diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 971e85e3b6..2006246267 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -298,7 +298,7 @@ void homeaxis(const AxisEnum axis);
   // 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)
-      return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset);
+      return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + slop);
     #elif IS_SCARA
       const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
       return (