diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index fb59131b2ebcfcb043271f78cd1f0e64fc7f7481..0a6d774171267426be92705032ea5ead66bbf6e7 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 027132d775df5248b65f5b838c3d9f028123e4bc..930e931d32626b3412ca9cb8a7b791ec3274d4cf 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 e7355292f87b5b4ee43ac4f9c4ad238cbfbb6a9a..8162d3ab1b87929ff8cb73971c98967fa3adb0b2 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 98abffa0afa6143e40d0250f2c9d9260980c85c9..086634491c2350447cbe46733bb06482dcbc4551 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 4cf9f5d3676ccc74a53201d883391feb2e6548c9..b74cc8d35365dce4673359fddce1b5826dbab41f 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 3bfb67a11a4cdf157f780bcc28b1a4348efba896..751296d4032fbc5b96533a3bd1f10771b104edbf 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 76b34862c10eea544c6089a25ba284f3d5bc37d5..e5d541cf195728ae25b5e10e6e6952d684c17e4e 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 a61f51b29e3869aecb19da010b5373d2d6a7f471..5d23fb5373184608690a4306214873e615712c3e 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 5fb71efe6d74eee876dc1fc191aaa4a69514a87d..9207b5703afbb86ecfe961adebe0c66bd7dbbe37 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 4ad34b01961ef94c7a8bbab7f532e8bae86af789..2bb499f0c9458e39189ac448c1673aa91a14dd01 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 05189ecfc7b3487bede55fe8dda4e187b1a237ee..3f0729b6c99c8a1b0d7a72f7a196d8791696834c 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 c1467c53ff246cb06d319bcfeaacdc870678cd31..5fc495f246b69e5d3d27e5604c0cd64b219ce78b 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 9d132ad058a9184a5c2f4a5008bf3c871f11a8b4..fa58bb394e5b3e998a4659593f6af6c6cffacef4 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 1aa7c218bdb9e8b2c958bb110a814a0ba585a95d..af6bce8053fdc94269165054db44cc349d5d90ab 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 012df0680a86ea3f23938fe9ae0e523706fbc00f..ebdd18cb387a9563f38e47a9dd538719b9f50086 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 95b8c89b8c66418d75920ce907d6c82819e7580a..bfb6b16c71bdef58f6a5ca171f41d248ca111fd7 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 a4252f4968240a001df3831a62b5ac6e9026e3d4..c20173daf7436ed7a20c406a65df04be4b493951 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 2d0afdff3b8968f2988c4469ca3b80e4f6d3f21c..3703ce1ccc7a96095a9af433af24eb23a4e50c26 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 3addb541cc1fe6956fe64859b9c8e52aa00fdc22..e9e7a6b54df7835424091a320502309aa44ad64b 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 ba78a15896ab15831a7afe546f41a7d90fd89a44..11fdbdb3c2ea32be8176ce4590d57b15ae1532b6 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 992912eb70f5adc27ba4be6ba04e090cc9ec595c..48f7f6008d6bfe71ad45ff7c06362e9596375e6b 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 59b2c9db95d602350b9b2475c12a62c78fec078c..11a5a07f715dde3c16a7811942179b3c0e646b91 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 14c454780e8a5a1d20b4a270efc942f85394525e..c080bd9fc8ac3660cd8bd3c435f2daa45feccb32 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 e3af83bada8a7afdb1cba666de9ed1c81097a651..3c09682603a8158e916c6bc663d79b2a98a71411 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 92708015b43c5718fcb5d8955397cf6160fe087d..7a9f0d37c015aba38fadf4cb0317aa1cf3364a45 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 a7285ffd2c2c69db9d1c98ce1aad0bd5afb7546d..6a0dea8021b3c4ae9c650cbc24e22d6a95835f6f 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 700bc69c29c32a97df698f152fe4a8e74301d6e3..f51bc4841e7c6f7f4bf7f7944578b3851d9d9ed0 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 116c99abb4240d8ca9daa8b49313441ad1b12918..fe9b6ba36fdcbbb10a118688fe704a52d431b66d 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 7110d30eacb7ff4f1356f8f968ff4251e462c056..5abe59e1cf9d1991592975b521c1d5da6bdb1842 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 1aa7c218bdb9e8b2c958bb110a814a0ba585a95d..af6bce8053fdc94269165054db44cc349d5d90ab 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 95428fc67b9794e11d35cc7ce392422fb4ac5130..9f3fa954a06be75eb404ed210e89debae4ed01a1 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 5a8faef98ac0553794edd26d88a7acce6896dfa6..d599e9a508e44f21cb11216aa9bd755d49a9c02f 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 3e9fd8670a70d28e342df02250f2aa9bfb331295..173cacf4d03d75cdadbd757f5e35a678e7efd2d8 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 3118bf3af5c8cc77ad3ac9bed33b5ad50d0a00d1..cf5e08126b004fc24aa53ee808c739756ae7b8d9 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 1dfeb8c712a1b5771810ff50dc48e3b9a57bb913..51a2d2b0b11fc2c64221219c0c3336df52417151 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 3d237ec2d5aed160268fdfcf6572043c2bfb16fb..f2fdc54b04f3a5786bfd62efc72e0650d1394d1b 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 e2bb76476563387b9c70570bb8c53a035cbff398..90b3c68f0dd4aad7c46b805c666b7ceebda63e35 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 96c143f212b897c145a96cb59fdcb8647ad339e2..aca8ede55d8d49da3fa9f5fe3422e0fd5d21fb2a 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 3baf693908deb0688a57935800f49ce381b5a503..b8b94f8d4dd87e74fdc19c0d1eb20dadb3204f2d 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 a7e3f4edc50bfa9cf5e113cf66514b98aff8e49b..b59312fce7e9e45287db91d8cb446b9a1dd90112 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 3b82e06fb33f4d453d2e5449c3114bc158667f8f..74bb7c5dc2883b864c4d69318913f9b123bc8e99 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 6a5a8c24cad407e98a49b10d192c3f1eb99e23f1..4d05e5cb78cb49ea34a24babaaf2a592cc67124c 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 bdf8209370d6e2e7d6a3897d13a25680b86620c3..6e8c6e6713adb6c5fa78c0d9bc8e493181a7e5fa 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 5f27ebd0578a8626343142bd24204a4d6a97b8e7..787de288b72538ec050789f56c32e71b1bdbb75d 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 9c04c46506d3143cc30791d40db5aa8bcc81b04c..f72daabc8062c3374d8bfc17a418e70ed1c7af82 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