diff --git a/Firmware/Configuration_adv.h b/Firmware/Configuration_adv.h
index 34c683ce2..b57c549e8 100644
--- a/Firmware/Configuration_adv.h
+++ b/Firmware/Configuration_adv.h
@@ -69,6 +69,9 @@
 // Keepalive period which is restarted with M79
 #define M79_TIMEOUT 30 * 1000 // ms
 
+// A timer which is restarted everytime a G-command is added to the command queue.
+#define USB_TIMER_TIMEOUT 10 * 1000 // ms
+
 //===========================================================================
 //=============================Mechanical Settings===========================
 //===========================================================================
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 1774719b2..76aa4f531 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -1733,7 +1733,7 @@ void loop()
 	if (printingIsPaused() && saved_printing_type == PowerPanic::PRINT_TYPE_USB) { //keep believing that usb is being printed. Prevents accessing dangerous menus while pausing.
 		usb_timer.start();
 	}
-	else if (usb_timer.expired(10000)) { //just need to check if it expired. Nothing else is needed to be done.
+	else if (usb_timer.expired(USB_TIMER_TIMEOUT)) { //just need to check if it expired. Nothing else is needed to be done.
         SetPrinterState(PrinterState::HostPrintingFinished); //set printer state to show LCD menu after finished SD print
 	}
     
@@ -9605,6 +9605,13 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
         get_command();
     }
 
+    if (blocks_queued() && GetPrinterState() == PrinterState::IsHostPrinting && usb_timer.expired((USB_TIMER_TIMEOUT) / 2))
+    {
+        // Handle the case where planned moves may take a longer time to execute than the USB timer period.
+        // An example is the toolchange unload sequence generated by PrusaSlicer with default settings.
+        usb_timer.start();
+    }
+
   if(max_inactive_time && previous_millis_cmd.expired(max_inactive_time))
     kill(PSTR("Inactivity Shutdown"));
   if(stepper_inactive_time && previous_millis_cmd.expired(stepper_inactive_time)) {