diff --git a/Marlin/src/gcode/calibrate/M665.cpp b/Marlin/src/gcode/calibrate/M665.cpp
index 75d01b849a..d0514ba598 100644
--- a/Marlin/src/gcode/calibrate/M665.cpp
+++ b/Marlin/src/gcode/calibrate/M665.cpp
@@ -66,32 +66,43 @@
    *   S[segments-per-second] - Segments-per-second
    *   P[theta-psi-offset]    - Theta-Psi offset, added to the shoulder (A/X) angle
    *   T[theta-offset]        - Theta     offset, added to the elbow    (B/Y) angle
+   *   Z[z-offset]            - Z offset, added to Z
    *
    *   A, P, and X are all aliases for the shoulder angle
    *   B, T, and Y are all aliases for the elbow angle
    */
   void GcodeSuite::M665() {
-    if (parser.seen('S')) delta_segments_per_second = parser.value_float();
+    if (parser.seenval('S')) delta_segments_per_second = parser.value_float();
 
-    const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X');
-    const uint8_t sumAPX = hasA + hasP + hasX;
-    if (sumAPX == 1)
-      home_offset[A_AXIS] = parser.value_float();
-    else if (sumAPX > 1) {
-      SERIAL_ERROR_START();
-      SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
-      return;
-    }
+    #if HAS_SCARA_OFFSET
 
-    const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y');
-    const uint8_t sumBTY = hasB + hasT + hasY;
-    if (sumBTY == 1)
-      home_offset[B_AXIS] = parser.value_float();
-    else if (sumBTY > 1) {
-      SERIAL_ERROR_START();
-      SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
-      return;
-    }
+      if (parser.seenval('Z')) scara_home_offset[Z_AXIS] = parser.value_linear_units();
+
+      const bool hasA = parser.seenval('A'), hasP = parser.seenval('P'), hasX = parser.seenval('X');
+      const uint8_t sumAPX = hasA + hasP + hasX;
+      if (sumAPX) {
+        if (sumAPX == 1)
+          scara_home_offset[A_AXIS] = parser.value_float();
+        else {
+          SERIAL_ERROR_START();
+          SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
+          return;
+        }
+      }
+
+      const bool hasB = parser.seenval('B'), hasT = parser.seenval('T'), hasY = parser.seenval('Y');
+      const uint8_t sumBTY = hasB + hasT + hasY;
+      if (sumBTY) {
+        if (sumBTY == 1)
+          scara_home_offset[B_AXIS] = parser.value_float();
+        else {
+          SERIAL_ERROR_START();
+          SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
+          return;
+        }
+      }
+
+    #endif // HAS_SCARA_OFFSET
   }
 
 #endif
diff --git a/Marlin/src/gcode/control/M211.cpp b/Marlin/src/gcode/control/M211.cpp
index 1f3be868a7..4b06ce9fbe 100644
--- a/Marlin/src/gcode/control/M211.cpp
+++ b/Marlin/src/gcode/control/M211.cpp
@@ -20,6 +20,10 @@
  *
  */
 
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_SOFTWARE_ENDSTOPS
+
 #include "../gcode.h"
 #include "../../module/motion.h"
 
@@ -46,3 +50,5 @@ void GcodeSuite::M211() {
   SERIAL_ECHOPAIR(" " MSG_Y, LOGICAL_Y_POSITION(soft_endstop_max[Y_AXIS]));
   SERIAL_ECHOLNPAIR(" " MSG_Z, LOGICAL_Z_POSITION(soft_endstop_max[Z_AXIS]));
 }
+
+#endif
diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
index 66457666fd..c80e55b2ff 100644
--- a/Marlin/src/gcode/gcode.cpp
+++ b/Marlin/src/gcode/gcode.cpp
@@ -483,7 +483,9 @@ void GcodeSuite::process_parsed_command(
         #endif
       #endif
 
-      case 211: M211(); break;                                    // M211: Enable, Disable, and/or Report software endstops
+      #if HAS_SOFTWARE_ENDSTOPS
+        case 211: M211(); break;                                  // M211: Enable, Disable, and/or Report software endstops
+      #endif
 
       #if EXTRUDERS > 1
         case 217: M217(); break;                                  // M217: Set filament swap parameters
diff --git a/Marlin/src/gcode/geometry/G53-G59.cpp b/Marlin/src/gcode/geometry/G53-G59.cpp
index 09708c03ea..f1e9ff27d0 100644
--- a/Marlin/src/gcode/geometry/G53-G59.cpp
+++ b/Marlin/src/gcode/geometry/G53-G59.cpp
@@ -44,7 +44,7 @@ bool GcodeSuite::select_coordinate_system(const int8_t _new) {
     const float diff = new_offset[i] - old_offset[i];
     if (diff) {
       position_shift[i] += diff;
-      update_software_endstops((AxisEnum)i);
+      update_workspace_offset((AxisEnum)i);
     }
   }
   return true;
diff --git a/Marlin/src/gcode/geometry/G92.cpp b/Marlin/src/gcode/geometry/G92.cpp
index 721c8b73c3..8e0b341316 100644
--- a/Marlin/src/gcode/geometry/G92.cpp
+++ b/Marlin/src/gcode/geometry/G92.cpp
@@ -42,7 +42,7 @@ void GcodeSuite::G92() {
             const float v = position_shift[i];
             if (v) {
               position_shift[i] = 0;
-              update_software_endstops((AxisEnum)i);
+              update_workspace_offset((AxisEnum)i);
             }
           }
         #endif // Not SCARA
@@ -79,7 +79,7 @@ void GcodeSuite::G92() {
           }
           else {
             position_shift[i] += d;       // Other axes simply offset the coordinate space
-            update_software_endstops((AxisEnum)i);
+            update_workspace_offset((AxisEnum)i);
           }
         #endif
       }
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 9c9ad8faef..c7b09e0c48 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -1527,11 +1527,13 @@
 // Updated G92 behavior shifts the workspace
 #define HAS_POSITION_SHIFT DISABLED(NO_WORKSPACE_OFFSETS)
 // The home offset also shifts the coordinate space
-#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA))
-// Either offset yields extra calculations on all moves
-#define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT || HAS_HOME_OFFSET)
-// M206 doesn't apply to DELTA
-#define HAS_M206_COMMAND (HAS_HOME_OFFSET && DISABLED(DELTA))
+#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && IS_CARTESIAN)
+// The SCARA home offset applies only on G28
+#define HAS_SCARA_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && IS_SCARA)
+// Cumulative offset to workspace to save some calculation
+#define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT && HAS_HOME_OFFSET)
+// M206 sets the home offset for Cartesian machines
+#define HAS_M206_COMMAND (HAS_HOME_OFFSET && !IS_SCARA)
 
 // LCD timeout to status screen default is 15s
 #ifndef LCD_TIMEOUT_TO_STATUS
diff --git a/Marlin/src/lcd/extensible_ui/ui_api.cpp b/Marlin/src/lcd/extensible_ui/ui_api.cpp
index 6250d9312a..a93b226faf 100644
--- a/Marlin/src/lcd/extensible_ui/ui_api.cpp
+++ b/Marlin/src/lcd/extensible_ui/ui_api.cpp
@@ -200,7 +200,7 @@ namespace UI {
           max = current_position[axis] + 1000;
 
     // Limit to software endstops, if enabled
-    #if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS)
+    #if HAS_SOFTWARE_ENDSTOPS
       if (soft_endstops_enabled) switch (axis) {
         case X_AXIS:
           #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
@@ -227,7 +227,7 @@ namespace UI {
           #endif
         default: break;
       }
-    #endif // MIN_SOFTWARE_ENDSTOPS || MAX_SOFTWARE_ENDSTOPS
+    #endif // HAS_SOFTWARE_ENDSTOPS
 
     // Delta limits XY based on the current offset from center
     // This assumes the center is 0,0
diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp
index c06549d8b7..749a84242f 100644
--- a/Marlin/src/lcd/menu/menu_motion.cpp
+++ b/Marlin/src/lcd/menu/menu_motion.cpp
@@ -88,7 +88,7 @@ static void _lcd_move_xyz(PGM_P name, AxisEnum axis) {
           max = current_position[axis] + 1000;
 
     // Limit to software endstops, if enabled
-    #if ENABLED(MIN_SOFTWARE_ENDSTOPS) || ENABLED(MAX_SOFTWARE_ENDSTOPS)
+    #if HAS_SOFTWARE_ENDSTOPS
       if (soft_endstops_enabled) switch (axis) {
         case X_AXIS:
           #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
@@ -115,7 +115,7 @@ static void _lcd_move_xyz(PGM_P name, AxisEnum axis) {
           #endif
         default: break;
       }
-    #endif // MIN_SOFTWARE_ENDSTOPS || MAX_SOFTWARE_ENDSTOPS
+    #endif // HAS_SOFTWARE_ENDSTOPS
 
     // Delta limits XY based on the current offset from center
     // This assumes the center is 0,0
diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp
index 9b96de163f..0a0d35fca9 100644
--- a/Marlin/src/module/configuration_store.cpp
+++ b/Marlin/src/module/configuration_store.cpp
@@ -124,7 +124,7 @@ typedef struct SettingsDataStruct {
   float planner_max_jerk[XYZE],                         // M205 XYZE  planner.max_jerk[XYZE]
         planner_junction_deviation_mm;                  // M205 J     planner.junction_deviation_mm
 
-  float home_offset[XYZ];                               // M206 XYZ
+  float home_offset[XYZ];                               // M206 XYZ / M665 TPZ
 
   #if HAS_HOTEND_OFFSET
     float hotend_offset[XYZ][HOTENDS - 1];              // M218 XYZ
@@ -309,10 +309,11 @@ void MarlinSettings::postprocess() {
       planner.refresh_e_factor(i);
   #endif
 
-  #if HAS_HOME_OFFSET || ENABLED(DUAL_X_CARRIAGE)
-    // Software endstops depend on home_offset
-    LOOP_XYZ(i) update_software_endstops((AxisEnum)i);
-  #endif
+  // Software endstops depend on home_offset
+  LOOP_XYZ(i) {
+    update_workspace_offset((AxisEnum)i);
+    update_software_endstops((AxisEnum)i);
+  }
 
   #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
     set_z_fade_height(new_z_fade_height, false); // false = no report
@@ -453,10 +454,14 @@ void MarlinSettings::postprocess() {
 
     _FIELD_TEST(home_offset);
 
-    #if !HAS_HOME_OFFSET
-      const float home_offset[XYZ] = { 0 };
+    #if HAS_SCARA_OFFSET
+      EEPROM_WRITE(scara_home_offset);
+    #else
+      #if !HAS_HOME_OFFSET
+        const float home_offset[XYZ] = { 0 };
+      #endif
+      EEPROM_WRITE(home_offset);
     #endif
-    EEPROM_WRITE(home_offset);
 
     #if HAS_HOTEND_OFFSET
       // Skip hotend 0 which must be 0
@@ -1062,15 +1067,19 @@ void MarlinSettings::postprocess() {
       }
 
       //
-      // Home Offset (M206)
+      // Home Offset (M206 / M665)
       //
       {
         _FIELD_TEST(home_offset);
 
-        #if !HAS_HOME_OFFSET
-          float home_offset[XYZ];
+        #if HAS_SCARA_OFFSET
+          EEPROM_READ(scara_home_offset);
+        #else
+          #if !HAS_HOME_OFFSET
+            float home_offset[XYZ];
+          #endif
+          EEPROM_READ(home_offset);
         #endif
-        EEPROM_READ(home_offset);
       }
 
       //
@@ -1826,7 +1835,9 @@ void MarlinSettings::reset(PORTARG_SOLO) {
     planner.junction_deviation_mm = float(JUNCTION_DEVIATION_MM);
   #endif
 
-  #if HAS_HOME_OFFSET
+  #if HAS_SCARA_OFFSET
+    ZERO(scara_home_offset);
+  #elif HAS_HOME_OFFSET
     ZERO(home_offset);
   #endif
 
@@ -2430,7 +2441,20 @@ void MarlinSettings::reset(PORTARG_SOLO) {
 
     #endif // HAS_SERVOS && EDITABLE_SERVO_ANGLES
 
-    #if ENABLED(DELTA)
+    #if HAS_SCARA_OFFSET
+
+      if (!forReplay) {
+        CONFIG_ECHO_START;
+        SERIAL_ECHOLNPGM_P(port, "SCARA settings: S<seg-per-sec> P<theta-psi-offset> T<theta-offset>");
+      }
+      CONFIG_ECHO_START;
+      SERIAL_ECHOPAIR_P(port, "  M665 S", delta_segments_per_second);
+      SERIAL_ECHOPAIR_P(port, " P", scara_home_offset[A_AXIS]);
+      SERIAL_ECHOPAIR_P(port, " T", scara_home_offset[B_AXIS]);
+      SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(scara_home_offset[Z_AXIS]));
+      SERIAL_EOL_P(port);
+
+    #elif ENABLED(DELTA)
 
       if (!forReplay) {
         CONFIG_ECHO_START;
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 95c5522a08..cd16ea6a9c 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -129,29 +129,30 @@ const float homing_feedrate_mm_s[4] PROGMEM = {
 // Cartesian conversion result goes here:
 float cartes[XYZ];
 
-// Until kinematics.cpp is created, create this here
 #if IS_KINEMATIC
   float delta[ABC];
 #endif
 
+#if HAS_SCARA_OFFSET
+  float scara_home_offset[ABC];
+#endif
+
 /**
  * The workspace can be offset by some commands, or
  * these offsets may be omitted to save on computation.
  */
-#if HAS_WORKSPACE_OFFSET
-  #if HAS_POSITION_SHIFT
-    // The distance that XYZ has been offset by G92. Reset by G28.
-    float position_shift[XYZ] = { 0 };
-  #endif
-  #if HAS_HOME_OFFSET
-    // This offset is added to the configured home position.
-    // Set by M206, M428, or menu item. Saved to EEPROM.
-    float home_offset[XYZ] = { 0 };
-  #endif
-  #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
-    // The above two are combined to save on computes
-    float workspace_offset[XYZ] = { 0 };
-  #endif
+#if HAS_POSITION_SHIFT
+  // The distance that XYZ has been offset by G92. Reset by G28.
+  float position_shift[XYZ] = { 0 };
+#endif
+#if HAS_HOME_OFFSET
+  // This offset is added to the configured home position.
+  // Set by M206, M428, or menu item. Saved to EEPROM.
+  float home_offset[XYZ] = { 0 };
+#endif
+#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
+  // The above two are combined to save on computes
+  float workspace_offset[XYZ] = { 0 };
 #endif
 
 #if OLDSCHOOL_ABL
@@ -454,15 +455,14 @@ void bracket_probe_move(const bool before) {
 void setup_for_endstop_or_probe_move() { bracket_probe_move(true); }
 void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); }
 
-// Software Endstops are based on the configured limits.
-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 HAS_SOFTWARE_ENDSTOPS
 
-  // Software Endstops are based on the configured limits.
   bool soft_endstops_enabled = true;
 
+  // Software Endstops are based on the configured limits.
+  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
@@ -504,6 +504,79 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
     #endif
   }
 
+  /**
+   * Software endstops can be used to monitor the open end of
+   * an axis that has a hardware endstop on the other end. Or
+   * they can prevent axes from moving past endstops and grinding.
+   *
+   * To keep doing their job as the coordinate system changes,
+   * the software endstop positions must be refreshed to remain
+   * at the same positions relative to the machine.
+   */
+  void update_software_endstops(const AxisEnum axis) {
+
+    #if ENABLED(DUAL_X_CARRIAGE)
+
+      if (axis == X_AXIS) {
+
+        // 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) {
+          // 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;
+        }
+        else if (dxc_is_duplicating()) {
+          // In Duplication Mode, T0 can move as far left as X1_MIN_POS
+          // but not so far to the right that T1 would move past the end
+          soft_endstop_min[X_AXIS] = X1_MIN_POS;
+          soft_endstop_max[X_AXIS] = MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset);
+        }
+        else {
+          // In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS
+          soft_endstop_min[X_AXIS] = X1_MIN_POS;
+          soft_endstop_max[X_AXIS] = X1_MAX_POS;
+        }
+      }
+
+    #elif ENABLED(DELTA)
+
+      soft_endstop_min[axis] = base_min_pos(axis);
+      soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height
+      #if HAS_BED_PROBE
+        - zprobe_zoffset + Z_PROBE_OFFSET_FROM_EXTRUDER
+      #endif
+      : base_max_pos(axis));
+
+      switch (axis) {
+        case X_AXIS:
+        case Y_AXIS:
+          // Get a minimum radius for clamping
+          soft_endstop_radius = MIN(ABS(MAX(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]);
+          soft_endstop_radius_2 = sq(soft_endstop_radius);
+          break;
+        case Z_AXIS:
+          delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
+        default: break;
+      }
+
+    #else
+
+      soft_endstop_min[axis] = base_min_pos(axis);
+      soft_endstop_max[axis] = base_max_pos(axis);
+
+    #endif
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) {
+        SERIAL_ECHOPAIR("For ", axis_codes[axis]);
+        SERIAL_ECHOPAIR(" axis:\n soft_endstop_min = ", soft_endstop_min[axis]);
+        SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
+      }
+    #endif
+  }
+
 #endif
 
 #if !UBL_SEGMENTED
@@ -1156,7 +1229,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
 
   #if HAS_POSITION_SHIFT
     position_shift[axis] = 0;
-    update_software_endstops(axis);
+    update_workspace_offset(axis);
   #endif
 
   #if ENABLED(DUAL_X_CARRIAGE)
@@ -1506,89 +1579,18 @@ void homeaxis(const AxisEnum axis) {
   #endif
 } // homeaxis()
 
-#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
-
-  /**
-   * Software endstops can be used to monitor the open end of
-   * an axis that has a hardware endstop on the other end. Or
-   * they can prevent axes from moving past endstops and grinding.
-   *
-   * To keep doing their job as the coordinate system changes,
-   * the software endstop positions must be refreshed to remain
-   * at the same positions relative to the machine.
-   */
-  void update_software_endstops(const AxisEnum axis) {
-    #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
-      workspace_offset[axis] = home_offset[axis] + position_shift[axis];
-    #endif
-
-    #if ENABLED(DUAL_X_CARRIAGE)
-      if (axis == X_AXIS) {
-
-        // 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) {
-          // 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;
-        }
-        else if (dxc_is_duplicating()) {
-          // In Duplication Mode, T0 can move as far left as X1_MIN_POS
-          // but not so far to the right that T1 would move past the end
-          soft_endstop_min[X_AXIS] = X1_MIN_POS;
-          soft_endstop_max[X_AXIS] = MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset);
-        }
-        else {
-          // In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS
-          soft_endstop_min[X_AXIS] = X1_MIN_POS;
-          soft_endstop_max[X_AXIS] = X1_MAX_POS;
-        }
-      }
-    #elif ENABLED(DELTA)
-      soft_endstop_min[axis] = base_min_pos(axis);
-      soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height
-      #if HAS_BED_PROBE
-        - zprobe_zoffset + Z_PROBE_OFFSET_FROM_EXTRUDER
-      #endif
-      : base_max_pos(axis));
-    #else
-      soft_endstop_min[axis] = base_min_pos(axis);
-      soft_endstop_max[axis] = base_max_pos(axis);
-    #endif
-
+#if HAS_WORKSPACE_OFFSET
+  void update_workspace_offset(const AxisEnum axis) {
+    workspace_offset[axis] = home_offset[axis] + position_shift[axis];
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) {
         SERIAL_ECHOPAIR("For ", axis_codes[axis]);
-        #if HAS_HOME_OFFSET
-          SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
-        #endif
-        #if HAS_POSITION_SHIFT
-          SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
-        #endif
-        SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
-        SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
-      }
-    #endif
-
-    #if ENABLED(DELTA)
-      switch (axis) {
-        #if HAS_SOFTWARE_ENDSTOPS
-          case X_AXIS:
-          case Y_AXIS:
-            // Get a minimum radius for clamping
-            soft_endstop_radius = MIN(ABS(MAX(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]);
-            soft_endstop_radius_2 = sq(soft_endstop_radius);
-            break;
-        #endif
-        case Z_AXIS:
-          delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
-        default: break;
+        SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
+        SERIAL_ECHOLNPAIR("\n position_shift = ", position_shift[axis]);
       }
     #endif
   }
-
-#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE || DELTA
+#endif
 
 #if HAS_M206_COMMAND
   /**
@@ -1597,6 +1599,6 @@ void homeaxis(const AxisEnum axis) {
    */
   void set_home_offset(const AxisEnum axis, const float v) {
     home_offset[axis] = v;
-    update_software_endstops(axis);
+    update_workspace_offset(axis);
   }
 #endif // HAS_M206_COMMAND
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 69981b8141..702df69aec 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -93,8 +93,6 @@ extern int16_t feedrate_percentage;
   extern float hotend_offset[XYZ][HOTENDS];
 #endif
 
-extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
-
 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); }
 
@@ -110,12 +108,23 @@ XYZ_DEFS(float, max_length,     MAX_LENGTH);
 XYZ_DEFS(float, home_bump_mm,   HOME_BUMP_MM);
 XYZ_DEFS(signed char, home_dir, HOME_DIR);
 
+#if HAS_WORKSPACE_OFFSET
+  void update_workspace_offset(const AxisEnum axis);
+#else
+  #define update_workspace_offset(x) NOOP
+#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);
 #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
 #endif
 
 void report_current_position();
@@ -211,14 +220,10 @@ void homeaxis(const AxisEnum axis);
   void sensorless_homing_per_axis(const AxisEnum axis, const bool enable=true);
 #endif
 
-//
-// Macros
-//
-
 /**
  * Workspace offsets
  */
-#if HAS_WORKSPACE_OFFSET
+#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
   #if HAS_HOME_OFFSET
     extern float home_offset[XYZ];
   #endif
@@ -230,7 +235,7 @@ void homeaxis(const AxisEnum axis);
     #define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
   #elif HAS_HOME_OFFSET
     #define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
-  #elif HAS_POSITION_SHIFT
+  #else
     #define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
   #endif
   #define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
@@ -256,6 +261,10 @@ void homeaxis(const AxisEnum axis);
     extern const float L1, L2;
   #endif
 
+  #if HAS_SCARA_OFFSET
+    extern float scara_home_offset[ABC]; // A and B angular offsets, Z mm offset
+  #endif
+
   // Return true if the given point is within the printable area
   inline bool position_is_reachable(const float &rx, const float &ry, const float inset=0) {
     #if ENABLED(DELTA)
@@ -358,10 +367,6 @@ void homeaxis(const AxisEnum axis);
 
 #endif
 
-#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
-  void update_software_endstops(const AxisEnum axis);
-#endif
-
 #if HAS_M206_COMMAND
   void set_home_offset(const AxisEnum axis, const float v);
 #endif
diff --git a/Marlin/src/module/scara.cpp b/Marlin/src/module/scara.cpp
index 225e4a25d8..8063c44443 100644
--- a/Marlin/src/module/scara.cpp
+++ b/Marlin/src/module/scara.cpp
@@ -60,12 +60,7 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
 
     current_position[axis] = cartes[axis];
 
-    /**
-     * SCARA home positions are based on configuration since the actual
-     * limits are determined by the inverse kinematic transform.
-     */
-    soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
-    soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
+    update_software_endstops(axis);
   }
 }
 
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index b23414166f..6bfa5a127c 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -623,7 +623,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
 
       feedrate_mm_s = old_feedrate_mm_s;
 
-      #if HAS_SOFTWARE_ENDSTOPS && ENABLED(DUAL_X_CARRIAGE)
+      #if ENABLED(DUAL_X_CARRIAGE)
         update_software_endstops(X_AXIS);
       #endif