diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration.h b/Marlin/example_configurations/delta/biv2.5/Configuration.h
index 70274c0194..8c817681cc 100644
--- a/Marlin/example_configurations/delta/biv2.5/Configuration.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration.h
@@ -453,10 +453,7 @@
   #define DELTA_PRINTABLE_RADIUS 160.0
 
   // Delta calibration menu
-  // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
-  // If needed, adjust the X, Y, Z calibration coordinates
-  // in ultralcd.cpp@lcd_delta_calibrate_menu()
   //#define DELTA_CALIBRATION_MENU
 
   // After homing move down to a height where XY movement is unconstrained
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index a8888e2b75..a3482357fe 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -453,10 +453,7 @@
   #define DELTA_PRINTABLE_RADIUS 140.0
 
   // Delta calibration menu
-  // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
-  // If needed, adjust the X, Y, Z calibration coordinates
-  // in ultralcd.cpp@lcd_delta_calibrate_menu()
   //#define DELTA_CALIBRATION_MENU
 
   // After homing move down to a height where XY movement is unconstrained
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index c02886db4d..d6e5106030 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -453,10 +453,7 @@
   #define DELTA_PRINTABLE_RADIUS 90.0
 
   // Delta calibration menu
-  // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
-  // If needed, adjust the X, Y, Z calibration coordinates
-  // in ultralcd.cpp@lcd_delta_calibrate_menu()
   //#define DELTA_CALIBRATION_MENU
 
   // After homing move down to a height where XY movement is unconstrained
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index 7e26333a0f..c6510b2bb0 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -440,10 +440,7 @@
   #define DELTA_PRINTABLE_RADIUS 127.0
 
   // Delta calibration menu
-  // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
-  // If needed, adjust the X, Y, Z calibration coordinates
-  // in ultralcd.cpp@lcd_delta_calibrate_menu()
   //#define DELTA_CALIBRATION_MENU
 
   // After homing move down to a height where XY movement is unconstrained
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
index 70c9f088fa..a539152c6d 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -451,10 +451,7 @@
   #define DELTA_PRINTABLE_RADIUS 140.0
 
   // Delta calibration menu
-  // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
-  // If needed, adjust the X, Y, Z calibration coordinates
-  // in ultralcd.cpp@lcd_delta_calibrate_menu()
   //#define DELTA_CALIBRATION_MENU
 
   // After homing move down to a height where XY movement is unconstrained
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 479da86b18..d30b405ec4 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1367,14 +1367,50 @@ KeepDrawing:
     END_MENU();
   }
 
+  float move_menu_scale;
+
   #if ENABLED(DELTA_CALIBRATION_MENU)
 
+    void lcd_move_z();
+    void lcd_delta_calibrate_menu();
+
+    void _lcd_calibrate_homing() {
+      if (lcdDrawUpdate) lcd_implementation_drawmenu_static(LCD_HEIGHT >= 4 ? 1 : 0, PSTR(MSG_LEVEL_BED_HOMING));
+      lcdDrawUpdate =
+        #if ENABLED(DOGLCD)
+          LCDVIEW_CALL_REDRAW_NEXT
+        #else
+          LCDVIEW_CALL_NO_REDRAW
+        #endif
+      ;
+      if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
+        lcd_goto_previous_menu();
+    }
+
+    void _lcd_delta_calibrate_home() {
+      enqueue_and_echo_commands_P(PSTR("G28"));
+      lcd_goto_screen(_lcd_calibrate_homing);
+    }
+
+    // Move directly to the tower position with uninterpolated moves
+    // If we used interpolated moves it would cause this to become re-entrant
     void _goto_tower_pos(const float &a) {
-      do_blocking_move_to(
-        a < 0 ? X_HOME_POS : sin(a) * -(DELTA_PRINTABLE_RADIUS),
-        a < 0 ? Y_HOME_POS : cos(a) *  (DELTA_PRINTABLE_RADIUS),
-        4
-      );
+      if (no_reentrance) return;
+
+      current_position[Z_AXIS] = max(Z_HOMING_HEIGHT, Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5;
+      line_to_current(Z_AXIS);
+
+      current_position[X_AXIS] = a < 0 ? X_HOME_POS : sin(a) * -(DELTA_PRINTABLE_RADIUS);
+      current_position[Y_AXIS] = a < 0 ? Y_HOME_POS : cos(a) *  (DELTA_PRINTABLE_RADIUS);
+      line_to_current(Z_AXIS);
+
+      current_position[Z_AXIS] = 4.0;
+      line_to_current(Z_AXIS);
+
+      lcd_synchronize();
+
+      move_menu_scale = 0.1;
+      lcd_goto_screen(lcd_move_z);
     }
 
     void _goto_tower_x() { _goto_tower_pos(RADIANS(120)); }
@@ -1385,18 +1421,18 @@ KeepDrawing:
     void lcd_delta_calibrate_menu() {
       START_MENU();
       MENU_BACK(MSG_MAIN);
-      MENU_ITEM(gcode, MSG_AUTO_HOME, PSTR("G28"));
-      MENU_ITEM(function, MSG_DELTA_CALIBRATE_X, _goto_tower_x);
-      MENU_ITEM(function, MSG_DELTA_CALIBRATE_Y, _goto_tower_y);
-      MENU_ITEM(function, MSG_DELTA_CALIBRATE_Z, _goto_tower_z);
-      MENU_ITEM(function, MSG_DELTA_CALIBRATE_CENTER, _goto_center);
+      MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home);
+      if (axis_homed[Z_AXIS]) {
+        MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_X, _goto_tower_x);
+        MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_Y, _goto_tower_y);
+        MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_Z, _goto_tower_z);
+        MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_CENTER, _goto_center);
+      }
       END_MENU();
     }
 
   #endif // DELTA_CALIBRATION_MENU
 
-  float move_menu_scale;
-
   /**
    * If the most recent manual move hasn't been fed to the planner yet,
    * and the planner can accept one, send immediately