diff --git a/Marlin/Conditionals.h b/Marlin/Conditionals.h
index bb17924a64..1903104bf8 100644
--- a/Marlin/Conditionals.h
+++ b/Marlin/Conditionals.h
@@ -268,6 +268,17 @@
   #define Y_MAX_LENGTH (Y_MAX_POS - (Y_MIN_POS))
   #define Z_MAX_LENGTH (Z_MAX_POS - (Z_MIN_POS))
 
+  /**
+   * CoreXY and CoreXZ
+   */
+  #if ENABLED(COREXY)
+    #define CORE_AXIS_2 B_AXIS
+    #define CORE_AXIS_3 Z_AXIS
+  #elif ENABLED(COREXZ)
+    #define CORE_AXIS_2 C_AXIS
+    #define CORE_AXIS_3 Y_AXIS
+  #endif
+
   /**
    * SCARA
    */
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index debd9f0d0f..691fc3563e 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -370,7 +370,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index 464a298bc3..80fdefbfb8 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -32,9 +32,6 @@
  * Babystepping
  */
 #if ENABLED(BABYSTEPPING)
-  #if ENABLED(COREXY) && ENABLED(BABYSTEP_XY)
-    #error BABYSTEPPING only implemented for Z axis on CoreXY.
-  #endif
   #if ENABLED(SCARA)
     #error BABYSTEPPING is not implemented for SCARA yet.
   #endif
diff --git a/Marlin/example_configurations/Felix/Configuration_adv.h b/Marlin/example_configurations/Felix/Configuration_adv.h
index c4e3b22f44..97c9b03b29 100644
--- a/Marlin/example_configurations/Felix/Configuration_adv.h
+++ b/Marlin/example_configurations/Felix/Configuration_adv.h
@@ -370,7 +370,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/Hephestos/Configuration_adv.h b/Marlin/example_configurations/Hephestos/Configuration_adv.h
index 5ed1b403ad..636c126ad9 100644
--- a/Marlin/example_configurations/Hephestos/Configuration_adv.h
+++ b/Marlin/example_configurations/Hephestos/Configuration_adv.h
@@ -370,7 +370,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
index 493bb464c3..baa03581dc 100644
--- a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
@@ -370,7 +370,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/K8200/Configuration_adv.h b/Marlin/example_configurations/K8200/Configuration_adv.h
index 18ee6d85a5..1d5d68de29 100644
--- a/Marlin/example_configurations/K8200/Configuration_adv.h
+++ b/Marlin/example_configurations/K8200/Configuration_adv.h
@@ -375,7 +375,7 @@
 #define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/RigidBot/Configuration_adv.h b/Marlin/example_configurations/RigidBot/Configuration_adv.h
index d1dfbd2e97..137b2ab53d 100644
--- a/Marlin/example_configurations/RigidBot/Configuration_adv.h
+++ b/Marlin/example_configurations/RigidBot/Configuration_adv.h
@@ -370,7 +370,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/SCARA/Configuration_adv.h b/Marlin/example_configurations/SCARA/Configuration_adv.h
index d097fdad80..e6f33205e8 100644
--- a/Marlin/example_configurations/SCARA/Configuration_adv.h
+++ b/Marlin/example_configurations/SCARA/Configuration_adv.h
@@ -370,7 +370,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/TAZ4/Configuration_adv.h b/Marlin/example_configurations/TAZ4/Configuration_adv.h
index e36317b6c6..2a2b421ed1 100644
--- a/Marlin/example_configurations/TAZ4/Configuration_adv.h
+++ b/Marlin/example_configurations/TAZ4/Configuration_adv.h
@@ -378,7 +378,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/WITBOX/Configuration_adv.h b/Marlin/example_configurations/WITBOX/Configuration_adv.h
index 5ed1b403ad..636c126ad9 100644
--- a/Marlin/example_configurations/WITBOX/Configuration_adv.h
+++ b/Marlin/example_configurations/WITBOX/Configuration_adv.h
@@ -370,7 +370,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h b/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
index ba5bbfbe8a..8fcb3cdd22 100644
--- a/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
@@ -372,7 +372,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/delta/generic/Configuration_adv.h b/Marlin/example_configurations/delta/generic/Configuration_adv.h
index 8990a269e9..996a38017e 100644
--- a/Marlin/example_configurations/delta/generic/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/generic/Configuration_adv.h
@@ -372,7 +372,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
index e6f0d753dd..5be02da9d7 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
@@ -371,7 +371,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
index d0eb1fcd4a..d5c126150c 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
@@ -375,7 +375,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
index 18d4589968..87c97a0b9a 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
@@ -370,7 +370,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/makibox/Configuration_adv.h b/Marlin/example_configurations/makibox/Configuration_adv.h
index 96861bc749..7da39798d8 100644
--- a/Marlin/example_configurations/makibox/Configuration_adv.h
+++ b/Marlin/example_configurations/makibox/Configuration_adv.h
@@ -370,7 +370,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
index 0f56db9940..a35bbe1f4a 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
@@ -370,7 +370,7 @@
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
   #define BABYSTEP_XY  //not only z, but also XY in the menu. more clutter, more functions
-                       //not implemented for CoreXY and deltabots!
+                       //not implemented for deltabots!
   #define BABYSTEP_INVERT_Z false  //true for inverse movements in Z
   #define BABYSTEP_MULTIPLICATOR 1 //faster movements
 #endif
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 72ee0dfa9e..9806b8cbb1 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -289,12 +289,6 @@ void checkHitEndstops() {
   }
 }
 
-#if ENABLED(COREXY)
-  #define CORE_AXIS_2 B_AXIS
-#elif ENABLED(COREXZ)
-  #define CORE_AXIS_2 C_AXIS
-#endif
-
 void enable_endstops(bool check) { check_endstops = check; }
 
 // Check endstops - Called from ISR!
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 6f9fce382e..e08dc9322d 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -483,21 +483,47 @@ void lcd_set_home_offsets() {
   lcd_return_to_status();
 }
 
-
 #if ENABLED(BABYSTEPPING)
 
-  static void _lcd_babystep(int axis, const char* msg) {
+  static void _lcd_babystep(const int axis, const char* msg) {
     ENCODER_DIRECTION_NORMAL(); 
     if (encoderPosition != 0) {
-      babystepsTodo[axis] += (BABYSTEP_MULTIPLICATOR) * (int)encoderPosition;
       encoderPosition = 0;
       lcdDrawUpdate = 1;
+      int distance =  (int)encoderPosition * BABYSTEP_MULTIPLICATOR;
+      #if ENABLED(COREXY) || ENABLED(COREXZ)
+        #if ENABLED(BABYSTEP_XY)
+          switch(axis) {
+            case X_AXIS: // X on CoreXY and CoreXZ
+              babystepsTodo[A_AXIS] += distance * 2;
+              babystepsTodo[CORE_AXIS_2] += distance * 2;
+              break;
+            case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ
+              babystepsTodo[A_AXIS] += distance * 2;
+              babystepsTodo[CORE_AXIS_2] -= distance * 2;
+              break;
+            case CORE_AXIS_3: // Z on CoreXY, Y on CoreXZ
+              babystepsTodo[CORE_AXIS_3] += distance;
+              break;
+          }
+        #elif ENABLED(COREXZ)
+          babystepsTodo[A_AXIS] += distance * 2;
+          babystepsTodo[C_AXIS] -= distance * 2;
+        #else
+          babystepsTodo[Z_AXIS] += distance;
+        #endif
+      #else
+        babystepsTodo[axis] += distance;
+      #endif
     }
     if (lcdDrawUpdate) lcd_implementation_drawedit(msg, (char*)"");
     if (LCD_CLICKED) lcd_goto_previous_menu();
   }
-  static void lcd_babystep_x() { _lcd_babystep(X_AXIS, PSTR(MSG_BABYSTEPPING_X)); }
-  static void lcd_babystep_y() { _lcd_babystep(Y_AXIS, PSTR(MSG_BABYSTEPPING_Y)); }
+
+  #if ENABLED(BABYSTEP_XY)
+    static void lcd_babystep_x() { _lcd_babystep(X_AXIS, PSTR(MSG_BABYSTEPPING_X)); }
+    static void lcd_babystep_y() { _lcd_babystep(Y_AXIS, PSTR(MSG_BABYSTEPPING_Y)); }
+  #endif
   static void lcd_babystep_z() { _lcd_babystep(Z_AXIS, PSTR(MSG_BABYSTEPPING_Z)); }
 
 #endif //BABYSTEPPING