diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 04c6c270f..ec547c598 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -109,10 +109,10 @@ int16_t Stepper::cleaning_buffer_counter = 0;
   bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false;
 #endif
 
-long Stepper::counter_X = 0,
-     Stepper::counter_Y = 0,
-     Stepper::counter_Z = 0,
-     Stepper::counter_E = 0;
+int32_t Stepper::counter_X = 0,
+        Stepper::counter_Y = 0,
+        Stepper::counter_Z = 0,
+        Stepper::counter_E = 0;
 
 volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
 
@@ -159,7 +159,7 @@ volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
 volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
 
 #if ENABLED(MIXING_EXTRUDER)
-  long Stepper::counter_m[MIXING_STEPPERS];
+  int32_t Stepper::counter_m[MIXING_STEPPERS];
 #endif
 
 uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
@@ -169,7 +169,7 @@ hal_timer_t Stepper::OCR1A_nominal;
   hal_timer_t Stepper::acc_step_rate; // needed for deceleration start point
 #endif
 
-volatile long Stepper::endstops_trigsteps[XYZ];
+volatile int32_t Stepper::endstops_trigsteps[XYZ];
 
 #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
   #define LOCKED_X_MOTOR  locked_x_motor
@@ -1976,7 +1976,7 @@ void Stepper::synchronize() { while (planner.has_blocks_queued() || cleaning_buf
  * This allows get_axis_position_mm to correctly
  * derive the current XYZ position later on.
  */
-void Stepper::set_position(const long &a, const long &b, const long &c, const long &e) {
+void Stepper::set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
 
   synchronize(); // Bad to set stepper counts in the middle of a move
 
@@ -2009,13 +2009,13 @@ void Stepper::set_position(const long &a, const long &b, const long &c, const lo
   CRITICAL_SECTION_END;
 }
 
-void Stepper::set_position(const AxisEnum &axis, const long &v) {
+void Stepper::set_position(const AxisEnum &axis, const int32_t &v) {
   CRITICAL_SECTION_START;
   count_position[axis] = v;
   CRITICAL_SECTION_END;
 }
 
-void Stepper::set_e_position(const long &e) {
+void Stepper::set_e_position(const int32_t &e) {
   CRITICAL_SECTION_START;
   count_position[E_AXIS] = e;
   CRITICAL_SECTION_END;
@@ -2024,9 +2024,9 @@ void Stepper::set_e_position(const long &e) {
 /**
  * Get a stepper's position in steps.
  */
-long Stepper::position(const AxisEnum axis) {
+int32_t Stepper::position(const AxisEnum axis) {
   CRITICAL_SECTION_START;
-  const long count_pos = count_position[axis];
+  const int32_t count_pos = count_position[axis];
   CRITICAL_SECTION_END;
   return count_pos;
 }
@@ -2095,9 +2095,9 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
 
 void Stepper::report_positions() {
   CRITICAL_SECTION_START;
-  const long xpos = count_position[X_AXIS],
-             ypos = count_position[Y_AXIS],
-             zpos = count_position[Z_AXIS];
+  const int32_t xpos = count_position[X_AXIS],
+                ypos = count_position[Y_AXIS],
+                zpos = count_position[Z_AXIS];
   CRITICAL_SECTION_END;
 
   #if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 88bbab874..5fad6a8f7 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -94,7 +94,7 @@ class Stepper {
     #endif
 
     // Counter variables for the Bresenham line tracer
-    static long counter_X, counter_Y, counter_Z, counter_E;
+    static int32_t counter_X, counter_Y, counter_Z, counter_E;
     static volatile uint32_t step_events_completed; // The number of step events executed in the current block
 
     #if ENABLED(BEZIER_JERK_CONTROL)
@@ -137,8 +137,8 @@ class Stepper {
       static hal_timer_t acc_step_rate; // needed for deceleration start point
     #endif
 
-    static volatile long endstops_trigsteps[XYZ];
-    static volatile long endstops_stepsTotal, endstops_stepsDone;
+    static volatile int32_t endstops_trigsteps[XYZ];
+    static volatile int32_t endstops_stepsTotal, endstops_stepsDone;
 
     //
     // Positions of stepper motors, in step units
@@ -154,7 +154,7 @@ class Stepper {
     // Mixing extruder mix counters
     //
     #if ENABLED(MIXING_EXTRUDER)
-      static long counter_m[MIXING_STEPPERS];
+      static int32_t counter_m[MIXING_STEPPERS];
       #define MIXING_STEPPERS_LOOP(VAR) \
         for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \
           if (current_block->mix_event_count[VAR])
@@ -191,9 +191,9 @@ class Stepper {
     //
     // Set the current position in steps
     //
-    static void set_position(const long &a, const long &b, const long &c, const long &e);
-    static void set_position(const AxisEnum &a, const long &v);
-    static void set_e_position(const long &e);
+    static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
+    static void set_position(const AxisEnum &a, const int32_t &v);
+    static void set_e_position(const int32_t &e);
 
     //
     // Set direction bits for all steppers
@@ -203,7 +203,7 @@ class Stepper {
     //
     // Get the position of a stepper, in steps
     //
-    static long position(const AxisEnum axis);
+    static int32_t position(const AxisEnum axis);
 
     //
     // Report the positions of the steppers, in steps