diff --git a/platformio/commands/debug/server.py b/platformio/commands/debug/server.py
index d50ac9d0..29a00678 100644
--- a/platformio/commands/debug/server.py
+++ b/platformio/commands/debug/server.py
@@ -126,9 +126,12 @@ class DebugServer(BaseProcess):
     def _wait_until_ready(self):
         timeout = 10
         elapsed = 0
-        delay = 1
+        delay = 0.5
+        auto_ready_delay = 0.5
         while not self._ready and not self._process_ended and elapsed < timeout:
             yield self.async_sleep(delay)
+            if not self.debug_options.get("server", {}).get("ready_pattern"):
+                self._ready = self._last_activity < (time.time() - auto_ready_delay)
             elapsed += delay
 
     @staticmethod
@@ -149,9 +152,6 @@ class DebugServer(BaseProcess):
         ready_pattern = self.debug_options.get("server", {}).get("ready_pattern")
         if ready_pattern:
             self._ready = ready_pattern.encode() in data
-        else:
-            ready_delay = 0.5
-            self._ready = self._last_activity < (time.time() - ready_delay)
 
     def processEnded(self, reason):
         self._process_ended = True