diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index d9c5c9b457..18e3a2c70d 100644
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@@ -689,6 +689,13 @@ void setup() {
   SERIAL_PROTOCOLLNPGM("start");
   SERIAL_ECHO_START();
 
+  #if ENABLED(HAVE_TMC2130)
+    tmc_init_cs_pins();
+  #endif
+  #if ENABLED(HAVE_TMC2208)
+    tmc2208_serial_begin();
+  #endif
+
   // Check startup - does nothing if bootloader sets MCUSR to 0
   byte mcu = HAL_get_reset_source();
   if (mcu &  1) SERIAL_ECHOLNPGM(MSG_POWERUP);
diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp
index a45136381b..11bec933a5 100644
--- a/Marlin/src/feature/tmc_util.cpp
+++ b/Marlin/src/feature/tmc_util.cpp
@@ -582,4 +582,43 @@ void _tmc_say_sgt(const char name[], const uint32_t sgt) {
 
 #endif // SENSORLESS_HOMING
 
+#if ENABLED(HAVE_TMC2130)
+  #define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
+  void tmc_init_cs_pins() {
+    #if ENABLED(X_IS_TMC2130)
+      SET_CS_PIN(X);
+    #endif
+    #if ENABLED(Y_IS_TMC2130)
+      SET_CS_PIN(Y);
+    #endif
+    #if ENABLED(Z_IS_TMC2130)
+      SET_CS_PIN(Z);
+    #endif
+    #if ENABLED(X2_IS_TMC2130)
+      SET_CS_PIN(X2);
+    #endif
+    #if ENABLED(Y2_IS_TMC2130)
+      SET_CS_PIN(Y2);
+    #endif
+    #if ENABLED(Z2_IS_TMC2130)
+      SET_CS_PIN(Z2);
+    #endif
+    #if ENABLED(E0_IS_TMC2130)
+      SET_CS_PIN(E0);
+    #endif
+    #if ENABLED(E1_IS_TMC2130)
+      SET_CS_PIN(E1);
+    #endif
+    #if ENABLED(E2_IS_TMC2130)
+      SET_CS_PIN(E2);
+    #endif
+    #if ENABLED(E3_IS_TMC2130)
+      SET_CS_PIN(E3);
+    #endif
+    #if ENABLED(E4_IS_TMC2130)
+      SET_CS_PIN(E4);
+    #endif
+  }
+#endif // HAVE_TMC2130
+
 #endif // HAS_TRINAMIC
diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h
index abe44e9dbc..46d5b4f286 100644
--- a/Marlin/src/feature/tmc_util.h
+++ b/Marlin/src/feature/tmc_util.h
@@ -100,4 +100,8 @@ void monitor_tmc_driver();
   void tmc_sensorless_homing(TMC2130Stepper &st, bool enable=true);
 #endif
 
+#if ENABLED(HAVE_TMC2130)
+  void tmc_init_cs_pins();
+#endif
+
 #endif // _TMC_UTIL_H_