diff --git a/Marlin/src/core/drivers.h b/Marlin/src/core/drivers.h
index 37654dc11..707926791 100644
--- a/Marlin/src/core/drivers.h
+++ b/Marlin/src/core/drivers.h
@@ -131,6 +131,7 @@
 
 #define AXIS_HAS_RXTX AXIS_HAS_UART
 
+#define AXIS_HAS_HW_SERIAL(A) ( AXIS_HAS_UART(A) &&  defined(A##_HARDWARE_SERIAL) )
 #define AXIS_HAS_SW_SERIAL(A) ( AXIS_HAS_UART(A) && !defined(A##_HARDWARE_SERIAL) )
 
 #define AXIS_HAS_STALLGUARD(A)   (    AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index f66c2f16a..26cad8797 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -1549,6 +1549,9 @@
   #define HAS_E_STEPPER_ENABLE 1
 #endif
 
+#if ANY_AXIS_HAS(HW_SERIAL)
+  #define HAS_TMC_HW_SERIAL 1
+#endif
 #if ANY_AXIS_HAS(SW_SERIAL)
   #define HAS_TMC_SW_SERIAL 1
 #endif
diff --git a/Marlin/src/module/stepper/trinamic.cpp b/Marlin/src/module/stepper/trinamic.cpp
index e2bf706bf..ed238ede7 100644
--- a/Marlin/src/module/stepper/trinamic.cpp
+++ b/Marlin/src/module/stepper/trinamic.cpp
@@ -318,15 +318,19 @@ enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E };
   enum TMCAxis : uint8_t { X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7, TOTAL };
 
   void tmc_serial_begin() {
-    struct {
-      const void *ptr[TMCAxis::TOTAL];
-      bool began(const TMCAxis a, const void * const p) {
-        LOOP_L_N(i, a) if (p == ptr[i]) return true;
-        ptr[a] = p; return false;
-      };
-    } sp_helper;
-    #define HW_SERIAL_BEGIN(A) do{ if (!sp_helper.began(TMCAxis::A, &A##_HARDWARE_SERIAL)) \
-                                         A##_HARDWARE_SERIAL.begin(TMC_BAUD_RATE); }while(0)
+    #if HAS_TMC_HW_SERIAL
+      struct {
+        const void *ptr[TMCAxis::TOTAL];
+        bool began(const TMCAxis a, const void * const p) {
+          LOOP_L_N(i, a) if (p == ptr[i]) return true;
+          ptr[a] = p; return false;
+        };
+      } sp_helper;
+
+      #define HW_SERIAL_BEGIN(A) do{ if (!sp_helper.began(TMCAxis::A, &A##_HARDWARE_SERIAL)) \
+                                          A##_HARDWARE_SERIAL.begin(TMC_BAUD_RATE); }while(0)
+    #endif
+
     #if AXIS_HAS_UART(X)
       #ifdef X_HARDWARE_SERIAL
         HW_SERIAL_BEGIN(X);
diff --git a/buildroot/share/tests/STM32F103RC_btt-tests b/buildroot/share/tests/STM32F103RC_btt-tests
index 8805c748a..8780eb535 100644
--- a/buildroot/share/tests/STM32F103RC_btt-tests
+++ b/buildroot/share/tests/STM32F103RC_btt-tests
@@ -13,7 +13,11 @@ restore_configs
 opt_set MOTHERBOARD BOARD_BTT_SKR_MINI_E3_V1_0
 opt_set SERIAL_PORT 1
 opt_set SERIAL_PORT_2 -1
-exec_test $1 $2 "BigTreeTech SKR Mini E3 - Basic Configuration"
+opt_set X_DRIVER_TYPE TMC2209
+opt_set Y_DRIVER_TYPE TMC2209
+opt_set Z_DRIVER_TYPE TMC2209
+opt_set E_DRIVER_TYPE TMC2209
+exec_test $1 $2 "BigTreeTech SKR Mini E3 1.0 - Basic Config with TMC2209 HW Serial"
 
 # clean up
 restore_configs
diff --git a/buildroot/share/tests/STM32F103RE_btt-tests b/buildroot/share/tests/STM32F103RE_btt-tests
index 77751d776..9a829a553 100644
--- a/buildroot/share/tests/STM32F103RE_btt-tests
+++ b/buildroot/share/tests/STM32F103RE_btt-tests
@@ -13,7 +13,9 @@ restore_configs
 opt_set MOTHERBOARD BOARD_BTT_SKR_E3_DIP
 opt_set SERIAL_PORT 1
 opt_set SERIAL_PORT_2 -1
-exec_test $1 $2 "BigTreeTech SKR E3 DIP v1.0 - Basic Configuration"
+opt_set X_DRIVER_TYPE TMC2209
+opt_set Y_DRIVER_TYPE TMC2130
+exec_test $1 $2 "BigTreeTech SKR E3 DIP v1.0 - Basic Config with mixed TMC Drivers"
 
 # clean up
 restore_configs