diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 777f9a534..25f359c13 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -479,16 +479,12 @@
 #define BANG_MAX 255     // Limits current to nozzle while in bang-bang mode; 255=full current
 #define PID_MAX BANG_MAX // Limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
 #define PID_K1 0.95      // Smoothing factor within any PID loop
+
 #if ENABLED(PIDTEMP)
   //#define PID_EDIT_MENU         // Add PID editing to the "Advanced Settings" menu. (~700 bytes of PROGMEM)
   //#define PID_AUTOTUNE_MENU     // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of PROGMEM)
-  //#define PID_DEBUG             // Sends debug data to the serial port. Use 'M303 D' to toggle activation.
-  //#define PID_OPENLOOP 1        // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
-  //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
   //#define PID_PARAMS_PER_HOTEND // Uses separate PID parameters for each extruder (useful for mismatched extruders)
                                   // Set/get with gcode: M301 E[extruder number, 0-2]
-  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
-                                  // is more than PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
 
   // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
 
@@ -557,6 +553,14 @@
   // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
 #endif // PIDTEMPBED
 
+#if EITHER(PIDTEMP, PIDTEMPBED)
+  //#define PID_DEBUG             // Sends debug data to the serial port. Use 'M303 D' to toggle activation.
+  //#define PID_OPENLOOP          // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
+  //#define SLOW_PWM_HEATERS      // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
+  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
+                                  // is more than PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
+#endif 
+
 // @section extruder
 
 /**
diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp
index 7518e0ef2..f9482aedb 100644
--- a/Marlin/src/module/temperature.cpp
+++ b/Marlin/src/module/temperature.cpp
@@ -381,15 +381,15 @@ volatile bool Temperature::raw_temps_ready = false;
       #define ONHEATINGSTART() printerEventLEDs.onHotendHeatingStart()
       #define ONHEATING(S,C,T) printerEventLEDs.onHotendHeating(S,C,T)
     #endif
+    #define WATCH_PID BOTH(WATCH_BED, PIDTEMPBED) || BOTH(WATCH_HOTENDS, PIDTEMP)
 
-    #if WATCH_BED || WATCH_HOTENDS
-      #define HAS_TP_BED BOTH(THERMAL_PROTECTION_BED, PIDTEMPBED)
-      #if HAS_TP_BED && BOTH(THERMAL_PROTECTION_HOTENDS, PIDTEMP)
+    #if WATCH_PID
+      #if ALL(THERMAL_PROTECTION_HOTENDS, PIDTEMP, THERMAL_PROTECTION_BED, PIDTEMPBED)
         #define GTV(B,H) (isbed ? (B) : (H))
-      #elif HAS_TP_BED
-        #define GTV(B,H) (B)
-      #else
+      #elif BOTH(THERMAL_PROTECTION_HOTENDS, PIDTEMP)
         #define GTV(B,H) (H)
+      #else
+        #define GTV(B,H) (B)
       #endif
       const uint16_t watch_temp_period = GTV(WATCH_BED_TEMP_PERIOD, WATCH_TEMP_PERIOD);
       const uint8_t watch_temp_increase = GTV(WATCH_BED_TEMP_INCREASE, WATCH_TEMP_INCREASE);
@@ -528,7 +528,7 @@ volatile bool Temperature::raw_temps_ready = false;
         next_temp_ms = ms + 2000UL;
 
         // Make sure heating is actually working
-        #if WATCH_BED || WATCH_HOTENDS
+        #if WATCH_PID
           if (BOTH(WATCH_BED, WATCH_HOTENDS) || isbed == DISABLED(WATCH_HOTENDS)) {
             if (!heated) {                                            // If not yet reached target...
               if (current_temp > next_watch_temp) {                   // Over the watch temp?
diff --git a/buildroot/share/tests/mks_robin_pro-tests b/buildroot/share/tests/mks_robin_pro-tests
index 4b437e0e0..cfd36832f 100644
--- a/buildroot/share/tests/mks_robin_pro-tests
+++ b/buildroot/share/tests/mks_robin_pro-tests
@@ -10,7 +10,9 @@ use_example_configs Mks/Robin_Pro
 opt_set SDCARD_CONNECTION LCD
 opt_set X_DRIVER_TYPE TMC2209
 opt_set Y_DRIVER_TYPE TMC2130
-exec_test $1 $2 "MKS Robin Pro with TMC Drivers "
+opt_set TEMP_SENSOR_BED 1
+opt_disable THERMAL_PROTECTION_HOTENDS
+exec_test $1 $2 "MKS Robin Pro with TMC Drivers, hotend thermal protection disabled"
 
 # cleanup
-restore_configs
+#restore_configs
diff --git a/buildroot/share/tests/rumba32_f446ve-tests b/buildroot/share/tests/rumba32_f446ve-tests
index a0286b54a..868bbe533 100644
--- a/buildroot/share/tests/rumba32_f446ve-tests
+++ b/buildroot/share/tests/rumba32_f446ve-tests
@@ -10,8 +10,12 @@ set -e
 restore_configs
 opt_set MOTHERBOARD BOARD_RUMBA32_AUS3D
 opt_set SERIAL_PORT -1
+opt_disable PIDTEMP
+opt_enable PIDTEMPBED
+opt_set TEMP_SENSOR_BED 1
+opt_disable THERMAL_PROTECTION_BED
 opt_set X_DRIVER_TYPE TMC2130
-exec_test $1 $2 "rumba32_f446ve Default Config with TMC2130"
+exec_test $1 $2 "rumba32_f446ve with TMC2130, PID Bed, and bed thermal protection disabled"
 
 # cleanup
 restore_configs