diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index fb59131b2e..0a6d774171 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -596,6 +596,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 027132d775..930e931d32 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index e7355292f8..8162d3ab1b 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2728,18 +2728,18 @@ inline void gcode_G0_G1() {
  * G4: Dwell S<seconds> or P<milliseconds>
  */
 inline void gcode_G4() {
-  millis_t codenum = 0;
+  millis_t dwell_ms = 0;
 
-  if (code_seen('P')) codenum = code_value_millis(); // milliseconds to wait
-  if (code_seen('S')) codenum = code_value_millis_from_seconds(); // seconds to wait
+  if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
+  if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
 
   stepper.synchronize();
   refresh_cmd_timeout();
-  codenum += previous_cmd_ms;  // keep track of when we started waiting
+  dwell_ms += previous_cmd_ms;  // keep track of when we started waiting
 
   if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
 
-  while (PENDING(millis(), codenum)) idle();
+  while (PENDING(millis(), dwell_ms)) idle();
 }
 
 #if ENABLED(BEZIER_CURVE_SUPPORT)
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index 98abffa0af..086634491c 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -680,6 +680,8 @@
   #error "ABS_PREHEAT_HPB_TEMP is now PREHEAT_2_TEMP_BED. Please update your configuration."
 #elif defined(ABS_PREHEAT_FAN_SPEED)
   #error "ABS_PREHEAT_FAN_SPEED is now PREHEAT_2_FAN_SPEED. Please update your configuration."
+#elif defined(ENDSTOPS_ONLY_FOR_HOMING)
+  #error "ENDSTOPS_ONLY_FOR_HOMING is deprecated. Use (disable) ENDSTOPS_ALWAYS_ON_DEFAULT instead."
 #endif
 
 /**
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index 4cf9f5d367..b74cc8d353 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -127,6 +127,7 @@
  */
 #include "Marlin.h"
 #include "language.h"
+#include "endstops.h"
 #include "planner.h"
 #include "temperature.h"
 #include "ultralcd.h"
@@ -660,6 +661,14 @@ void Config_ResetDefault() {
   for (uint8_t q = 0; q < COUNT(filament_size); q++)
     filament_size[q] = DEFAULT_NOMINAL_FILAMENT_DIA;
 
+  endstops.enable_globally(
+    #if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
+      (true)
+    #else
+      (false)
+    #endif
+  );
+
   Config_Postprocess();
 
   SERIAL_ECHO_START;
diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index 3bfb67a11a..751296d403 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -40,10 +40,10 @@ Endstops endstops;
 
 bool  Endstops::enabled = true,
       Endstops::enabled_globally =
-        #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
-          false
+        #if ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
+          (true)
         #else
-          true
+          (false)
         #endif
       ;
 volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT value
@@ -64,20 +64,6 @@ volatile char Endstops::endstop_hit_bits; // use X_MIN, Y_MIN, Z_MIN and Z_MIN_P
  * Class and Instance Methods
  */
 
-Endstops::Endstops() {
-  enable_globally(
-    #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
-      false
-    #else
-      true
-    #endif
-  );
-  enable(true);
-  #if HAS_BED_PROBE
-    enable_z_probe(false);
-  #endif
-} // Endstops::Endstops
-
 void Endstops::init() {
 
   #if HAS_X_MIN
diff --git a/Marlin/endstops.h b/Marlin/endstops.h
index 76b34862c1..e5d541cf19 100644
--- a/Marlin/endstops.h
+++ b/Marlin/endstops.h
@@ -43,7 +43,7 @@ class Endstops {
     #endif
         current_endstop_bits, old_endstop_bits;
         
-    Endstops();
+    Endstops() {};
 
     /**
      * Initialize the endstop pins
diff --git a/Marlin/example_configurations/Cartesio/Configuration.h b/Marlin/example_configurations/Cartesio/Configuration.h
index a61f51b29e..5d23fb5373 100644
--- a/Marlin/example_configurations/Cartesio/Configuration.h
+++ b/Marlin/example_configurations/Cartesio/Configuration.h
@@ -596,6 +596,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/Cartesio/Configuration_adv.h b/Marlin/example_configurations/Cartesio/Configuration_adv.h
index 5fb71efe6d..9207b5703a 100644
--- a/Marlin/example_configurations/Cartesio/Configuration_adv.h
+++ b/Marlin/example_configurations/Cartesio/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
index 4ad34b0196..2bb499f0c9 100644
--- a/Marlin/example_configurations/Felix/Configuration.h
+++ b/Marlin/example_configurations/Felix/Configuration.h
@@ -578,6 +578,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/Felix/Configuration_adv.h b/Marlin/example_configurations/Felix/Configuration_adv.h
index 05189ecfc7..3f0729b6c9 100644
--- a/Marlin/example_configurations/Felix/Configuration_adv.h
+++ b/Marlin/example_configurations/Felix/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/Felix/DUAL/Configuration.h b/Marlin/example_configurations/Felix/DUAL/Configuration.h
index c1467c53ff..5fc495f246 100644
--- a/Marlin/example_configurations/Felix/DUAL/Configuration.h
+++ b/Marlin/example_configurations/Felix/DUAL/Configuration.h
@@ -576,6 +576,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h
index 9d132ad058..fa58bb394e 100644
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -588,6 +588,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/Hephestos/Configuration_adv.h b/Marlin/example_configurations/Hephestos/Configuration_adv.h
index 1aa7c218bd..af6bce8053 100644
--- a/Marlin/example_configurations/Hephestos/Configuration_adv.h
+++ b/Marlin/example_configurations/Hephestos/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/Hephestos_2/Configuration.h b/Marlin/example_configurations/Hephestos_2/Configuration.h
index 012df0680a..ebdd18cb38 100644
--- a/Marlin/example_configurations/Hephestos_2/Configuration.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration.h
@@ -590,6 +590,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 #define MIN_Z_HEIGHT_FOR_HOMING 5   // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
index 95b8c89b8c..bfb6b16c71 100644
--- a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h
index a4252f4968..c20173daf7 100644
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -613,6 +613,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR true
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/K8200/Configuration_adv.h b/Marlin/example_configurations/K8200/Configuration_adv.h
index 2d0afdff3b..3703ce1ccc 100644
--- a/Marlin/example_configurations/K8200/Configuration_adv.h
+++ b/Marlin/example_configurations/K8200/Configuration_adv.h
@@ -229,7 +229,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -445,7 +447,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/K8400/Configuration.h b/Marlin/example_configurations/K8400/Configuration.h
index 3addb541cc..e9e7a6b54d 100644
--- a/Marlin/example_configurations/K8400/Configuration.h
+++ b/Marlin/example_configurations/K8400/Configuration.h
@@ -573,6 +573,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/K8400/Configuration_adv.h b/Marlin/example_configurations/K8400/Configuration_adv.h
index ba78a15896..11fdbdb3c2 100644
--- a/Marlin/example_configurations/K8400/Configuration_adv.h
+++ b/Marlin/example_configurations/K8400/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/K8400/Dual-head/Configuration.h b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
index 992912eb70..48f7f6008d 100644
--- a/Marlin/example_configurations/K8400/Dual-head/Configuration.h
+++ b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
@@ -573,6 +573,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
index 59b2c9db95..11a5a07f71 100644
--- a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
+++ b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
@@ -596,6 +596,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/RigidBot/Configuration.h b/Marlin/example_configurations/RigidBot/Configuration.h
index 14c454780e..c080bd9fc8 100644
--- a/Marlin/example_configurations/RigidBot/Configuration.h
+++ b/Marlin/example_configurations/RigidBot/Configuration.h
@@ -593,6 +593,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/RigidBot/Configuration_adv.h b/Marlin/example_configurations/RigidBot/Configuration_adv.h
index e3af83bada..3c09682603 100644
--- a/Marlin/example_configurations/RigidBot/Configuration_adv.h
+++ b/Marlin/example_configurations/RigidBot/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index 92708015b4..7a9f0d37c0 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -604,6 +604,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/SCARA/Configuration_adv.h b/Marlin/example_configurations/SCARA/Configuration_adv.h
index a7285ffd2c..6a0dea8021 100644
--- a/Marlin/example_configurations/SCARA/Configuration_adv.h
+++ b/Marlin/example_configurations/SCARA/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/TAZ4/Configuration.h b/Marlin/example_configurations/TAZ4/Configuration.h
index 700bc69c29..f51bc4841e 100644
--- a/Marlin/example_configurations/TAZ4/Configuration.h
+++ b/Marlin/example_configurations/TAZ4/Configuration.h
@@ -617,6 +617,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR true
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/TAZ4/Configuration_adv.h b/Marlin/example_configurations/TAZ4/Configuration_adv.h
index 116c99abb4..fe9b6ba36f 100644
--- a/Marlin/example_configurations/TAZ4/Configuration_adv.h
+++ b/Marlin/example_configurations/TAZ4/Configuration_adv.h
@@ -231,7 +231,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -447,7 +449,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h
index 7110d30eac..5abe59e1cf 100644
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -588,6 +588,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/WITBOX/Configuration_adv.h b/Marlin/example_configurations/WITBOX/Configuration_adv.h
index 1aa7c218bd..af6bce8053 100644
--- a/Marlin/example_configurations/WITBOX/Configuration_adv.h
+++ b/Marlin/example_configurations/WITBOX/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
index 95428fc67b..9f3fa954a0 100644
--- a/Marlin/example_configurations/adafruit/ST7565/Configuration.h
+++ b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
@@ -596,6 +596,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration.h b/Marlin/example_configurations/delta/biv2.5/Configuration.h
index 5a8faef98a..d599e9a508 100644
--- a/Marlin/example_configurations/delta/biv2.5/Configuration.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration.h
@@ -685,6 +685,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h b/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
index 3e9fd8670a..173cacf4d0 100644
--- a/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -441,7 +443,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index 3118bf3af5..cf5e08126b 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -679,6 +679,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/delta/generic/Configuration_adv.h b/Marlin/example_configurations/delta/generic/Configuration_adv.h
index 1dfeb8c712..51a2d2b0b1 100644
--- a/Marlin/example_configurations/delta/generic/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/generic/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -441,7 +443,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index 3d237ec2d5..f2fdc54b04 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -682,6 +682,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 15// (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
index e2bb764765..90b3c68f0d 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -440,7 +442,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index 96c143f212..aca8ede55d 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -676,6 +676,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
index 3baf693908..b8b94f8d4d 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
@@ -228,7 +228,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -445,7 +447,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
index a7e3f4edc5..b59312fce7 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -677,6 +677,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
index 3b82e06fb3..74bb7c5dc2 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -441,7 +443,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
index 6a5a8c24ca..4d05e5cb78 100644
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -599,6 +599,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/makibox/Configuration_adv.h b/Marlin/example_configurations/makibox/Configuration_adv.h
index bdf8209370..6e8c6e6713 100644
--- a/Marlin/example_configurations/makibox/Configuration_adv.h
+++ b/Marlin/example_configurations/makibox/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
index 5f27ebd057..787de288b7 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -586,6 +586,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the lo
 #define INVERT_E3_DIR false
 
 // @section homing
+
 //#define MIN_Z_HEIGHT_FOR_HOMING 4 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                                     // Be sure you have this distance over your Z_MAX_POS in case.
 
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
index 9c04c46506..f72daabc80 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
@@ -223,7 +223,9 @@
 
 // @section homing
 
-#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
 
 // @section extras
 
@@ -439,7 +441,6 @@
   // This option allows you to abort SD printing when any endstop is triggered.
   // This feature must be enabled with "M540 S1" or from the LCD menu.
   // To have any effect, endstops must be enabled during SD printing.
-  // With ENDSTOPS_ONLY_FOR_HOMING you must send "M120" to enable endstops.
   //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
 
 #endif // SDSUPPORT