diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index bd1bff6d22894b20258a856d113902fcdcc0475f..56fe20089e695ecff2db20cf46688a7a6a43c24e 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -696,7 +696,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
diff --git a/Marlin/configurator/config/Configuration.h b/Marlin/configurator/config/Configuration.h
index 7ba2597046c77b1b16ac950a7ba708284ef66678..7868e8e815e77c20213735588314b06a5192221d 100644
--- a/Marlin/configurator/config/Configuration.h
+++ b/Marlin/configurator/config/Configuration.h
@@ -740,7 +740,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
index 4500b6c1f548e02cfca402840824d3e9ed9489bd..1cc50246a8084729d6a9872824da52d01bf2d832 100644
--- a/Marlin/example_configurations/Felix/Configuration.h
+++ b/Marlin/example_configurations/Felix/Configuration.h
@@ -680,7 +680,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
diff --git a/Marlin/example_configurations/Felix/Configuration_DUAL.h b/Marlin/example_configurations/Felix/Configuration_DUAL.h
index d3509a763614450de61a9bad78826dad0895c2d9..956e2dc472f5e7e720dda63f404d20897f2975d9 100644
--- a/Marlin/example_configurations/Felix/Configuration_DUAL.h
+++ b/Marlin/example_configurations/Felix/Configuration_DUAL.h
@@ -680,7 +680,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h
index 0ecf1ed46230fdcb433895fc8038a7d1f7951677..594295a3e1f9c69057660bf0758838ecda443422 100644
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -702,7 +702,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h
index 97e514cd976c4772032a4a2f6ee31b89aab022ca..c17e419c7bfed73f327361bd04bafc0660315c73 100644
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -708,7 +708,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index 4c781a8c05f4cdff49d9d1319c26e0cf0f5e6324..96fef00cfe5d5db246b664697264b0ce6b75e5c3 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -731,7 +731,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h
index 9b863e3dd72188897e2dc14149879bac3dd59210..190270e853f448ddefd52937794be8f89e1cf1e0 100644
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -701,7 +701,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index 1c5ef0bcf403c0e352d46c001b2fc058c43128aa..4aeb5d55f470e9ebaf456cf69d5d9a7e23a776d6 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -755,7 +755,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index 40d4e4ee29c5e2fec72400d29d109ffc86caa126..edb7ff5261ac386214ff5a6be6d67e1048ca4471 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -759,7 +759,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
index e8e89234f2ae946f86cdd911698263202ab6473a..a3e8fd088574ab4d089551add4110269c6395e8a 100644
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -699,7 +699,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
index b37489c89649df1f852e5733b87c6f033dfcca99..7ffff33534033be53d0752b8810598cc05fec71d 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -705,7 +705,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
 // Servo Endstops
 //
 // This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
-// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
+// Use M851 to set the z-probe vertical offset from the nozzle. Store that setting with M500.
 //
 //#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
 //#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles