diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 6aee0c1ea..665e77753 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 1d9724094..e9a4f1f38 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -547,26 +547,30 @@
 
 #define TRINAMICS (HAS_TRINAMIC || HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC2209_STANDALONE) || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE) || HAS_DRIVER(TMC5130_STANDALONE) || HAS_DRIVER(TMC5160_STANDALONE) || HAS_DRIVER(TMC2160_STANDALONE))
 
-#ifndef MINIMUM_STEPPER_DIR_DELAY
+#ifndef MINIMUM_STEPPER_POST_DIR_DELAY
   #if HAS_DRIVER(TB6560)
-    #define MINIMUM_STEPPER_DIR_DELAY 15000
+    #define MINIMUM_STEPPER_POST_DIR_DELAY 15000
   #elif HAS_DRIVER(TB6600)
-    #define MINIMUM_STEPPER_DIR_DELAY 1500
+    #define MINIMUM_STEPPER_POST_DIR_DELAY 1500
   #elif HAS_DRIVER(DRV8825)
-    #define MINIMUM_STEPPER_DIR_DELAY 650
+    #define MINIMUM_STEPPER_POST_DIR_DELAY 650
   #elif HAS_DRIVER(LV8729)
-    #define MINIMUM_STEPPER_DIR_DELAY 500
+    #define MINIMUM_STEPPER_POST_DIR_DELAY 500
   #elif HAS_DRIVER(A5984)
-    #define MINIMUM_STEPPER_DIR_DELAY 400
+    #define MINIMUM_STEPPER_POST_DIR_DELAY 400
   #elif HAS_DRIVER(A4988)
-    #define MINIMUM_STEPPER_DIR_DELAY 200
+    #define MINIMUM_STEPPER_POST_DIR_DELAY 200
   #elif TRINAMICS
-    #define MINIMUM_STEPPER_DIR_DELAY 20
+    #define MINIMUM_STEPPER_POST_DIR_DELAY 20
   #else
-    #define MINIMUM_STEPPER_DIR_DELAY 0   // Expect at least 10µS since one Stepper ISR must transpire
+    #define MINIMUM_STEPPER_POST_DIR_DELAY 0   // Expect at least 10µS since one Stepper ISR must transpire
   #endif
 #endif
 
+#ifndef MINIMUM_STEPPER_PRE_DIR_DELAY
+  #define MINIMUM_STEPPER_PRE_DIR_DELAY MINIMUM_STEPPER_POST_DIR_DELAY
+#endif
+
 #ifndef MINIMUM_STEPPER_PULSE
   #if HAS_DRIVER(TB6560)
     #define MINIMUM_STEPPER_PULSE 30
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 8163416cb..b806cb114 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -358,6 +358,10 @@ void Stepper::set_directions() {
     uint8_t L6470_buf[MAX_L6470 + 1];   // chip command sequence - element 0 not used
   #endif
 
+  #if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
+    DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY);
+  #endif
+
   #define SET_STEP_DIR(A)                       \
     if (motor_direction(_AXIS(A))) {            \
       A##_APPLY_DIR(INVERT_## A##_DIR, false);  \
@@ -426,8 +430,8 @@ void Stepper::set_directions() {
   #endif
 
   // A small delay may be needed after changing direction
-  #if MINIMUM_STEPPER_DIR_DELAY > 0
-    DELAY_NS(MINIMUM_STEPPER_DIR_DELAY);
+  #if MINIMUM_STEPPER_POST_DIR_DELAY > 0
+    DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY);
   #endif
 }
 
@@ -1887,6 +1891,10 @@ uint32_t Stepper::stepper_block_phase_isr() {
     else
       interval = LA_ADV_NEVER;
 
+    #if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
+      DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY);
+    #endif
+
     #if ENABLED(MIXING_EXTRUDER)
       // We don't know which steppers will be stepped because LA loop follows,
       // with potentially multiple steps. Set all.
@@ -1902,8 +1910,8 @@ uint32_t Stepper::stepper_block_phase_isr() {
     #endif
 
     // A small delay may be needed after changing direction
-    #if MINIMUM_STEPPER_DIR_DELAY > 0
-      DELAY_NS(MINIMUM_STEPPER_DIR_DELAY);
+    #if MINIMUM_STEPPER_POST_DIR_DELAY > 0
+      DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY);
     #endif
 
     // Get the timer count and estimate the end of the pulse
@@ -2353,8 +2361,9 @@ void Stepper::report_positions() {
   #define BABYSTEP_AXIS(AXIS, INVERT, DIR) {            \
       const uint8_t old_dir = _READ_DIR(AXIS);          \
       _ENABLE(AXIS);                                    \
+      DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY);              \
       _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INVERT);   \
-      DELAY_NS(MINIMUM_STEPPER_DIR_DELAY);              \
+      DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY);              \
       _SAVE_START;                                      \
       _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
       _PULSE_WAIT;                                      \
@@ -2418,6 +2427,10 @@ void Stepper::report_positions() {
           enable_Y();
           enable_Z();
 
+          #if MINIMUM_STEPPER_PRE_DIR_DELAY > 0
+            DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY);
+          #endif
+
           const uint8_t old_x_dir_pin = X_DIR_READ(),
                         old_y_dir_pin = Y_DIR_READ(),
                         old_z_dir_pin = Z_DIR_READ();
@@ -2426,8 +2439,8 @@ void Stepper::report_positions() {
           Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
           Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
 
-          #if MINIMUM_STEPPER_DIR_DELAY > 0
-            DELAY_NS(MINIMUM_STEPPER_DIR_DELAY);
+          #if MINIMUM_STEPPER_POST_DIR_DELAY > 0
+            DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY);
           #endif
 
           _SAVE_START;
diff --git a/config/default/Configuration_adv.h b/config/default/Configuration_adv.h
index 6aee0c1ea..665e77753 100644
--- a/config/default/Configuration_adv.h
+++ b/config/default/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/3DFabXYZ/Migbot/Configuration_adv.h b/config/examples/3DFabXYZ/Migbot/Configuration_adv.h
index 218b7d791..2a10317d7 100644
--- a/config/examples/3DFabXYZ/Migbot/Configuration_adv.h
+++ b/config/examples/3DFabXYZ/Migbot/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/ADIMLab/Gantry v1/Configuration_adv.h b/config/examples/ADIMLab/Gantry v1/Configuration_adv.h
index dd3c9ac0e..de24d8479 100644
--- a/config/examples/ADIMLab/Gantry v1/Configuration_adv.h	
+++ b/config/examples/ADIMLab/Gantry v1/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/ADIMLab/Gantry v2/Configuration_adv.h b/config/examples/ADIMLab/Gantry v2/Configuration_adv.h
index ef5bcb837..56c406b63 100644
--- a/config/examples/ADIMLab/Gantry v2/Configuration_adv.h	
+++ b/config/examples/ADIMLab/Gantry v2/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/AlephObjects/TAZ4/Configuration_adv.h b/config/examples/AlephObjects/TAZ4/Configuration_adv.h
index 2e578a821..c598db0fd 100644
--- a/config/examples/AlephObjects/TAZ4/Configuration_adv.h
+++ b/config/examples/AlephObjects/TAZ4/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Alfawise/U20-bltouch/Configuration_adv.h b/config/examples/Alfawise/U20-bltouch/Configuration_adv.h
index bee03c9c9..c0bc1ea86 100644
--- a/config/examples/Alfawise/U20-bltouch/Configuration_adv.h
+++ b/config/examples/Alfawise/U20-bltouch/Configuration_adv.h
@@ -1378,7 +1378,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1390,7 +1390,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Alfawise/U20/Configuration_adv.h b/config/examples/Alfawise/U20/Configuration_adv.h
index f94e34903..a13605d7b 100644
--- a/config/examples/Alfawise/U20/Configuration_adv.h
+++ b/config/examples/Alfawise/U20/Configuration_adv.h
@@ -1377,7 +1377,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1389,7 +1389,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/AliExpress/UM2pExt/Configuration_adv.h b/config/examples/AliExpress/UM2pExt/Configuration_adv.h
index 58452f391..c56cdf81a 100644
--- a/config/examples/AliExpress/UM2pExt/Configuration_adv.h
+++ b/config/examples/AliExpress/UM2pExt/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Anet/A2/Configuration_adv.h b/config/examples/Anet/A2/Configuration_adv.h
index 63514e2f0..53617ceb2 100644
--- a/config/examples/Anet/A2/Configuration_adv.h
+++ b/config/examples/Anet/A2/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Anet/A2plus/Configuration_adv.h b/config/examples/Anet/A2plus/Configuration_adv.h
index 63514e2f0..53617ceb2 100644
--- a/config/examples/Anet/A2plus/Configuration_adv.h
+++ b/config/examples/Anet/A2plus/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Anet/A6/Configuration_adv.h b/config/examples/Anet/A6/Configuration_adv.h
index 1782244d3..32799ec06 100644
--- a/config/examples/Anet/A6/Configuration_adv.h
+++ b/config/examples/Anet/A6/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Anet/A8/Configuration_adv.h b/config/examples/Anet/A8/Configuration_adv.h
index 3db14fcd3..dbe591d5f 100644
--- a/config/examples/Anet/A8/Configuration_adv.h
+++ b/config/examples/Anet/A8/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Anet/A8plus/Configuration_adv.h b/config/examples/Anet/A8plus/Configuration_adv.h
index b1c084251..2745dffc6 100644
--- a/config/examples/Anet/A8plus/Configuration_adv.h
+++ b/config/examples/Anet/A8plus/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Anet/E16/Configuration_adv.h b/config/examples/Anet/E16/Configuration_adv.h
index 4c698f51e..6c504813d 100644
--- a/config/examples/Anet/E16/Configuration_adv.h
+++ b/config/examples/Anet/E16/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/AnyCubic/i3/Configuration_adv.h b/config/examples/AnyCubic/i3/Configuration_adv.h
index 5881b5cac..f1beff557 100644
--- a/config/examples/AnyCubic/i3/Configuration_adv.h
+++ b/config/examples/AnyCubic/i3/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/ArmEd/Configuration_adv.h b/config/examples/ArmEd/Configuration_adv.h
index b6214ad32..49f079dcd 100644
--- a/config/examples/ArmEd/Configuration_adv.h
+++ b/config/examples/ArmEd/Configuration_adv.h
@@ -1377,7 +1377,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1389,7 +1389,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/BIBO/TouchX/cyclops/Configuration_adv.h b/config/examples/BIBO/TouchX/cyclops/Configuration_adv.h
index 1836ce511..3927bbc47 100644
--- a/config/examples/BIBO/TouchX/cyclops/Configuration_adv.h
+++ b/config/examples/BIBO/TouchX/cyclops/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/BIBO/TouchX/default/Configuration_adv.h b/config/examples/BIBO/TouchX/default/Configuration_adv.h
index 04c746571..13b1234e4 100644
--- a/config/examples/BIBO/TouchX/default/Configuration_adv.h
+++ b/config/examples/BIBO/TouchX/default/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/BQ/Hephestos/Configuration_adv.h b/config/examples/BQ/Hephestos/Configuration_adv.h
index 255e2f945..7cad883fe 100644
--- a/config/examples/BQ/Hephestos/Configuration_adv.h
+++ b/config/examples/BQ/Hephestos/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/BQ/Hephestos_2/Configuration_adv.h b/config/examples/BQ/Hephestos_2/Configuration_adv.h
index d0524725b..01f06aa9e 100644
--- a/config/examples/BQ/Hephestos_2/Configuration_adv.h
+++ b/config/examples/BQ/Hephestos_2/Configuration_adv.h
@@ -1381,7 +1381,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1393,7 +1393,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/BQ/WITBOX/Configuration_adv.h b/config/examples/BQ/WITBOX/Configuration_adv.h
index 255e2f945..7cad883fe 100644
--- a/config/examples/BQ/WITBOX/Configuration_adv.h
+++ b/config/examples/BQ/WITBOX/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Cartesio/Configuration_adv.h b/config/examples/Cartesio/Configuration_adv.h
index 439d3588d..25d44f656 100644
--- a/config/examples/Cartesio/Configuration_adv.h
+++ b/config/examples/Cartesio/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Creality/CR-10/Configuration_adv.h b/config/examples/Creality/CR-10/Configuration_adv.h
index b445bc82a..b7282d862 100644
--- a/config/examples/Creality/CR-10/Configuration_adv.h
+++ b/config/examples/Creality/CR-10/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Creality/CR-10S/Configuration_adv.h b/config/examples/Creality/CR-10S/Configuration_adv.h
index ee5cf4d0a..b25ae448c 100644
--- a/config/examples/Creality/CR-10S/Configuration_adv.h
+++ b/config/examples/Creality/CR-10S/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Creality/CR-10_5S/Configuration_adv.h b/config/examples/Creality/CR-10_5S/Configuration_adv.h
index 311ed1116..0efbc18ef 100644
--- a/config/examples/Creality/CR-10_5S/Configuration_adv.h
+++ b/config/examples/Creality/CR-10_5S/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Creality/CR-10mini/Configuration_adv.h b/config/examples/Creality/CR-10mini/Configuration_adv.h
index b1284640e..0937cbacf 100644
--- a/config/examples/Creality/CR-10mini/Configuration_adv.h
+++ b/config/examples/Creality/CR-10mini/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Creality/CR-20 Pro/Configuration_adv.h b/config/examples/Creality/CR-20 Pro/Configuration_adv.h
index 896ebe35b..177a6b599 100644
--- a/config/examples/Creality/CR-20 Pro/Configuration_adv.h	
+++ b/config/examples/Creality/CR-20 Pro/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Creality/CR-20/Configuration_adv.h b/config/examples/Creality/CR-20/Configuration_adv.h
index 28b28474e..e7832f039 100644
--- a/config/examples/Creality/CR-20/Configuration_adv.h
+++ b/config/examples/Creality/CR-20/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Creality/CR-8/Configuration_adv.h b/config/examples/Creality/CR-8/Configuration_adv.h
index 373e584fd..73364e79f 100644
--- a/config/examples/Creality/CR-8/Configuration_adv.h
+++ b/config/examples/Creality/CR-8/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Creality/Ender-2/Configuration_adv.h b/config/examples/Creality/Ender-2/Configuration_adv.h
index 344cf60e1..c604d1bab 100644
--- a/config/examples/Creality/Ender-2/Configuration_adv.h
+++ b/config/examples/Creality/Ender-2/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Creality/Ender-3/Configuration_adv.h b/config/examples/Creality/Ender-3/Configuration_adv.h
index 35949d4de..b580ea7e7 100644
--- a/config/examples/Creality/Ender-3/Configuration_adv.h
+++ b/config/examples/Creality/Ender-3/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Creality/Ender-4/Configuration_adv.h b/config/examples/Creality/Ender-4/Configuration_adv.h
index 831856eff..941c4d081 100644
--- a/config/examples/Creality/Ender-4/Configuration_adv.h
+++ b/config/examples/Creality/Ender-4/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Creality/Ender-5/Configuration_adv.h b/config/examples/Creality/Ender-5/Configuration_adv.h
index e1672fdfc..f0a7cf924 100644
--- a/config/examples/Creality/Ender-5/Configuration_adv.h
+++ b/config/examples/Creality/Ender-5/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Dagoma/Disco Ultimate/Configuration_adv.h b/config/examples/Dagoma/Disco Ultimate/Configuration_adv.h
index 26bb2113b..c1c0c5edf 100644
--- a/config/examples/Dagoma/Disco Ultimate/Configuration_adv.h	
+++ b/config/examples/Dagoma/Disco Ultimate/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/EVNOVO (Artillery)/Sidewinder X1/Configuration_adv.h b/config/examples/EVNOVO (Artillery)/Sidewinder X1/Configuration_adv.h
index 83438aa82..16d421f60 100755
--- a/config/examples/EVNOVO (Artillery)/Sidewinder X1/Configuration_adv.h	
+++ b/config/examples/EVNOVO (Artillery)/Sidewinder X1/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Einstart-S/Configuration_adv.h b/config/examples/Einstart-S/Configuration_adv.h
index d2c8bb3f8..1405df669 100644
--- a/config/examples/Einstart-S/Configuration_adv.h
+++ b/config/examples/Einstart-S/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-#define MINIMUM_STEPPER_DIR_DELAY 0
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/FYSETC/AIO_II/Configuration_adv.h b/config/examples/FYSETC/AIO_II/Configuration_adv.h
index 2d8b0f9ca..5140adb97 100644
--- a/config/examples/FYSETC/AIO_II/Configuration_adv.h
+++ b/config/examples/FYSETC/AIO_II/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/FYSETC/Cheetah 1.2/BLTouch/Configuration_adv.h b/config/examples/FYSETC/Cheetah 1.2/BLTouch/Configuration_adv.h
index bb461ba77..94e099fe8 100644
--- a/config/examples/FYSETC/Cheetah 1.2/BLTouch/Configuration_adv.h	
+++ b/config/examples/FYSETC/Cheetah 1.2/BLTouch/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/FYSETC/Cheetah 1.2/base/Configuration_adv.h b/config/examples/FYSETC/Cheetah 1.2/base/Configuration_adv.h
index bb461ba77..94e099fe8 100644
--- a/config/examples/FYSETC/Cheetah 1.2/base/Configuration_adv.h	
+++ b/config/examples/FYSETC/Cheetah 1.2/base/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/FYSETC/Cheetah/BLTouch/Configuration_adv.h b/config/examples/FYSETC/Cheetah/BLTouch/Configuration_adv.h
index bb461ba77..94e099fe8 100644
--- a/config/examples/FYSETC/Cheetah/BLTouch/Configuration_adv.h
+++ b/config/examples/FYSETC/Cheetah/BLTouch/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/FYSETC/Cheetah/base/Configuration_adv.h b/config/examples/FYSETC/Cheetah/base/Configuration_adv.h
index bb461ba77..94e099fe8 100644
--- a/config/examples/FYSETC/Cheetah/base/Configuration_adv.h
+++ b/config/examples/FYSETC/Cheetah/base/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/FYSETC/F6_13/Configuration_adv.h b/config/examples/FYSETC/F6_13/Configuration_adv.h
index 563681b2b..c3339920c 100644
--- a/config/examples/FYSETC/F6_13/Configuration_adv.h
+++ b/config/examples/FYSETC/F6_13/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Felix/Configuration_adv.h b/config/examples/Felix/Configuration_adv.h
index 9dbf7b4e6..89008413a 100644
--- a/config/examples/Felix/Configuration_adv.h
+++ b/config/examples/Felix/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/FlashForge/CreatorPro/Configuration_adv.h b/config/examples/FlashForge/CreatorPro/Configuration_adv.h
index d6bbb07da..a4fbc6a81 100644
--- a/config/examples/FlashForge/CreatorPro/Configuration_adv.h
+++ b/config/examples/FlashForge/CreatorPro/Configuration_adv.h
@@ -1372,7 +1372,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1384,7 +1384,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/FolgerTech/i3-2020/Configuration_adv.h b/config/examples/FolgerTech/i3-2020/Configuration_adv.h
index c57f4955e..02e80ff5a 100644
--- a/config/examples/FolgerTech/i3-2020/Configuration_adv.h
+++ b/config/examples/FolgerTech/i3-2020/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Formbot/Raptor/Configuration_adv.h b/config/examples/Formbot/Raptor/Configuration_adv.h
index eb37b1836..35ebe3d2e 100644
--- a/config/examples/Formbot/Raptor/Configuration_adv.h
+++ b/config/examples/Formbot/Raptor/Configuration_adv.h
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Formbot/T_Rex_2+/Configuration_adv.h b/config/examples/Formbot/T_Rex_2+/Configuration_adv.h
index 041b98e3b..576615a47 100644
--- a/config/examples/Formbot/T_Rex_2+/Configuration_adv.h
+++ b/config/examples/Formbot/T_Rex_2+/Configuration_adv.h
@@ -1377,7 +1377,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1389,7 +1389,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Formbot/T_Rex_3/Configuration_adv.h b/config/examples/Formbot/T_Rex_3/Configuration_adv.h
index 7c040d9a0..bf045f50d 100644
--- a/config/examples/Formbot/T_Rex_3/Configuration_adv.h
+++ b/config/examples/Formbot/T_Rex_3/Configuration_adv.h
@@ -1377,7 +1377,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1389,7 +1389,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Geeetech/A10/Configuration_adv.h b/config/examples/Geeetech/A10/Configuration_adv.h
index 2310bd538..031fc5fbd 100644
--- a/config/examples/Geeetech/A10/Configuration_adv.h
+++ b/config/examples/Geeetech/A10/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Geeetech/A10M/Configuration_adv.h b/config/examples/Geeetech/A10M/Configuration_adv.h
index f65b3b846..6ac35c3a8 100644
--- a/config/examples/Geeetech/A10M/Configuration_adv.h
+++ b/config/examples/Geeetech/A10M/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Geeetech/A20M/Configuration_adv.h b/config/examples/Geeetech/A20M/Configuration_adv.h
index fb1898179..8572da54b 100644
--- a/config/examples/Geeetech/A20M/Configuration_adv.h
+++ b/config/examples/Geeetech/A20M/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Geeetech/MeCreator2/Configuration_adv.h b/config/examples/Geeetech/MeCreator2/Configuration_adv.h
index dbcf27fda..b19f42923 100644
--- a/config/examples/Geeetech/MeCreator2/Configuration_adv.h
+++ b/config/examples/Geeetech/MeCreator2/Configuration_adv.h
@@ -1372,7 +1372,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1384,7 +1384,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Geeetech/Prusa i3 Pro C/Configuration_adv.h b/config/examples/Geeetech/Prusa i3 Pro C/Configuration_adv.h
index 2310bd538..031fc5fbd 100644
--- a/config/examples/Geeetech/Prusa i3 Pro C/Configuration_adv.h	
+++ b/config/examples/Geeetech/Prusa i3 Pro C/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Geeetech/Prusa i3 Pro W/Configuration_adv.h b/config/examples/Geeetech/Prusa i3 Pro W/Configuration_adv.h
index 2310bd538..031fc5fbd 100644
--- a/config/examples/Geeetech/Prusa i3 Pro W/Configuration_adv.h	
+++ b/config/examples/Geeetech/Prusa i3 Pro W/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/HMS434/Configuration_adv.h b/config/examples/HMS434/Configuration_adv.h
index 34948a79a..1eb8b3e4c 100644
--- a/config/examples/HMS434/Configuration_adv.h
+++ b/config/examples/HMS434/Configuration_adv.h
@@ -1297,7 +1297,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1309,7 +1309,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Infitary/i3-M508/Configuration_adv.h b/config/examples/Infitary/i3-M508/Configuration_adv.h
index 5e7b3ff9b..7feb9fdab 100644
--- a/config/examples/Infitary/i3-M508/Configuration_adv.h
+++ b/config/examples/Infitary/i3-M508/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/JGAurora/A1/Configuration_adv.h b/config/examples/JGAurora/A1/Configuration_adv.h
index 2dbaecfd8..edc9254e5 100644
--- a/config/examples/JGAurora/A1/Configuration_adv.h
+++ b/config/examples/JGAurora/A1/Configuration_adv.h
@@ -1378,7 +1378,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1390,7 +1390,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/JGAurora/A5/Configuration_adv.h b/config/examples/JGAurora/A5/Configuration_adv.h
index 06e4bf301..d5c4b7b2c 100644
--- a/config/examples/JGAurora/A5/Configuration_adv.h
+++ b/config/examples/JGAurora/A5/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/JGAurora/A5S/Configuration_adv.h b/config/examples/JGAurora/A5S/Configuration_adv.h
index 2dbaecfd8..edc9254e5 100644
--- a/config/examples/JGAurora/A5S/Configuration_adv.h
+++ b/config/examples/JGAurora/A5S/Configuration_adv.h
@@ -1378,7 +1378,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1390,7 +1390,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/MakerParts/Configuration_adv.h b/config/examples/MakerParts/Configuration_adv.h
index 4f5ed2e2c..680478f3a 100644
--- a/config/examples/MakerParts/Configuration_adv.h
+++ b/config/examples/MakerParts/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Malyan/M150/Configuration_adv.h b/config/examples/Malyan/M150/Configuration_adv.h
index 609e76f06..3d86b3020 100644
--- a/config/examples/Malyan/M150/Configuration_adv.h
+++ b/config/examples/Malyan/M150/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Malyan/M200/Configuration_adv.h b/config/examples/Malyan/M200/Configuration_adv.h
index 5bf65565c..e8aac1ffe 100644
--- a/config/examples/Malyan/M200/Configuration_adv.h
+++ b/config/examples/Malyan/M200/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Micromake/C1/enhanced/Configuration_adv.h b/config/examples/Micromake/C1/enhanced/Configuration_adv.h
index dca753481..5473a13da 100644
--- a/config/examples/Micromake/C1/enhanced/Configuration_adv.h
+++ b/config/examples/Micromake/C1/enhanced/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Mks/Robin/Configuration_adv.h b/config/examples/Mks/Robin/Configuration_adv.h
index c67cc8fea..104b7cff8 100644
--- a/config/examples/Mks/Robin/Configuration_adv.h
+++ b/config/examples/Mks/Robin/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Mks/Sbase/Configuration_adv.h b/config/examples/Mks/Sbase/Configuration_adv.h
index a6f26f0f1..efffe2986 100644
--- a/config/examples/Mks/Sbase/Configuration_adv.h
+++ b/config/examples/Mks/Sbase/Configuration_adv.h
@@ -1374,7 +1374,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1386,7 +1386,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/RapideLite/RL200/Configuration_adv.h b/config/examples/RapideLite/RL200/Configuration_adv.h
index d20fae013..f399c620e 100644
--- a/config/examples/RapideLite/RL200/Configuration_adv.h
+++ b/config/examples/RapideLite/RL200/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/RigidBot/Configuration_adv.h b/config/examples/RigidBot/Configuration_adv.h
index 4a674c49f..f2f329403 100644
--- a/config/examples/RigidBot/Configuration_adv.h
+++ b/config/examples/RigidBot/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/SCARA/Configuration_adv.h b/config/examples/SCARA/Configuration_adv.h
index d3f2fbe98..ab4a937c6 100644
--- a/config/examples/SCARA/Configuration_adv.h
+++ b/config/examples/SCARA/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/STM32/Black_STM32F407VET6/Configuration_adv.h b/config/examples/STM32/Black_STM32F407VET6/Configuration_adv.h
index 36545345c..8225c2dae 100644
--- a/config/examples/STM32/Black_STM32F407VET6/Configuration_adv.h
+++ b/config/examples/STM32/Black_STM32F407VET6/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Sanguinololu/Configuration_adv.h b/config/examples/Sanguinololu/Configuration_adv.h
index aeb6e7d3a..f3ee763eb 100644
--- a/config/examples/Sanguinololu/Configuration_adv.h
+++ b/config/examples/Sanguinololu/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Tevo/Michelangelo/Configuration_adv.h b/config/examples/Tevo/Michelangelo/Configuration_adv.h
index 58eef0ce0..25a8916bc 100644
--- a/config/examples/Tevo/Michelangelo/Configuration_adv.h
+++ b/config/examples/Tevo/Michelangelo/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Tevo/Tarantula Pro/Configuration_adv.h b/config/examples/Tevo/Tarantula Pro/Configuration_adv.h
index 029f830d3..fb8651d11 100755
--- a/config/examples/Tevo/Tarantula Pro/Configuration_adv.h	
+++ b/config/examples/Tevo/Tarantula Pro/Configuration_adv.h	
@@ -1369,7 +1369,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1381,7 +1381,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Tevo/Tornado/V1 (MKS Base)/Configuration_adv.h b/config/examples/Tevo/Tornado/V1 (MKS Base)/Configuration_adv.h
index a30269d65..dfbf542cb 100755
--- a/config/examples/Tevo/Tornado/V1 (MKS Base)/Configuration_adv.h	
+++ b/config/examples/Tevo/Tornado/V1 (MKS Base)/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Tevo/Tornado/V2 (MKS GEN-L)/Configuration_adv.h b/config/examples/Tevo/Tornado/V2 (MKS GEN-L)/Configuration_adv.h
index a30269d65..dfbf542cb 100755
--- a/config/examples/Tevo/Tornado/V2 (MKS GEN-L)/Configuration_adv.h	
+++ b/config/examples/Tevo/Tornado/V2 (MKS GEN-L)/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/TheBorg/Configuration_adv.h b/config/examples/TheBorg/Configuration_adv.h
index 4712db14f..d7ae37580 100644
--- a/config/examples/TheBorg/Configuration_adv.h
+++ b/config/examples/TheBorg/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/TinyBoy2/Configuration_adv.h b/config/examples/TinyBoy2/Configuration_adv.h
index eb0c034a5..ddd3addcd 100644
--- a/config/examples/TinyBoy2/Configuration_adv.h
+++ b/config/examples/TinyBoy2/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Tronxy/X3A/Configuration_adv.h b/config/examples/Tronxy/X3A/Configuration_adv.h
index dcd383860..3b40797c6 100644
--- a/config/examples/Tronxy/X3A/Configuration_adv.h
+++ b/config/examples/Tronxy/X3A/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Tronxy/X5S-2E/Configuration_adv.h b/config/examples/Tronxy/X5S-2E/Configuration_adv.h
index ec1c28df8..66f4262ef 100644
--- a/config/examples/Tronxy/X5S-2E/Configuration_adv.h
+++ b/config/examples/Tronxy/X5S-2E/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/UltiMachine/Archim1/Configuration_adv.h b/config/examples/UltiMachine/Archim1/Configuration_adv.h
index 925cfa657..9aff4b9c1 100644
--- a/config/examples/UltiMachine/Archim1/Configuration_adv.h
+++ b/config/examples/UltiMachine/Archim1/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/UltiMachine/Archim2/Configuration_adv.h b/config/examples/UltiMachine/Archim2/Configuration_adv.h
index dfe2fa799..9a84d4038 100644
--- a/config/examples/UltiMachine/Archim2/Configuration_adv.h
+++ b/config/examples/UltiMachine/Archim2/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/VORONDesign/Configuration_adv.h b/config/examples/VORONDesign/Configuration_adv.h
index 91c2f91b2..5d389bc8c 100644
--- a/config/examples/VORONDesign/Configuration_adv.h
+++ b/config/examples/VORONDesign/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Velleman/K8200/Configuration_adv.h b/config/examples/Velleman/K8200/Configuration_adv.h
index 8d7597e4b..611aeebae 100644
--- a/config/examples/Velleman/K8200/Configuration_adv.h
+++ b/config/examples/Velleman/K8200/Configuration_adv.h
@@ -1386,7 +1386,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1398,7 +1398,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Velleman/K8400/Configuration_adv.h b/config/examples/Velleman/K8400/Configuration_adv.h
index 37cbdcf7c..cb608b868 100644
--- a/config/examples/Velleman/K8400/Configuration_adv.h
+++ b/config/examples/Velleman/K8400/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/WASP/PowerWASP/Configuration_adv.h b/config/examples/WASP/PowerWASP/Configuration_adv.h
index 5032034ed..e2b679a30 100644
--- a/config/examples/WASP/PowerWASP/Configuration_adv.h
+++ b/config/examples/WASP/PowerWASP/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Wanhao/Duplicator 6/Configuration_adv.h b/config/examples/Wanhao/Duplicator 6/Configuration_adv.h
index 87a320bc9..faa61a824 100644
--- a/config/examples/Wanhao/Duplicator 6/Configuration_adv.h	
+++ b/config/examples/Wanhao/Duplicator 6/Configuration_adv.h	
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/Wanhao/Duplicator i3 Mini/Configuration_adv.h b/config/examples/Wanhao/Duplicator i3 Mini/Configuration_adv.h
index dd7a16d91..0e9cce42b 100644
--- a/config/examples/Wanhao/Duplicator i3 Mini/Configuration_adv.h	
+++ b/config/examples/Wanhao/Duplicator i3 Mini/Configuration_adv.h	
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/Anycubic/Kossel/Configuration_adv.h b/config/examples/delta/Anycubic/Kossel/Configuration_adv.h
index 173ca6cae..22b8c529f 100644
--- a/config/examples/delta/Anycubic/Kossel/Configuration_adv.h
+++ b/config/examples/delta/Anycubic/Kossel/Configuration_adv.h
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/Dreammaker/Overlord/Configuration_adv.h b/config/examples/delta/Dreammaker/Overlord/Configuration_adv.h
index 496a1de61..64d0c315b 100644
--- a/config/examples/delta/Dreammaker/Overlord/Configuration_adv.h
+++ b/config/examples/delta/Dreammaker/Overlord/Configuration_adv.h
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/Dreammaker/Overlord_Pro/Configuration_adv.h b/config/examples/delta/Dreammaker/Overlord_Pro/Configuration_adv.h
index 496a1de61..64d0c315b 100644
--- a/config/examples/delta/Dreammaker/Overlord_Pro/Configuration_adv.h
+++ b/config/examples/delta/Dreammaker/Overlord_Pro/Configuration_adv.h
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/FLSUN/auto_calibrate/Configuration_adv.h b/config/examples/delta/FLSUN/auto_calibrate/Configuration_adv.h
index d1bfdb761..7bbbf1ab5 100644
--- a/config/examples/delta/FLSUN/auto_calibrate/Configuration_adv.h
+++ b/config/examples/delta/FLSUN/auto_calibrate/Configuration_adv.h
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/FLSUN/kossel/Configuration_adv.h b/config/examples/delta/FLSUN/kossel/Configuration_adv.h
index d1bfdb761..7bbbf1ab5 100644
--- a/config/examples/delta/FLSUN/kossel/Configuration_adv.h
+++ b/config/examples/delta/FLSUN/kossel/Configuration_adv.h
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/FLSUN/kossel_mini/Configuration_adv.h b/config/examples/delta/FLSUN/kossel_mini/Configuration_adv.h
index f9fcff4a2..c3bdd26a3 100644
--- a/config/examples/delta/FLSUN/kossel_mini/Configuration_adv.h
+++ b/config/examples/delta/FLSUN/kossel_mini/Configuration_adv.h
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/Geeetech/Rostock 301/Configuration_adv.h b/config/examples/delta/Geeetech/Rostock 301/Configuration_adv.h
index 277de7127..fbed101e4 100644
--- a/config/examples/delta/Geeetech/Rostock 301/Configuration_adv.h	
+++ b/config/examples/delta/Geeetech/Rostock 301/Configuration_adv.h	
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/MKS/SBASE/Configuration_adv.h b/config/examples/delta/MKS/SBASE/Configuration_adv.h
index 73c133290..9b6614c35 100644
--- a/config/examples/delta/MKS/SBASE/Configuration_adv.h
+++ b/config/examples/delta/MKS/SBASE/Configuration_adv.h
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/Tevo Little Monster/Configuration_adv.h b/config/examples/delta/Tevo Little Monster/Configuration_adv.h
index 686f12673..f909a04d4 100644
--- a/config/examples/delta/Tevo Little Monster/Configuration_adv.h	
+++ b/config/examples/delta/Tevo Little Monster/Configuration_adv.h	
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/generic/Configuration_adv.h b/config/examples/delta/generic/Configuration_adv.h
index f9fcff4a2..c3bdd26a3 100644
--- a/config/examples/delta/generic/Configuration_adv.h
+++ b/config/examples/delta/generic/Configuration_adv.h
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/kossel_mini/Configuration_adv.h b/config/examples/delta/kossel_mini/Configuration_adv.h
index f9fcff4a2..c3bdd26a3 100644
--- a/config/examples/delta/kossel_mini/Configuration_adv.h
+++ b/config/examples/delta/kossel_mini/Configuration_adv.h
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/delta/kossel_xl/Configuration_adv.h b/config/examples/delta/kossel_xl/Configuration_adv.h
index 0642db57b..47373c9b4 100644
--- a/config/examples/delta/kossel_xl/Configuration_adv.h
+++ b/config/examples/delta/kossel_xl/Configuration_adv.h
@@ -1375,7 +1375,7 @@
 #define MIN_STEPS_PER_SEGMENT 1
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1387,7 +1387,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/gCreate/gMax1.5+/Configuration_adv.h b/config/examples/gCreate/gMax1.5+/Configuration_adv.h
index 5f130d797..39ec6ffea 100644
--- a/config/examples/gCreate/gMax1.5+/Configuration_adv.h
+++ b/config/examples/gCreate/gMax1.5+/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/makibox/Configuration_adv.h b/config/examples/makibox/Configuration_adv.h
index 990f47f19..f709d899b 100644
--- a/config/examples/makibox/Configuration_adv.h
+++ b/config/examples/makibox/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/tvrrug/Round2/Configuration_adv.h b/config/examples/tvrrug/Round2/Configuration_adv.h
index beb45435e..5963edb9d 100644
--- a/config/examples/tvrrug/Round2/Configuration_adv.h
+++ b/config/examples/tvrrug/Round2/Configuration_adv.h
@@ -1373,7 +1373,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1385,7 +1385,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)
diff --git a/config/examples/wt150/Configuration_adv.h b/config/examples/wt150/Configuration_adv.h
index f00c85d0f..9f95d9460 100644
--- a/config/examples/wt150/Configuration_adv.h
+++ b/config/examples/wt150/Configuration_adv.h
@@ -1374,7 +1374,7 @@
 #define MIN_STEPS_PER_SEGMENT 6
 
 /**
- * Minimum delay after setting the stepper DIR (in ns)
+ * Minimum delay before and after setting the stepper DIR (in ns)
  *     0 : No delay (Expect at least 10µS since one Stepper ISR must transpire)
  *    20 : Minimum for TMC2xxx drivers
  *   200 : Minimum for A4988 drivers
@@ -1386,7 +1386,8 @@
  *
  * Override the default value based on the driver type set in Configuration.h.
  */
-//#define MINIMUM_STEPPER_DIR_DELAY 650
+//#define MINIMUM_STEPPER_POST_DIR_DELAY 650
+//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650
 
 /**
  * Minimum stepper driver pulse width (in µs)