int32_t between[ABCE] = { _BETWEEN(A), _BETWEEN(B), _BETWEEN(C), _BETWEEN(E) };
diff --git a/Marlin/planner.h b/Marlin/planner.h
index bc0a39d5e..6a76cdcaf 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -508,14 +508,14 @@ class Planner {
     /**
      * Does the buffer have any blocks queued?
      */
-    static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
+    static inline bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
 
     /**
      * "Discard" the block and "release" the memory.
      * Called when the current block is no longer needed.
      */
     FORCE_INLINE static void discard_current_block() {
-      if (blocks_queued())
+      if (has_blocks_queued())
         block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
     }
 
@@ -524,7 +524,7 @@ class Planner {
      * Called after an interrupted move to throw away the rest of the move.
      */
     FORCE_INLINE static bool discard_continued_block() {
-      const bool discard = blocks_queued() && TEST(block_buffer[block_buffer_tail].flag, BLOCK_BIT_CONTINUED);
+      const bool discard = has_blocks_queued() && TEST(block_buffer[block_buffer_tail].flag, BLOCK_BIT_CONTINUED);
       if (discard) discard_current_block();
       return discard;
     }
@@ -535,7 +535,7 @@ class Planner {
      * WARNING: Called from Stepper ISR context!
      */
     static block_t* get_current_block() {
-      if (blocks_queued()) {
+      if (has_blocks_queued()) {
         block_t * const block = &block_buffer[block_buffer_tail];
 
         // If the block has no trapezoid calculated, it's unsafe to execute.
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index df5018d9f..e9dbbf40e 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -1112,7 +1112,7 @@ void Stepper::init() {
 /**
  * Block until all buffered steps are executed / cleaned
  */
-void Stepper::synchronize() { while (planner.blocks_queued() || cleaning_buffer_counter) idle(); }
+void Stepper::synchronize() { while (planner.has_blocks_queued() || cleaning_buffer_counter) idle(); }
 
 /**
  * Set the stepper positions directly in steps
@@ -1212,7 +1212,7 @@ void Stepper::finish_and_disable() {
 void Stepper::quick_stop() {
   cleaning_buffer_counter = 5000;
   DISABLE_STEPPER_DRIVER_INTERRUPT();
-  while (planner.blocks_queued()) planner.discard_current_block();
+  while (planner.has_blocks_queued()) planner.discard_current_block();
   current_block = NULL;
   ENABLE_STEPPER_DRIVER_INTERRUPT();
   #if ENABLED(ULTRA_LCD)
diff --git a/Marlin/ubl_G29.cpp b/Marlin/ubl_G29.cpp
index 2d94e3d24..11ef162a6 100644
--- a/Marlin/ubl_G29.cpp
+++ b/Marlin/ubl_G29.cpp
@@ -774,7 +774,7 @@
       wait_for_release();
       while (!is_lcd_clicked()) {
         idle();
-        refresh_cmd_timeout();
+        reset_stepper_timeout(); // Keep steppers powered
         if (encoder_diff) {
           do_blocking_move_to_z(current_position[Z_AXIS] + float(encoder_diff) * multiplier);
           encoder_diff = 0;
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index e061fc81d..fc6fe3c47 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1880,7 +1880,6 @@ void kill_screen(const char* lcd_msg) {
       // Encoder knob or keypad buttons adjust the Z position
       //
       if (encoderPosition) {
-        refresh_cmd_timeout();
         const float z = current_position[Z_AXIS] + float((int32_t)encoderPosition) * (MBL_Z_STEP);
         line_to_z(constrain(z, -(LCD_PROBE_Z_RANGE) * 0.5, (LCD_PROBE_Z_RANGE) * 0.5));
         lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
@@ -2403,7 +2402,6 @@ void kill_screen(const char* lcd_msg) {
       stepper.cleaning_buffer_counter = 0;
       set_current_from_steppers_for_axis(ALL_AXES);
       sync_plan_position();
-      refresh_cmd_timeout();
     }
 
     void _lcd_ubl_output_map_lcd() {
@@ -2418,10 +2416,7 @@ void kill_screen(const char* lcd_msg) {
       if (encoderPosition) {
         step_scaler += (int32_t)encoderPosition;
         x_plot += step_scaler / (ENCODER_STEPS_PER_MENU_ITEM);
-        if (abs(step_scaler) >= ENCODER_STEPS_PER_MENU_ITEM)
-          step_scaler = 0;
-        refresh_cmd_timeout();
-
+        if (abs(step_scaler) >= ENCODER_STEPS_PER_MENU_ITEM) step_scaler = 0;
         encoderPosition = 0;
         lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
       }
@@ -2903,7 +2898,6 @@ void kill_screen(const char* lcd_msg) {
     if (use_click()) { return lcd_goto_previous_menu_no_defer(); }
     ENCODER_DIRECTION_NORMAL();
     if (encoderPosition && !processing_manual_move) {
-      refresh_cmd_timeout();
 
       // Start with no limits to movement
       float min = current_position[axis] - 1000,