diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index 709981e5a..786a376e9 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -467,6 +467,9 @@ class Stepper {
     // Set direction bits for all steppers
     static void set_directions();
 
+    // Allow reset_stepper_drivers to access private set_directions
+    friend void reset_stepper_drivers();
+
     FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t scale, uint8_t* loops) {
       uint32_t timer;
 
diff --git a/Marlin/stepper_indirection.cpp b/Marlin/stepper_indirection.cpp
index 6c3ec5b2d..cde4c31a2 100644
--- a/Marlin/stepper_indirection.cpp
+++ b/Marlin/stepper_indirection.cpp
@@ -35,6 +35,8 @@
 
 #include "MarlinConfig.h"
 
+#include "stepper.h"
+
 //
 // TMC26X Driver objects and inits
 //
@@ -578,6 +580,7 @@ void reset_stepper_drivers() {
   #if HAS_DRIVER(L6470)
     L6470_init_to_defaults();
   #endif
+  stepper.set_directions();
 }
 
 //