diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 5849fdd685..c45dc760c8 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -990,10 +990,10 @@ static void axis_is_at_home(int axis) {
   #endif
 
   #ifdef SCARA
-    float homeposition[3];
    
-    if (axis < 2) {
+    if (axis == X_AXIS || axis == Y_AXIS) {
 
+      float homeposition[3];
       for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i);
 
       // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
@@ -1023,21 +1023,18 @@ static void axis_is_at_home(int axis) {
       // inverse kinematic transform.
       min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
       max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
-    } 
-    else {
-      current_position[axis] = base_home_pos(axis) + home_offset[axis];
-      min_pos[axis] = base_min_pos(axis) + home_offset[axis];
-      max_pos[axis] = base_max_pos(axis) + home_offset[axis];
     }
-  #else
+    else
+  #endif
+  {
     current_position[axis] = base_home_pos(axis) + home_offset[axis];
     min_pos[axis] = base_min_pos(axis) + home_offset[axis];
     max_pos[axis] = base_max_pos(axis) + home_offset[axis];
-  #endif
 
-  #if defined(ENABLE_AUTO_BED_LEVELING) && Z_HOME_DIR < 0
-    if (axis == Z_AXIS) current_position[Z_AXIS] += zprobe_zoffset;
-  #endif
+    #if defined(ENABLE_AUTO_BED_LEVELING) && Z_HOME_DIR < 0
+      if (axis == Z_AXIS) current_position[Z_AXIS] += zprobe_zoffset;
+    #endif
+  }
 }
 
 /**
@@ -1505,13 +1502,11 @@ static void homeaxis(AxisEnum axis) {
 
   if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
 
-    int axis_home_dir;
-
-    #ifdef DUAL_X_CARRIAGE
-      if (axis == X_AXIS) axis_home_dir = x_home_dir(active_extruder);
-    #else
-      axis_home_dir = home_dir(axis);
-    #endif
+    int axis_home_dir =
+      #ifdef DUAL_X_CARRIAGE
+        (axis == X_AXIS) ? x_home_dir(active_extruder) :
+      #endif
+      home_dir(axis);
 
     // Set the axis position as setup for the move
     current_position[axis] = 0;
@@ -3806,23 +3801,23 @@ inline void gcode_M206() {
    * M666: Set delta endstop adjustment
    */
   inline void gcode_M666() {
-    for (int8_t i = 0; i < 3; i++) {
+    for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
       if (code_seen(axis_codes[i])) {
         endstop_adj[i] = code_value();
       }
     }
   }
-#elif defined(Z_DUAL_ENDSTOPS)
+#elif defined(Z_DUAL_ENDSTOPS) // !DELTA && defined(Z_DUAL_ENDSTOPS)
   /**
    * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
    */
   inline void gcode_M666() {
-   if (code_seen('Z')) z_endstop_adj = code_value();
-   SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj );
-   SERIAL_EOL;
+    if (code_seen('Z')) z_endstop_adj = code_value();
+    SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
+    SERIAL_EOL;
   }
   
-#endif // DELTA
+#endif // !DELTA && defined(Z_DUAL_ENDSTOPS)
 
 #ifdef FWRETRACT
 
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 341eb3c0d0..c96f098994 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -648,26 +648,26 @@ static void lcd_prepare_menu() {
 
 #endif // DELTA_CALIBRATION_MENU
 
-inline void line_to_current() {
+inline void line_to_current(AxisEnum axis) {
   #ifdef DELTA
     calculate_delta(current_position);
-    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], manual_feedrate[X_AXIS]/60, active_extruder);
+    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder);
   #else
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[X_AXIS]/60, active_extruder);
+    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis]/60, active_extruder);
   #endif
 }
 
 float move_menu_scale;
 static void lcd_move_menu_axis();
 
-static void _lcd_move(const char *name, int axis, int min, int max) {
+static void _lcd_move(const char *name, AxisEnum axis, int min, int max) {
   if (encoderPosition != 0) {
     refresh_cmd_timeout();
     current_position[axis] += float((int)encoderPosition) * move_menu_scale;
     if (min_software_endstops && current_position[axis] < min) current_position[axis] = min;
     if (max_software_endstops && current_position[axis] > max) current_position[axis] = max;
     encoderPosition = 0;
-    line_to_current();
+    line_to_current(axis);
     lcdDrawUpdate = 1;
   }
   if (lcdDrawUpdate) lcd_implementation_drawedit(name, ftostr31(current_position[axis]));
@@ -680,7 +680,7 @@ static void lcd_move_e() {
   if (encoderPosition != 0) {
     current_position[E_AXIS] += float((int)encoderPosition) * move_menu_scale;
     encoderPosition = 0;
-    line_to_current();
+    line_to_current(E_AXIS);
     lcdDrawUpdate = 1;
   }
   if (lcdDrawUpdate) lcd_implementation_drawedit(PSTR("Extruder"), ftostr31(current_position[E_AXIS]));
@@ -1803,7 +1803,7 @@ char *ftostr52(const float &x) {
       if (min_software_endstops && current_position[Z_AXIS] < Z_MIN_POS) current_position[Z_AXIS] = Z_MIN_POS;
       if (max_software_endstops && current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
       encoderPosition = 0;
-      line_to_current();
+      line_to_current(Z_AXIS);
       lcdDrawUpdate = 2;
     }
     if (lcdDrawUpdate) lcd_implementation_drawedit(PSTR("Z"), ftostr43(current_position[Z_AXIS]));
@@ -1811,48 +1811,44 @@ char *ftostr52(const float &x) {
     if (LCD_CLICKED) {
       if (!debounce_click) {
         debounce_click = true;
-        int ix = _lcd_level_bed_position % MESH_NUM_X_POINTS;
-        int iy = _lcd_level_bed_position / MESH_NUM_X_POINTS;
-        if (iy&1) { // Zig zag
-          ix = (MESH_NUM_X_POINTS - 1) - ix;
-        }
+        int ix = _lcd_level_bed_position % MESH_NUM_X_POINTS,
+            iy = _lcd_level_bed_position / MESH_NUM_X_POINTS;
+        if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag
         mbl.set_z(ix, iy, current_position[Z_AXIS]);
         _lcd_level_bed_position++;
         if (_lcd_level_bed_position == MESH_NUM_X_POINTS*MESH_NUM_Y_POINTS) {
           current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
-          line_to_current();
+          line_to_current(Z_AXIS);
           mbl.active = 1;
           enqueuecommands_P(PSTR("G28"));
           lcd_return_to_status();
-        } else {
+        }
+        else {
           current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
-          line_to_current();
+          line_to_current(Z_AXIS);
           ix = _lcd_level_bed_position % MESH_NUM_X_POINTS;
           iy = _lcd_level_bed_position / MESH_NUM_X_POINTS;
-          if (iy&1) { // Zig zag
-            ix = (MESH_NUM_X_POINTS - 1) - ix;
-          }
+          if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // Zig zag
           current_position[X_AXIS] = mbl.get_x(ix);
           current_position[Y_AXIS] = mbl.get_y(iy);
-          line_to_current();
+          line_to_current(manual_feedrate[X_AXIS] <= manual_feedrate[Y_AXIS] ? X_AXIS : Y_AXIS);
           lcdDrawUpdate = 2;
         }
       }
-    } else {
+    }
+    else {
       debounce_click = false;
     }
   }
 
   static void _lcd_level_bed_homing() {
     if (lcdDrawUpdate) lcd_implementation_drawedit(PSTR("XYZ"), "Homing");
-    if (axis_known_position[X_AXIS] &&
-        axis_known_position[Y_AXIS] &&
-        axis_known_position[Z_AXIS]) {
+    if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]) {
       current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
       plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
       current_position[X_AXIS] = MESH_MIN_X;
       current_position[Y_AXIS] = MESH_MIN_Y;
-      line_to_current();
+      line_to_current(manual_feedrate[X_AXIS] <= manual_feedrate[Y_AXIS] ? X_AXIS : Y_AXIS);
       _lcd_level_bed_position = 0;
       lcd_goto_menu(_lcd_level_bed);
     }
@@ -1860,9 +1856,7 @@ char *ftostr52(const float &x) {
   }
 
   static void lcd_level_bed() {
-    axis_known_position[X_AXIS] = false;
-    axis_known_position[Y_AXIS] = false;
-    axis_known_position[Z_AXIS] = false;
+    axis_known_position[X_AXIS] = axis_known_position[Y_AXIS] = axis_known_position[Z_AXIS] = false;
     mbl.reset();
     enqueuecommands_P(PSTR("G28"));
     lcdDrawUpdate = 2;