diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index cb5ae06617..da61c00c16 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -36,7 +36,7 @@
  * Advanced settings can be found in Configuration_adv.h
  *
  */
-#define CONFIGURATION_H_VERSION 020005
+#define CONFIGURATION_H_VERSION 020006
 
 //===========================================================================
 //============================= Getting Started =============================
@@ -976,7 +976,7 @@
 
 // Most probes should stay away from the edges of the bed, but
 // with NOZZLE_AS_PROBE this can be negative for a wider probing area.
-#define MIN_PROBE_EDGE 10
+#define PROBING_MARGIN 10
 
 // X and Y axis travel speed (mm/m) between probes
 #define XY_PROBE_SPEED 8000
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index ec6cb27ec4..e71f4c467c 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -31,7 +31,7 @@
  * Basic settings can be found in Configuration.h
  *
  */
-#define CONFIGURATION_ADV_H_VERSION 020005
+#define CONFIGURATION_ADV_H_VERSION 020006
 
 // @section temperature
 
@@ -1589,7 +1589,9 @@
 #endif
 
 /**
- * Override MIN_PROBE_EDGE for each side of the build plate
+ * Probing Margins
+ *
+ * Override PROBING_MARGIN for each side of the build plate
  * Useful to get probe points to exact positions on targets or
  * to allow leveling to avoid plate clamps on only specific
  * sides of the bed. With NOZZLE_AS_PROBE negative values are
@@ -1606,10 +1608,10 @@
  * the probe to be unable to reach any points.
  */
 #if PROBE_SELECTED && !IS_KINEMATIC
-  //#define MIN_PROBE_EDGE_LEFT MIN_PROBE_EDGE
-  //#define MIN_PROBE_EDGE_RIGHT MIN_PROBE_EDGE
-  //#define MIN_PROBE_EDGE_FRONT MIN_PROBE_EDGE
-  //#define MIN_PROBE_EDGE_BACK MIN_PROBE_EDGE
+  //#define PROBING_MARGIN_LEFT PROBING_MARGIN
+  //#define PROBING_MARGIN_RIGHT PROBING_MARGIN
+  //#define PROBING_MARGIN_FRONT PROBING_MARGIN
+  //#define PROBING_MARGIN_BACK PROBING_MARGIN
 #endif
 
 #if EITHER(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL)
diff --git a/Marlin/src/feature/z_stepper_align.cpp b/Marlin/src/feature/z_stepper_align.cpp
index 6fccff7cc9..3614d60371 100644
--- a/Marlin/src/feature/z_stepper_align.cpp
+++ b/Marlin/src/feature/z_stepper_align.cpp
@@ -56,10 +56,10 @@ void ZStepperAlign::reset_to_default() {
 
     constexpr xyz_pos_t dpo = NOZZLE_TO_PROBE_OFFSET;
 
-    #define LTEST(N) (xy_init[N].x >= _MAX(X_MIN_BED + MIN_PROBE_EDGE_LEFT,  X_MIN_POS + dpo.x) - 0.00001f)
-    #define RTEST(N) (xy_init[N].x <= _MIN(X_MAX_BED - MIN_PROBE_EDGE_RIGHT, X_MAX_POS + dpo.x) + 0.00001f)
-    #define FTEST(N) (xy_init[N].y >= _MAX(Y_MIN_BED + MIN_PROBE_EDGE_FRONT, Y_MIN_POS + dpo.y) - 0.00001f)
-    #define BTEST(N) (xy_init[N].y <= _MIN(Y_MAX_BED - MIN_PROBE_EDGE_BACK,  Y_MAX_POS + dpo.y) + 0.00001f)
+    #define LTEST(N) (xy_init[N].x >= _MAX(X_MIN_BED + PROBING_MARGIN_LEFT,  X_MIN_POS + dpo.x) - 0.00001f)
+    #define RTEST(N) (xy_init[N].x <= _MIN(X_MAX_BED - PROBING_MARGIN_RIGHT, X_MAX_POS + dpo.x) + 0.00001f)
+    #define FTEST(N) (xy_init[N].y >= _MAX(Y_MIN_BED + PROBING_MARGIN_FRONT, Y_MIN_POS + dpo.y) - 0.00001f)
+    #define BTEST(N) (xy_init[N].y <= _MIN(Y_MAX_BED - PROBING_MARGIN_BACK,  Y_MAX_POS + dpo.y) + 0.00001f)
 
     static_assert(LTEST(0) && RTEST(0), "The 1st Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
     static_assert(FTEST(0) && BTEST(0), "The 1st Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 97f4d1eb88..edc981520d 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -2251,31 +2251,31 @@
  * Bed Probing bounds
  */
 
-#ifndef MIN_PROBE_EDGE
-  #define MIN_PROBE_EDGE 0
+#ifndef PROBING_MARGIN
+  #define PROBING_MARGIN 0
 #endif
 
 #if IS_KINEMATIC
-  #undef MIN_PROBE_EDGE_LEFT
-  #undef MIN_PROBE_EDGE_RIGHT
-  #undef MIN_PROBE_EDGE_FRONT
-  #undef MIN_PROBE_EDGE_BACK
-  #define MIN_PROBE_EDGE_LEFT 0
-  #define MIN_PROBE_EDGE_RIGHT 0
-  #define MIN_PROBE_EDGE_FRONT 0
-  #define MIN_PROBE_EDGE_BACK 0
+  #undef PROBING_MARGIN_LEFT
+  #undef PROBING_MARGIN_RIGHT
+  #undef PROBING_MARGIN_FRONT
+  #undef PROBING_MARGIN_BACK
+  #define PROBING_MARGIN_LEFT 0
+  #define PROBING_MARGIN_RIGHT 0
+  #define PROBING_MARGIN_FRONT 0
+  #define PROBING_MARGIN_BACK 0
 #else
-  #ifndef MIN_PROBE_EDGE_LEFT
-    #define MIN_PROBE_EDGE_LEFT MIN_PROBE_EDGE
+  #ifndef PROBING_MARGIN_LEFT
+    #define PROBING_MARGIN_LEFT PROBING_MARGIN
   #endif
-  #ifndef MIN_PROBE_EDGE_RIGHT
-    #define MIN_PROBE_EDGE_RIGHT MIN_PROBE_EDGE
+  #ifndef PROBING_MARGIN_RIGHT
+    #define PROBING_MARGIN_RIGHT PROBING_MARGIN
   #endif
-  #ifndef MIN_PROBE_EDGE_FRONT
-    #define MIN_PROBE_EDGE_FRONT MIN_PROBE_EDGE
+  #ifndef PROBING_MARGIN_FRONT
+    #define PROBING_MARGIN_FRONT PROBING_MARGIN
   #endif
-  #ifndef MIN_PROBE_EDGE_BACK
-    #define MIN_PROBE_EDGE_BACK MIN_PROBE_EDGE
+  #ifndef PROBING_MARGIN_BACK
+    #define PROBING_MARGIN_BACK PROBING_MARGIN
   #endif
 #endif
 
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 905bcc0bd7..e7d7739117 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -283,9 +283,9 @@
 #elif defined(NEOPIXEL_RGBW_LED)
   #error "NEOPIXEL_RGBW_LED is now NEOPIXEL_LED. Please update your configuration."
 #elif ENABLED(DELTA) && defined(DELTA_PROBEABLE_RADIUS)
-  #error "Remove DELTA_PROBEABLE_RADIUS and use MIN_PROBE_EDGE to inset the probe area instead."
+  #error "Remove DELTA_PROBEABLE_RADIUS and use PROBING_MARGIN to inset the probe area instead."
 #elif ENABLED(DELTA) && defined(DELTA_CALIBRATION_RADIUS)
-  #error "Remove DELTA_CALIBRATION_RADIUS and use MIN_PROBE_EDGE to inset the probe area instead."
+  #error "Remove DELTA_CALIBRATION_RADIUS and use PROBING_MARGIN to inset the probe area instead."
 #elif defined(UBL_MESH_INSET)
   #error "UBL_MESH_INSET is now just MESH_INSET. Please update your configuration."
 #elif defined(UBL_MESH_MIN_X) || defined(UBL_MESH_MIN_Y) || defined(UBL_MESH_MAX_X) || defined(UBL_MESH_MAX_Y)
@@ -294,14 +294,24 @@
   #error "ABL_PROBE_PT_[123]_[XY] is no longer required. Please remove it from Configuration.h."
 #elif defined(UBL_PROBE_PT_1_X) || defined(UBL_PROBE_PT_1_Y) || defined(UBL_PROBE_PT_2_X) || defined(UBL_PROBE_PT_2_Y) || defined(UBL_PROBE_PT_3_X) || defined(UBL_PROBE_PT_3_Y)
   #error "UBL_PROBE_PT_[123]_[XY] is no longer required. Please remove it from Configuration.h."
+#elif defined(MIN_PROBE_EDGE)
+  #error "MIN_PROBE_EDGE is now called PROBING_MARGIN. Please update your configuration."
+#elif defined(MIN_PROBE_EDGE_LEFT)
+  #error "MIN_PROBE_EDGE_LEFT is now called PROBING_MARGIN_LEFT. Please update your configuration."
+#elif defined(MIN_PROBE_EDGE_RIGHT)
+  #error "MIN_PROBE_EDGE_RIGHT is now called PROBING_MARGIN_RIGHT. Please update your configuration."
+#elif defined(MIN_PROBE_EDGE_FRONT)
+  #error "MIN_PROBE_EDGE_FRONT is now called PROBING_MARGIN_FRONT. Please update your configuration."
+#elif defined(MIN_PROBE_EDGE_BACK)
+  #error "MIN_PROBE_EDGE_BACK is now called PROBING_MARGIN_BACK. Please update your configuration."
 #elif defined(LEFT_PROBE_BED_POSITION)
-  #error "LEFT_PROBE_BED_POSITION is obsolete. Set a margin with MIN_PROBE_EDGE or MIN_PROBE_EDGE_LEFT instead."
+  #error "LEFT_PROBE_BED_POSITION is obsolete. Set a margin with PROBING_MARGIN or PROBING_MARGIN_LEFT instead."
 #elif defined(RIGHT_PROBE_BED_POSITION)
-  #error "RIGHT_PROBE_BED_POSITION is obsolete. Set a margin with MIN_PROBE_EDGE or MIN_PROBE_EDGE_RIGHT instead."
+  #error "RIGHT_PROBE_BED_POSITION is obsolete. Set a margin with PROBING_MARGIN or PROBING_MARGIN_RIGHT instead."
 #elif defined(FRONT_PROBE_BED_POSITION)
-  #error "FRONT_PROBE_BED_POSITION is obsolete. Set a margin with MIN_PROBE_EDGE or MIN_PROBE_EDGE_FRONT instead."
+  #error "FRONT_PROBE_BED_POSITION is obsolete. Set a margin with PROBING_MARGIN or PROBING_MARGIN_FRONT instead."
 #elif defined(BACK_PROBE_BED_POSITION)
-  #error "BACK_PROBE_BED_POSITION is obsolete. Set a margin with MIN_PROBE_EDGE or MIN_PROBE_EDGE_BACK instead."
+  #error "BACK_PROBE_BED_POSITION is obsolete. Set a margin with PROBING_MARGIN or PROBING_MARGIN_BACK instead."
 #elif defined(ENABLE_MESH_EDIT_GFX_OVERLAY)
   #error "ENABLE_MESH_EDIT_GFX_OVERLAY is now MESH_EDIT_GFX_OVERLAY. Please update your configuration."
 #elif defined(BABYSTEP_ZPROBE_GFX_REVERSE)
@@ -1263,13 +1273,21 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
   #endif
 
   #if DISABLED(NOZZLE_AS_PROBE)
-    static_assert(MIN_PROBE_EDGE >= 0, "MIN_PROBE_EDGE must be >= 0.");
-    static_assert(MIN_PROBE_EDGE_BACK >= 0, "MIN_PROBE_EDGE_BACK must be >= 0.");
-    static_assert(MIN_PROBE_EDGE_FRONT >= 0, "MIN_PROBE_EDGE_FRONT must be >= 0.");
-    static_assert(MIN_PROBE_EDGE_LEFT >= 0, "MIN_PROBE_EDGE_LEFT must be >= 0.");
-    static_assert(MIN_PROBE_EDGE_RIGHT >= 0, "MIN_PROBE_EDGE_RIGHT must be >= 0.");
+    static_assert(PROBING_MARGIN >= 0, "PROBING_MARGIN must be >= 0.");
+    static_assert(PROBING_MARGIN_BACK >= 0, "PROBING_MARGIN_BACK must be >= 0.");
+    static_assert(PROBING_MARGIN_FRONT >= 0, "PROBING_MARGIN_FRONT must be >= 0.");
+    static_assert(PROBING_MARGIN_LEFT >= 0, "PROBING_MARGIN_LEFT must be >= 0.");
+    static_assert(PROBING_MARGIN_RIGHT >= 0, "PROBING_MARGIN_RIGHT must be >= 0.");
   #endif
 
+  #define _MARGIN(A) TERN(IS_SCARA, SCARA_PRINTABLE_RADIUS, TERN(DELTA, DELTA_PRINTABLE_RADIUS, A##_CENTER))
+  static_assert(PROBING_MARGIN < _MARGIN(X), "PROBING_MARGIN is too large.");
+  static_assert(PROBING_MARGIN_BACK < _MARGIN(Y), "PROBING_MARGIN_BACK is too large.");
+  static_assert(PROBING_MARGIN_FRONT < _MARGIN(Y), "PROBING_MARGIN_FRONT is too large.");
+  static_assert(PROBING_MARGIN_LEFT < _MARGIN(X), "PROBING_MARGIN_LEFT is too large.");
+  static_assert(PROBING_MARGIN_RIGHT < _MARGIN(X), "PROBING_MARGIN_RIGHT is too large.");
+  #undef _MARGIN
+
   /**
    * Make sure Z raise values are set
    */
diff --git a/Marlin/src/inc/Version.h b/Marlin/src/inc/Version.h
index ae8e5cf24f..4a3af243f0 100644
--- a/Marlin/src/inc/Version.h
+++ b/Marlin/src/inc/Version.h
@@ -52,7 +52,7 @@
  * to alert users to major changes.
  */
 
-#define MARLIN_HEX_VERSION 020005
+#define MARLIN_HEX_VERSION 020006
 #ifndef REQUIRED_CONFIGURATION_H_VERSION
   #define REQUIRED_CONFIGURATION_H_VERSION MARLIN_HEX_VERSION
 #endif
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index a91a8e8545..56b9e0a11e 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -95,7 +95,7 @@ void recalc_delta_settings() {
   float delta_calibration_radius() {
     return calibration_radius_factor * (
       #if HAS_BED_PROBE
-        FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe.offset_xy.x, probe.offset_xy.y), MIN_PROBE_EDGE))
+        FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe.offset_xy.x, probe.offset_xy.y), PROBING_MARGIN))
       #else
         DELTA_PRINTABLE_RADIUS
       #endif
diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h
index 7b920ab82c..0f8ce4a35e 100644
--- a/Marlin/src/module/probe.h
+++ b/Marlin/src/module/probe.h
@@ -54,11 +54,11 @@ public:
         // Note: This won't work on SCARA since the probe offset rotates with the arm.
         static inline bool can_reach(const float &rx, const float &ry) {
           return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y) // The nozzle can go where it needs to go?
-              && position_is_reachable(rx, ry, ABS(MIN_PROBE_EDGE));       // Can the nozzle also go near there?
+              && position_is_reachable(rx, ry, ABS(PROBING_MARGIN));       // Can the nozzle also go near there?
         }
       #else
         FORCE_INLINE static bool can_reach(const float &rx, const float &ry) {
-          return position_is_reachable(rx, ry, MIN_PROBE_EDGE);
+          return position_is_reachable(rx, ry, PROBING_MARGIN);
         }
       #endif
 
@@ -131,7 +131,7 @@ public:
       );
 
       static inline float probe_radius() {
-        return printable_radius - _MAX(MIN_PROBE_EDGE, HYPOT(offset_xy.x, offset_xy.y));
+        return printable_radius - _MAX(PROBING_MARGIN, HYPOT(offset_xy.x, offset_xy.y));
       }
     #endif
 
@@ -140,7 +140,7 @@ public:
         #if IS_KINEMATIC
           (X_CENTER) - probe_radius()
         #else
-          _MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + offset_xy.x)
+          _MAX((X_MIN_BED) + (PROBING_MARGIN_LEFT), (X_MIN_POS) + offset_xy.x)
         #endif
       );
     }
@@ -149,7 +149,7 @@ public:
         #if IS_KINEMATIC
           (X_CENTER) + probe_radius()
         #else
-          _MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + offset_xy.x)
+          _MIN((X_MAX_BED) - (PROBING_MARGIN_RIGHT), (X_MAX_POS) + offset_xy.x)
         #endif
       );
     }
@@ -158,7 +158,7 @@ public:
         #if IS_KINEMATIC
           (Y_CENTER) - probe_radius()
         #else
-          _MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + offset_xy.y)
+          _MAX((Y_MIN_BED) + (PROBING_MARGIN_FRONT), (Y_MIN_POS) + offset_xy.y)
         #endif
       );
     }
@@ -167,7 +167,7 @@ public:
         #if IS_KINEMATIC
           (Y_CENTER) + probe_radius()
         #else
-          _MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + offset_xy.y)
+          _MIN((Y_MAX_BED) - (PROBING_MARGIN_BACK), (Y_MAX_POS) + offset_xy.y)
         #endif
       );
     }