diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index d5bd54f077..ab85ab5926 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -227,6 +227,10 @@ void reset_bed_level();
 void prepare_move();
 void kill(const char*);
 
+#if DISABLED(DELTA) && DISABLED(SCARA)
+  void set_current_position_from_planner();
+#endif
+
 #if ENABLED(FILAMENT_RUNOUT_SENSOR)
   void handle_filament_runout();
 #endif
@@ -253,6 +257,7 @@ inline bool IsStopped() { return !Running; }
 bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); //put a single ASCII command at the end of the current buffer or return false when it is full
 void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return when the command has been enqueued
 void enqueue_and_echo_commands_P(const char* cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
+void clear_command_queue();
 
 void clamp_to_software_endstops(float target[3]);
 
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 6ddd0d2ea2..1feb42d7a4 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -552,7 +552,7 @@ static void report_current_position();
       if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
     #endif
     calculate_delta(current_position);
-    planner.set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+    planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
   }
 #endif
 
@@ -613,6 +613,11 @@ void enqueue_and_echo_commands_P(const char* pgcode) {
   drain_queued_commands_P(); // first command executed asap (when possible)
 }
 
+void clear_command_queue() {
+  cmd_queue_index_r = cmd_queue_index_w;
+  commands_in_queue = 0;
+}
+
 /**
  * Once a new command is in the ring buffer, call this to commit it
  */
@@ -1448,9 +1453,9 @@ inline void sync_plan_position() {
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
   #endif
-  planner.set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+  planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 }
-inline void sync_plan_position_e() { planner.set_e_position(current_position[E_AXIS]); }
+inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
 inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
 inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
 
@@ -1607,7 +1612,7 @@ static void setup_for_endstop_move() {
 
       // Tell the planner where we ended up - Get this from the stepper handler
       zPosition = stepper.get_axis_position_mm(Z_AXIS);
-      planner.set_position(
+      planner.set_position_mm(
         current_position[X_AXIS], current_position[Y_AXIS], zPosition,
         current_position[E_AXIS]
       );
@@ -3593,7 +3598,7 @@ inline void gcode_G28() {
          * Get the current Z position and send it to the planner.
          *
          * >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z
-         * (most recent planner.set_position/sync_plan_position)
+         * (most recent planner.set_position_mm/sync_plan_position)
          *
          * >> zprobe_zoffset : Z distance from nozzle to Z probe
          * (set by default, M851, EEPROM, or Menu)
@@ -5889,13 +5894,35 @@ inline void gcode_M400() { stepper.synchronize(); }
 
 #endif // FILAMENT_WIDTH_SENSOR
 
+#if DISABLED(DELTA) && DISABLED(SCARA)
+  void set_current_position_from_planner() {
+    stepper.synchronize();
+    #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+      vector_3 pos = planner.adjusted_position(); // values directly from steppers...
+      current_position[X_AXIS] = pos.x;
+      current_position[Y_AXIS] = pos.y;
+      current_position[Z_AXIS] = pos.z;
+    #else
+      current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
+      current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
+      current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
+    #endif
+    sync_plan_position();                       // ...re-apply to planner position
+  }
+#endif
+
 /**
  * M410: Quickstop - Abort all planned moves
  *
  * This will stop the carriages mid-move, so most likely they
  * will be out of sync with the stepper position after this.
  */
-inline void gcode_M410() { stepper.quick_stop(); }
+inline void gcode_M410() {
+  stepper.quick_stop();
+  #if DISABLED(DELTA) && DISABLED(SCARA)
+    set_current_position_from_planner();
+  #endif
+}
 
 
 #if ENABLED(MESH_BED_LEVELING)
@@ -7436,7 +7463,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
     if (active_extruder_parked) {
       if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
         // move duplicate extruder into correct duplication position.
-        planner.set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+        planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
         planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
                          current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[X_AXIS], 1);
         sync_plan_position();
@@ -7989,7 +8016,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
                          (EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_unit[E_AXIS], active_extruder);
       current_position[E_AXIS] = oldepos;
       destination[E_AXIS] = oldedes;
-      planner.set_e_position(oldepos);
+      planner.set_e_position_mm(oldepos);
       previous_cmd_ms = ms; // refresh_cmd_timeout()
       stepper.synchronize();
       switch (active_extruder) {
diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index f5dea69766..945b615779 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -187,6 +187,9 @@ void Endstops::report_state() {
         card.sdprinting = false;
         card.closefile();
         stepper.quick_stop();
+        #if DISABLED(DELTA) && DISABLED(SCARA)
+          set_current_position_from_planner();
+        #endif
         thermalManager.disable_all_heaters(); // switch off all heaters.
       }
     #endif
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 3627f27612..d38f2d367a 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -1114,9 +1114,9 @@ void Planner::check_axes_activity() {
  * On CORE machines stepper ABC will be translated from the given XYZ.
  */
 #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
-  void Planner::set_position(float x, float y, float z, const float& e)
+  void Planner::set_position_mm(float x, float y, float z, const float& e)
 #else
-  void Planner::set_position(const float& x, const float& y, const float& z, const float& e)
+  void Planner::set_position_mm(const float& x, const float& y, const float& z, const float& e)
 #endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
   {
     #if ENABLED(MESH_BED_LEVELING)
@@ -1138,7 +1138,7 @@ void Planner::check_axes_activity() {
 /**
  * Directly set the planner E position (hence the stepper E position).
  */
-void Planner::set_e_position(const float& e) {
+void Planner::set_e_position_mm(const float& e) {
   position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
   stepper.set_e_position(position[E_AXIS]);
 }
diff --git a/Marlin/planner.h b/Marlin/planner.h
index b263e2dfa0..96e580db96 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -216,19 +216,19 @@ class Planner {
        *
        * Clears previous speed values.
        */
-      static void set_position(float x, float y, float z, const float& e);
+      static void set_position_mm(float x, float y, float z, const float& e);
 
     #else
 
       static void buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder);
-      static void set_position(const float& x, const float& y, const float& z, const float& e);
+      static void set_position_mm(const float& x, const float& y, const float& z, const float& e);
 
     #endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
 
     /**
      * Set the E position (mm) of the planner (and the E stepper)
      */
-    static void set_e_position(const float& e);
+    static void set_e_position_mm(const float& e);
 
     /**
      * Does the buffer have any blocks queued?
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 98b5fa665b..1a0071d1b3 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -482,6 +482,10 @@ inline void line_to_current(AxisEnum axis) {
 
   static void lcd_sdcard_stop() {
     stepper.quick_stop();
+    #if DISABLED(DELTA) && DISABLED(SCARA)
+      set_current_position_from_planner();
+    #endif
+    clear_command_queue();
     card.sdprinting = false;
     card.closefile();
     print_job_timer.stop();
@@ -1037,7 +1041,7 @@ void lcd_cooldown() {
     if (LCD_CLICKED) {
       _lcd_level_bed_position = 0;
       current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
-      planner.set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+      planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
       lcd_goto_menu(_lcd_level_goto_next_point, true);
     }
   }