diff --git a/Marlin/src/module/stepper/indirection.cpp b/Marlin/src/module/stepper/indirection.cpp
index 6f9ac9ba0..6297d8336 100644
--- a/Marlin/src/module/stepper/indirection.cpp
+++ b/Marlin/src/module/stepper/indirection.cpp
@@ -43,3 +43,8 @@ void reset_stepper_drivers() {
   TERN_(HAS_L64XX, L64xxManager.init_to_defaults());
   TERN_(HAS_TRINAMIC_CONFIG, reset_trinamic_drivers());
 }
+
+#if ENABLED(SOFTWARE_DRIVER_ENABLE)
+  // Flags to optimize XYZ Enabled state
+  xyz_bool_t axis_sw_enabled; // = { false, false, false }
+#endif
diff --git a/Marlin/src/module/stepper/indirection.h b/Marlin/src/module/stepper/indirection.h
index dfdd63b05..04cebc216 100644
--- a/Marlin/src/module/stepper/indirection.h
+++ b/Marlin/src/module/stepper/indirection.h
@@ -843,22 +843,32 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
 //
 // Axis steppers enable / disable macros
 //
+#if ENABLED(SOFTWARE_DRIVER_ENABLE)
+  // Avoid expensive calls to enable / disable steppers
+  extern xyz_bool_t axis_sw_enabled;
+  #define SHOULD_ENABLE(N)  !axis_sw_enabled.N
+  #define SHOULD_DISABLE(N)  axis_sw_enabled.N
+  #define AFTER_CHANGE(N,TF) axis_sw_enabled.N = TF
+#else
+  #define SHOULD_ENABLE(N)   true
+  #define SHOULD_DISABLE(N)  true
+  #define AFTER_CHANGE(N,TF) NOOP
+#endif
+
+#define  ENABLE_AXIS_X() if (SHOULD_ENABLE(x))  {  ENABLE_STEPPER_X();  ENABLE_STEPPER_X2(); AFTER_CHANGE(x, true); }
+#define DISABLE_AXIS_X() if (SHOULD_DISABLE(x)) { DISABLE_STEPPER_X(); DISABLE_STEPPER_X2(); AFTER_CHANGE(x, false); FORGET_AXIS(X_AXIS); }
+#define  ENABLE_AXIS_Y() if (SHOULD_ENABLE(y))  {  ENABLE_STEPPER_Y();  ENABLE_STEPPER_Y2(); AFTER_CHANGE(y, true); }
+#define DISABLE_AXIS_Y() if (SHOULD_DISABLE(y)) { DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); AFTER_CHANGE(y, false); FORGET_AXIS(Y_AXIS); }
+#define  ENABLE_AXIS_Z() if (SHOULD_ENABLE(z))  {  ENABLE_STEPPER_Z();  ENABLE_STEPPER_Z2();  ENABLE_STEPPER_Z3(); AFTER_CHANGE(z, true); }
+#define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); AFTER_CHANGE(z, false); FORGET_AXIS(Z_AXIS); Z_RESET(); }
+
 #define FORGET_AXIS(A) TERN(HOME_AFTER_DEACTIVATE, set_axis_never_homed(A), CBI(axis_known_position, A))
 
-#define  ENABLE_AXIS_X() do{ ENABLE_STEPPER_X(); ENABLE_STEPPER_X2(); }while(0)
-#define DISABLE_AXIS_X() do{ DISABLE_STEPPER_X(); DISABLE_STEPPER_X2(); FORGET_AXIS(X_AXIS); }while(0)
-
-#define  ENABLE_AXIS_Y() do{ ENABLE_STEPPER_Y(); ENABLE_STEPPER_Y2(); }while(0)
-#define DISABLE_AXIS_Y() do{ DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); FORGET_AXIS(Y_AXIS); }while(0)
-
-#define  ENABLE_AXIS_Z() do{ ENABLE_STEPPER_Z();  ENABLE_STEPPER_Z2();  ENABLE_STEPPER_Z3();  ENABLE_STEPPER_Z4(); }while(0)
-
 #ifdef Z_AFTER_DEACTIVATE
   #define Z_RESET() do{ current_position.z = Z_AFTER_DEACTIVATE; sync_plan_position(); }while(0)
 #else
   #define Z_RESET()
 #endif
-#define DISABLE_AXIS_Z() do{ DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); FORGET_AXIS(Z_AXIS); Z_RESET(); }while(0)
 
 //
 // Extruder steppers enable / disable macros
diff --git a/buildroot/tests/NUCLEO_F767ZI-tests b/buildroot/tests/NUCLEO_F767ZI-tests
index 1a2e7c836..bd5ca8697 100644
--- a/buildroot/tests/NUCLEO_F767ZI-tests
+++ b/buildroot/tests/NUCLEO_F767ZI-tests
@@ -12,7 +12,7 @@ set -e
 restore_configs
 opt_set MOTHERBOARD BOARD_NUCLEO_F767ZI
 opt_set SERIAL_PORT -1
-opt_enable BLTOUCH Z_SAFE_HOMING SPEAKER
+opt_enable BLTOUCH Z_SAFE_HOMING SPEAKER SOFTWARE_DRIVER_ENABLE
 opt_set X_DRIVER_TYPE TMC2209
 opt_set Y_DRIVER_TYPE TMC2208
 exec_test $1 $2 "Mixed timer usage" "$3"
diff --git a/buildroot/tests/esp32-tests b/buildroot/tests/esp32-tests
index 283d02f7e..310eea298 100755
--- a/buildroot/tests/esp32-tests
+++ b/buildroot/tests/esp32-tests
@@ -34,7 +34,7 @@ opt_set X_SLAVE_ADDRESS 0
 opt_set Y_SLAVE_ADDRESS 1
 opt_set Z_SLAVE_ADDRESS 2
 opt_set E0_SLAVE_ADDRESS 3
-opt_enable HOTEND_IDLE_TIMEOUT
+opt_enable HOTEND_IDLE_TIMEOUT SOFTWARE_DRIVER_ENABLE
 exec_test $1 $2 "ESP32, TMC HW Serial, Hotend Idle" "$3"
 
 # cleanup