diff --git a/Marlin/src/HAL/ESP32/HAL.cpp b/Marlin/src/HAL/ESP32/HAL.cpp
index adf5cecabe41..4000dcc90853 100644
--- a/Marlin/src/HAL/ESP32/HAL.cpp
+++ b/Marlin/src/HAL/ESP32/HAL.cpp
@@ -167,6 +167,8 @@ uint8_t MarlinHAL::get_reset_source() { return rtc_get_reset_reason(1); }
 
 void MarlinHAL::reboot() { ESP.restart(); }
 
+void _delay_ms(int delay_ms) { delay(delay_ms); }
+
 // return free memory between end of heap (or end bss) and whatever is current
 int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); }
 
diff --git a/Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp b/Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp
index e454130d43f3..0aa66ed2cf0d 100644
--- a/Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp
+++ b/Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp
@@ -30,6 +30,7 @@
 #include <U8glib-HAL.h>
 #include "Arduino.h"
 #include "../shared/HAL_SPI.h"
+#include "HAL.h"
 #include "SPI.h"
 
 static SPISettings spiConfig;