diff --git a/Makefile b/Makefile
index d5e06e05b5ab..164adc0ad4d4 100644
--- a/Makefile
+++ b/Makefile
@@ -60,24 +60,20 @@ tests-code-single-ci:
 # TODO: How can we limit tests with ONLY_TEST with platformio?
 tests-code-single-local:
 	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-code-all-local" ; return 1; fi
-	export PATH=./buildroot/bin/:./buildroot/tests/:${PATH} \
-	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
-	  && exec_pio_test $(TEST_TARGET)
+	platformio run -t marlin_$(TEST_TARGET)
 .PHONY: tests-code-single-local
 
 tests-code-single-local-docker:
 	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-code-all-local-docker" ; return 1; fi
-	docker-compose run --rm marlin $(MAKE) tests-code-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)"
+	docker-compose run --rm marlin $(MAKE) tests-code-single-local TEST_TARGET=$(TEST_TARGET) ONLY_TEST="$(ONLY_TEST)"
 .PHONY: tests-code-single-local-docker
 
 tests-code-all-local:
-	export PATH=./buildroot/bin/:./buildroot/tests/:${PATH} \
-	  && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \
-	  && exec_all_pio_tests
+	platformio run -t test-marlin
 .PHONY: tests-code-all-local
 
 tests-code-all-local-docker:
-	docker-compose run --rm marlin $(MAKE) tests-code-all-local VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD)
+	docker-compose run --rm marlin $(MAKE) tests-code-all-local
 .PHONY: tests-code-all-local-dockerS
 
 setup-local-docker:
diff --git a/README.md b/README.md
index bf8028f0f9d6..0dab55336f79 100644
--- a/README.md
+++ b/README.md
@@ -113,8 +113,20 @@ Proposed patches should be submitted as a Pull Request against the ([bugfix-2.0.
 - If you make significant changes, try to run tests locally if you can
   - It's optional: running all the tests on Windows might take a long time, and they will run anyway on GitHub
   - If you're running the tests on Linux, or on WSL with the code on a Linux volume, the speed is much faster
-  - You can use `make tests-all-local`/`make tests-single-local TEST_TARGET=...`
-  - If you prefer Docker you can use `make tests-all-local-docker`/`make tests-all-local-docker TEST_TARGET=...`
+  - You can use:
+    - All: `make tests-config-all-local`
+    - Only one: `make tests-config-single-local TEST_TARGET=...`
+    - If you prefer Docker you can use:
+      - All: `make tests-config-all-local-docker`
+      - Single: `make tests-config-all-local-docker TEST_TARGET=...`
+  - To run all unit test suites use:
+    - Directly: `platformio run -t test-marlin`
+    - With make: `make tests-code-all-local`
+    - With Docker & make: `maker tests-code-all-local-docker`
+  - To run a single unit test suite use:
+    - Directly: `platformio run -t marlin_<test-suite-name>`
+    - With make: `make tests-code-single-local TEST_TARGET=<test-suite-name>`
+    - With Docker & make: `maker tests-code-single-local-docker  TEST_TARGET=<test-suite-name>`
 - If possible, write some new tests. See [the test documentation](test)
 
 ### [RepRap.org Wiki Page](https://reprap.org/wiki/Marlin)
diff --git a/buildroot/bin/exec_all_pio_tests b/buildroot/bin/exec_all_pio_tests
deleted file mode 100755
index b99979d95394..000000000000
--- a/buildroot/bin/exec_all_pio_tests
+++ /dev/null
@@ -1,43 +0,0 @@
-#!/usr/bin/env bash
-
-shopt nullglob
-
-function collect() {
-  tests=(./test/*/)
-  if [[ "${#tests[@]}" -eq 0 ]]; then
-    printf "\033[0;31mNo tests found\033[0m\n"
-    exit 1
-  fi
-
-  echo "Collected ${#tests[@]} test suites..."
-}
-
-function run() {
-  # We need to compile and run each test suite separately, since they will have
-  # different configuration
-  total=()
-  failed=()
-  for test in ./test/*/; do
-    total+=("$test")
-    if ! exec_pio_test "$(basename "$test")"; then
-      failed+=("$test")
-    fi
-  done
-}
-
-function results() {
-  if [[ ${#failed[@]} -eq 0 ]]; then
-    printf "\033[0;32mPassed: ${#total[@]}\033[0m\n"
-    exit 0
-  else
-    printf "\033[0;31mFailed: ${#failed[@]} out of ${#total[@]}\033[0m\n"
-    for test in "${failed[@]}"; do
-      printf " * $test\n"
-    done
-    exit 1
-  fi
-}
-
-collect;
-run;
-results;
diff --git a/buildroot/bin/exec_pio_test b/buildroot/bin/exec_pio_test
deleted file mode 100755
index 0ea2c88751f6..000000000000
--- a/buildroot/bin/exec_pio_test
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-function get_configuration() {
-  if [[ ! -f "$1" ]] ; then
-    printf "\033[0;31mCouldn't find test \033[0m$1\n" >&2
-    return 1
-  fi
-  SC=START_CONFIGURATION
-  EC=END_CONFIGURATION
-
-  configuration_with_markers=$(sed -n '/'$SC'/,/'$EC'/p;/^'$EC'/q' "$1")
-
-  if ! echo "$configuration_with_markers" | head -n 1 | grep "$SC" > /dev/null ; then
-    printf "\033[0;31mCouldn't find \033[1;33m$SC\033[0;31m string in test \033[0m$1\n" >&2
-    return 1
-  fi
-
-  if ! echo "$configuration_with_markers" | tail -n 1 | grep "$EC" > /dev/null ; then
-    printf "\033[0;31mCouldn't find \033[1;33m$EC\033[0;31m string in test \033[0m$1\n" >&2
-    return 1
-  fi
-
-  echo "$configuration_with_markers" | tail -n +2 | head -n -1
-}
-
-function prepare() {
-  # Restore configuration
-  restore_configs
-
-  # Set configuration from test
-  opt_set MOTHERBOARD BOARD_LINUX_RAMPS
-  if [[ -n "$1" ]] ; then
-    eval "$1"
-  fi
-}
-
-function run() {
-  if [[ -n "$VERBOSE_PLATFORMIO" ]] ; then
-    verbose='-v'
-  else
-    verbose=''
-  fi
-  platformio test $verbose -e linux_native -f "$1"
-}
-
-function cleanup() {
-  if [[ -n "$GIT_RESET_HARD" ]]; then
-    echo git reset --hard HEAD
-  else
-    restore_configs
-  fi
-}
-
-configuration=$(get_configuration "test/$1/test_all.cpp")
-trap cleanup EXIT
-prepare "$configuration"
-run "$1"
diff --git a/buildroot/share/PlatformIO/scripts/collect-code-tests.py b/buildroot/share/PlatformIO/scripts/collect-code-tests.py
new file mode 100644
index 000000000000..74309c2ace44
--- /dev/null
+++ b/buildroot/share/PlatformIO/scripts/collect-code-tests.py
@@ -0,0 +1,107 @@
+#
+# collect-code-tests.py
+# Convenience script to collect all code tests
+#
+
+import os
+
+Import("env")
+Import("projenv")
+
+
+os.environ['PATH'] = f"./buildroot/bin/:./buildroot/tests/:{os.environ['PATH']}"
+
+
+def collect_test_suites():
+	"""Get all the test suites"""
+	from pathlib import Path
+	return list(Path("./test").glob("test_*/test_all.cpp"))
+
+
+def register_test_suites():
+	"""Register all the test suites"""
+	test_suites = collect_test_suites()
+	for path in test_suites:
+		name = path.parent.name
+		configuration = get_configuration(path)
+		env.AddCustomTarget(
+			name=f"marlin_{name}",
+			dependencies=None,
+			actions=[
+				f"echo ====== Configuring for marlin_{name} ======",
+				"restore_configs",
+				"opt_set MOTHERBOARD BOARD_LINUX_RAMPS",
+			] + configuration + [
+				f"echo ====== Finished configuring for marlin_{name} ======",
+				f"platformio test -e linux_native -f {name}",
+				f"restore_configs",
+			],
+			title="Marlin: {}".format(name.lower().title().replace("_", " ")),
+			description=(
+				f"Rin a Marlin test suite, with the appropriate configuration, "
+				f"that sits in {path}"
+			),
+		)
+	env.AddCustomTarget(
+		name="test-marlin",
+		dependencies=None,
+		actions=[
+			f"platformio run -t marlin_{path.parent.name}"
+			for path in test_suites
+		],
+		title="Marlin: Test all code test suites",
+		description=(
+			f"Run all Marlin code test suites ({len(test_suites)} found), each "
+			f"with the appropriate configuration"
+		),
+	)
+
+
+def get_configuration(path):
+	"""Get the configuration from a test suite"""
+	code_lines = path.read_text().splitlines()
+
+	# Find start index
+	start_indexes = [
+		index
+		for index, line in enumerate(code_lines)
+		if 'START_CONFIGURATION' in line
+	]
+	if not start_indexes:
+		raise Exception(
+			f"Test suite {path.name} did not contain 'START_CONFIGURATION'")
+	elif len(start_indexes) > 1:
+		raise Exception(
+			f"Test suite {path.name} contained too many instances of "
+			f"'START_CONFIGURATION'")
+	start_index, = start_indexes
+
+	# Find end index
+	end_indexes = [
+		index
+		for index, line in enumerate(code_lines)
+		if 'END_CONFIGURATION' in line
+	]
+	if not end_indexes:
+		raise Exception(
+			f"Test suite {path.name} did not contain 'END_CONFIGURATION'")
+	elif len(end_indexes) > 1:
+		raise Exception(
+			f"Test suite {path.name} contained too many instances of "
+			f"'END_CONFIGURATION'")
+	end_index, = end_indexes
+
+	# Remove whitespace, empty lines, and commented out lines
+	configuration_lines = code_lines[start_index + 1:end_index]
+	configuration_lines = [line.strip() for line in configuration_lines]
+	configuration_lines = list(filter(None, configuration_lines))
+	configuration_lines = [
+		line
+		for line in configuration_lines
+		if not line.startswith("//")
+	]
+
+	return configuration_lines
+
+
+register_test_suites()
diff --git a/platformio.ini b/platformio.ini
index 22828eb39b37..d442cb5d0de5 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -200,6 +200,7 @@ extra_scripts      =
   pre:buildroot/share/PlatformIO/scripts/common-dependencies.py
   pre:buildroot/share/PlatformIO/scripts/common-cxxflags.py
   post:buildroot/share/PlatformIO/scripts/common-dependencies-post.py
+  post:buildroot/share/PlatformIO/scripts/collect-code-tests.py
 build_flags        = -fmax-errors=5 -g -D__MARLIN_FIRMWARE__ -fmerge-all-constants
 lib_deps           =