diff --git a/Marlin/src/HAL/HAL_AVR/HAL.h b/Marlin/src/HAL/HAL_AVR/HAL.h
index 3ce7d53ef..84cdc865f 100644
--- a/Marlin/src/HAL/HAL_AVR/HAL.h
+++ b/Marlin/src/HAL/HAL_AVR/HAL.h
@@ -170,8 +170,6 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t freque
 
 #define _CAT(a, ...) a ## __VA_ARGS__
 #define HAL_timer_set_compare(timer, compare) (_CAT(TIMER_OCR_, timer) = compare)
-#define HAL_timer_restrain(timer, interval_ticks) NOLESS(_CAT(TIMER_OCR_, timer), _CAT(TIMER_COUNTER_, timer) + interval_ticks)
-
 #define HAL_timer_get_compare(timer) _CAT(TIMER_OCR_, timer)
 #define HAL_timer_get_count(timer) _CAT(TIMER_COUNTER_, timer)
 
diff --git a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
index 871ef995e..dd342f547 100644
--- a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
+++ b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.h
@@ -109,12 +109,6 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
   return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV;
 }
 
-// if counter too high then bump up compare
-FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
-  const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
-  if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
-}
-
 void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
diff --git a/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h b/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h
index 2ddaf2dcf..a2d0c0b6d 100644
--- a/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h
+++ b/Marlin/src/HAL/HAL_ESP32/HAL_timers_ESP32.h
@@ -98,12 +98,6 @@ void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t count);
 hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
 hal_timer_t HAL_timer_get_count(const uint8_t timer_num);
 
-// if counter too high then bump up compare
-FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
-  const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
-  if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
-}
-
 void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
diff --git a/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h b/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
index 211333538..4257028fc 100644
--- a/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
+++ b/Marlin/src/HAL/HAL_LPC1768/HAL_timers.h
@@ -127,11 +127,6 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
   return 0;
 }
 
-FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
-  const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
-  if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
-}
-
 FORCE_INLINE static void HAL_timer_enable_interrupt(const uint8_t timer_num) {
   switch (timer_num) {
     case 0: NVIC_EnableIRQ(TIMER0_IRQn); // Enable interrupt handler
diff --git a/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h b/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
index 132cf4d22..98542f837 100644
--- a/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
+++ b/Marlin/src/HAL/HAL_STM32F1/HAL_timers_Stm32f1.h
@@ -151,11 +151,6 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
   }
 }
 
-FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
-  const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
-  if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
-}
-
 FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
   switch (timer_num) {
   case STEP_TIMER_NUM:
diff --git a/Marlin/src/HAL/HAL_STM32F4/HAL_timers_STM32F4.h b/Marlin/src/HAL/HAL_STM32F4/HAL_timers_STM32F4.h
index 943550d13..83081ed75 100644
--- a/Marlin/src/HAL/HAL_STM32F4/HAL_timers_STM32F4.h
+++ b/Marlin/src/HAL/HAL_STM32F4/HAL_timers_STM32F4.h
@@ -120,12 +120,6 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
   return __HAL_TIM_GET_AUTORELOAD(&TimerHandle[timer_num].handle);
 }
 
-FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
-  const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
-  if (HAL_timer_get_compare(timer_num) < mincmp)
-    HAL_timer_set_compare(timer_num, mincmp);
-}
-
 #ifdef STM32GENERIC
   FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) {
     if (__HAL_TIM_GET_FLAG(&TimerHandle[timer_num].handle, TIM_FLAG_UPDATE) == SET)
diff --git a/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp b/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp
index c6b22fd44..8aaa1dbab 100644
--- a/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp
+++ b/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.cpp
@@ -142,11 +142,6 @@ uint32_t HAL_timer_get_count(const uint8_t timer_num) {
   return __HAL_TIM_GetCounter(&timerConfig[timer_num].timerdef);
 }
 
-void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
-  const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
-  if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
-}
-
 void HAL_timer_isr_prologue(const uint8_t timer_num) {
   if (__HAL_TIM_GET_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE) == SET) {
     __HAL_TIM_CLEAR_FLAG(&timerConfig[timer_num].timerdef, TIM_FLAG_UPDATE);
diff --git a/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h b/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
index a97bad75f..65bf5700e 100644
--- a/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
+++ b/Marlin/src/HAL/HAL_STM32F7/HAL_timers_STM32F7.h
@@ -96,8 +96,6 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num);
 void HAL_timer_set_compare(const uint8_t timer_num, const uint32_t compare);
 hal_timer_t HAL_timer_get_compare(const uint8_t timer_num);
 uint32_t HAL_timer_get_count(const uint8_t timer_num);
-void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks);
-
 void HAL_timer_isr_prologue(const uint8_t timer_num);
 #define HAL_timer_isr_epilogue(TIMER_NUM)
 
diff --git a/Marlin/src/HAL/HAL_TEENSY31_32/HAL_timers_Teensy.h b/Marlin/src/HAL/HAL_TEENSY31_32/HAL_timers_Teensy.h
index bef5e5a91..7a50b04c2 100644
--- a/Marlin/src/HAL/HAL_TEENSY31_32/HAL_timers_Teensy.h
+++ b/Marlin/src/HAL/HAL_TEENSY31_32/HAL_timers_Teensy.h
@@ -100,11 +100,6 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
   return 0;
 }
 
-FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
-  const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
-  if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
-}
-
 void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
diff --git a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
index 5fed19e31..b44c31015 100644
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
@@ -102,11 +102,6 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
   return 0;
 }
 
-FORCE_INLINE static void HAL_timer_restrain(const uint8_t timer_num, const uint16_t interval_ticks) {
-  const hal_timer_t mincmp = HAL_timer_get_count(timer_num) + interval_ticks;
-  if (HAL_timer_get_compare(timer_num) < mincmp) HAL_timer_set_compare(timer_num, mincmp);
-}
-
 void HAL_timer_enable_interrupt(const uint8_t timer_num);
 void HAL_timer_disable_interrupt(const uint8_t timer_num);
 bool HAL_timer_interrupt_enabled(const uint8_t timer_num);