diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp
index 41d0a9cb1e..b076881461 100644
--- a/Marlin/src/feature/babystep.cpp
+++ b/Marlin/src/feature/babystep.cpp
@@ -26,7 +26,8 @@
 
 #include "babystep.h"
 #include "../MarlinCore.h"
-#include "../module/planner.h"
+#include "../module/motion.h"   // for axes_should_home()
+#include "../module/planner.h"  // for axis_steps_per_mm[]
 #include "../module/stepper.h"
 
 #if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
@@ -54,7 +55,7 @@ void Babystep::add_mm(const AxisEnum axis, const float &mm) {
 }
 
 void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
-  if (DISABLED(BABYSTEP_WITHOUT_HOMING) && !TEST(axis_known_position, axis)) return;
+  if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return;
 
   accum += distance; // Count up babysteps for the UI
   steps[BS_AXIS_IND(axis)] += distance;
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
index 69a66420f8..d13a8c3dc4 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -321,7 +321,7 @@
     // Check for commands that require the printer to be homed
     if (may_move) {
       planner.synchronize();
-      if (axes_need_homing()) gcode.home_all_axes();
+      if (axes_should_home()) gcode.home_all_axes();
       TERN_(HAS_MULTI_HOTEND, if (active_extruder) tool_change(0));
     }
 
diff --git a/Marlin/src/feature/pause.cpp b/Marlin/src/feature/pause.cpp
index 2cb9c2df71..a7ed93425c 100644
--- a/Marlin/src/feature/pause.cpp
+++ b/Marlin/src/feature/pause.cpp
@@ -413,7 +413,7 @@ bool pause_print(const float &retract, const xyz_pos_t &park_point, const float
     unscaled_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
 
   // Park the nozzle by moving up by z_lift and then moving to (x_pos, y_pos)
-  if (!axes_need_homing())
+  if (!axes_should_home())
     nozzle.park(0, park_point);
 
   #if ENABLED(DUAL_X_CARRIAGE)
diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp
index 2399f207bf..cd0dbb13cd 100644
--- a/Marlin/src/gcode/bedlevel/G26.cpp
+++ b/Marlin/src/gcode/bedlevel/G26.cpp
@@ -490,7 +490,7 @@ void GcodeSuite::G26() {
 
   // Don't allow Mesh Validation without homing first,
   // or if the parameter parsing did not go OK, abort
-  if (axis_unhomed_error()) return;
+  if (homing_needed_error()) return;
 
   // Change the tool first, if specified
   if (parser.seenval('T')) tool_change(parser.value_int());
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index f25fe32b07..e7651cc743 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -183,7 +183,7 @@ G29_TYPE GcodeSuite::G29() {
               faux = ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY) ? parser.boolval('C') : no_action;
 
   // Don't allow auto-leveling without homing first
-  if (axis_unhomed_error()) G29_RETURN(false);
+  if (homing_needed_error()) G29_RETURN(false);
 
   if (!no_action && planner.leveling_active && parser.boolval('O')) { // Auto-level only if needed
     if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Auto-level not needed, skip");
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 78695bc05b..0e1f707898 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -118,7 +118,7 @@
     DEBUG_SECTION(log_G28, "home_z_safely", DEBUGGING(LEVELING));
 
     // Disallow Z homing if X or Y homing is needed
-    if (axis_unhomed_error(_BV(X_AXIS) | _BV(Y_AXIS))) return;
+    if (homing_needed_error(_BV(X_AXIS) | _BV(Y_AXIS))) return;
 
     sync_plan_position();
 
@@ -299,8 +299,8 @@ void GcodeSuite::G28() {
   #else // NOT DELTA
 
     const bool homeZ = parser.seen('Z'),
-               needX = homeZ && TERN0(Z_SAFE_HOMING, axes_need_homing(_BV(X_AXIS))),
-               needY = homeZ && TERN0(Z_SAFE_HOMING, axes_need_homing(_BV(Y_AXIS))),
+               needX = homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(X_AXIS))),
+               needY = homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(Y_AXIS))),
                homeX = needX || parser.seen('X'), homeY = needY || parser.seen('Y'),
                home_all = homeX == homeY && homeX == homeZ, // All or None
                doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ;
diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp
index 0ef23d28f9..746cb10876 100644
--- a/Marlin/src/gcode/calibrate/G425.cpp
+++ b/Marlin/src/gcode/calibrate/G425.cpp
@@ -584,7 +584,7 @@ void GcodeSuite::G425() {
   TEMPORARY_SOFT_ENDSTOP_STATE(false);
   TEMPORARY_BED_LEVELING_STATE(false);
 
-  if (axis_unhomed_error()) return;
+  if (homing_needed_error()) return;
 
   measurements_t m;
 
diff --git a/Marlin/src/gcode/calibrate/M48.cpp b/Marlin/src/gcode/calibrate/M48.cpp
index fc9d22957b..aaf58eed1c 100644
--- a/Marlin/src/gcode/calibrate/M48.cpp
+++ b/Marlin/src/gcode/calibrate/M48.cpp
@@ -55,7 +55,7 @@ extern const char SP_Y_STR[];
 
 void GcodeSuite::M48() {
 
-  if (axis_unhomed_error()) return;
+  if (homing_needed_error()) return;
 
   const int8_t verbose_level = parser.byteval('V', 1);
   if (!WITHIN(verbose_level, 0, 4)) {
diff --git a/Marlin/src/gcode/feature/camera/M240.cpp b/Marlin/src/gcode/feature/camera/M240.cpp
index 9664ce1522..fc350d8a55 100644
--- a/Marlin/src/gcode/feature/camera/M240.cpp
+++ b/Marlin/src/gcode/feature/camera/M240.cpp
@@ -126,7 +126,7 @@ void GcodeSuite::M240() {
 
   #ifdef PHOTO_POSITION
 
-    if (axis_unhomed_error()) return;
+    if (homing_needed_error()) return;
 
     const xyz_pos_t old_pos = {
       current_position.x + parser.linearval('A'),
diff --git a/Marlin/src/gcode/feature/clean/G12.cpp b/Marlin/src/gcode/feature/clean/G12.cpp
index fc99cc5c1d..f91db39703 100644
--- a/Marlin/src/gcode/feature/clean/G12.cpp
+++ b/Marlin/src/gcode/feature/clean/G12.cpp
@@ -45,7 +45,7 @@
  */
 void GcodeSuite::G12() {
   // Don't allow nozzle cleaning without homing first
-  if (axis_unhomed_error()) return;
+  if (homing_needed_error()) return;
 
   #ifdef WIPE_SEQUENCE_COMMANDS
     if (!parser.seen_any()) {
diff --git a/Marlin/src/gcode/feature/pause/G27.cpp b/Marlin/src/gcode/feature/pause/G27.cpp
index ea6aadf173..3ce618d675 100644
--- a/Marlin/src/gcode/feature/pause/G27.cpp
+++ b/Marlin/src/gcode/feature/pause/G27.cpp
@@ -34,7 +34,7 @@
  */
 void GcodeSuite::G27() {
   // Don't allow nozzle parking without homing first
-  if (axis_unhomed_error()) return;
+  if (homing_needed_error()) return;
   nozzle.park(parser.ushortval('P'));
 }
 
diff --git a/Marlin/src/gcode/feature/pause/M701_M702.cpp b/Marlin/src/gcode/feature/pause/M701_M702.cpp
index 7449787d78..a02f2368e2 100644
--- a/Marlin/src/gcode/feature/pause/M701_M702.cpp
+++ b/Marlin/src/gcode/feature/pause/M701_M702.cpp
@@ -61,7 +61,7 @@ void GcodeSuite::M701() {
 
   #if ENABLED(NO_MOTION_BEFORE_HOMING)
     // Don't raise Z if the machine isn't homed
-    if (axes_need_homing()) park_point.z = 0;
+    if (axes_should_home()) park_point.z = 0;
   #endif
 
   #if ENABLED(MIXING_EXTRUDER)
@@ -149,7 +149,7 @@ void GcodeSuite::M702() {
 
   #if ENABLED(NO_MOTION_BEFORE_HOMING)
     // Don't raise Z if the machine isn't homed
-    if (axes_need_homing()) park_point.z = 0;
+    if (axes_should_home()) park_point.z = 0;
   #endif
 
   #if ENABLED(MIXING_EXTRUDER)
diff --git a/Marlin/src/gcode/geometry/M206_M428.cpp b/Marlin/src/gcode/geometry/M206_M428.cpp
index 2a007427a7..a477a1a526 100644
--- a/Marlin/src/gcode/geometry/M206_M428.cpp
+++ b/Marlin/src/gcode/geometry/M206_M428.cpp
@@ -61,7 +61,7 @@ void GcodeSuite::M206() {
  *       Use M206 to set these values directly.
  */
 void GcodeSuite::M428() {
-  if (axis_unhomed_error()) return;
+  if (homing_needed_error()) return;
 
   xyz_float_t diff;
   LOOP_XYZ(i) {
diff --git a/Marlin/src/gcode/motion/G0_G1.cpp b/Marlin/src/gcode/motion/G0_G1.cpp
index 3aa082c25e..b6ddf9634b 100644
--- a/Marlin/src/gcode/motion/G0_G1.cpp
+++ b/Marlin/src/gcode/motion/G0_G1.cpp
@@ -52,7 +52,7 @@ void GcodeSuite::G0_G1(
 
   if (IsRunning()
     #if ENABLED(NO_MOTION_BEFORE_HOMING)
-      && !axis_unhomed_error(
+      && !homing_needed_error(
           (parser.seen('X') ? _BV(X_AXIS) : 0)
         | (parser.seen('Y') ? _BV(Y_AXIS) : 0)
         | (parser.seen('Z') ? _BV(Z_AXIS) : 0) )
diff --git a/Marlin/src/lcd/menu/menu_configuration.cpp b/Marlin/src/lcd/menu/menu_configuration.cpp
index 32fedce237..a77e9a7354 100644
--- a/Marlin/src/lcd/menu/menu_configuration.cpp
+++ b/Marlin/src/lcd/menu/menu_configuration.cpp
@@ -181,7 +181,7 @@ void menu_advanced_settings();
 #if ENABLED(DUAL_X_CARRIAGE)
 
   void menu_idex() {
-    const bool need_g28 = !(TEST(axis_known_position, Y_AXIS) && TEST(axis_known_position, Z_AXIS));
+    const bool need_g28 = axes_should_home(_BV(Y_AXIS)|_BV(Z_AXIS));
 
     START_MENU();
     BACK_ITEM(MSG_CONFIGURATION);
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index c6378d67fc..401721140b 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -1097,17 +1097,16 @@ void prepare_line_to_destination() {
   current_position = destination;
 }
 
-uint8_t axes_need_homing(uint8_t axis_bits/*=0x07*/) {
-  #define HOMED_FLAGS TERN(HOME_AFTER_DEACTIVATE, axis_known_position, axis_homed)
-  // Clear test bits that are homed
-  if (TEST(axis_bits, X_AXIS) && TEST(HOMED_FLAGS, X_AXIS)) CBI(axis_bits, X_AXIS);
-  if (TEST(axis_bits, Y_AXIS) && TEST(HOMED_FLAGS, Y_AXIS)) CBI(axis_bits, Y_AXIS);
-  if (TEST(axis_bits, Z_AXIS) && TEST(HOMED_FLAGS, Z_AXIS)) CBI(axis_bits, Z_AXIS);
+uint8_t axes_should_home(uint8_t axis_bits/*=0x07*/) {
+  // Clear test bits that are trusted
+  if (TEST(axis_bits, X_AXIS) && TEST(axis_homed, X_AXIS)) CBI(axis_bits, X_AXIS);
+  if (TEST(axis_bits, Y_AXIS) && TEST(axis_homed, Y_AXIS)) CBI(axis_bits, Y_AXIS);
+  if (TEST(axis_bits, Z_AXIS) && TEST(axis_homed, Z_AXIS)) CBI(axis_bits, Z_AXIS);
   return axis_bits;
 }
 
-bool axis_unhomed_error(uint8_t axis_bits/*=0x07*/) {
-  if ((axis_bits = axes_need_homing(axis_bits))) {
+bool homing_needed_error(uint8_t axis_bits/*=0x07*/) {
+  if ((axis_bits = axes_should_home(axis_bits))) {
     PGM_P home_first = GET_TEXT(MSG_HOME_FIRST);
     char msg[strlen_P(home_first)+1];
     sprintf_P(msg, home_first,
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 1a0971d281..d71003906f 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -40,8 +40,7 @@ constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
 FORCE_INLINE bool no_axes_homed() { return !axis_homed; }
 FORCE_INLINE bool all_axes_homed() { return (axis_homed & xyz_bits) == xyz_bits; }
 FORCE_INLINE bool all_axes_known() { return (axis_known_position & xyz_bits) == xyz_bits; }
-FORCE_INLINE void set_all_unhomed() { axis_homed = 0; }
-FORCE_INLINE void set_all_unknown() { axis_known_position = 0; }
+FORCE_INLINE void set_all_unhomed() { axis_homed = axis_known_position = 0; }
 
 FORCE_INLINE bool homing_needed() {
   return !TERN(HOME_AFTER_DEACTIVATE, all_axes_known, all_axes_homed)();
@@ -239,22 +238,18 @@ void do_z_clearance(const float &zclear, const bool z_known=true, const bool rai
 //
 // Homing
 //
-
-uint8_t axes_need_homing(uint8_t axis_bits=0x07);
-bool axis_unhomed_error(uint8_t axis_bits=0x07);
+void homeaxis(const AxisEnum axis);
+void set_axis_is_at_home(const AxisEnum axis);
+void set_axis_never_homed(const AxisEnum axis);
+uint8_t axes_should_home(uint8_t axis_bits=0x07);
+bool homing_needed_error(uint8_t axis_bits=0x07);
 
 #if ENABLED(NO_MOTION_BEFORE_HOMING)
-  #define MOTION_CONDITIONS (IsRunning() && !axis_unhomed_error())
+  #define MOTION_CONDITIONS (IsRunning() && !homing_needed_error())
 #else
   #define MOTION_CONDITIONS IsRunning()
 #endif
 
-void set_axis_is_at_home(const AxisEnum axis);
-
-void set_axis_never_homed(const AxisEnum axis);
-
-void homeaxis(const AxisEnum axis);
-
 /**
  * Workspace offsets
  */
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index 4fab4ec27b..12b617ec43 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -359,7 +359,7 @@ bool Probe::set_deployed(const bool deploy) {
     do_z_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
 
   #if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY)
-    if (axis_unhomed_error(TERN_(Z_PROBE_SLED, _BV(X_AXIS)))) {
+    if (homing_needed_error(TERN_(Z_PROBE_SLED, _BV(X_AXIS)))) {
       SERIAL_ERROR_MSG(STR_STOP_UNHOMED);
       stop();
       return true;
diff --git a/Marlin/src/module/stepper/indirection.h b/Marlin/src/module/stepper/indirection.h
index e9705cd3c3..ec0d63a89d 100644
--- a/Marlin/src/module/stepper/indirection.h
+++ b/Marlin/src/module/stepper/indirection.h
@@ -840,12 +840,13 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
 //
 // Axis steppers enable / disable macros
 //
+#define FORGET_AXIS(A) TERN(HOME_AFTER_DEACTIVATE, set_axis_never_homed(A), CBI(axis_known_position, A))
 
 #define  ENABLE_AXIS_X() do{ ENABLE_STEPPER_X(); ENABLE_STEPPER_X2(); }while(0)
-#define DISABLE_AXIS_X() do{ DISABLE_STEPPER_X(); DISABLE_STEPPER_X2(); CBI(axis_known_position, X_AXIS); }while(0)
+#define DISABLE_AXIS_X() do{ DISABLE_STEPPER_X(); DISABLE_STEPPER_X2(); FORGET_AXIS(X_AXIS); }while(0)
 
 #define  ENABLE_AXIS_Y() do{ ENABLE_STEPPER_Y(); ENABLE_STEPPER_Y2(); }while(0)
-#define DISABLE_AXIS_Y() do{ DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); CBI(axis_known_position, Y_AXIS); }while(0)
+#define DISABLE_AXIS_Y() do{ DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); FORGET_AXIS(Y_AXIS); }while(0)
 
 #define  ENABLE_AXIS_Z() do{ ENABLE_STEPPER_Z();  ENABLE_STEPPER_Z2();  ENABLE_STEPPER_Z3();  ENABLE_STEPPER_Z4(); }while(0)
 
@@ -854,7 +855,7 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
 #else
   #define Z_RESET()
 #endif
-#define DISABLE_AXIS_Z() do{ DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); CBI(axis_known_position, Z_AXIS); Z_RESET(); }while(0)
+#define DISABLE_AXIS_Z() do{ DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); FORGET_AXIS(Z_AXIS); Z_RESET(); }while(0)
 
 //
 // Extruder steppers enable / disable macros
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index d1017cea80..8557560266 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -174,7 +174,7 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
                 grabpos = mpe_settings.parking_xpos[new_tool] + (new_tool ? mpe_settings.grab_distance : -mpe_settings.grab_distance),
                 offsetcompensation = TERN0(HAS_HOTEND_OFFSET, hotend_offset[active_extruder].x * mpe_settings.compensation_factor);
 
-    if (axis_unhomed_error(_BV(X_AXIS))) return;
+    if (homing_needed_error(_BV(X_AXIS))) return;
 
     /**
      * Z Lift and Nozzle Offset shift ar defined in caller method to work equal with any Multi Hotend realization