diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp
index 8446235807..deb2a2fc81 100644
--- a/Marlin/src/gcode/calibrate/G425.cpp
+++ b/Marlin/src/gcode/calibrate/G425.cpp
@@ -143,18 +143,15 @@ inline void park_above_object(measurements_t &m, const float uncertainty) {
 }
 
 #if HOTENDS > 1
-
   inline void set_nozzle(measurements_t &m, const uint8_t extruder) {
     if (extruder != active_extruder) {
       park_above_object(m, CALIBRATION_MEASUREMENT_UNKNOWN);
       tool_change(extruder);
     }
   }
+#endif
 
-  inline void reset_nozzle_offsets() {
-    constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
-    LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp[i][e];
-  }
+#if HAS_HOTEND_OFFSET
 
   inline void normalize_hotend_offsets() {
     for (uint8_t e = 1; e < HOTENDS; e++) {
@@ -167,7 +164,7 @@ inline void park_above_object(measurements_t &m, const float uncertainty) {
     hotend_offset[Z_AXIS][0] = 0;
   }
 
-#endif // HOTENDS > 1
+#endif
 
 inline bool read_calibration_pin() {
   #if HAS_CALIBRATION_PIN
@@ -526,7 +523,7 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
   probe_sides(m, uncertainty);
 
   // Adjust the hotend offset
-  #if HOTENDS > 1
+  #if HAS_HOTEND_OFFSET
     #if HAS_X_CENTER
       hotend_offset[X_AXIS][extruder] += m.pos_error[X_AXIS];
     #endif
@@ -534,7 +531,6 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
       hotend_offset[Y_AXIS][extruder] += m.pos_error[Y_AXIS];
     #endif
     hotend_offset[Z_AXIS][extruder] += m.pos_error[Z_AXIS];
-
     normalize_hotend_offsets();
   #endif
 
@@ -565,8 +561,11 @@ inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty)
 
   HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e);
 
-  #if HOTENDS > 1
+  #if HAS_HOTEND_OFFSET
     normalize_hotend_offsets();
+  #endif
+
+  #if HOTENDS > 1
     set_nozzle(m, 0);
   #endif
 }
@@ -585,8 +584,8 @@ inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty)
 inline void calibrate_all() {
   measurements_t m;
 
-  #if HOTENDS > 1
-    reset_nozzle_offsets();
+  #if HAS_HOTEND_OFFSET
+    reset_hotend_offsets();
   #endif
 
   TEMPORARY_BACKLASH_CORRECTION(1.0f);
diff --git a/Marlin/src/gcode/feature/pause/M125.cpp b/Marlin/src/gcode/feature/pause/M125.cpp
index 796bd79a1b..cc6fd0438d 100644
--- a/Marlin/src/gcode/feature/pause/M125.cpp
+++ b/Marlin/src/gcode/feature/pause/M125.cpp
@@ -68,8 +68,8 @@ void GcodeSuite::M125() {
   if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
 
   #if HAS_HOTEND_OFFSET && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
-    park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
-    park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
+    park_point.x += hotend_offset[X_AXIS][active_extruder];
+    park_point.y += hotend_offset[Y_AXIS][active_extruder];
   #endif
 
   #if ENABLED(SDSUPPORT)
diff --git a/Marlin/src/gcode/feature/pause/M600.cpp b/Marlin/src/gcode/feature/pause/M600.cpp
index d42df6f5ab..6ca278c10f 100644
--- a/Marlin/src/gcode/feature/pause/M600.cpp
+++ b/Marlin/src/gcode/feature/pause/M600.cpp
@@ -110,8 +110,8 @@ void GcodeSuite::M600() {
   if (parser.seenval('Y')) park_point.y = parser.linearval('Y');
 
   #if HAS_HOTEND_OFFSET && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
-    park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
-    park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
+    park_point.x += hotend_offset[X_AXIS][active_extruder];
+    park_point.y += hotend_offset[Y_AXIS][active_extruder];
   #endif
 
   #if ENABLED(MMU2_MENUS)
diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp
index 6995fa57d3..ab973e9e2c 100644
--- a/Marlin/src/lcd/ultralcd.cpp
+++ b/Marlin/src/lcd/ultralcd.cpp
@@ -397,20 +397,6 @@ bool MarlinUI::get_blink() {
   #endif
 #endif
 
-#if HAS_PRINT_PROGRESS
-  uint8_t MarlinUI::get_progress() {
-    #if ENABLED(LCD_SET_PROGRESS_MANUALLY)
-      uint8_t &progress = progress_bar_percent;
-    #else
-      uint8_t progress = 0;
-    #endif
-    #if ENABLED(SDSUPPORT)
-      if (IS_SD_PRINTING()) progress = card.percentDone();
-    #endif
-    return progress;
-  }
-#endif
-
 void MarlinUI::status_screen() {
 
   #if HAS_LCD_MENU
@@ -1321,4 +1307,18 @@ void MarlinUI::update() {
     set_status_P(msg, -1);
   }
 
+  #if HAS_PRINT_PROGRESS
+    uint8_t MarlinUI::get_progress() {
+      #if ENABLED(LCD_SET_PROGRESS_MANUALLY)
+        uint8_t &progress = progress_bar_percent;
+      #else
+        uint8_t progress = 0;
+      #endif
+      #if ENABLED(SDSUPPORT)
+        if (IS_SD_PRINTING()) progress = card.percentDone();
+      #endif
+      return progress;
+    }
+  #endif
+
 #endif // HAS_SPI_LCD || EXTENSIBLE_UI
diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp
index e69df2f0df..13eacae04c 100644
--- a/Marlin/src/module/configuration_store.cpp
+++ b/Marlin/src/module/configuration_store.cpp
@@ -2028,15 +2028,7 @@ void MarlinSettings::reset() {
   #endif
 
   #if HAS_HOTEND_OFFSET
-    constexpr float tmp4[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
-    static_assert(
-      tmp4[X_AXIS][0] == 0 && tmp4[Y_AXIS][0] == 0 && tmp4[Z_AXIS][0] == 0,
-      "Offsets for the first hotend must be 0.0."
-    );
-    LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp4[i][e];
-    #if ENABLED(DUAL_X_CARRIAGE)
-      hotend_offset[X_AXIS][1] = MAX(X2_HOME_POS, X2_MAX_POS);
-    #endif
+    reset_hotend_offsets();
   #endif
 
   #if EXTRUDERS > 1
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index c9973816c4..44266e24b1 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -106,6 +106,17 @@ float destination[XYZE]; // = { 0 }
 // Extruder offsets
 #if HAS_HOTEND_OFFSET
   float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
+  void reset_hotend_offsets() {
+    constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
+    static_assert(
+      tmp[X_AXIS][0] == 0 && tmp[Y_AXIS][0] == 0 && tmp[Z_AXIS][0] == 0,
+      "Offsets for the first hotend must be 0.0."
+    );
+    LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp[i][e];
+    #if ENABLED(DUAL_X_CARRIAGE)
+      hotend_offset[X_AXIS][1] = MAX(X2_HOME_POS, X2_MAX_POS);
+    #endif
+  }
 #endif
 
 // The feedrate for the current move, often used as the default if
@@ -130,11 +141,23 @@ const float homing_feedrate_mm_s[XYZ] PROGMEM = {
 float cartes[XYZ];
 
 #if IS_KINEMATIC
+
   float delta[ABC];
-#endif
 
-#if HAS_SCARA_OFFSET
-  float scara_home_offset[ABC];
+  #if HAS_SCARA_OFFSET
+    float scara_home_offset[ABC];
+  #endif
+
+  #if HAS_SOFTWARE_ENDSTOPS
+    float soft_endstop_radius, soft_endstop_radius_2;
+  #elif IS_SCARA
+    constexpr float soft_endstop_radius = SCARA_PRINTABLE_RADIUS,
+                    soft_endstop_radius_2 = sq(SCARA_PRINTABLE_RADIUS);
+  #else // DELTA
+    constexpr float soft_endstop_radius = DELTA_PRINTABLE_RADIUS,
+                    soft_endstop_radius_2 = sq(DELTA_PRINTABLE_RADIUS);
+  #endif
+
 #endif
 
 /**
@@ -440,47 +463,6 @@ void clean_up_after_endstop_or_probe_move() {
   float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
         soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
 
-  #if IS_KINEMATIC
-    float soft_endstop_radius, soft_endstop_radius_2;
-  #endif
-
-  /**
-   * Constrain the given coordinates to the software endstops.
-   *
-   * For DELTA/SCARA the XY constraint is based on the smallest
-   * radius within the set software endstops.
-   */
-  void clamp_to_software_endstops(float target[XYZ]) {
-    if (!soft_endstops_enabled) return;
-    #if IS_KINEMATIC
-      const float dist_2 = HYPOT2(target[X_AXIS], target[Y_AXIS]);
-      if (dist_2 > soft_endstop_radius_2) {
-        const float ratio = soft_endstop_radius / SQRT(dist_2); // 200 / 300 = 0.66
-        target[X_AXIS] *= ratio;
-        target[Y_AXIS] *= ratio;
-      }
-    #else
-      #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
-        NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
-      #endif
-      #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
-        NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
-      #endif
-      #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
-        NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
-      #endif
-      #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
-        NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
-      #endif
-    #endif
-    #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
-      NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
-    #endif
-    #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
-      NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
-    #endif
-  }
-
   /**
    * Software endstops can be used to monitor the open end of
    * an axis that has a hardware endstop on the other end. Or
@@ -490,7 +472,11 @@ void clean_up_after_endstop_or_probe_move() {
    * the software endstop positions must be refreshed to remain
    * at the same positions relative to the machine.
    */
-  void update_software_endstops(const AxisEnum axis) {
+  void update_software_endstops(const AxisEnum axis
+    #if HAS_HOTEND_OFFSET
+      , const uint8_t old_tool_index/*=0*/, const uint8_t new_tool_index/*=0*/
+    #endif
+  ) {
 
     #if ENABLED(DUAL_X_CARRIAGE)
 
@@ -499,7 +485,7 @@ void clean_up_after_endstop_or_probe_move() {
         // In Dual X mode hotend_offset[X] is T1's home position
         const float dual_max_x = MAX(hotend_offset[X_AXIS][1], X2_MAX_POS);
 
-        if (active_extruder != 0) {
+        if (new_tool_index != 0) {
           // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
           soft_endstop_min[X_AXIS] = X2_MIN_POS;
           soft_endstop_max[X_AXIS] = dual_max_x;
@@ -538,6 +524,22 @@ void clean_up_after_endstop_or_probe_move() {
         default: break;
       }
 
+    #elif HAS_HOTEND_OFFSET
+
+      // Software endstops are relative to the tool 0 workspace, so
+      // the movement limits must be shifted by the tool offset to
+      // retain the same physical limit when other tools are selected.
+      if (old_tool_index != new_tool_index) {
+        const float offs = hotend_offset[axis][new_tool_index] - hotend_offset[axis][old_tool_index];
+        soft_endstop_min[axis] += offs;
+        soft_endstop_max[axis] += offs;
+      }
+      else {
+        const float offs = hotend_offset[axis][active_extruder];
+        soft_endstop_min[axis] = base_min_pos(axis) + offs;
+        soft_endstop_max[axis] = base_max_pos(axis) + offs;
+      }
+
     #else
 
       soft_endstop_min[axis] = base_min_pos(axis);
@@ -554,7 +556,59 @@ void clean_up_after_endstop_or_probe_move() {
     #endif
   }
 
-#endif
+#endif // HAS_SOFTWARE_ENDSTOPS
+
+/**
+ * Constrain the given coordinates to the software endstops.
+ *
+ * For DELTA/SCARA the XY constraint is based on the smallest
+ * radius within the set software endstops.
+ */
+void clamp_to_software_endstops(float target[XYZ]) {
+
+  if (!soft_endstops_enabled) return;
+
+  #if IS_KINEMATIC
+
+    #if HAS_HOTEND_OFFSET && ENABLED(DELTA)
+      // The effector center position will be the target minus the hotend offset.
+      const float offx = hotend_offset[X_AXIS][active_extruder], offy = hotend_offset[Y_AXIS][active_extruder];
+    #else
+      // SCARA needs to consider the angle of the arm through the entire move, so for now use no tool offset.
+      constexpr float offx = 0, offy = 0;
+    #endif
+
+    const float dist_2 = HYPOT2(target[X_AXIS] - offx, target[Y_AXIS] - offy);
+    if (dist_2 > soft_endstop_radius_2) {
+      const float ratio = (soft_endstop_radius) / SQRT(dist_2); // 200 / 300 = 0.66
+      target[X_AXIS] *= ratio;
+      target[Y_AXIS] *= ratio;
+    }
+
+  #else
+
+    #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
+      NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
+    #endif
+    #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
+      NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
+    #endif
+    #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
+      NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
+    #endif
+    #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
+      NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
+    #endif
+
+  #endif
+
+  #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
+    NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
+  #endif
+  #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
+    NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
+  #endif
+}
 
 #if !UBL_SEGMENTED
 #if IS_KINEMATIC
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 275fafe74e..e14892d738 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -90,10 +90,6 @@ extern int16_t feedrate_percentage;
   constexpr uint8_t active_extruder = 0;
 #endif
 
-#if HAS_HOTEND_OFFSET
-  extern float hotend_offset[XYZ][HOTENDS];
-#endif
-
 FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float(p); }
 FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); }
 
@@ -115,19 +111,30 @@ XYZ_DEFS(signed char, home_dir, HOME_DIR);
   #define update_workspace_offset(x) NOOP
 #endif
 
+#if HAS_HOTEND_OFFSET
+  extern float hotend_offset[XYZ][HOTENDS];
+  void reset_hotend_offsets();
+#else
+  constexpr float hotend_offset[XYZ][HOTENDS] = { { 0 }, { 0 }, { 0 } };
+#endif
+
 #if HAS_SOFTWARE_ENDSTOPS
   extern bool soft_endstops_enabled;
   extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
-  void clamp_to_software_endstops(float target[XYZ]);
-  void update_software_endstops(const AxisEnum axis);
+  void update_software_endstops(const AxisEnum axis
+    #if HAS_HOTEND_OFFSET
+      , const uint8_t old_tool_index=0, const uint8_t new_tool_index=0
+    #endif
+  );
 #else
-  constexpr bool soft_endstops_enabled = false;
-  constexpr float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
-                  soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
-  #define clamp_to_software_endstops(x) NOOP
-  #define update_software_endstops(x) NOOP
+  constexpr bool soft_endstops_enabled = true;
+  constexpr float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
+                  soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
+  #define update_software_endstops(...) NOOP
 #endif
 
+void clamp_to_software_endstops(float target[XYZ]);
+
 void report_current_position();
 
 inline void set_current_from_destination() { COPY(current_position, destination); }
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index dc7458a257..c383dae753 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -1626,7 +1626,7 @@ void Planner::synchronize() {
             if (reversing == (error_correction < 0)) {
               if (segment_proportion == 0)
                 segment_proportion = MIN(1.0f, block->millimeters / backlash_smoothing_mm);
-              error_correction *= segment_proportion;
+              error_correction = ceil(segment_proportion * error_correction);
             }
             else
               error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index 5094e5f5b1..5f1aced021 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -735,23 +735,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
       const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
       feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
 
-      #if ENABLED(DUAL_X_CARRIAGE)
-
-        #if HAS_SOFTWARE_ENDSTOPS
-          // Update the X software endstops early
-          active_extruder = tmp_extruder;
-          update_software_endstops(X_AXIS);
-          active_extruder = !tmp_extruder;
-          const float minx = soft_endstop_min[X_AXIS], maxx = soft_endstop_max[X_AXIS];
-        #else
-          // No software endstops? Use the configured limits
-          const float minx = tmp_extruder ? X2_MIN_POS : X1_MIN_POS,
-                      maxx = tmp_extruder ? X2_MAX_POS : X1_MAX_POS;
-        #endif
-
-        // Don't move the new extruder out of bounds
-        if (!WITHIN(current_position[X_AXIS], minx, maxx)) no_move = true;
-
+      #if HAS_SOFTWARE_ENDSTOPS && ENABLED(DUAL_X_CARRIAGE)
+        update_software_endstops(X_AXIS, active_extruder, tmp_extruder);
       #endif
 
       set_destination_from_current();
@@ -772,7 +757,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
         planner.synchronize();
       }
 
-      #if HOTENDS > 1
+      #if HAS_HOTEND_OFFSET
         #if ENABLED(DUAL_X_CARRIAGE)
           constexpr float xdiff = 0;
         #else
@@ -914,10 +899,6 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
       enable_solenoid_on_active_extruder();
     #endif
 
-    #if HAS_SOFTWARE_ENDSTOPS && ENABLED(DUAL_X_CARRIAGE)
-      update_software_endstops(X_AXIS);
-    #endif
-
     #if ENABLED(MK2_MULTIPLEXER)
       if (tmp_extruder >= E_STEPPERS) return invalid_extruder_error(tmp_extruder);
       select_multiplexed_stepper(tmp_extruder);
diff --git a/Marlin/src/pins/pins_EINSY_RETRO.h b/Marlin/src/pins/pins_EINSY_RETRO.h
index f24235763d..40db378f43 100644
--- a/Marlin/src/pins/pins_EINSY_RETRO.h
+++ b/Marlin/src/pins/pins_EINSY_RETRO.h
@@ -176,8 +176,8 @@
       #define BTN_EN2         19
     #else
       #define LCD_PINS_RS     82
-      #define LCD_PINS_ENABLE 18
-      #define LCD_PINS_D4     19
+      #define LCD_PINS_ENABLE 18   // On 0.6b, use 61
+      #define LCD_PINS_D4     19   // On 0.6b, use 59
       #define LCD_PINS_D5     70
       #define LCD_PINS_D6     85
       #define LCD_PINS_D7     71