diff --git a/Marlin/src/gcode/bedlevel/G35.cpp b/Marlin/src/gcode/bedlevel/G35.cpp
index ad2cc67db0..44df6d9273 100644
--- a/Marlin/src/gcode/bedlevel/G35.cpp
+++ b/Marlin/src/gcode/bedlevel/G35.cpp
@@ -91,8 +91,8 @@ void GcodeSuite::G35() {
   // Disable duplication mode on homing
   TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
 
-  // Home all before this procedure
-  home_all_axes();
+  // Home only Z axis when X and Y is trusted, otherwise all axes, if needed before this procedure
+  if (!all_axes_trusted()) process_subcommands_now_P(PSTR("G28Z"));
 
   bool err_break = false;
 
diff --git a/Marlin/src/gcode/calibrate/G34.cpp b/Marlin/src/gcode/calibrate/G34.cpp
index bcca00dd42..956960866d 100644
--- a/Marlin/src/gcode/calibrate/G34.cpp
+++ b/Marlin/src/gcode/calibrate/G34.cpp
@@ -39,7 +39,7 @@
 void GcodeSuite::G34() {
 
   // Home before the alignment procedure
-  if (!all_axes_trusted()) home_all_axes();
+  home_if_needed();
 
   TERN_(HAS_LEVELING, TEMPORARY_BED_LEVELING_STATE(false));
 
diff --git a/Marlin/src/gcode/calibrate/G34_M422.cpp b/Marlin/src/gcode/calibrate/G34_M422.cpp
index 1803933d16..6869962028 100644
--- a/Marlin/src/gcode/calibrate/G34_M422.cpp
+++ b/Marlin/src/gcode/calibrate/G34_M422.cpp
@@ -167,7 +167,7 @@ void GcodeSuite::G34() {
       ));
 
       // Home before the alignment procedure
-      if (!all_axes_trusted()) home_all_axes();
+      home_if_needed();
 
       // Move the Z coordinate realm towards the positive - dirty trick
       current_position.z += z_probe * 0.5f;
diff --git a/Marlin/src/gcode/feature/pause/M600.cpp b/Marlin/src/gcode/feature/pause/M600.cpp
index 2daa7d999a..541fa08350 100644
--- a/Marlin/src/gcode/feature/pause/M600.cpp
+++ b/Marlin/src/gcode/feature/pause/M600.cpp
@@ -99,7 +99,7 @@ void GcodeSuite::M600() {
 
   #if ENABLED(HOME_BEFORE_FILAMENT_CHANGE)
     // If needed, home before parking for filament change
-    if (!all_axes_trusted()) home_all_axes(true);
+    home_if_needed(true);
   #endif
 
   #if HAS_MULTI_EXTRUDER
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index d465a00356..b540c9a938 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -294,6 +294,10 @@ void report_current_position_projected() {
 
 #endif
 
+void home_if_needed(const bool keeplev/*=false*/) {
+  if (!all_axes_trusted()) gcode.home_all_axes(keeplev);
+}
+
 /**
  * Run out the planner buffer and re-sync the current
  * position from the last-updated stepper positions.
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index d099246f17..c41738a5ab 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -392,33 +392,35 @@ void set_axis_is_at_home(const AxisEnum axis);
   void set_axis_never_homed(const AxisEnum axis);
   linear_axis_bits_t axes_should_home(linear_axis_bits_t axis_bits=linear_bits);
   bool homing_needed_error(linear_axis_bits_t axis_bits=linear_bits);
-  FORCE_INLINE void set_axis_unhomed(const AxisEnum axis)   { CBI(axis_homed, axis); }
-  FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
-  FORCE_INLINE void set_all_unhomed()                       { axis_homed = axis_trusted = 0; }
-  FORCE_INLINE void set_axis_homed(const AxisEnum axis)     { SBI(axis_homed, axis); }
-  FORCE_INLINE void set_axis_trusted(const AxisEnum axis)   { SBI(axis_trusted, axis); }
-  FORCE_INLINE void set_all_homed()                         { axis_homed = axis_trusted = linear_bits; }
+  inline void set_axis_unhomed(const AxisEnum axis)   { CBI(axis_homed, axis); }
+  inline void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
+  inline void set_all_unhomed()                       { axis_homed = axis_trusted = 0; }
+  inline void set_axis_homed(const AxisEnum axis)     { SBI(axis_homed, axis); }
+  inline void set_axis_trusted(const AxisEnum axis)   { SBI(axis_trusted, axis); }
+  inline void set_all_homed()                         { axis_homed = axis_trusted = linear_bits; }
 #else
   constexpr linear_axis_bits_t axis_homed = linear_bits, axis_trusted = linear_bits; // Zero-endstop machines are always homed and trusted
-  FORCE_INLINE void homeaxis(const AxisEnum axis)           {}
-  FORCE_INLINE void set_axis_never_homed(const AxisEnum)    {}
-  FORCE_INLINE linear_axis_bits_t axes_should_home(linear_axis_bits_t=linear_bits) { return false; }
-  FORCE_INLINE bool homing_needed_error(linear_axis_bits_t=linear_bits) { return false; }
-  FORCE_INLINE void set_axis_unhomed(const AxisEnum axis)   {}
-  FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) {}
-  FORCE_INLINE void set_all_unhomed()                       {}
-  FORCE_INLINE void set_axis_homed(const AxisEnum axis)     {}
-  FORCE_INLINE void set_axis_trusted(const AxisEnum axis)   {}
-  FORCE_INLINE void set_all_homed()                         {}
-#endif
-
-FORCE_INLINE bool axis_was_homed(const AxisEnum axis)       { return TEST(axis_homed, axis); }
-FORCE_INLINE bool axis_is_trusted(const AxisEnum axis)      { return TEST(axis_trusted, axis); }
-FORCE_INLINE bool axis_should_home(const AxisEnum axis)     { return (axes_should_home() & _BV(axis)) != 0; }
-FORCE_INLINE bool no_axes_homed()                           { return !axis_homed; }
-FORCE_INLINE bool all_axes_homed()                          { return linear_bits == (axis_homed & linear_bits); }
-FORCE_INLINE bool homing_needed()                           { return !all_axes_homed(); }
-FORCE_INLINE bool all_axes_trusted()                        { return linear_bits == (axis_trusted & linear_bits); }
+  inline void homeaxis(const AxisEnum axis)           {}
+  inline void set_axis_never_homed(const AxisEnum)    {}
+  inline linear_axis_bits_t axes_should_home(linear_axis_bits_t=linear_bits) { return false; }
+  inline bool homing_needed_error(linear_axis_bits_t=linear_bits) { return false; }
+  inline void set_axis_unhomed(const AxisEnum axis)   {}
+  inline void set_axis_untrusted(const AxisEnum axis) {}
+  inline void set_all_unhomed()                       {}
+  inline void set_axis_homed(const AxisEnum axis)     {}
+  inline void set_axis_trusted(const AxisEnum axis)   {}
+  inline void set_all_homed()                         {}
+#endif
+
+inline bool axis_was_homed(const AxisEnum axis)       { return TEST(axis_homed, axis); }
+inline bool axis_is_trusted(const AxisEnum axis)      { return TEST(axis_trusted, axis); }
+inline bool axis_should_home(const AxisEnum axis)     { return (axes_should_home() & _BV(axis)) != 0; }
+inline bool no_axes_homed()                           { return !axis_homed; }
+inline bool all_axes_homed()                          { return linear_bits == (axis_homed & linear_bits); }
+inline bool homing_needed()                           { return !all_axes_homed(); }
+inline bool all_axes_trusted()                        { return linear_bits == (axis_trusted & linear_bits); }
+
+void home_if_needed(const bool keeplev=false);
 
 #if ENABLED(NO_MOTION_BEFORE_HOMING)
   #define MOTION_CONDITIONS (IsRunning() && !homing_needed_error())