diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
index 9a3de3f1ac..c1c2fe0615 100644
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@@ -660,6 +660,7 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) {
       delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
       destination = current_position;
       prepare_line_to_destination();
+      planner.synchronize();
     }
   #endif
 
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index ace583b6c0..29ccf619a5 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -1006,7 +1006,6 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
               line_to_current_position(fr_zfast);
             }
           }
-          planner.synchronize(); // paranoia
           stepper.set_directions();
 
           idex_set_parked(false);