diff --git a/Marlin/Conditionals.h b/Marlin/Conditionals.h
index bed26bffd..464ead540 100644
--- a/Marlin/Conditionals.h
+++ b/Marlin/Conditionals.h
@@ -526,6 +526,7 @@
     #endif
     #if (X_ENDSTOP_SERVO_NR >= 0) || (Y_ENDSTOP_SERVO_NR >= 0) || (Z_ENDSTOP_SERVO_NR >= 0)
       #define SERVO_ENDSTOPS {X_ENDSTOP_SERVO_NR, Y_ENDSTOP_SERVO_NR, Z_ENDSTOP_SERVO_NR}
+      #define HAS_SERVO_ENDSTOPS true
     #endif
   #endif
 
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 4395ca349..ef439efd8 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -314,8 +314,8 @@ bool target_direction;
   };
 #endif
 
-#ifdef SERVO_ENDSTOPS
   const int servo_endstops[] = SERVO_ENDSTOPS;
+#if HAS_SERVO_ENDSTOPS
   const int servo_endstop_angles[][2] = SERVO_ENDSTOP_ANGLES;
 #endif
 
@@ -578,7 +578,7 @@ void servo_init() {
   #endif
 
   // Set position of Servo Endstops that are defined
-  #ifdef SERVO_ENDSTOPS
+  #if HAS_SERVO_ENDSTOPS
     for (int i = 0; i < 3; i++)
       if (servo_endstops[i] >= 0)
         servo[servo_endstops[i]].move(servo_endstop_angles[i][1]);
@@ -1322,7 +1322,7 @@ static void setup_for_endstop_move() {
 
   static void deploy_z_probe() {
 
-    #ifdef SERVO_ENDSTOPS
+    #if HAS_SERVO_ENDSTOPS
 
       // Engage Z Servo endstop if enabled
       if (servo_endstops[Z_AXIS] >= 0) servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS][0]);
@@ -1412,7 +1412,7 @@ static void setup_for_endstop_move() {
 
   static void stow_z_probe(bool doRaise=true) {
 
-    #ifdef SERVO_ENDSTOPS
+    #if HAS_SERVO_ENDSTOPS
 
       // Retract Z Servo endstop if enabled
       if (servo_endstops[Z_AXIS] >= 0) {
@@ -1676,7 +1676,7 @@ static void homeaxis(AxisEnum axis) {
 
     #endif
 
-    #ifdef SERVO_ENDSTOPS
+    #if HAS_SERVO_ENDSTOPS
       // Engage Servo endstop if enabled
       if (axis != Z_AXIS && servo_endstops[axis] >= 0)
         servo[servo_endstops[axis]].move(servo_endstop_angles[axis][0]);
@@ -1778,7 +1778,7 @@ static void homeaxis(AxisEnum axis) {
     #endif
 
     {
-      #ifdef SERVO_ENDSTOPS
+      #if HAS_SERVO_ENDSTOPS
         // Retract Servo endstop if enabled
         if (servo_endstops[axis] >= 0)
           servo[servo_endstops[axis]].move(servo_endstop_angles[axis][1]);
@@ -2778,7 +2778,7 @@ inline void gcode_G28() {
         //      added here, it could be seen as a compensating factor for the Z probe.
         //
         current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
-          #if defined(SERVO_ENDSTOPS) || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
+          #if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
              + Z_RAISE_AFTER_PROBING
           #endif
           ;
@@ -4570,9 +4570,9 @@ inline void gcode_M303() {
  */
 inline void gcode_M400() { st_synchronize(); }
 
-#if defined(ENABLE_AUTO_BED_LEVELING) && !defined(Z_PROBE_SLED) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY))
+#if defined(ENABLE_AUTO_BED_LEVELING) && !defined(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || defined(Z_PROBE_ALLEN_KEY))
 
-  #ifdef SERVO_ENDSTOPS
+  #if HAS_SERVO_ENDSTOPS
     void raise_z_for_servo() {
       float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_HOMING;
       z_dest += axis_known_position[Z_AXIS] ? zprobe_zoffset : zpos;
@@ -4584,7 +4584,7 @@ inline void gcode_M400() { st_synchronize(); }
    * M401: Engage Z Servo endstop if available
    */
   inline void gcode_M401() {
-    #ifdef SERVO_ENDSTOPS
+    #if HAS_SERVO_ENDSTOPS
       raise_z_for_servo();
     #endif
     deploy_z_probe();
@@ -4594,13 +4594,13 @@ inline void gcode_M400() { st_synchronize(); }
    * M402: Retract Z Servo endstop if enabled
    */
   inline void gcode_M402() {
-    #ifdef SERVO_ENDSTOPS
+    #if HAS_SERVO_ENDSTOPS
       raise_z_for_servo();
     #endif
     stow_z_probe(false);
   }
 
-#endif // ENABLE_AUTO_BED_LEVELING && (SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
+#endif // ENABLE_AUTO_BED_LEVELING && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
 
 #ifdef FILAMENT_SENSOR
 
@@ -5645,14 +5645,14 @@ void process_next_command() {
         gcode_M400();
         break;
 
-      #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && !defined(Z_PROBE_SLED)
+      #if defined(ENABLE_AUTO_BED_LEVELING) && (HAS_SERVO_ENDSTOPS || defined(Z_PROBE_ALLEN_KEY)) && !defined(Z_PROBE_SLED)
         case 401:
           gcode_M401();
           break;
         case 402:
           gcode_M402();
           break;
-      #endif // ENABLE_AUTO_BED_LEVELING && (SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
+      #endif // ENABLE_AUTO_BED_LEVELING && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
 
       #ifdef FILAMENT_SENSOR
         case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index 867144c3e..b6bd644b4 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -98,7 +98,7 @@
   /**
    * Servo deactivation depends on servo endstops
    */
-  #if defined(DEACTIVATE_SERVOS_AFTER_MOVE) && !defined(SERVO_ENDSTOPS)
+  #if defined(DEACTIVATE_SERVOS_AFTER_MOVE) && !HAS_SERVO_ENDSTOPS
     #error At least one of the ?_ENDSTOP_SERVO_NR is required for DEACTIVATE_SERVOS_AFTER_MOVE.
   #endif