diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index b9ad9747d..efc2d303b 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -61,9 +61,6 @@ defs_stepcompress = """
 """
 
 defs_steppersync = """
-    struct steppersync *steppersync_alloc(struct serialqueue *sq
-        , struct stepcompress **sc_list, int sc_num, int move_num);
-    void steppersync_free(struct steppersync *ss);
     void steppersync_set_time(struct steppersync *ss
         , double time_offset, double mcu_freq);
     void steppersync_history_expire(struct steppersync *ss, uint64_t end_clock);
@@ -71,6 +68,11 @@ defs_steppersync = """
         , double gen_steps_time, uint64_t flush_clock);
     int32_t steppersync_finalize_gen_steps(struct steppersync *ss
         , uint64_t flush_clock);
+    struct steppersyncmgr *steppersyncmgr_alloc(void);
+    void steppersyncmgr_free(struct steppersyncmgr *ssm);
+    struct steppersync *steppersyncmgr_alloc_steppersync(
+        struct steppersyncmgr *ssm, struct serialqueue *sq
+        , struct stepcompress **sc_list, int sc_num, int move_num);
 """
 
 defs_itersolve = """
diff --git a/klippy/chelper/steppersync.c b/klippy/chelper/steppersync.c
index 0ff5bcab1..35010322d 100644
--- a/klippy/chelper/steppersync.c
+++ b/klippy/chelper/steppersync.c
@@ -19,7 +19,14 @@
 #include "stepcompress.h" // stepcompress_flush
 #include "steppersync.h" // steppersync_alloc
 
+
+/****************************************************************
+ * StepperSync - sort move queue for a micro-controller
+ ****************************************************************/
+
 struct steppersync {
+    // List node for storage in steppersyncmgr list
+    struct list_node ssm_node;
     // Serial port
     struct serialqueue *sq;
     struct command_queue *cq;
@@ -32,7 +39,7 @@ struct steppersync {
 };
 
 // Allocate a new 'steppersync' object
-struct steppersync * __visible
+static struct steppersync *
 steppersync_alloc(struct serialqueue *sq, struct stepcompress **sc_list
                   , int sc_num, int move_num)
 {
@@ -53,7 +60,7 @@ steppersync_alloc(struct serialqueue *sq, struct stepcompress **sc_list
 }
 
 // Free memory associated with a 'steppersync' object
-void __visible
+static void
 steppersync_free(struct steppersync *ss)
 {
     if (!ss)
@@ -187,3 +194,48 @@ steppersync_finalize_gen_steps(struct steppersync *ss, uint64_t flush_clock)
     steppersync_flush(ss, flush_clock);
     return 0;
 }
+
+
+/****************************************************************
+ * StepperSyncMgr - manage a list of steppersync
+ ****************************************************************/
+
+struct steppersyncmgr {
+    struct list_head ss_list;
+};
+
+// Allocate a new 'steppersyncmgr' object
+struct steppersyncmgr * __visible
+steppersyncmgr_alloc(void)
+{
+    struct steppersyncmgr *ssm = malloc(sizeof(*ssm));
+    memset(ssm, 0, sizeof(*ssm));
+    list_init(&ssm->ss_list);
+    return ssm;
+}
+
+// Free memory associated with a 'steppersync' object
+void __visible
+steppersyncmgr_free(struct steppersyncmgr *ssm)
+{
+    if (!ssm)
+        return;
+    while (!list_empty(&ssm->ss_list)) {
+        struct steppersync *ss = list_first_entry(
+            &ssm->ss_list, struct steppersync, ssm_node);
+        list_del(&ss->ssm_node);
+        steppersync_free(ss);
+    }
+    free(ssm);
+}
+
+// Allocate a new 'steppersync' object
+struct steppersync * __visible
+steppersyncmgr_alloc_steppersync(
+    struct steppersyncmgr *ssm, struct serialqueue *sq
+    , struct stepcompress **sc_list, int sc_num, int move_num)
+{
+    struct steppersync *ss = steppersync_alloc(sq, sc_list, sc_num, move_num);
+    list_add_tail(&ss->ssm_node, &ssm->ss_list);
+    return ss;
+}
diff --git a/klippy/chelper/steppersync.h b/klippy/chelper/steppersync.h
index 41cd03bbd..0931d9240 100644
--- a/klippy/chelper/steppersync.h
+++ b/klippy/chelper/steppersync.h
@@ -3,11 +3,7 @@
 
 #include <stdint.h> // uint64_t
 
-struct serialqueue;
-struct steppersync *steppersync_alloc(
-    struct serialqueue *sq, struct stepcompress **sc_list, int sc_num
-    , int move_num);
-void steppersync_free(struct steppersync *ss);
+struct steppersync;
 void steppersync_set_time(struct steppersync *ss, double time_offset
                           , double mcu_freq);
 void steppersync_history_expire(struct steppersync *ss, uint64_t end_clock);
@@ -16,4 +12,11 @@ void steppersync_start_gen_steps(struct steppersync *ss, double gen_steps_time
 int32_t steppersync_finalize_gen_steps(struct steppersync *ss
                                        , uint64_t flush_clock);
 
+struct steppersyncmgr *steppersyncmgr_alloc(void);
+void steppersyncmgr_free(struct steppersyncmgr *ssm);
+struct serialqueue;
+struct steppersync *steppersyncmgr_alloc_steppersync(
+    struct steppersyncmgr *ssm, struct serialqueue *sq
+    , struct stepcompress **sc_list, int sc_num, int move_num);
+
 #endif // steppersync.h
diff --git a/klippy/extras/motion_queuing.py b/klippy/extras/motion_queuing.py
index 4679e801d..a44cb625a 100644
--- a/klippy/extras/motion_queuing.py
+++ b/klippy/extras/motion_queuing.py
@@ -29,6 +29,8 @@ class PrinterMotionQueuing:
         ffi_main, ffi_lib = chelper.get_ffi()
         self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
         # C steppersync tracking
+        self.steppersyncmgr = ffi_main.gc(ffi_lib.steppersyncmgr_alloc(),
+                                          ffi_lib.steppersyncmgr_free)
         self.stepcompress = []
         self.steppersyncs = []
         self.steppersync_start_gen_steps = ffi_lib.steppersync_start_gen_steps
@@ -84,10 +86,9 @@ class PrinterMotionQueuing:
             if sc_mcu is mcu:
                 stepqueues.append(sc)
         ffi_main, ffi_lib = chelper.get_ffi()
-        ss = ffi_main.gc(
-            ffi_lib.steppersync_alloc(serialqueue, stepqueues, len(stepqueues),
-                                      move_count),
-            ffi_lib.steppersync_free)
+        ss = ffi_lib.steppersyncmgr_alloc_steppersync(
+            self.steppersyncmgr, serialqueue, stepqueues, len(stepqueues),
+            move_count)
         self.steppersyncs.append((mcu, ss))
         mcu_freq = float(mcu.seconds_to_clock(1.))
         ffi_lib.steppersync_set_time(ss, 0., mcu_freq)