diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 027132d775..930e931d32 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index 98abffa0af..086634491c 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -680,6 +680,8 @@
   #error "ABS_PREHEAT_HPB_TEMP is now PREHEAT_2_TEMP_BED. Please update your configuration."
 #elif defined(ABS_PREHEAT_FAN_SPEED)
   #error "ABS_PREHEAT_FAN_SPEED is now PREHEAT_2_FAN_SPEED. Please update your configuration."
+#elif defined(ENDSTOPS_ONLY_FOR_HOMING)
+  #error "ENDSTOPS_ONLY_FOR_HOMING is deprecated. Use (disable) ENDSTOPS_ALWAYS_ON_DEFAULT instead."
 #endif
 
 /**
diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index 3bfb67a11a..9eec4a5790 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -40,10 +40,10 @@ Endstops endstops;
 
 bool  Endstops::enabled = true,
       Endstops::enabled_globally =
-        #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
-          false
+        #if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
+          (true)
         #else
-          true
+          (false)
         #endif
       ;
 volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
@@ -66,10 +66,10 @@ volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_P
 
 Endstops::Endstops() {
   enable_globally(
-    #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
-      false
+    #if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
+      (true)
     #else
-      true
+      (false)
     #endif
   );
   enable(true);
diff --git a/Marlin/example_configurations/Cartesio/Configuration_adv.h b/Marlin/example_configurations/Cartesio/Configuration_adv.h
index 5fb71efe6d..9207b5703a 100644
--- a/Marlin/example_configurations/Cartesio/Configuration_adv.h
+++ b/Marlin/example_configurations/Cartesio/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/Felix/Configuration_adv.h b/Marlin/example_configurations/Felix/Configuration_adv.h
index 05189ecfc7..3f0729b6c9 100644
--- a/Marlin/example_configurations/Felix/Configuration_adv.h
+++ b/Marlin/example_configurations/Felix/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/Hephestos/Configuration_adv.h b/Marlin/example_configurations/Hephestos/Configuration_adv.h
index 1aa7c218bd..af6bce8053 100644
--- a/Marlin/example_configurations/Hephestos/Configuration_adv.h
+++ b/Marlin/example_configurations/Hephestos/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
index 95b8c89b8c..bfb6b16c71 100644
--- a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/K8200/Configuration_adv.h b/Marlin/example_configurations/K8200/Configuration_adv.h
index 2d0afdff3b..3703ce1ccc 100644
--- a/Marlin/example_configurations/K8200/Configuration_adv.h
+++ b/Marlin/example_configurations/K8200/Configuration_adv.h
@@ -229,7 +229,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -445,7 +447,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/K8400/Configuration_adv.h b/Marlin/example_configurations/K8400/Configuration_adv.h
index ba78a15896..11fdbdb3c2 100644
--- a/Marlin/example_configurations/K8400/Configuration_adv.h
+++ b/Marlin/example_configurations/K8400/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/RigidBot/Configuration_adv.h b/Marlin/example_configurations/RigidBot/Configuration_adv.h
index e3af83bada..3c09682603 100644
--- a/Marlin/example_configurations/RigidBot/Configuration_adv.h
+++ b/Marlin/example_configurations/RigidBot/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/SCARA/Configuration_adv.h b/Marlin/example_configurations/SCARA/Configuration_adv.h
index a7285ffd2c..6a0dea8021 100644
--- a/Marlin/example_configurations/SCARA/Configuration_adv.h
+++ b/Marlin/example_configurations/SCARA/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/TAZ4/Configuration_adv.h b/Marlin/example_configurations/TAZ4/Configuration_adv.h
index 116c99abb4..fe9b6ba36f 100644
--- a/Marlin/example_configurations/TAZ4/Configuration_adv.h
+++ b/Marlin/example_configurations/TAZ4/Configuration_adv.h
@@ -231,7 +231,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -447,7 +449,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/WITBOX/Configuration_adv.h b/Marlin/example_configurations/WITBOX/Configuration_adv.h
index 1aa7c218bd..af6bce8053 100644
--- a/Marlin/example_configurations/WITBOX/Configuration_adv.h
+++ b/Marlin/example_configurations/WITBOX/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h b/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
index 3e9fd8670a..173cacf4d0 100644
--- a/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -441,7 +443,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/delta/generic/Configuration_adv.h b/Marlin/example_configurations/delta/generic/Configuration_adv.h
index 1dfeb8c712..51a2d2b0b1 100644
--- a/Marlin/example_configurations/delta/generic/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/generic/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -441,7 +443,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
index e2bb764765..90b3c68f0d 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -440,7 +442,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
index 3baf693908..b8b94f8d4d 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
@@ -228,7 +228,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -445,7 +447,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
index 3b82e06fb3..74bb7c5dc2 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -441,7 +443,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/makibox/Configuration_adv.h b/Marlin/example_configurations/makibox/Configuration_adv.h
index bdf8209370..6e8c6e6713 100644
--- a/Marlin/example_configurations/makibox/Configuration_adv.h
+++ b/Marlin/example_configurations/makibox/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
index 9c04c46506..f72daabc80 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT