diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h
index 4753f78d91fef..c878d86faedda 100644
--- a/Marlin/src/feature/tmc_util.h
+++ b/Marlin/src/feature/tmc_util.h
@@ -360,13 +360,6 @@ void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true));
   #if ENABLED(IMPROVE_HOMING_RELIABILITY)
     extern millis_t sg_guard_period;
     constexpr uint16_t default_sg_guard_duration = 400;
-
-    struct motion_state_t {
-      xy_ulong_t acceleration;
-      #if HAS_CLASSIC_JERK
-        xy_float_t jerk_state;
-      #endif
-    };
   #endif
 
   bool tmc_enable_stallguard(TMC2130Stepper &st);
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 069461ca4aa9a..ca9cbb8cc9b8d 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -164,8 +164,8 @@
 
 #if ENABLED(IMPROVE_HOMING_RELIABILITY)
 
-  motion_state_s begin_slow_homing() {
-    motion_state_s motion_state{0};
+  motion_state_t begin_slow_homing() {
+    motion_state_t motion_state{0};
     motion_state.acceleration.set(planner.settings.max_acceleration_mm_per_s2[X_AXIS],
                                  planner.settings.max_acceleration_mm_per_s2[Y_AXIS]
                                  OPTARG(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS])
@@ -181,7 +181,7 @@
     return motion_state;
   }
 
-  void end_slow_homing(const motion_state_s &motion_state) {
+  void end_slow_homing(const motion_state_t &motion_state) {
     planner.settings.max_acceleration_mm_per_s2[X_AXIS] = motion_state.acceleration.x;
     planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = motion_state.acceleration.y;
     TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = motion_state.acceleration.z);
@@ -299,7 +299,7 @@ void GcodeSuite::G28() {
   #endif
 
   #if ENABLED(IMPROVE_HOMING_RELIABILITY)
-    motion_state_s saved_motion_state = begin_slow_homing();
+    motion_state_t saved_motion_state = begin_slow_homing();
   #endif
 
   // Always home with tool 0 active
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index ea9147b79ac2b..5db4e9e1a4cdc 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -1530,7 +1530,7 @@ void Planner::check_axes_activity() {
 #if ENABLED(IMPROVE_HOMING_RELIABILITY)
 
   void Planner::enable_stall_prevention(const bool onoff) {
-    static motion_state_s saved_motion_state;
+    static saved_motion_state_t saved_motion_state;
     if (onoff) {
       saved_motion_state.acceleration.x = settings.max_acceleration_mm_per_s2[X_AXIS];
       saved_motion_state.acceleration.y = settings.max_acceleration_mm_per_s2[Y_AXIS];
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 702f0bbe249bf..9b104615f6f9f 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -282,7 +282,7 @@ typedef struct {
 } planner_settings_t;
 
 #if ENABLED(IMPROVE_HOMING_RELIABILITY)
-  struct motion_state_s {
+  struct motion_state_t {
     TERN(DELTA, xyz_ulong_t, xy_ulong_t) acceleration;
     #if HAS_CLASSIC_JERK
       TERN(DELTA, xyz_float_t, xy_float_t) jerk_state;