diff --git a/Marlin/Conditionals.h b/Marlin/Conditionals.h
index 18a3defd81..88bcec5116 100644
--- a/Marlin/Conditionals.h
+++ b/Marlin/Conditionals.h
@@ -368,6 +368,21 @@
     #define Z_HOME_POS (Z_HOME_DIR < 0 ? Z_MIN_POS : Z_MAX_POS)
   #endif //!MANUAL_HOME_POSITIONS
 
+  /**
+   * The BLTouch Probe emulates a servo probe
+   */
+  #if ENABLED(BLTOUCH)
+    #undef Z_ENDSTOP_SERVO_NR
+    #undef Z_SERVO_ANGLES
+    #define Z_ENDSTOP_SERVO_NR 0
+    #define Z_SERVO_ANGLES {10,90} // For BLTouch 10=deploy, 90=retract
+    #undef DEACTIVATE_SERVOS_AFTER_MOVE
+    #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
+      #undef Z_MIN_ENDSTOP_INVERTING
+      #define Z_MIN_ENDSTOP_INVERTING false
+    #endif
+  #endif
+
   /**
    * Auto Bed Leveling and Z Probe Repeatability Test
    */
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 10173f97e7..aa5c3be873 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -465,6 +465,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/Cartesio/Configuration.h b/Marlin/example_configurations/Cartesio/Configuration.h
index 07172d6084..cceaf1ad01 100644
--- a/Marlin/example_configurations/Cartesio/Configuration.h
+++ b/Marlin/example_configurations/Cartesio/Configuration.h
@@ -465,6 +465,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
index 0951d1b9ae..e55dc3347a 100644
--- a/Marlin/example_configurations/Felix/Configuration.h
+++ b/Marlin/example_configurations/Felix/Configuration.h
@@ -447,6 +447,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/Felix/DUAL/Configuration.h b/Marlin/example_configurations/Felix/DUAL/Configuration.h
index 78c7e5045f..d2edb9a531 100644
--- a/Marlin/example_configurations/Felix/DUAL/Configuration.h
+++ b/Marlin/example_configurations/Felix/DUAL/Configuration.h
@@ -445,6 +445,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h
index 60431e93aa..72e65de652 100644
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -457,6 +457,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/Hephestos_2/Configuration.h b/Marlin/example_configurations/Hephestos_2/Configuration.h
index e70988552d..18e9679a73 100644
--- a/Marlin/example_configurations/Hephestos_2/Configuration.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration.h
@@ -459,6 +459,9 @@
 // its trigger-point if hardware endstops are active.
 #define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h
index 289f16ce1c..efcd1f8589 100644
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -482,6 +482,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/K8400/Configuration.h b/Marlin/example_configurations/K8400/Configuration.h
index edf8466a82..316a2c0781 100644
--- a/Marlin/example_configurations/K8400/Configuration.h
+++ b/Marlin/example_configurations/K8400/Configuration.h
@@ -442,6 +442,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/K8400/Dual-head/Configuration.h b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
index 1e1e2ce9ca..4024761c8e 100644
--- a/Marlin/example_configurations/K8400/Dual-head/Configuration.h
+++ b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
@@ -442,6 +442,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
index 158dc950cc..3ac1feef49 100644
--- a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
+++ b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
@@ -465,6 +465,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/RigidBot/Configuration.h b/Marlin/example_configurations/RigidBot/Configuration.h
index e97b60bfa2..b1ec73669d 100644
--- a/Marlin/example_configurations/RigidBot/Configuration.h
+++ b/Marlin/example_configurations/RigidBot/Configuration.h
@@ -462,6 +462,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index fecfa05153..e538ff010c 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -473,6 +473,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/TAZ4/Configuration.h b/Marlin/example_configurations/TAZ4/Configuration.h
index 1509de3a0c..201dcadf9f 100644
--- a/Marlin/example_configurations/TAZ4/Configuration.h
+++ b/Marlin/example_configurations/TAZ4/Configuration.h
@@ -486,6 +486,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h
index 5470f361e3..b5eba2cfb1 100644
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -457,6 +457,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
index 59f37347ed..707146f0a3 100644
--- a/Marlin/example_configurations/adafruit/ST7565/Configuration.h
+++ b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
@@ -465,6 +465,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration.h b/Marlin/example_configurations/delta/biv2.5/Configuration.h
index c916957db5..7b9e5e5163 100644
--- a/Marlin/example_configurations/delta/biv2.5/Configuration.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration.h
@@ -507,6 +507,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index a27eab2035..8790185e1a 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -507,6 +507,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index aabf9a8e15..d677ea1743 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -507,6 +507,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index 5c390a5730..41d48fc77e 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -496,6 +496,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
index df483309a4..5ac9c8c84c 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -505,6 +505,9 @@
 // its trigger-point if hardware endstops are active.
 #define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
index c3d6cb8c83..421683f31b 100644
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -468,6 +468,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
index d2bbc6c708..0499e024b5 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -455,6 +455,9 @@
 // its trigger-point if hardware endstops are active.
 //#define FIX_MOUNTED_PROBE
 
+// The BLTouch probe emulates a servo probe.
+//#define BLTOUCH
+
 // Z Servo Probe, such as an endstop switch on a rotating arm.
 //#define Z_ENDSTOP_SERVO_NR 0
 //#define Z_SERVO_ANGLES {70,0} // Z Servo Deploy and Stow angles
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 63159a3046..90a1ddf65d 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -359,11 +359,11 @@ void Stepper::isr() {
   if (current_block) {
 
     // Update endstops state, if enabled
-    #if HAS_BED_PROBE
-      if (endstops.enabled || endstops.z_probe_enabled) endstops.update();
-    #else
-      if (endstops.enabled) endstops.update();
-    #endif
+    if (endstops.enabled
+      #if HAS_BED_PROBE
+        || endstops.z_probe_enabled
+      #endif
+    ) endstops.update();
 
     // Take multiple steps per interrupt (For high speed moves)
     for (int8_t i = 0; i < step_loops; i++) {