diff --git a/Marlin/src/core/drivers.h b/Marlin/src/core/drivers.h
index 80980380a5..fec4494e32 100644
--- a/Marlin/src/core/drivers.h
+++ b/Marlin/src/core/drivers.h
@@ -67,6 +67,9 @@
 #define AXIS_DRIVER_TYPE_Z2(T) (NUM_Z_STEPPERS >= 2 && _AXIS_DRIVER_TYPE(Z2,T))
 #define AXIS_DRIVER_TYPE_Z3(T) (NUM_Z_STEPPERS >= 3 && _AXIS_DRIVER_TYPE(Z3,T))
 #define AXIS_DRIVER_TYPE_Z4(T) (NUM_Z_STEPPERS >= 4 && _AXIS_DRIVER_TYPE(Z4,T))
+#define AXIS_DRIVER_TYPE_LOGICAL_X(T) (AXIS_DRIVER_TYPE(X,T) || (HAS_X2_STEPPER && _AXIS_DRIVER_TYPE(X2,T)))
+#define AXIS_DRIVER_TYPE_LOGICAL_Y(T) (AXIS_DRIVER_TYPE(Y,T) || (HAS_Y2_STEPPER && _AXIS_DRIVER_TYPE(Y2,T)))
+#define AXIS_DRIVER_TYPE_LOGICAL_Z(T) (AXIS_DRIVER_TYPE(Z,T) || (NUM_Z_STEPPERS >= 2 && _AXIS_DRIVER_TYPE(Z2,T)) || (NUM_Z_STEPPERS >= 3 && _AXIS_DRIVER_TYPE(Z3,T)) || (NUM_Z_STEPPERS >= 4 && _AXIS_DRIVER_TYPE(Z4,T)))
 
 #define AXIS_DRIVER_TYPE_E(N,T) (E_STEPPERS > N && _AXIS_DRIVER_TYPE(E##N,T))
 #define AXIS_DRIVER_TYPE_E0(T) AXIS_DRIVER_TYPE_E(0,T)
diff --git a/Marlin/src/inc/Conditionals-4-adv.h b/Marlin/src/inc/Conditionals-4-adv.h
index 75c4efa743..704537d384 100644
--- a/Marlin/src/inc/Conditionals-4-adv.h
+++ b/Marlin/src/inc/Conditionals-4-adv.h
@@ -1391,6 +1391,20 @@
   #endif
 #endif
 
+// Axis hysteresis support for TMC2208, TMC5160
+#if (AXIS_DRIVER_TYPE_LOGICAL_X(TMC2208) || AXIS_DRIVER_TYPE_LOGICAL_X(TMC2208_STANDALONE) || AXIS_DRIVER_TYPE_LOGICAL_X(TMC5160) || AXIS_DRIVER_TYPE_LOGICAL_X(TMC5160_STANDALONE))
+    #define X_DRIVER_HYSTERESIS 1
+#endif
+#if (AXIS_DRIVER_TYPE_LOGICAL_Y(TMC2208) || AXIS_DRIVER_TYPE_LOGICAL_Y(TMC2208_STANDALONE) || AXIS_DRIVER_TYPE_LOGICAL_Y(TMC5160) || AXIS_DRIVER_TYPE_LOGICAL_Y(TMC5160_STANDALONE))
+    #define Y_DRIVER_HYSTERESIS 1
+#endif
+#if (AXIS_DRIVER_TYPE_LOGICAL_Z(TMC2208) || AXIS_DRIVER_TYPE_LOGICAL_Z(TMC2208_STANDALONE) || AXIS_DRIVER_TYPE_LOGICAL_Z(TMC5160) || AXIS_DRIVER_TYPE_LOGICAL_Z(TMC5160_STANDALONE))
+    #define Z_DRIVER_HYSTERESIS 1
+#endif
+#if (HAS_E_DRIVER(TMC2208) || HAS_E_DRIVER(TMC2208_STANDALONE) || HAS_E_DRIVER(TMC5160) || HAS_E_DRIVER(TMC5160_STANDALONE))
+    #define E_DRIVER_HYSTERESIS 1
+#endif
+
 #if AXIS_IS_TMC(X)
   #define X_IS_TRINAMIC 1
 #endif
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 2a10c83800..8cd4246615 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -671,6 +671,9 @@ void Stepper::disable_all_steppers() {
 #if ENABLED(FT_MOTION)
   // We'll compare the updated DIR bits to the last set state
   static AxisBits last_set_direction;
+  #if ANY(X_DRIVER_HYSTERESIS, Y_DRIVER_HYSTERESIS,Z_DRIVER_HYSTERESIS,E_DRIVER_HYSTERESIS)
+    xyze_int_t Stepper::pending_hysteresis_steps ={0};  // Accumulated steps offset due to hysteresis delays
+  #endif
 #endif
 
 // Set a single axis direction based on the last set flags.
@@ -1809,6 +1812,47 @@ void Stepper::isr() {
   #define ISR_MULTI_STEPS 1
 #endif
 
+/**
+ * ========================================
+ * Hysteresis Macros for TMC Driver Safety
+ * ========================================
+ * When input shaping is active, direction changes can occur rapidly.
+ * This hysteresis prevents TMC2208/TMC2225/TMC5160 shutdown bugs (#16076)
+ * by increasing the step detection threshold, giving the driver time to
+ * stabilize phase currents.
+ */
+
+// Define hysteresis values based on driver type (64 units = ~0.5 step)
+#if AXIS_DRIVER_TYPE_X(TMC2208) || AXIS_DRIVER_TYPE_X(TMC2208_STANDALONE) || \
+    AXIS_DRIVER_TYPE_X(TMC5160) || AXIS_DRIVER_TYPE_X(TMC5160_STANDALONE)
+  #define HYSTERESIS_X 64
+#else
+  #define HYSTERESIS_X 0
+#endif
+
+#if AXIS_DRIVER_TYPE_Y(TMC2208) || AXIS_DRIVER_TYPE_Y(TMC2208_STANDALONE) || \
+    AXIS_DRIVER_TYPE_Y(TMC5160) || AXIS_DRIVER_TYPE_Y(TMC5160_STANDALONE)
+  #define HYSTERESIS_Y 64
+#else
+  #define HYSTERESIS_Y 0
+#endif
+
+#if AXIS_DRIVER_TYPE_Z(TMC2208) || AXIS_DRIVER_TYPE_Z(TMC2208_STANDALONE) || \
+    AXIS_DRIVER_TYPE_Z(TMC5160) || AXIS_DRIVER_TYPE_Z(TMC5160_STANDALONE)
+  #define HYSTERESIS_Z 64
+#else
+  #define HYSTERESIS_Z 0
+#endif
+
+#if FTM_E_DRIVER_HYSTERESIS
+  #define HYSTERESIS_E 64
+#else
+  #define HYSTERESIS_E 0
+#endif
+
+#define _HYSTERESIS(AXIS) HYSTERESIS_##AXIS
+#define HYSTERESIS(AXIS) _HYSTERESIS(AXIS)
+
 #if HAS_STANDARD_MOTION
   /**
    * This phase of the ISR should ONLY create the pulses for the steppers.
@@ -1883,27 +1927,7 @@ void Stepper::isr() {
       // the TMC2208 / TMC2225 shutdown bug (#16076), add a half step hysteresis
       // in each direction. This results in the position being off by half an
       // average half step during travel but correct at the end of each segment.
-      #if AXIS_DRIVER_TYPE_X(TMC2208) || AXIS_DRIVER_TYPE_X(TMC2208_STANDALONE) || \
-          AXIS_DRIVER_TYPE_X(TMC5160) || AXIS_DRIVER_TYPE_X(TMC5160_STANDALONE)
-        #define HYSTERESIS_X 64
-      #else
-        #define HYSTERESIS_X 0
-      #endif
-      #if AXIS_DRIVER_TYPE_Y(TMC2208) || AXIS_DRIVER_TYPE_Y(TMC2208_STANDALONE) || \
-          AXIS_DRIVER_TYPE_Y(TMC5160) || AXIS_DRIVER_TYPE_Y(TMC5160_STANDALONE)
-        #define HYSTERESIS_Y 64
-      #else
-        #define HYSTERESIS_Y 0
-      #endif
-      #if AXIS_DRIVER_TYPE_Z(TMC2208) || AXIS_DRIVER_TYPE_Z(TMC2208_STANDALONE) || \
-          AXIS_DRIVER_TYPE_Z(TMC5160) || AXIS_DRIVER_TYPE_Z(TMC5160_STANDALONE)
-        #define HYSTERESIS_Z 64
-      #else
-        #define HYSTERESIS_Z 0
-      #endif
-      #define _HYSTERESIS(AXIS) HYSTERESIS_##AXIS
-      #define HYSTERESIS(AXIS) _HYSTERESIS(AXIS)
-
+      
       #define PULSE_PREP_SHAPING(AXIS, DELTA_ERROR, DIVIDEND) do{ \
         int16_t de = DELTA_ERROR + (DIVIDEND); \
         const bool step_fwd = de >=  (64 + HYSTERESIS(AXIS)), \
@@ -3603,6 +3627,37 @@ void Stepper::report_positions() {
     AxisBits &step_bits = ftMotion.stepping.step_bits;            // Aliases for prettier code
     AxisBits &dir_bits = ftMotion.stepping.dir_bits;
 
+    /**
+     * For axes with TMC drivers vulnerable to shutdown (TMC2208/2225/5160),
+     * apply hysteresis to direction changes, just like PULSE_PREP_SHAPING
+     * in the standard motion system.
+     */
+    
+    #if ANY(X_DRIVER_HYSTERESIS, Y_DRIVER_HYSTERESIS,Z_DRIVER_HYSTERESIS,E_DRIVER_HYSTERESIS) 
+      /**
+       * When a direction change is detected on any axis:
+       * 1. Update last_direction_bits
+       * 2. Accumulate step counter for the new direction
+       * 3. Apply WAIT_BEFORE only when accumulated steps >= HYSTERESIS threshold
+       * 4. Single-direction blocks pass through without suppression
+       */
+      
+      #define _AXES_HYSTERESIS(A) if(HYSTERESIS_##A) { \
+        if (step_bits.A && (last_direction_bits.A != dir_bits.A)) { \
+            last_direction_bits.A = dir_bits.A; \
+            if (++pending_hysteresis_steps.A >= HYSTERESIS_##A) { \
+              { USING_TIMED_PULSE(); START_TIMED_PULSE(); AWAIT_LOW_PULSE(); } \
+              DIR_WAIT_BEFORE(); \
+              pending_hysteresis_steps.A = 0; } \
+            else { \
+              step_bits.A = 0; } \
+          } else \
+            pending_hysteresis_steps.A = 0; \
+        }
+    
+      LOGICAL_AXIS_MAP(_AXES_HYSTERESIS);
+    #endif
+    
     USING_TIMED_PULSE();
 
     /**
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 6e6761f842..c57aa5a02d 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -406,6 +406,11 @@ class Stepper {
       static AxisBits axis_did_move;      // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
     #endif
 
+    // FT_MOTION Hysteresis tracking for direction changes
+    #if ANY(X_DRIVER_HYSTERESIS, Y_DRIVER_HYSTERESIS,Z_DRIVER_HYSTERESIS,E_DRIVER_HYSTERESIS)
+      static xyze_int_t pending_hysteresis_steps;  // Accumulated steps offset due to hysteresis delays
+    #endif
+
     static bool abort_current_block;      // Signals to the stepper that current block should be aborted
 
     // Motor locking for independent movement of multi-stepper axes