diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 49277eb7b..a9812889e 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/AlephObjects/TAZ4/Configuration_adv.h b/Marlin/example_configurations/AlephObjects/TAZ4/Configuration_adv.h
index 056a7704c..0b9580433 100644
--- a/Marlin/example_configurations/AlephObjects/TAZ4/Configuration_adv.h
+++ b/Marlin/example_configurations/AlephObjects/TAZ4/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Anet/A6/Configuration_adv.h b/Marlin/example_configurations/Anet/A6/Configuration_adv.h
index 38cf11283..7449538e8 100644
--- a/Marlin/example_configurations/Anet/A6/Configuration_adv.h
+++ b/Marlin/example_configurations/Anet/A6/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Anet/A8/Configuration_adv.h b/Marlin/example_configurations/Anet/A8/Configuration_adv.h
index 0ca291ff3..09147d3d8 100644
--- a/Marlin/example_configurations/Anet/A8/Configuration_adv.h
+++ b/Marlin/example_configurations/Anet/A8/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/BIBO/TouchX/Cyclops/Configuration_adv.h b/Marlin/example_configurations/BIBO/TouchX/Cyclops/Configuration_adv.h
index 99750968c..303e537c1 100644
--- a/Marlin/example_configurations/BIBO/TouchX/Cyclops/Configuration_adv.h
+++ b/Marlin/example_configurations/BIBO/TouchX/Cyclops/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/BIBO/TouchX/default/Configuration_adv.h b/Marlin/example_configurations/BIBO/TouchX/default/Configuration_adv.h
index 49277eb7b..a9812889e 100644
--- a/Marlin/example_configurations/BIBO/TouchX/default/Configuration_adv.h
+++ b/Marlin/example_configurations/BIBO/TouchX/default/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/BQ/Hephestos/Configuration_adv.h b/Marlin/example_configurations/BQ/Hephestos/Configuration_adv.h
index 7057bcb67..419db26df 100644
--- a/Marlin/example_configurations/BQ/Hephestos/Configuration_adv.h
+++ b/Marlin/example_configurations/BQ/Hephestos/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/BQ/Hephestos_2/Configuration_adv.h b/Marlin/example_configurations/BQ/Hephestos_2/Configuration_adv.h
index 128962c27..69e7ce23c 100644
--- a/Marlin/example_configurations/BQ/Hephestos_2/Configuration_adv.h
+++ b/Marlin/example_configurations/BQ/Hephestos_2/Configuration_adv.h
@@ -816,9 +816,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/BQ/WITBOX/Configuration_adv.h b/Marlin/example_configurations/BQ/WITBOX/Configuration_adv.h
index 7057bcb67..419db26df 100644
--- a/Marlin/example_configurations/BQ/WITBOX/Configuration_adv.h
+++ b/Marlin/example_configurations/BQ/WITBOX/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Cartesio/Configuration_adv.h b/Marlin/example_configurations/Cartesio/Configuration_adv.h
index 48a206632..4596ca676 100644
--- a/Marlin/example_configurations/Cartesio/Configuration_adv.h
+++ b/Marlin/example_configurations/Cartesio/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Creality/CR-10/Configuration_adv.h b/Marlin/example_configurations/Creality/CR-10/Configuration_adv.h
index dda74411e..70b634032 100755
--- a/Marlin/example_configurations/Creality/CR-10/Configuration_adv.h
+++ b/Marlin/example_configurations/Creality/CR-10/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Creality/CR-10S/Configuration_adv.h b/Marlin/example_configurations/Creality/CR-10S/Configuration_adv.h
index d21e5c28a..cfec660d6 100644
--- a/Marlin/example_configurations/Creality/CR-10S/Configuration_adv.h
+++ b/Marlin/example_configurations/Creality/CR-10S/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Creality/CR-10mini/Configuration_adv.h b/Marlin/example_configurations/Creality/CR-10mini/Configuration_adv.h
index 94c6b8740..997f7fe51 100644
--- a/Marlin/example_configurations/Creality/CR-10mini/Configuration_adv.h
+++ b/Marlin/example_configurations/Creality/CR-10mini/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Creality/CR-8/Configuration_adv.h b/Marlin/example_configurations/Creality/CR-8/Configuration_adv.h
index a9f96b1ec..05f2ead73 100644
--- a/Marlin/example_configurations/Creality/CR-8/Configuration_adv.h
+++ b/Marlin/example_configurations/Creality/CR-8/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Creality/Ender-2/Configuration_adv.h b/Marlin/example_configurations/Creality/Ender-2/Configuration_adv.h
index 305a11d25..43cbef0e0 100644
--- a/Marlin/example_configurations/Creality/Ender-2/Configuration_adv.h
+++ b/Marlin/example_configurations/Creality/Ender-2/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Creality/Ender-3/Configuration_adv.h b/Marlin/example_configurations/Creality/Ender-3/Configuration_adv.h
index 90ea6c654..edca48c84 100644
--- a/Marlin/example_configurations/Creality/Ender-3/Configuration_adv.h
+++ b/Marlin/example_configurations/Creality/Ender-3/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Creality/Ender-4/Configuration_adv.h b/Marlin/example_configurations/Creality/Ender-4/Configuration_adv.h
index a9f96b1ec..05f2ead73 100644
--- a/Marlin/example_configurations/Creality/Ender-4/Configuration_adv.h
+++ b/Marlin/example_configurations/Creality/Ender-4/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Felix/Configuration_adv.h b/Marlin/example_configurations/Felix/Configuration_adv.h
index 4838fea0a..b2baba412 100644
--- a/Marlin/example_configurations/Felix/Configuration_adv.h
+++ b/Marlin/example_configurations/Felix/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/FolgerTech/i3-2020/Configuration_adv.h b/Marlin/example_configurations/FolgerTech/i3-2020/Configuration_adv.h
index ea5418d6f..6a2566a61 100644
--- a/Marlin/example_configurations/FolgerTech/i3-2020/Configuration_adv.h
+++ b/Marlin/example_configurations/FolgerTech/i3-2020/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Geeetech/Prusa i3 Pro C/Configuration_adv.h b/Marlin/example_configurations/Geeetech/Prusa i3 Pro C/Configuration_adv.h
index 2bba59822..fced2be99 100644
--- a/Marlin/example_configurations/Geeetech/Prusa i3 Pro C/Configuration_adv.h	
+++ b/Marlin/example_configurations/Geeetech/Prusa i3 Pro C/Configuration_adv.h	
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Geeetech/Prusa i3 Pro W/Configuration_adv.h b/Marlin/example_configurations/Geeetech/Prusa i3 Pro W/Configuration_adv.h
index 2bba59822..fced2be99 100644
--- a/Marlin/example_configurations/Geeetech/Prusa i3 Pro W/Configuration_adv.h	
+++ b/Marlin/example_configurations/Geeetech/Prusa i3 Pro W/Configuration_adv.h	
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Infitary/i3-M508/Configuration_adv.h b/Marlin/example_configurations/Infitary/i3-M508/Configuration_adv.h
index 36e71ef0c..b82e29065 100644
--- a/Marlin/example_configurations/Infitary/i3-M508/Configuration_adv.h
+++ b/Marlin/example_configurations/Infitary/i3-M508/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/JGAurora/A5/Configuration_adv.h b/Marlin/example_configurations/JGAurora/A5/Configuration_adv.h
index 52e69abba..003f5fcb3 100644
--- a/Marlin/example_configurations/JGAurora/A5/Configuration_adv.h
+++ b/Marlin/example_configurations/JGAurora/A5/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Malyan/M150/Configuration_adv.h b/Marlin/example_configurations/Malyan/M150/Configuration_adv.h
index bcd29ec4e..fcddc9fa4 100644
--- a/Marlin/example_configurations/Malyan/M150/Configuration_adv.h
+++ b/Marlin/example_configurations/Malyan/M150/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Micromake/C1/enhanced/Configuration_adv.h b/Marlin/example_configurations/Micromake/C1/enhanced/Configuration_adv.h
index 1bdb066b5..bc67ab6e7 100644
--- a/Marlin/example_configurations/Micromake/C1/enhanced/Configuration_adv.h
+++ b/Marlin/example_configurations/Micromake/C1/enhanced/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/RigidBot/Configuration_adv.h b/Marlin/example_configurations/RigidBot/Configuration_adv.h
index 8bfb9a9a7..ad3f5ca34 100644
--- a/Marlin/example_configurations/RigidBot/Configuration_adv.h
+++ b/Marlin/example_configurations/RigidBot/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/SCARA/Configuration_adv.h b/Marlin/example_configurations/SCARA/Configuration_adv.h
index f391e53f7..d552c99a2 100644
--- a/Marlin/example_configurations/SCARA/Configuration_adv.h
+++ b/Marlin/example_configurations/SCARA/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Sanguinololu/Configuration_adv.h b/Marlin/example_configurations/Sanguinololu/Configuration_adv.h
index e25fe7fb5..3f2479dce 100644
--- a/Marlin/example_configurations/Sanguinololu/Configuration_adv.h
+++ b/Marlin/example_configurations/Sanguinololu/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/TinyBoy2/Configuration_adv.h b/Marlin/example_configurations/TinyBoy2/Configuration_adv.h
index b80b9d0d3..6be438091 100644
--- a/Marlin/example_configurations/TinyBoy2/Configuration_adv.h
+++ b/Marlin/example_configurations/TinyBoy2/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Velleman/K8200/Configuration_adv.h b/Marlin/example_configurations/Velleman/K8200/Configuration_adv.h
index e0aa64d1b..611527365 100644
--- a/Marlin/example_configurations/Velleman/K8200/Configuration_adv.h
+++ b/Marlin/example_configurations/Velleman/K8200/Configuration_adv.h
@@ -811,9 +811,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Velleman/K8400/Configuration_adv.h b/Marlin/example_configurations/Velleman/K8400/Configuration_adv.h
index 5bfe2226a..2cf3e5dd2 100644
--- a/Marlin/example_configurations/Velleman/K8400/Configuration_adv.h
+++ b/Marlin/example_configurations/Velleman/K8400/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/Wanhao/Duplicator 6/Configuration_adv.h b/Marlin/example_configurations/Wanhao/Duplicator 6/Configuration_adv.h
index 9c7080a15..f60a73944 100644
--- a/Marlin/example_configurations/Wanhao/Duplicator 6/Configuration_adv.h	
+++ b/Marlin/example_configurations/Wanhao/Duplicator 6/Configuration_adv.h	
@@ -810,9 +810,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration_adv.h b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration_adv.h
index f964a22d0..fb8fd2128 100644
--- a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration_adv.h
@@ -810,9 +810,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/delta/FLSUN/kossel/Configuration_adv.h b/Marlin/example_configurations/delta/FLSUN/kossel/Configuration_adv.h
index eb2a0b0f8..2800709b0 100644
--- a/Marlin/example_configurations/delta/FLSUN/kossel/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/FLSUN/kossel/Configuration_adv.h
@@ -810,9 +810,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration_adv.h b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration_adv.h
index 2786d9636..76adc2566 100644
--- a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration_adv.h
@@ -810,9 +810,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/delta/generic/Configuration_adv.h b/Marlin/example_configurations/delta/generic/Configuration_adv.h
index 2786d9636..76adc2566 100644
--- a/Marlin/example_configurations/delta/generic/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/generic/Configuration_adv.h
@@ -810,9 +810,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
index 2786d9636..76adc2566 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
@@ -810,9 +810,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
index 8fac2a60e..de1eb20a9 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
@@ -815,9 +815,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
index d41fb71d6..6842e07cc 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
@@ -810,9 +810,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/gCreate/gMax1.5+/Configuration_adv.h b/Marlin/example_configurations/gCreate/gMax1.5+/Configuration_adv.h
index 9235769d2..64a962724 100644
--- a/Marlin/example_configurations/gCreate/gMax1.5+/Configuration_adv.h
+++ b/Marlin/example_configurations/gCreate/gMax1.5+/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/makibox/Configuration_adv.h b/Marlin/example_configurations/makibox/Configuration_adv.h
index f01718f4d..90819c935 100644
--- a/Marlin/example_configurations/makibox/Configuration_adv.h
+++ b/Marlin/example_configurations/makibox/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
index 225218896..24932bf3a 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
@@ -808,9 +808,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/example_configurations/wt150/Configuration_adv.h b/Marlin/example_configurations/wt150/Configuration_adv.h
index b670c1792..e4c68840c 100644
--- a/Marlin/example_configurations/wt150/Configuration_adv.h
+++ b/Marlin/example_configurations/wt150/Configuration_adv.h
@@ -809,9 +809,22 @@
 // Moves (or segments) with fewer steps than this will be joined with the next move
 #define MIN_STEPS_PER_SEGMENT 6
 
+/**
+ * Minimum delay 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
+ *  500 : Minimum for LV8729 drivers (guess, no info in datasheet)
+ *  650 : Minimum for DRV8825 drivers
+ * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet)
+ *15000 : Minimum for TB6560 drivers (guess, no info in datasheet)
+ */
+#define MINIMUM_STEPPER_DIR_DELAY 0
+
 /**
  * Minimum stepper driver pulse width (in µs)
  *   0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers
+ *   1 : Minimum for A4988 stepper drivers
  *   1 : Minimum for LV8729 stepper drivers
  *   2 : Minimum for DRV8825 stepper drivers
  *   3 : Minimum for TB6600 stepper drivers
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 8255bb13f..cedf8e41c 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -688,7 +688,7 @@ class Planner {
      */
     FORCE_INLINE static void discard_current_block() {
       if (has_blocks_queued()) { // Discard non-empty buffer.
-        uint8_t block_index = next_block_index( block_buffer_tail );
+        uint8_t block_index = next_block_index(block_buffer_tail);
 
         // Push block_buffer_planned pointer, if encountered.
         if (!has_blocks_queued()) block_buffer_planned = block_index;
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 453b1fa76..680559193 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -379,6 +379,11 @@ void Stepper::set_directions() {
       }
     #endif
   #endif // !LIN_ADVANCE
+
+  // A small delay may be needed after changing direction
+  #if MINIMUM_STEPPER_DIR_DELAY > 0
+    DELAY_NS(MINIMUM_STEPPER_DIR_DELAY);
+  #endif
 }
 
 #if ENABLED(S_CURVE_ACCELERATION)