diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 7b7ae9c22fcd..026f69c9e44b 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1612,6 +1612,12 @@
   #define TOOLCHANGE_ZRAISE     2  // (mm)
   //#define TOOLCHANGE_NO_RETURN   // Never return to the previous position on tool-change
 
+  /**
+   * Limit the hotend offset values that may be applied.
+   * DUAL_X_CARRIAGE uses the X limit as a maximum offset from X2_MAX_POS.
+   */
+  #define HOTEND_OFFSET_LIMIT { 50.0, 50.0, 3.0 }
+
   // Retract and prime filament on tool-change
   //#define TOOLCHANGE_FILAMENT_SWAP
   #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
diff --git a/Marlin/src/gcode/config/M218.cpp b/Marlin/src/gcode/config/M218.cpp
index 790d7714a370..2b28ac2c6e9e 100644
--- a/Marlin/src/gcode/config/M218.cpp
+++ b/Marlin/src/gcode/config/M218.cpp
@@ -44,9 +44,9 @@ void GcodeSuite::M218() {
   const int8_t target_extruder = get_target_extruder_from_command();
   if (target_extruder < 0) return;
 
-  if (parser.seenval('X')) hotend_offset[target_extruder].x = parser.value_linear_units();
-  if (parser.seenval('Y')) hotend_offset[target_extruder].y = parser.value_linear_units();
-  if (parser.seenval('Z')) hotend_offset[target_extruder].z = parser.value_linear_units();
+  if (parser.seenval('X')) hotend_offset[target_extruder].x = constrain(parser.value_linear_units(), hotend_offset_min_x, hotend_offset_max_x);
+  if (parser.seenval('Y')) hotend_offset[target_extruder].y = constrain(parser.value_linear_units(), -hotend_offset_limit.y, hotend_offset_limit.y);
+  if (parser.seenval('Z')) hotend_offset[target_extruder].z = constrain(parser.value_linear_units(), -hotend_offset_limit.z, hotend_offset_limit.z);
 
   if (!parser.seen("XYZ")) {
     SERIAL_ECHO_START();
diff --git a/Marlin/src/gcode/motion/M290.cpp b/Marlin/src/gcode/motion/M290.cpp
index 7bf274a18d54..577733c222f1 100644
--- a/Marlin/src/gcode/motion/M290.cpp
+++ b/Marlin/src/gcode/motion/M290.cpp
@@ -40,7 +40,44 @@
 
 #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
 
-  FORCE_INLINE void mod_probe_offset(const float &offs) {
+  FORCE_INLINE void apply_offset_steps(const uint8_t axis, const float &offs) {
+    if (axis == Z_AXIS && parser.boolval('P', true)) {
+      #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
+        if (true
+          #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
+            && active_extruder == 0
+          #endif
+        ) {
+          NOLESS(offs, Z_PROBE_OFFSET_RANGE_MIN - zprobe_zoffset);
+          NOMORE(offs, Z_PROBE_OFFSET_RANGE_MAX - zprobe_zoffset);
+        }
+        #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
+          else if (offs > hotend_offset[active_extruder].z + hotend_offset_limit.z)
+            offs = -hotend_offset_limit.z - zprobe_zoffset;
+          else if (offs < hotend_offset[active_extruder].z - hotend_offset_limit.z)
+            offs = hotend_offset_limit.z - hotend_offset[active_extruder].z;
+        #endif
+        mod_zprobe_zoffset(offs);
+      #endif
+    }
+    #if ENABLED(BABYSTEP_XY) && EXTRUDERS > 1
+      else if (axis == X_AXIS) {
+        if (offs > hotend_offset[active_extruder].x + hotend_offset_limit.x)
+          offs = -hotend_offset_limit.x - zprobe_zoffset;
+        else if (offs < hotend_offset[active_extruder].x - hotend_offset_limit.x)
+          offs = hotend_offset_limit.x - hotend_offset[active_extruder].x;
+      }
+      else if (axis == Y_AXIS) {
+        if (offs > hotend_offset[active_extruder].y + hotend_offset_limit.y)
+          offs = -hotend_offset_limit.y - zprobe_zoffset;
+        else if (offs < hotend_offset[active_extruder].y - hotend_offset_limit.y)
+          offs = hotend_offset_limit.y - hotend_offset[active_extruder].y;
+      }
+    #endif
+    babystep.add_mm((AxisEnum)axis, offs);
+  }
+
+  FORCE_INLINE void mod_zprobe_zoffset(const float &offs) {
     if (true
       #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
         && active_extruder == 0
@@ -79,17 +116,17 @@ void GcodeSuite::M290() {
     for (uint8_t a = X_AXIS; a <= Z_AXIS; a++)
       if (parser.seenval(axis_codes[a]) || (a == Z_AXIS && parser.seenval('S'))) {
         const float offs = constrain(parser.value_axis_units((AxisEnum)a), -2, 2);
-        babystep.add_mm((AxisEnum)a, offs);
+        apply_offset_steps(a, offs);
         #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
-          if (a == Z_AXIS && (!parser.seen('P') || parser.value_bool())) mod_probe_offset(offs);
+          if (a == Z_AXIS && parser.boolval('P', true)) mod_zprobe_zoffset(offs);
         #endif
       }
   #else
     if (parser.seenval('Z') || parser.seenval('S')) {
       const float offs = constrain(parser.value_axis_units(Z_AXIS), -2, 2);
-      babystep.add_mm(Z_AXIS, offs);
+      apply_offset_steps(Z_AXIS, offs);
       #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
-        if (!parser.seen('P') || parser.value_bool()) mod_probe_offset(offs);
+        if (parser.boolval('P', true)) mod_zprobe_zoffset(offs);
       #endif
     }
   #endif
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index fcc361ad4bc5..7454c39d1e36 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -1360,6 +1360,13 @@
   #undef NOZZLE_TO_PROBE_OFFSET
 #endif
 
+#if ENABLED(PRUSA_MMU2)
+  #define E_STEPPERS 1
+  #ifndef TOOLCHANGE_ZRAISE
+    #define TOOLCHANGE_ZRAISE 0
+  #endif
+#endif
+
 /**
  * XYZ Bed Skew Correction
  */
diff --git a/Marlin/src/lcd/menu/menu_configuration.cpp b/Marlin/src/lcd/menu/menu_configuration.cpp
index 62f6f45ce5d0..c917899a0b04 100644
--- a/Marlin/src/lcd/menu/menu_configuration.cpp
+++ b/Marlin/src/lcd/menu/menu_configuration.cpp
@@ -140,10 +140,10 @@ void menu_advanced_settings();
     #if ENABLED(DUAL_X_CARRIAGE)
       EDIT_ITEM_FAST(float51, MSG_X_OFFSET, &hotend_offset[1].x, float(X2_HOME_POS - 25), float(X2_HOME_POS + 25), _recalc_offsets);
     #else
-      EDIT_ITEM_FAST(float52sign, MSG_X_OFFSET, &hotend_offset[1].x, -99.0, 99.0, _recalc_offsets);
+      EDIT_ITEM_FAST(float52sign, MSG_X_OFFSET, &hotend_offset[1].x, hotend_offset_min_x, hotend_offset_max_x, _recalc_offsets);
     #endif
-    EDIT_ITEM_FAST(float52sign, MSG_Y_OFFSET, &hotend_offset[1].y, -99.0, 99.0, _recalc_offsets);
-    EDIT_ITEM_FAST(float52sign, MSG_Z_OFFSET, &hotend_offset[1].z, Z_PROBE_LOW_POINT, 10.0, _recalc_offsets);
+    EDIT_ITEM_FAST(float52sign, MSG_Y_OFFSET, &hotend_offset[1].y, -hotend_offset_limit.y, hotend_offset_limit.y, _recalc_offsets);
+    EDIT_ITEM_FAST(float52sign, MSG_Z_OFFSET, &hotend_offset[1].z, MIN(Z_PROBE_LOW_POINT, -hotend_offset_limit.z), hotend_offset_limit.z, _recalc_offsets);
     #if ENABLED(EEPROM_SETTINGS)
       ACTION_ITEM(MSG_STORE_EEPROM, lcd_store_settings);
     #endif
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 8182f23ae04e..c07b9a4be381 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -621,11 +621,20 @@ void restore_feedrate_and_scaling() {
 
     #endif
 
-    #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
-      NOLESS(target.z, soft_endstop.min.z);
-    #endif
-    #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
-      NOMORE(target.z, soft_endstop.max.z);
+    #if HAS_HOTEND_OFFSET
+      #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
+        NOLESS(target.z, soft_endstop.min.z);
+      #endif
+      #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
+        NOMORE(target.z, soft_endstop.max.z);
+      #endif
+    #else
+      #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
+        NOLESS(target.z, soft_endstop.min.z);
+      #endif
+      #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
+        NOMORE(target.z, soft_endstop.max.z);
+      #endif
     #endif
   }
 
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 8b9775ce9830..8cf4fce2462b 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -406,3 +406,16 @@ FORCE_INLINE bool position_is_reachable_by_probe(const xy_pos_t &pos) { return p
 #if HAS_M206_COMMAND
   void set_home_offset(const AxisEnum axis, const float v);
 #endif
+
+#if HAS_HOTEND_OFFSET
+  constexpr xyz_float_t hotend_offset_limit = HOTEND_OFFSET_LIMIT;
+  constexpr ab_float_t minmax_base = {
+    #if ENABLED(DUAL_X_CARRIAGE)
+      MIN(X2_HOME_POS, X2_MAX_POS), MAX(X2_HOME_POS, X2_MAX_POS)
+    #else
+      0, 0
+    #endif
+  };
+  constexpr float hotend_offset_min_x = minmax_base.a - hotend_offset_limit.x,
+                  hotend_offset_max_x = minmax_base.b + hotend_offset_limit.x;
+#endif