diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index 4a2287c7d7..d7507aff2c 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -91,6 +91,11 @@ class Stepper {
       static bool performing_homing;
     #endif
 
+    //
+    // Positions of stepper motors, in step units
+    //
+    static volatile long count_position[NUM_AXIS];
+
   private:
 
     static unsigned char last_direction_bits;        // The next stepping-bits to be output
@@ -138,11 +143,6 @@ class Stepper {
       static constexpr int motor_current_setting[3] = PWM_MOTOR_CURRENT;
     #endif
 
-    //
-    // Positions of stepper motors, in step units
-    //
-    static volatile long count_position[NUM_AXIS];
-
     //
     // Current direction of stepper motors (+1 or -1)
     //
@@ -211,6 +211,13 @@ class Stepper {
     //
     static float get_axis_position_mm(AxisEnum axis);
 
+    //
+    // SCARA AB axes are in degrees, not mm
+    //
+    #if IS_SCARA
+      static FORCE_INLINE float get_axis_position_degrees(AxisEnum axis) { return get_axis_position_mm(axis); }
+    #endif
+
     //
     // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
     // to notify the subsystem that it is time to go to work.