diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 8bf46d536453..20c110ff7b2e 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -3279,7 +3279,7 @@
     // This is for Prusa MK3-style extruders. Customize for your hardware.
     #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0
     #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \
-      {  7.2,  562 }, \
+      {  7.2, 1145 }, \
       { 14.4,  871 }, \
       { 36.0, 1393 }, \
       { 14.4,  871 }, \
@@ -3299,7 +3299,25 @@
       { -50.0, 2000 }
   #endif
 
-  // Using a sensor like the MMU2S
+  /**
+   * MMU Extruder Sensor
+   * Add support for Prusa IR Sensor (or other) to detect that filament reach the extruder to make loading filament more reliable
+   * If your extruder is equipped with a filament sensor located less than 38mm from the gears you can use this feature
+   * During loading to the extruder, the sensor will stop the loading command when he's triggered and make a last move to load filament to the gears
+   * If no filament is detected, MMU2 will make more loading attemps, if finally no filament is detected, the printer will enter in runout state
+   */
+
+  //#define MMU_EXTRUDER_SENSOR
+  #if ENABLED(MMU_EXTRUDER_SENSOR) 
+    #define MMU_LOADING_ATTEMPTS_NR 5 //max. number of attempts to load filament if first load fail
+  #endif
+
+  /**
+   * Using a sensor like the MMU2S
+   * This mode only work if you have a MK3S extruder with sensor sensing the extruder idler mmu2s
+   * See https://help.prusa3d.com/en/guide/3b-mk3s-mk2-5s-extruder-upgrade_41560, step 11
+   */
+
   //#define PRUSA_MMU2_S_MODE
   #if ENABLED(PRUSA_MMU2_S_MODE)
     #define MMU2_C0_RETRY   5             // Number of retries (total time = timeout*retries)
diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h
index 826dc51d79af..aa6c7162cf4d 100644
--- a/Marlin/src/core/boards.h
+++ b/Marlin/src/core/boards.h
@@ -56,55 +56,56 @@
 #define BOARD_3DRAG                   1100  // 3Drag Controller
 #define BOARD_K8200                   1101  // Velleman K8200 Controller (derived from 3Drag Controller)
 #define BOARD_K8400                   1102  // Velleman K8400 Controller (derived from 3Drag Controller)
-#define BOARD_BAM_DICE                1103  // 2PrintBeta BAM&DICE with STK drivers
-#define BOARD_BAM_DICE_DUE            1104  // 2PrintBeta BAM&DICE Due with STK drivers
-#define BOARD_MKS_BASE                1105  // MKS BASE v1.0
-#define BOARD_MKS_BASE_14             1106  // MKS BASE v1.4 with Allegro A4982 stepper drivers
-#define BOARD_MKS_BASE_15             1107  // MKS BASE v1.5 with Allegro A4982 stepper drivers
-#define BOARD_MKS_BASE_16             1108  // MKS BASE v1.6 with Allegro A4982 stepper drivers
-#define BOARD_MKS_BASE_HEROIC         1109  // MKS BASE 1.0 with Heroic HR4982 stepper drivers
-#define BOARD_MKS_GEN_13              1110  // MKS GEN v1.3 or 1.4
-#define BOARD_MKS_GEN_L               1111  // MKS GEN L
-#define BOARD_KFB_2                   1112  // BigTreeTech or BIQU KFB2.0
-#define BOARD_ZRIB_V20                1113  // zrib V2.0 control board (Chinese knock off RAMPS replica)
-#define BOARD_FELIX2                  1114  // Felix 2.0+ Electronics Board (RAMPS like)
-#define BOARD_RIGIDBOARD              1115  // Invent-A-Part RigidBoard
-#define BOARD_RIGIDBOARD_V2           1116  // Invent-A-Part RigidBoard V2
-#define BOARD_SAINSMART_2IN1          1117  // Sainsmart 2-in-1 board
-#define BOARD_ULTIMAKER               1118  // Ultimaker
-#define BOARD_ULTIMAKER_OLD           1119  // Ultimaker (Older electronics. Pre 1.5.4. This is rare)
-#define BOARD_AZTEEG_X3               1120  // Azteeg X3
-#define BOARD_AZTEEG_X3_PRO           1121  // Azteeg X3 Pro
-#define BOARD_ULTIMAIN_2              1122  // Ultimainboard 2.x (Uses TEMP_SENSOR 20)
-#define BOARD_RUMBA                   1123  // Rumba
-#define BOARD_RUMBA_RAISE3D           1124  // Raise3D N series Rumba derivative
-#define BOARD_RL200                   1125  // Rapide Lite 200 (v1, low-cost RUMBA clone with drv)
-#define BOARD_FORMBOT_TREX2PLUS       1126  // Formbot T-Rex 2 Plus
-#define BOARD_FORMBOT_TREX3           1127  // Formbot T-Rex 3
-#define BOARD_FORMBOT_RAPTOR          1128  // Formbot Raptor
-#define BOARD_FORMBOT_RAPTOR2         1129  // Formbot Raptor 2
-#define BOARD_BQ_ZUM_MEGA_3D          1130  // bq ZUM Mega 3D
-#define BOARD_MAKEBOARD_MINI          1131  // MakeBoard Mini v2.1.2 is a control board sold by MicroMake
-#define BOARD_TRIGORILLA_13           1132  // TriGorilla Anycubic version 1.3-based on RAMPS EFB
-#define BOARD_TRIGORILLA_14           1133  //   ... Ver 1.4
-#define BOARD_TRIGORILLA_14_11        1134  //   ... Rev 1.1 (new servo pin order)
-#define BOARD_RAMPS_ENDER_4           1135  // Creality: Ender-4, CR-8
-#define BOARD_RAMPS_CREALITY          1136  // Creality: CR10S, CR20, CR-X
-#define BOARD_RAMPS_DAGOMA            1137  // Dagoma F5
-#define BOARD_FYSETC_F6_13            1138  // FYSETC F6 1.3
-#define BOARD_FYSETC_F6_14            1139  // FYSETC F6 1.4
-#define BOARD_DUPLICATOR_I3_PLUS      1140  // Wanhao Duplicator i3 Plus
-#define BOARD_VORON                   1141  // VORON Design
-#define BOARD_TRONXY_V3_1_0           1142  // Tronxy TRONXY-V3-1.0
-#define BOARD_Z_BOLT_X_SERIES         1143  // Z-Bolt X Series
-#define BOARD_TT_OSCAR                1144  // TT OSCAR
-#define BOARD_OVERLORD                1145  // Overlord/Overlord Pro
-#define BOARD_HJC2560C_REV1           1146  // ADIMLab Gantry v1
-#define BOARD_HJC2560C_REV2           1147  // ADIMLab Gantry v2
-#define BOARD_TANGO                   1148  // BIQU Tango V1
-#define BOARD_MKS_GEN_L_V2            1149  // MKS GEN L V2
-#define BOARD_COPYMASTER_3D           1150  // Copymaster 3D
-#define BOARD_ORTUR_4                 1151  // Ortur 4
+#define BOARD_K8600                   1103  // Velleman K8600 Controller (Vertex Nano)
+#define BOARD_BAM_DICE                1104  // 2PrintBeta BAM&DICE with STK drivers
+#define BOARD_BAM_DICE_DUE            1105  // 2PrintBeta BAM&DICE Due with STK drivers
+#define BOARD_MKS_BASE                1106  // MKS BASE v1.0
+#define BOARD_MKS_BASE_14             1107  // MKS BASE v1.4 with Allegro A4982 stepper drivers
+#define BOARD_MKS_BASE_15             1108  // MKS BASE v1.5 with Allegro A4982 stepper drivers
+#define BOARD_MKS_BASE_16             1109  // MKS BASE v1.6 with Allegro A4982 stepper drivers
+#define BOARD_MKS_BASE_HEROIC         1110  // MKS BASE 1.0 with Heroic HR4982 stepper drivers
+#define BOARD_MKS_GEN_13              1111  // MKS GEN v1.3 or 1.4
+#define BOARD_MKS_GEN_L               1112  // MKS GEN L
+#define BOARD_KFB_2                   1113  // BigTreeTech or BIQU KFB2.0
+#define BOARD_ZRIB_V20                1114  // zrib V2.0 control board (Chinese knock off RAMPS replica)
+#define BOARD_FELIX2                  1115  // Felix 2.0+ Electronics Board (RAMPS like)
+#define BOARD_RIGIDBOARD              1116  // Invent-A-Part RigidBoard
+#define BOARD_RIGIDBOARD_V2           1117  // Invent-A-Part RigidBoard V2
+#define BOARD_SAINSMART_2IN1          1118  // Sainsmart 2-in-1 board
+#define BOARD_ULTIMAKER               1119  // Ultimaker
+#define BOARD_ULTIMAKER_OLD           1120  // Ultimaker (Older electronics. Pre 1.5.4. This is rare)
+#define BOARD_AZTEEG_X3               1121  // Azteeg X3
+#define BOARD_AZTEEG_X3_PRO           1122  // Azteeg X3 Pro
+#define BOARD_ULTIMAIN_2              1123  // Ultimainboard 2.x (Uses TEMP_SENSOR 20)
+#define BOARD_RUMBA                   1124  // Rumba
+#define BOARD_RUMBA_RAISE3D           1125  // Raise3D N series Rumba derivative
+#define BOARD_RL200                   1126  // Rapide Lite 200 (v1, low-cost RUMBA clone with drv)
+#define BOARD_FORMBOT_TREX2PLUS       1127  // Formbot T-Rex 2 Plus
+#define BOARD_FORMBOT_TREX3           1128  // Formbot T-Rex 3
+#define BOARD_FORMBOT_RAPTOR          1129  // Formbot Raptor
+#define BOARD_FORMBOT_RAPTOR2         1130  // Formbot Raptor 2
+#define BOARD_BQ_ZUM_MEGA_3D          1131  // bq ZUM Mega 3D
+#define BOARD_MAKEBOARD_MINI          1132  // MakeBoard Mini v2.1.2 is a control board sold by MicroMake
+#define BOARD_TRIGORILLA_13           1133  // TriGorilla Anycubic version 1.3-based on RAMPS EFB
+#define BOARD_TRIGORILLA_14           1134  //   ... Ver 1.4
+#define BOARD_TRIGORILLA_14_11        1135  //   ... Rev 1.1 (new servo pin order)
+#define BOARD_RAMPS_ENDER_4           1136  // Creality: Ender-4, CR-8
+#define BOARD_RAMPS_CREALITY          1137  // Creality: CR10S, CR20, CR-X
+#define BOARD_RAMPS_DAGOMA            1138  // Dagoma F5
+#define BOARD_FYSETC_F6_13            1139  // FYSETC F6 1.3
+#define BOARD_FYSETC_F6_14            1140  // FYSETC F6 1.4
+#define BOARD_DUPLICATOR_I3_PLUS      1141  // Wanhao Duplicator i3 Plus
+#define BOARD_VORON                   1142  // VORON Design
+#define BOARD_TRONXY_V3_1_0           1143  // Tronxy TRONXY-V3-1.0
+#define BOARD_Z_BOLT_X_SERIES         1144  // Z-Bolt X Series
+#define BOARD_TT_OSCAR                1145  // TT OSCAR
+#define BOARD_OVERLORD                1146  // Overlord/Overlord Pro
+#define BOARD_HJC2560C_REV1           1147  // ADIMLab Gantry v1
+#define BOARD_HJC2560C_REV2           1148  // ADIMLab Gantry v2
+#define BOARD_TANGO                   1149  // BIQU Tango V1
+#define BOARD_MKS_GEN_L_V2            1150  // MKS GEN L V2
+#define BOARD_COPYMASTER_3D           1151  // Copymaster 3D
+#define BOARD_ORTUR_4                 1152  // Ortur 4
 
 //
 // RAMBo and derivatives
diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h
index bc81f78cd311..4bd853d219c9 100644
--- a/Marlin/src/core/language.h
+++ b/Marlin/src/core/language.h
@@ -162,7 +162,7 @@
 #define STR_ERR_MATERIAL_INDEX              "M145 S<index> out of range (0-1)"
 #define STR_ERR_M421_PARAMETERS             "M421 incorrect parameter usage"
 #define STR_ERR_BAD_PLANE_MODE              "G5 requires XY plane mode"
-#define STR_ERR_MESH_XY                     "Mesh point cannot be resolved"
+#define STR_ERR_MESH_XY                     "Mesh point out of range"
 #define STR_ERR_ARC_ARGS                    "G2/G3 bad parameters"
 #define STR_ERR_PROTECTED_PIN               "Protected Pin"
 #define STR_ERR_M420_FAILED                 "Failed to enable Bed Leveling"
diff --git a/Marlin/src/feature/mmu2/mmu2.cpp b/Marlin/src/feature/mmu2/mmu2.cpp
index 6c61b714f751..2ddfd72647f6 100644
--- a/Marlin/src/feature/mmu2/mmu2.cpp
+++ b/Marlin/src/feature/mmu2/mmu2.cpp
@@ -51,8 +51,13 @@ MMU2 mmu2;
 
 #define MMU_TODELAY 100
 #define MMU_TIMEOUT 10
-#define MMU_CMD_TIMEOUT 60000ul // 5min timeout for mmu commands (except P0)
-#define MMU_P0_TIMEOUT 3000ul   // Timeout for P0 command: 3seconds
+#define MMU_CMD_TIMEOUT 45000UL // 45s timeout for mmu commands (except P0)
+#define MMU_P0_TIMEOUT 3000UL   // Timeout for P0 command: 3seconds
+
+#if ENABLED(MMU_EXTRUDER_SENSOR)
+  uint8_t mmu_idl_sens = 0;
+  static bool mmu_loading_flag = false;
+#endif
 
 #define MMU_CMD_NONE 0
 #define MMU_CMD_T0   0x10
@@ -79,11 +84,7 @@ MMU2 mmu2;
 #define MMU_CMD_F3   0x73
 #define MMU_CMD_F4   0x74
 
-#if ENABLED(MMU2_MODE_12V)
-  #define MMU_REQUIRED_FW_BUILDNR 132
-#else
-  #define MMU_REQUIRED_FW_BUILDNR 126
-#endif
+#define MMU_REQUIRED_FW_BUILDNR TERN(MMU2_MODE_12V, 132, 126)
 
 #define MMU2_NO_TOOL 99
 #define MMU_BAUD    115200
@@ -99,7 +100,7 @@ int8_t MMU2::state = 0;
 volatile int8_t MMU2::finda = 1;
 volatile bool MMU2::finda_runout_valid;
 int16_t MMU2::version = -1, MMU2::buildnr = -1;
-millis_t MMU2::last_request, MMU2::next_P0_request;
+millis_t MMU2::prev_request, MMU2::prev_P0_request;
 char MMU2::rx_buffer[MMU_RX_SIZE], MMU2::tx_buffer[MMU_TX_SIZE];
 
 #if BOTH(HAS_LCD_MENU, MMU2_MENUS)
@@ -159,6 +160,10 @@ uint8_t MMU2::get_current_tool() {
   return extruder == MMU2_NO_TOOL ? -1 : extruder;
 }
 
+#if EITHER(PRUSA_MMU2_S_MODE, MMU_EXTRUDER_SENSOR)
+  #define FILAMENT_PRESENT() (READ(FIL_RUNOUT_PIN) != FIL_RUNOUT_INVERTING)
+#endif
+
 void MMU2::mmu_loop() {
 
   switch (state) {
@@ -248,6 +253,7 @@ void MMU2::mmu_loop() {
           int filament = cmd - MMU_CMD_T0;
           DEBUG_ECHOLNPAIR("MMU <= T", filament);
           tx_printf_P(PSTR("T%d\n"), filament);
+          TERN_(MMU_EXTRUDER_SENSOR, mmu_idl_sens = 1); // enable idler sensor, if any
           state = 3; // wait for response
         }
         else if (WITHIN(cmd, MMU_CMD_L0, MMU_CMD_L4)) {
@@ -296,7 +302,7 @@ void MMU2::mmu_loop() {
         last_cmd = cmd;
         cmd = MMU_CMD_NONE;
       }
-      else if (ELAPSED(millis(), next_P0_request)) {
+      else if (ELAPSED(millis(), prev_P0_request + 300)) {
         // read FINDA
         tx_str_P(PSTR("P0\n"));
         state = 2; // wait for response
@@ -312,26 +318,35 @@ void MMU2::mmu_loop() {
         // This is super annoying. Only activate if necessary
         // if (finda_runout_valid) DEBUG_ECHOLNPAIR_F("MMU <= 'P0'\nMMU => ", finda, 6);
 
-        state = 1;
-
-        if (cmd == 0) ready = true;
-
         if (!finda && finda_runout_valid) filament_runout();
+        if (cmd == 0) ready = true;
+        state = 1;
       }
-      else if (ELAPSED(millis(), last_request + MMU_P0_TIMEOUT)) // Resend request after timeout (3s)
+      else if (ELAPSED(millis(), prev_request + MMU_P0_TIMEOUT)) // Resend request after timeout (3s)
         state = 1;
 
       TERN_(PRUSA_MMU2_S_MODE, check_filament());
       break;
 
     case 3:   // response to mmu commands
+      #if ENABLED(MMU_EXTRUDER_SENSOR)
+        if (mmu_idl_sens) {
+          if (FILAMENT_PRESENT() && mmu_loading_flag) {
+            DEBUG_ECHOLNPGM("MMU <= 'A'\n");
+            tx_str_P(PSTR("A\n")); // send 'abort' request
+            mmu_idl_sens = 0;
+            DEBUG_ECHOLNPGM("MMU IDLER_SENSOR = 0 - ABORT\n");
+          }
+        }
+      #endif
+
       if (rx_ok()) {
         DEBUG_ECHOLNPGM("MMU => 'ok'");
         ready = true;
         state = 1;
         last_cmd = MMU_CMD_NONE;
       }
-      else if (ELAPSED(millis(), last_request + MMU_CMD_TIMEOUT)) {
+      else if (ELAPSED(millis(), prev_request + MMU_CMD_TIMEOUT)) {
         // resend request after timeout
         if (last_cmd) {
           DEBUG_ECHOLNPGM("MMU retry");
@@ -351,7 +366,7 @@ void MMU2::mmu_loop() {
 bool MMU2::rx_start() {
   // check for start message
   if (rx_str_P(PSTR("start\n"))) {
-    next_P0_request = millis() + 300;
+    prev_P0_request = millis();
     return true;
   }
   return false;
@@ -397,7 +412,7 @@ void MMU2::tx_str_P(const char* str) {
   uint8_t len = strlen_P(str);
   LOOP_L_N(i, len) mmuSerial.write(pgm_read_byte(str++));
   rx_buffer[0] = '\0';
-  last_request = millis();
+  prev_request = millis();
 }
 
 /**
@@ -408,7 +423,7 @@ void MMU2::tx_printf_P(const char* format, int argument = -1) {
   uint8_t len = sprintf_P(tx_buffer, format, argument);
   LOOP_L_N(i, len) mmuSerial.write(tx_buffer[i]);
   rx_buffer[0] = '\0';
-  last_request = millis();
+  prev_request = millis();
 }
 
 /**
@@ -419,7 +434,7 @@ void MMU2::tx_printf_P(const char* format, int argument1, int argument2) {
   uint8_t len = sprintf_P(tx_buffer, format, argument1, argument2);
   LOOP_L_N(i, len) mmuSerial.write(tx_buffer[i]);
   rx_buffer[0] = '\0';
-  last_request = millis();
+  prev_request = millis();
 }
 
 /**
@@ -435,7 +450,7 @@ void MMU2::clear_rx_buffer() {
  */
 bool MMU2::rx_ok() {
   if (rx_str_P(PSTR("ok\n"))) {
-    next_P0_request = millis() + 300;
+    prev_P0_request = millis();
     return true;
   }
   return false;
@@ -476,32 +491,206 @@ static bool mmu2_not_responding() {
     return success;
   }
 
-#endif
+  /**
+   * Handle tool change
+   */
+  void MMU2::tool_change(const uint8_t index) {
+
+    if (!enabled) return;
+
+    set_runout_valid(false);
+
+    if (index != extruder) {
+
+      DISABLE_AXIS_E0();
+      ui.status_printf_P(0, GET_TEXT(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
+
+      command(MMU_CMD_T0 + index);
+      manage_response(true, true);
+
+      if (load_to_gears()) {
+        extruder = index; // filament change is finished
+        active_extruder = 0;
+        ENABLE_AXIS_E0();
+        SERIAL_ECHO_START();
+        SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(extruder));
+      }
+      ui.reset_status();
+    }
+
+    set_runout_valid(true);
+  }
+
+  /**
+   * Handle special T?/Tx/Tc commands
+   *
+   * T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
+   * Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
+   * Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
+   */
+  void MMU2::tool_change(const char* special) {
+
+    if (!enabled) return;
+
+    #if ENABLED(MMU2_MENUS)
+
+      set_runout_valid(false);
+
+      switch (*special) {
+        case '?': {
+          uint8_t index = mmu2_choose_filament();
+          while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
+          load_filament_to_nozzle(index);
+        } break;
+
+        case 'x': {
+          planner.synchronize();
+          uint8_t index = mmu2_choose_filament();
+          DISABLE_AXIS_E0();
+          command(MMU_CMD_T0 + index);
+          manage_response(true, true);
+
+          if (load_to_gears()) {
+            mmu_loop();
+            ENABLE_AXIS_E0();
+            extruder = index;
+            active_extruder = 0;
+          }
+        } break;
+
+        case 'c': {
+          while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
+          execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
+        } break;
+      }
+
+      set_runout_valid(true);
+
+    #endif // MMU2_MENUS
+  }
+
+#elif ENABLED(MMU_EXTRUDER_SENSOR)
+
+  /**
+   * Handle tool change
+   */
+  void MMU2::tool_change(const uint8_t index) {
+    if (!enabled) return;
+
+    set_runout_valid(false);
+
+    if (index != extruder) {
+      DISABLE_AXIS_E0();
+      if (FILAMENT_PRESENT()) {
+        DEBUG_ECHOLNPGM("Unloading\n");
+        mmu_loading_flag = false;
+        command(MMU_CMD_U0);
+        manage_response(true, true);
+      }
+      ui.status_printf_P(0, GET_TEXT(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
+      mmu_loading_flag = true;
+      command(MMU_CMD_T0 + index);
+      manage_response(true, true);
+      mmu_continue_loading();
+      command(MMU_CMD_C0);
+      extruder = index;
+      active_extruder = 0;
+
+      ENABLE_AXIS_E0();
+      SERIAL_ECHO_START();
+      SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(extruder));
+
+      ui.reset_status();
+    }
+
+    set_runout_valid(true);
+  }
+
+  /**
+   * Handle special T?/Tx/Tc commands
+   *
+   * T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
+   * Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
+   * Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
+   */
+  void MMU2::tool_change(const char* special) {
+    if (!enabled) return;
+
+    #if ENABLED(MMU2_MENUS)
+
+      set_runout_valid(false);
+
+      switch (*special) {
+        case '?': {
+          DEBUG_ECHOLNPGM("case ?\n");
+          uint8_t index = mmu2_choose_filament();
+          while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
+          load_filament_to_nozzle(index);
+        } break;
+
+        case 'x': {
+          DEBUG_ECHOLNPGM("case x\n");
+          planner.synchronize();
+          uint8_t index = mmu2_choose_filament();
+          DISABLE_AXIS_E0();
+          command(MMU_CMD_T0 + index);
+          manage_response(true, true);
+          mmu_continue_loading();
+          command(MMU_CMD_C0);
+          mmu_loop();
+
+          ENABLE_AXIS_E0();
+          extruder = index;
+          active_extruder = 0;
+        } break;
+
+        case 'c': {
+          DEBUG_ECHOLNPGM("case c\n");
+          while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
+          execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
+        } break;
+      }
+
+      set_runout_valid(true);
+
+    #endif // MMU2_MENUS
+  }
+
+  void MMU2::mmu_continue_loading() {
+    for (uint8_t i = 0; i < MMU_LOADING_ATTEMPTS_NR; i++) {
+      DEBUG_ECHOLNPAIR("Additional load attempt #", i);
+      if (FILAMENT_PRESENT()) break;
+      command(MMU_CMD_C0);
+      manage_response(true, true);
+    }
+    if (!FILAMENT_PRESENT()) {
+      DEBUG_ECHOLNPGM("Filament never reached sensor, runout");
+      filament_runout();
+    }
+    mmu_idl_sens = 0;
+  }
+
+#elif DISABLED(MMU_EXTRUDER_SENSOR) && DISABLED(PRUSA_MMU2_S_MODE)
 
 /**
  * Handle tool change
  */
-void MMU2::tool_change(uint8_t index) {
-
+void MMU2::tool_change(const uint8_t index) {
   if (!enabled) return;
 
   set_runout_valid(false);
 
   if (index != extruder) {
-
     DISABLE_AXIS_E0();
     ui.status_printf_P(0, GET_TEXT(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
-
     command(MMU_CMD_T0 + index);
     manage_response(true, true);
-
-    if (load_to_gears()) {
-      extruder = index; // filament change is finished
-      active_extruder = 0;
-      ENABLE_AXIS_E0();
-      SERIAL_ECHO_START();
-      SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(extruder));
-    }
+    command(MMU_CMD_C0);
+    extruder = index; //filament change is finished
+    active_extruder = 0;
+    ENABLE_AXIS_E0();
+    SERIAL_ECHO_START();
+    SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(extruder));
     ui.reset_status();
   }
 
@@ -518,7 +707,6 @@ void MMU2::tool_change(uint8_t index) {
  *
  */
 void MMU2::tool_change(const char* special) {
-
   if (!enabled) return;
 
   #if ENABLED(MMU2_MENUS)
@@ -527,27 +715,29 @@ void MMU2::tool_change(const char* special) {
 
     switch (*special) {
       case '?': {
+        DEBUG_ECHOLNPGM("case ?\n");
         uint8_t index = mmu2_choose_filament();
         while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
         load_filament_to_nozzle(index);
       } break;
 
       case 'x': {
+        DEBUG_ECHOLNPGM("case x\n");
         planner.synchronize();
         uint8_t index = mmu2_choose_filament();
         DISABLE_AXIS_E0();
         command(MMU_CMD_T0 + index);
         manage_response(true, true);
+        command(MMU_CMD_C0);
+        mmu_loop();
 
-        if (load_to_gears()) {
-          mmu_loop();
-          ENABLE_AXIS_E0();
-          extruder = index;
-          active_extruder = 0;
-        }
+        ENABLE_AXIS_E0();
+        extruder = index;
+        active_extruder = 0;
       } break;
 
       case 'c': {
+        DEBUG_ECHOLNPGM("case c\n");
         while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
         execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
       } break;
@@ -556,7 +746,9 @@ void MMU2::tool_change(const char* special) {
     set_runout_valid(true);
 
   #endif
-}
+  }
+
+#endif // MMU_EXTRUDER_SENSOR
 
 /**
  * Set next command
@@ -593,7 +785,7 @@ void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
   bool response = false;
   mmu_print_saved = false;
   xyz_pos_t resume_position;
-  int16_t resume_hotend_temp;
+  int16_t resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
 
   KEEPALIVE_STATE(PAUSED_FOR_USER);
 
@@ -652,7 +844,7 @@ void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
   }
 }
 
-void MMU2::set_filament_type(uint8_t index, uint8_t filamentType) {
+void MMU2::set_filament_type(const uint8_t index, const uint8_t filamentType) {
   if (!enabled) return;
 
   cmd_arg = filamentType;
@@ -667,20 +859,21 @@ void MMU2::filament_runout() {
 }
 
 #if ENABLED(PRUSA_MMU2_S_MODE)
+
   void MMU2::check_filament() {
-    const bool runout = READ(FIL_RUNOUT_PIN) ^ (FIL_RUNOUT_INVERTING);
-    if (runout && !mmu2s_triggered) {
+    const bool present = FILAMENT_PRESENT();
+    if (present && !mmu2s_triggered) {
       DEBUG_ECHOLNPGM("MMU <= 'A'");
       tx_str_P(PSTR("A\n"));
     }
-    mmu2s_triggered = runout;
+    mmu2s_triggered = present;
   }
 
   bool MMU2::can_load() {
     execute_extruder_sequence((const E_Step *)can_load_sequence, COUNT(can_load_sequence));
 
     int filament_detected_count = 0;
-    const int steps = MMU2_CAN_LOAD_RETRACT / MMU2_CAN_LOAD_INCREMENT;
+    const int steps = (MMU2_CAN_LOAD_RETRACT) / (MMU2_CAN_LOAD_INCREMENT);
     DEBUG_ECHOLNPGM("MMU can_load:");
     LOOP_L_N(i, steps) {
       execute_extruder_sequence((const E_Step *)can_load_increment_sequence, COUNT(can_load_increment_sequence));
@@ -689,7 +882,7 @@ void MMU2::filament_runout() {
       if (mmu2s_triggered) ++filament_detected_count;
     }
 
-    if (filament_detected_count <= steps - (MMU2_CAN_LOAD_DEVIATION / MMU2_CAN_LOAD_INCREMENT)) {
+    if (filament_detected_count <= steps - (MMU2_CAN_LOAD_DEVIATION) / (MMU2_CAN_LOAD_INCREMENT)) {
       DEBUG_ECHOLNPGM(" failed.");
       return false;
     }
@@ -702,7 +895,7 @@ void MMU2::filament_runout() {
 #if BOTH(HAS_LCD_MENU, MMU2_MENUS)
 
   // Load filament into MMU2
-  void MMU2::load_filament(uint8_t index) {
+  void MMU2::load_filament(const uint8_t index) {
     if (!enabled) return;
     command(MMU_CMD_L0 + index);
     manage_response(false, false);
@@ -714,7 +907,7 @@ void MMU2::filament_runout() {
    * Switch material and load to nozzle
    *
    */
-  bool MMU2::load_filament_to_nozzle(uint8_t index) {
+  bool MMU2::load_filament_to_nozzle(const uint8_t index) {
 
     if (!enabled) return false;
 
@@ -739,7 +932,6 @@ void MMU2::filament_runout() {
   }
 
   /**
-   *
    * Load filament to nozzle of multimaterial printer
    *
    * This function is used only only after T? (user select filament) and M600 (change filament).
@@ -751,7 +943,7 @@ void MMU2::filament_runout() {
     execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
   }
 
-  bool MMU2::eject_filament(uint8_t index, bool recover) {
+  bool MMU2::eject_filament(const uint8_t index, const bool recover) {
 
     if (!enabled) return false;
 
@@ -798,9 +990,7 @@ void MMU2::filament_runout() {
   }
 
   /**
-   *
-   * unload from hotend and retract to MMU
-   *
+   * Unload from hotend and retract to MMU
    */
   bool MMU2::unload() {
 
diff --git a/Marlin/src/feature/mmu2/mmu2.h b/Marlin/src/feature/mmu2/mmu2.h
index 8dd07f88475d..c956139f54db 100644
--- a/Marlin/src/feature/mmu2/mmu2.h
+++ b/Marlin/src/feature/mmu2/mmu2.h
@@ -44,24 +44,24 @@ class MMU2 {
   static void init();
   static void reset();
   static void mmu_loop();
-  static void tool_change(uint8_t index);
+  static void tool_change(const uint8_t index);
   static void tool_change(const char* special);
   static uint8_t get_current_tool();
-  static void set_filament_type(uint8_t index, uint8_t type);
+  static void set_filament_type(const uint8_t index, const uint8_t type);
 
   #if BOTH(HAS_LCD_MENU, MMU2_MENUS)
     static bool unload();
     static void load_filament(uint8_t);
     static void load_all();
-    static bool load_filament_to_nozzle(uint8_t index);
-    static bool eject_filament(uint8_t index, bool recover);
+    static bool load_filament_to_nozzle(const uint8_t index);
+    static bool eject_filament(const uint8_t index, const bool recover);
   #endif
 
 private:
   static bool rx_str_P(const char* str);
   static void tx_str_P(const char* str);
-  static void tx_printf_P(const char* format, int argument);
-  static void tx_printf_P(const char* format, int argument1, int argument2);
+  static void tx_printf_P(const char* format, const int argument);
+  static void tx_printf_P(const char* format, const int argument1, const int argument2);
   static void clear_rx_buffer();
 
   static bool rx_ok();
@@ -89,6 +89,10 @@ class MMU2 {
     FORCE_INLINE static bool load_to_gears() { return true; }
   #endif
 
+  #if ENABLED(MMU_EXTRUDER_SENSOR)
+    static void mmu_continue_loading();
+  #endif
+
   static bool enabled, ready, mmu_print_saved;
 
   static uint8_t cmd, cmd_arg, last_cmd, extruder;
@@ -96,7 +100,7 @@ class MMU2 {
   static volatile int8_t finda;
   static volatile bool finda_runout_valid;
   static int16_t version, buildnr;
-  static millis_t last_request, next_P0_request;
+  static millis_t prev_request, prev_P0_request;
   static char rx_buffer[MMU_RX_SIZE], tx_buffer[MMU_TX_SIZE];
 
   static inline void set_runout_valid(const bool valid) {
diff --git a/Marlin/src/feature/spindle_laser_types.h b/Marlin/src/feature/spindle_laser_types.h
index 9e3f2bae48a8..7fa93420d157 100644
--- a/Marlin/src/feature/spindle_laser_types.h
+++ b/Marlin/src/feature/spindle_laser_types.h
@@ -1,6 +1,6 @@
 /**
  * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
  * Based on Sprinter and grbl.
  * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
diff --git a/Marlin/src/gcode/bedlevel/M420.cpp b/Marlin/src/gcode/bedlevel/M420.cpp
index 3effc3173bb9..50b2f6f15896 100644
--- a/Marlin/src/gcode/bedlevel/M420.cpp
+++ b/Marlin/src/gcode/bedlevel/M420.cpp
@@ -84,12 +84,12 @@ void GcodeSuite::M420() {
     }
   #endif
 
+  xyz_pos_t oldpos = current_position;
+
   // If disabling leveling do it right away
   // (Don't disable for just M420 or M420 V)
   if (seen_S && !to_enable) set_bed_leveling_enabled(false);
 
-  xyz_pos_t oldpos = current_position;
-
   #if ENABLED(AUTO_BED_LEVELING_UBL)
 
     // L to load a mesh from the EEPROM
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index ead70bc2574c..9c5907a5ccc2 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -78,11 +78,7 @@
   #endif
 #endif
 
-#if ENABLED(G29_RETRY_AND_RECOVER)
-  #define G29_RETURN(b) return b;
-#else
-  #define G29_RETURN(b) return;
-#endif
+#define G29_RETURN(b) return TERN_(G29_RETRY_AND_RECOVER, b)
 
 /**
  * G29: Detailed Z probe, probes the bed at 3 or more points.
@@ -164,11 +160,7 @@
  */
 G29_TYPE GcodeSuite::G29() {
 
-  #if EITHER(DEBUG_LEVELING_FEATURE, PROBE_MANUALLY)
-    const bool seenQ = parser.seen('Q');
-  #else
-    constexpr bool seenQ = false;
-  #endif
+  const bool seenQ = EITHER(DEBUG_LEVELING_FEATURE, PROBE_MANUALLY) && parser.seen('Q');
 
   // G29 Q is also available if debugging
   #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -179,25 +171,12 @@ G29_TYPE GcodeSuite::G29() {
       log_machine_info();
     }
     marlin_debug_flags = old_debug_flags;
-    #if DISABLED(PROBE_MANUALLY)
-      if (seenQ) G29_RETURN(false);
-    #endif
+    if (DISABLED(PROBE_MANUALLY) && seenQ) G29_RETURN(false);
   #endif
 
-  #if ENABLED(PROBE_MANUALLY)
-    const bool seenA = parser.seen('A');
-  #else
-    constexpr bool seenA = false;
-  #endif
-
-  const bool  no_action = seenA || seenQ,
-              faux =
-                #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY)
-                  parser.boolval('C')
-                #else
-                  no_action
-                #endif
-              ;
+  const bool seenA = TERN0(PROBE_MANUALLY, parser.seen('A')),
+         no_action = seenA || seenQ,
+              faux = ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY) ? parser.boolval('C') : no_action;
 
   // Don't allow auto-leveling without homing first
   if (axis_unhomed_error()) G29_RETURN(false);
@@ -208,11 +187,7 @@ G29_TYPE GcodeSuite::G29() {
   }
 
   // Define local vars 'static' for manual probing, 'auto' otherwise
-  #if ENABLED(PROBE_MANUALLY)
-    #define ABL_VAR static
-  #else
-    #define ABL_VAR
-  #endif
+  #define ABL_VAR TERN_(PROBE_MANUALLY, static)
 
   ABL_VAR int verbose_level;
   ABL_VAR xy_pos_t probePos;
@@ -346,11 +321,7 @@ G29_TYPE GcodeSuite::G29() {
       G29_RETURN(false);
     }
 
-    dryrun = parser.boolval('D')
-      #if ENABLED(PROBE_MANUALLY)
-        || no_action
-      #endif
-    ;
+    dryrun = parser.boolval('D') || TERN0(PROBE_MANUALLY, no_action);
 
     #if ENABLED(AUTO_BED_LEVELING_LINEAR)
 
@@ -430,26 +401,27 @@ G29_TYPE GcodeSuite::G29() {
 
     planner.synchronize();
 
+    if (!faux) remember_feedrate_scaling_off();
+
     // Disable auto bed leveling during G29.
     // Be formal so G29 can be done successively without G28.
     if (!no_action) set_bed_leveling_enabled(false);
 
+    // Deploy certain probes before starting probing
     #if HAS_BED_PROBE
-      // Deploy the probe. Probe will raise if needed.
-      if (probe.deploy()) {
+      if (ENABLED(BLTOUCH))
+        do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
+      else if (probe.deploy()) {
         set_bed_leveling_enabled(abl_should_enable);
         G29_RETURN(false);
       }
     #endif
 
-    if (!faux) remember_feedrate_scaling_off();
-
     #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
-      #if ENABLED(PROBE_MANUALLY)
-        if (!no_action)
-      #endif
-      if (gridSpacing != bilinear_grid_spacing || probe_position_lf != bilinear_start) {
+      if (TERN1(PROBE_MANUALLY, !no_action)
+        && (gridSpacing != bilinear_grid_spacing || probe_position_lf != bilinear_start)
+      ) {
         // Reset grid to 0.0 or "not probed". (Also disables ABL)
         reset_bed_level();
 
@@ -560,8 +532,7 @@ G29_TYPE GcodeSuite::G29() {
         PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END);
 
         // Probe in reverse order for every other row/column
-        bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_END) & 1);
-
+        const bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_END) & 1);
         if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
 
         probePos = probe_position_lf + gridSpacing * meshCount.asFloat();
@@ -576,19 +547,14 @@ G29_TYPE GcodeSuite::G29() {
       // Is there a next point to move to?
       if (abl_probe_index < abl_points) {
         _manual_goto_xy(probePos); // Can be used here too!
-        #if HAS_SOFTWARE_ENDSTOPS
-          // Disable software endstops to allow manual adjustment
-          // If G29 is not completed, they will not be re-enabled
-          soft_endstops_enabled = false;
-        #endif
+        // Disable software endstops to allow manual adjustment
+        // If G29 is not completed, they will not be re-enabled
+        TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = false);
         G29_RETURN(false);
       }
       else {
-
         // Leveling done! Fall through to G29 finishing code below
-
         SERIAL_ECHOLNPGM("Grid probing done.");
-
         // Re-enable software endstops, if needed
         TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
       }
@@ -599,11 +565,9 @@ G29_TYPE GcodeSuite::G29() {
       if (abl_probe_index < abl_points) {
         probePos = points[abl_probe_index];
         _manual_goto_xy(probePos);
-        #if HAS_SOFTWARE_ENDSTOPS
-          // Disable software endstops to allow manual adjustment
-          // If G29 is not completed, they will not be re-enabled
-          soft_endstops_enabled = false;
-        #endif
+        // Disable software endstops to allow manual adjustment
+        // If G29 is not completed, they will not be re-enabled
+        TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = false);
         G29_RETURN(false);
       }
       else {
@@ -670,10 +634,8 @@ G29_TYPE GcodeSuite::G29() {
 
           TERN_(AUTO_BED_LEVELING_LINEAR, indexIntoAB[meshCount.x][meshCount.y] = ++abl_probe_index); // 0...
 
-          #if IS_KINEMATIC
-            // Avoid probing outside the round or hexagonal area
-            if (!probe.can_reach(probePos)) continue;
-          #endif
+          // Avoid probing outside the round or hexagonal area
+          if (TERN0(IS_KINEMATIC, !probe.can_reach(probePos))) continue;
 
           if (verbose_level) SERIAL_ECHOLNPAIR("Probing mesh point ", int(pt_index), "/", int(GRID_MAX_POINTS), ".");
           TERN_(HAS_DISPLAY, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_MESH), int(pt_index), int(GRID_MAX_POINTS)));
@@ -898,11 +860,7 @@ G29_TYPE GcodeSuite::G29() {
 
         // Unapply the offset because it is going to be immediately applied
         // and cause compensation movement in Z
-        #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-          const float fade_scaling_factor = planner.fade_scaling_factor_for_z(current_position.z);
-        #else
-          constexpr float fade_scaling_factor = 1.0f;
-        #endif
+        const float fade_scaling_factor = TERN(ENABLE_LEVELING_FADE_HEIGHT, planner.fade_scaling_factor_for_z(current_position.z), 1);
         current_position.z -= fade_scaling_factor * bilinear_z_offset(current_position);
 
         if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(" corrected Z:", current_position.z);
diff --git a/Marlin/src/gcode/bedlevel/abl/M421.cpp b/Marlin/src/gcode/bedlevel/abl/M421.cpp
index 74514bf4170c..2e46fafcd009 100644
--- a/Marlin/src/gcode/bedlevel/abl/M421.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/M421.cpp
@@ -36,28 +36,39 @@
 #endif
 
 /**
- * M421: Set a single Mesh Bed Leveling Z coordinate
+ * M421: Set one or more Mesh Bed Leveling Z coordinates
  *
  * Usage:
  *   M421 I<xindex> J<yindex> Z<linear>
  *   M421 I<xindex> J<yindex> Q<offset>
+ *
+ *  - If I is omitted, set the entire row
+ *  - If J is omitted, set the entire column
+ *  - If both I and J are omitted, set all
  */
 void GcodeSuite::M421() {
   int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
-  const bool hasI = ix >= 0,
-             hasJ = iy >= 0,
-             hasZ = parser.seen('Z'),
-             hasQ = !hasZ && parser.seen('Q');
+  const bool hasZ = parser.seenval('Z'),
+             hasQ = !hasZ && parser.seenval('Q');
 
-  if (!hasI || !hasJ || !(hasZ || hasQ))
-    SERIAL_ERROR_MSG(STR_ERR_M421_PARAMETERS);
-  else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))
-    SERIAL_ERROR_MSG(STR_ERR_MESH_XY);
-  else {
-    z_values[ix][iy] = parser.value_linear_units() + (hasQ ? z_values[ix][iy] : 0);
-    TERN_(ABL_BILINEAR_SUBDIVISION, bed_level_virt_interpolate());
-    TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, z_values[ix][iy]));
+  if (hasZ || hasQ) {
+    if (WITHIN(ix, -1, GRID_MAX_POINTS_X - 1) && WITHIN(iy, -1, GRID_MAX_POINTS_Y - 1)) {
+      const float zval = parser.value_linear_units();
+      uint8_t sx = ix >= 0 ? ix : 0, ex = ix >= 0 ? ix : GRID_MAX_POINTS_X - 1,
+              sy = iy >= 0 ? iy : 0, ey = iy >= 0 ? iy : GRID_MAX_POINTS_Y - 1;
+      LOOP_S_LE_N(x, sx, ex) {
+        LOOP_S_LE_N(y, sy, ey) {
+          z_values[x][y] = zval + (hasQ ? z_values[x][y] : 0);
+          TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y]));
+        }
+      }
+      TERN_(ABL_BILINEAR_SUBDIVISION, bed_level_virt_interpolate());
+    }
+    else
+      SERIAL_ERROR_MSG(STR_ERR_MESH_XY);
   }
+  else
+    SERIAL_ERROR_MSG(STR_ERR_M421_PARAMETERS);
 }
 
 #endif // AUTO_BED_LEVELING_BILINEAR
diff --git a/Marlin/src/gcode/host/M114.cpp b/Marlin/src/gcode/host/M114.cpp
index 8a31f248bf06..389188ada8eb 100644
--- a/Marlin/src/gcode/host/M114.cpp
+++ b/Marlin/src/gcode/host/M114.cpp
@@ -179,7 +179,7 @@
     report_xyze(from_steppers);
 
     const xyze_float_t diff = from_steppers - leveled;
-    SERIAL_ECHOPGM("Diff: ");
+    SERIAL_ECHOPGM("Diff:   ");
     report_xyze(diff);
   }
 
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 7d5cb060b99d..70601c3158ae 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -1587,6 +1587,15 @@
 #if _HAS_STOP(Z,MAX)
   #define HAS_Z_MAX 1
 #endif
+#if _HAS_STOP(X,STOP)
+  #define HAS_X_STOP 1
+#endif
+#if _HAS_STOP(Y,STOP)
+  #define HAS_Y_STOP 1
+#endif
+#if _HAS_STOP(Z,STOP)
+  #define HAS_Z_STOP 1
+#endif
 #if PIN_EXISTS(X2_MIN)
   #define HAS_X2_MIN 1
 #endif
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index c8f8907e88b2..da29c0ecf0ee 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -2742,12 +2742,14 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
  * Prusa MMU2 requirements
  */
 #if ENABLED(PRUSA_MMU2)
-  #if DISABLED(NOZZLE_PARK_FEATURE)
-    #error "PRUSA_MMU2 requires NOZZLE_PARK_FEATURE."
-  #elif EXTRUDERS != 5
+  #if EXTRUDERS != 5
     #error "PRUSA_MMU2 requires EXTRUDERS = 5."
-  #elif ENABLED(PRUSA_MMU2_S_MODE) && DISABLED(FILAMENT_RUNOUT_SENSOR)
-    #error "PRUSA_MMU2_S_MODE requires FILAMENT_RUNOUT_SENSOR. Enable it to continue."
+  #elif DISABLED(NOZZLE_PARK_FEATURE)
+    #error "PRUSA_MMU2 requires NOZZLE_PARK_FEATURE. Enable it to continue."
+  #elif EITHER(PRUSA_MMU2_S_MODE, MMU_EXTRUDER_SENSOR) && DISABLED(FILAMENT_RUNOUT_SENSOR)
+    #error "PRUSA_MMU2_S_MODE or MMU_EXTRUDER_SENSOR requires FILAMENT_RUNOUT_SENSOR. Enable it to continue."
+  #elif BOTH(PRUSA_MMU2_S_MODE, MMU_EXTRUDER_SENSOR)
+    #error "Enable only one of PRUSA_MMU2_S_MODE or MMU_EXTRUDER_SENSOR."
   #elif DISABLED(ADVANCED_PAUSE_FEATURE)
     static_assert(nullptr == strstr(MMU2_FILAMENT_RUNOUT_SCRIPT, "M600"), "ADVANCED_PAUSE_FEATURE is required to use M600 with PRUSA_MMU2.");
   #endif
diff --git a/Marlin/src/inc/Version.h b/Marlin/src/inc/Version.h
index 147bbf864a17..abe4df3286aa 100644
--- a/Marlin/src/inc/Version.h
+++ b/Marlin/src/inc/Version.h
@@ -42,7 +42,7 @@
  * version was tagged.
  */
 #ifndef STRING_DISTRIBUTION_DATE
-  #define STRING_DISTRIBUTION_DATE "2020-05-14"
+  #define STRING_DISTRIBUTION_DATE "2020-05-18"
 #endif
 
 /**
diff --git a/Marlin/src/lcd/language/language_fr.h b/Marlin/src/lcd/language/language_fr.h
index 3daac87a2835..ee866629b3e8 100644
--- a/Marlin/src/lcd/language/language_fr.h
+++ b/Marlin/src/lcd/language/language_fr.h
@@ -476,15 +476,16 @@ namespace Language_fr {
   PROGMEM Language_Str MSG_LCD_PROBING_FAILED              = _UxGT("Echec sonde");
   PROGMEM Language_Str MSG_M600_TOO_COLD                   = _UxGT("M600: Trop froid");
 
+  PROGMEM Language_Str MSG_KILL_MMU2_FIRMWARE              = _UxGT("MAJ firmware MMU!!");
   PROGMEM Language_Str MSG_MMU2_CHOOSE_FILAMENT_HEADER     = _UxGT("CHOISIR FILAMENT");
   PROGMEM Language_Str MSG_MMU2_MENU                       = _UxGT("MMU");
   PROGMEM Language_Str MSG_MMU2_NOT_RESPONDING             = _UxGT("MMU ne répond plus");
-  PROGMEM Language_Str MSG_MMU2_RESUME                     = _UxGT("Continuer impr.");
-  PROGMEM Language_Str MSG_MMU2_RESUMING                   = _UxGT("Reprise...");
-  PROGMEM Language_Str MSG_MMU2_LOAD_FILAMENT              = _UxGT("Charger filament");
-  PROGMEM Language_Str MSG_MMU2_LOAD_ALL                   = _UxGT("Charger tous");
+  PROGMEM Language_Str MSG_MMU2_RESUME                     = _UxGT("Continuer Imp. MMU");
+  PROGMEM Language_Str MSG_MMU2_RESUMING                   = _UxGT("Reprise MMU...");
+  PROGMEM Language_Str MSG_MMU2_LOAD_FILAMENT              = _UxGT("Charge dans MMU");
+  PROGMEM Language_Str MSG_MMU2_LOAD_ALL                   = _UxGT("Charger tous dans MMU");
   PROGMEM Language_Str MSG_MMU2_LOAD_TO_NOZZLE             = _UxGT("Charger dans buse");
-  PROGMEM Language_Str MSG_MMU2_EJECT_FILAMENT             = _UxGT("Ejecter filament");
+  PROGMEM Language_Str MSG_MMU2_EJECT_FILAMENT             = _UxGT("Ejecter fil. du MMU");
   PROGMEM Language_Str MSG_MMU2_EJECT_FILAMENT_N           = _UxGT("Ejecter fil. ~");
   PROGMEM Language_Str MSG_MMU2_UNLOAD_FILAMENT            = _UxGT("Retrait filament");
   PROGMEM Language_Str MSG_MMU2_LOADING_FILAMENT           = _UxGT("Chargem. fil. %i...");
diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 092043b59c5e..47d63df64b70 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -674,6 +674,15 @@ void Endstops::update() {
     } \
   }while(0)
 
+  // Core Sensorless Homing needs to test an Extra Pin
+  #define CORE_DIAG(QQ,A,MM) (CORE_IS_##QQ && A##_SENSORLESS && !A##_SPI_SENSORLESS && HAS_##A##_##MM)
+  #define PROCESS_CORE_ENDSTOP(A1,M1,A2,M2) do { \
+    if (TEST_ENDSTOP(_ENDSTOP(A1,M1))) { \
+      _ENDSTOP_HIT(A2,M2); \
+      planner.endstop_triggered(_AXIS(A2)); \
+    } \
+  }while(0)
+
   // Call the endstop triggered routine for dual endstops
   #define PROCESS_DUAL_ENDSTOP(A, MINMAX) do { \
     const byte dual_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1); \
@@ -742,16 +751,35 @@ void Endstops::update() {
     }
   #endif
 
-  // Now, we must signal, after validation, if an endstop limit is pressed or not
+  // Signal, after validation, if an endstop limit is pressed or not
+
   if (stepper.axis_is_moving(X_AXIS)) {
     if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
       #if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0)
         PROCESS_ENDSTOP_X(MIN);
+        #if   CORE_DIAG(XY, Y, MIN)
+          PROCESS_CORE_ENDSTOP(Y,MIN,X,MIN);
+        #elif CORE_DIAG(XY, Y, MAX)
+          PROCESS_CORE_ENDSTOP(Y,MAX,X,MIN);
+        #elif CORE_DIAG(XZ, Z, MIN)
+          PROCESS_CORE_ENDSTOP(Z,MIN,X,MIN);
+        #elif CORE_DIAG(XZ, Z, MAX)
+          PROCESS_CORE_ENDSTOP(Z,MAX,X,MIN);
+        #endif
       #endif
     }
     else { // +direction
       #if HAS_X_MAX || (X_SPI_SENSORLESS && X_HOME_DIR > 0)
         PROCESS_ENDSTOP_X(MAX);
+        #if   CORE_DIAG(XY, Y, MIN)
+          PROCESS_CORE_ENDSTOP(Y,MIN,X,MAX);
+        #elif CORE_DIAG(XY, Y, MAX)
+          PROCESS_CORE_ENDSTOP(Y,MAX,X,MAX);
+        #elif CORE_DIAG(XZ, Z, MIN)
+          PROCESS_CORE_ENDSTOP(Z,MIN,X,MAX);
+        #elif CORE_DIAG(XZ, Z, MAX)
+          PROCESS_CORE_ENDSTOP(Z,MAX,X,MAX);
+        #endif
       #endif
     }
   }
@@ -760,11 +788,29 @@ void Endstops::update() {
     if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
       #if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_DIR < 0)
         PROCESS_ENDSTOP_Y(MIN);
+        #if   CORE_DIAG(XY, X, MIN)
+          PROCESS_CORE_ENDSTOP(X,MIN,Y,MIN);
+        #elif CORE_DIAG(XY, X, MAX)
+          PROCESS_CORE_ENDSTOP(X,MAX,Y,MIN);
+        #elif CORE_DIAG(YZ, Z, MIN)
+          PROCESS_CORE_ENDSTOP(Z,MIN,Y,MIN);
+        #elif CORE_DIAG(YZ, Z, MAX)
+          PROCESS_CORE_ENDSTOP(Z,MAX,Y,MIN);
+        #endif
       #endif
     }
     else { // +direction
       #if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_DIR > 0)
         PROCESS_ENDSTOP_Y(MAX);
+        #if   CORE_DIAG(XY, X, MIN)
+          PROCESS_CORE_ENDSTOP(X,MIN,Y,MAX);
+        #elif CORE_DIAG(XY, X, MAX)
+          PROCESS_CORE_ENDSTOP(X,MAX,Y,MAX);
+        #elif CORE_DIAG(YZ, Z, MIN)
+          PROCESS_CORE_ENDSTOP(Z,MIN,Y,MAX);
+        #elif CORE_DIAG(YZ, Z, MAX)
+          PROCESS_CORE_ENDSTOP(Z,MAX,Y,MAX);
+        #endif
       #endif
     }
   }
@@ -776,6 +822,15 @@ void Endstops::update() {
         if ( TERN1(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, z_probe_enabled)
           && TERN1(HAS_CUSTOM_PROBE_PIN, !z_probe_enabled)
         ) PROCESS_ENDSTOP_Z(MIN);
+        #if   CORE_DIAG(XZ, X, MIN)
+          PROCESS_CORE_ENDSTOP(X,MIN,Z,MIN);
+        #elif CORE_DIAG(XZ, X, MAX)
+          PROCESS_CORE_ENDSTOP(X,MAX,Z,MIN);
+        #elif CORE_DIAG(YZ, Y, MIN)
+          PROCESS_CORE_ENDSTOP(Y,MIN,Z,MIN);
+        #elif CORE_DIAG(YZ, Y, MAX)
+          PROCESS_CORE_ENDSTOP(Y,MAX,Z,MIN);
+        #endif
       #endif
 
       // When closing the gap check the enabled probe
@@ -790,6 +845,15 @@ void Endstops::update() {
         #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN  // No probe or probe is Z_MIN || Probe is not Z_MAX
           PROCESS_ENDSTOP(Z, MAX);
         #endif
+        #if   CORE_DIAG(XZ, X, MIN)
+          PROCESS_CORE_ENDSTOP(X,MIN,Z,MAX);
+        #elif CORE_DIAG(XZ, X, MAX)
+          PROCESS_CORE_ENDSTOP(X,MAX,Z,MAX);
+        #elif CORE_DIAG(YZ, Y, MIN)
+          PROCESS_CORE_ENDSTOP(Y,MIN,Z,MAX);
+        #elif CORE_DIAG(YZ, Y, MAX)
+          PROCESS_CORE_ENDSTOP(Y,MAX,Z,MAX);
+        #endif
       #endif
     }
   }
@@ -804,19 +868,37 @@ void Endstops::update() {
   bool Endstops::tmc_spi_homing_check() {
     bool hit = false;
     #if X_SPI_SENSORLESS
-      if (tmc_spi_homing.x && stepperX.test_stall_status()) {
+      if (tmc_spi_homing.x && (stepperX.test_stall_status()
+        #if CORE_IS_XY && Y_SPI_SENSORLESS
+          || stepperY.test_stall_status()
+        #elif CORE_IS_XZ && Z_SPI_SENSORLESS
+          || stepperZ.test_stall_status()
+        #endif
+      )) {
         SBI(live_state, X_STOP);
         hit = true;
       }
     #endif
     #if Y_SPI_SENSORLESS
-      if (tmc_spi_homing.y && stepperY.test_stall_status()) {
+      if (tmc_spi_homing.y && (stepperY.test_stall_status()
+        #if CORE_IS_XY && X_SPI_SENSORLESS
+          || stepperX.test_stall_status()
+        #elif CORE_IS_YZ && Z_SPI_SENSORLESS
+          || stepperZ.test_stall_status()
+        #endif
+      )) {
         SBI(live_state, Y_STOP);
         hit = true;
       }
     #endif
     #if Z_SPI_SENSORLESS
-      if (tmc_spi_homing.z && stepperZ.test_stall_status()) {
+      if (tmc_spi_homing.z && (stepperZ.test_stall_status()
+        #if CORE_IS_XZ && X_SPI_SENSORLESS
+          || stepperX.test_stall_status()
+        #elif CORE_IS_YZ && Y_SPI_SENSORLESS
+          || stepperY.test_stall_status()
+        #endif
+      )) {
         SBI(live_state, Z_STOP);
         hit = true;
       }
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 021405b4a997..673eee3a924a 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -348,6 +348,11 @@ void line_to_current_position(const feedRate_t &fr_mm_s/*=feedrate_mm_s*/) {
 
 #endif // IS_KINEMATIC
 
+/**
+ * Do a fast or normal move to 'destination' with an optional FR.
+ *  - Move at normal speed regardless of feedrate percentage.
+ *  - Extrude the specified length regardless of flow percentage.
+ */
 void _internal_move_to_destination(const feedRate_t &fr_mm_s/*=0.0f*/
   #if IS_KINEMATIC
     , const bool is_fast/*=false*/
@@ -360,8 +365,8 @@ void _internal_move_to_destination(const feedRate_t &fr_mm_s/*=0.0f*/
   feedrate_percentage = 100;
 
   #if EXTRUDERS
-     const float old_fac = planner.e_factor[active_extruder];
-     planner.e_factor[active_extruder] = 1.0f;
+    const float old_fac = planner.e_factor[active_extruder];
+    planner.e_factor[active_extruder] = 1.0f;
   #endif
 
   #if IS_KINEMATIC
diff --git a/Marlin/src/pins/mega/pins_PICA.h b/Marlin/src/pins/mega/pins_PICA.h
index f00d817d6e89..506ce242c5e5 100644
--- a/Marlin/src/pins/mega/pins_PICA.h
+++ b/Marlin/src/pins/mega/pins_PICA.h
@@ -29,8 +29,8 @@
  * Applies to PICA, PICA_REVB
  */
 
-#ifndef BOARD_NAME
-  #define BOARD_NAME "PICA"
+#ifndef BOARD_INFO_NAME
+  #define BOARD_INFO_NAME "PICA"
 #endif
 
 /*
diff --git a/Marlin/src/pins/pins.h b/Marlin/src/pins/pins.h
index 3ce761c6cfff..3dc7a675930f 100644
--- a/Marlin/src/pins/pins.h
+++ b/Marlin/src/pins/pins.h
@@ -98,6 +98,8 @@
   #include "ramps/pins_K8200.h"                 // ATmega1280, ATmega2560                 env:mega1280 env:mega2560 (3DRAG)
 #elif MB(K8400)
   #include "ramps/pins_K8400.h"                 // ATmega1280, ATmega2560                 env:mega1280 env:mega2560 (3DRAG)
+#elif MB(K8600)
+  #include "ramps/pins_K8600.h"                 // ATmega1280, ATmega2560                 env:mega1280 env:mega2560
 #elif MB(K8800)
   #include "ramps/pins_K8800.h"                 // ATmega1280, ATmega2560                 env:mega1280 env:mega2560 (3DRAG)
 #elif MB(BAM_DICE)
diff --git a/Marlin/src/pins/ramps/pins_FYSETC_F6_14.h b/Marlin/src/pins/ramps/pins_FYSETC_F6_14.h
index f0eb0bf4c643..0597e23a1600 100644
--- a/Marlin/src/pins/ramps/pins_FYSETC_F6_14.h
+++ b/Marlin/src/pins/ramps/pins_FYSETC_F6_14.h
@@ -25,7 +25,7 @@
 // FYSETC F6 v1.4 pin assignments
 //
 
-#define BOARD_NAME "FYSETC F6 1.4"
+#define BOARD_INFO_NAME "FYSETC F6 1.4"
 
 #define Z_MAX_PIN                              2
 
diff --git a/Marlin/src/pins/ramps/pins_K8600.h b/Marlin/src/pins/ramps/pins_K8600.h
new file mode 100644
index 000000000000..17c230fe32a3
--- /dev/null
+++ b/Marlin/src/pins/ramps/pins_K8600.h
@@ -0,0 +1,127 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * VERTEX NANO Arduino Mega with RAMPS EFB v1.4 pin assignments.
+ */
+
+#if HOTENDS > 1
+  #error "Only 1 hotend is supported for Vertex Nano."
+#endif
+
+#define BOARD_INFO_NAME      "K8600"
+#define DEFAULT_MACHINE_NAME "Vertex Nano"
+
+//
+// Limit Switches
+//
+#define X_MIN_PIN                              3
+#define Y_MAX_PIN                             14
+#define Z_MAX_PIN                             18
+#define Z_MIN_PIN                             -1
+
+//
+// Heaters / Fans
+//
+#define FAN_PIN                                8
+
+//
+// Misc. Functions
+//
+#define CASE_LIGHT_PIN                         7
+
+//
+// Other RAMPS pins
+//
+#define IS_RAMPS_EFB                              // Override autodetection. Bed will be undefined.
+#include "pins_RAMPS.h"
+
+//
+// Steppers
+//
+#undef X_STEP_PIN
+#undef X_DIR_PIN
+#undef X_ENABLE_PIN
+#define X_STEP_PIN                            54
+#define X_DIR_PIN                             55
+#define X_ENABLE_PIN                          38
+
+#undef Y_STEP_PIN
+#undef Y_DIR_PIN
+#undef Y_ENABLE_PIN
+#define Y_STEP_PIN                            60
+#define Y_DIR_PIN                             61
+#define Y_ENABLE_PIN                          56
+
+#undef Z_ENABLE_PIN
+#define Z_ENABLE_PIN                          63
+
+#undef E0_STEP_PIN
+#undef E0_DIR_PIN
+#undef E0_ENABLE_PIN
+#define E0_STEP_PIN                           26
+#define E0_DIR_PIN                            28
+#define E0_ENABLE_PIN                         24
+
+//
+// Heaters / Fans
+//
+#undef HEATER_BED_PIN
+
+//
+// Misc. Functions
+//
+#undef SDSS
+#define SDSS                                  25  // 53
+
+//
+// LCD / Controller
+//
+#if BOTH(ULTRA_LCD, NEWPANEL)
+  #undef BEEPER_PIN
+
+  #undef LCD_PINS_RS
+  #undef LCD_PINS_ENABLE
+  #undef LCD_PINS_D4
+  #undef LCD_PINS_D5
+  #undef LCD_PINS_D6
+  #undef LCD_PINS_D7
+  #define LCD_PINS_RS                         27
+  #define LCD_PINS_ENABLE                     29
+  #define LCD_PINS_D4                         37
+  #define LCD_PINS_D5                         35
+  #define LCD_PINS_D6                         33
+  #define LCD_PINS_D7                         31
+
+  // Buttons
+  #undef BTN_EN1
+  #undef BTN_EN2
+  #undef BTN_ENC
+  #define BTN_EN1                             17
+  #define BTN_EN2                             16
+  #define BTN_ENC                             23
+
+#else
+
+  #define BEEPER_PIN                          33
+
+#endif
diff --git a/Marlin/src/pins/stm32f1/pins_GTM32_REV_B.h b/Marlin/src/pins/stm32f1/pins_GTM32_REV_B.h
index 8d7687f52042..5dbffd2897e5 100644
--- a/Marlin/src/pins/stm32f1/pins_GTM32_REV_B.h
+++ b/Marlin/src/pins/stm32f1/pins_GTM32_REV_B.h
@@ -30,7 +30,7 @@
   #error "Oops! Select an STM32F1 board in 'Tools > Board.'"
 #endif
 
-#define BOARD_NAME           "GTM32 Pro VB"
+#define BOARD_INFO_NAME      "GTM32 Pro VB"
 #define DEFAULT_MACHINE_NAME "M201"
 
 //#define DISABLE_DEBUG
diff --git a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3.h b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3.h
index 34c265c47b16..5e8f89d56d8e 100644
--- a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3.h
+++ b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3.h
@@ -1,6 +1,6 @@
 /**
  * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
  * Based on Sprinter and grbl.
  * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
diff --git a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3D.h b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3D.h
index 9091c99dfc82..e6cf4e528c0d 100644
--- a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3D.h
+++ b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3D.h
@@ -1,6 +1,6 @@
 /**
  * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
  * Based on Sprinter and grbl.
  * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
diff --git a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN2.h b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN2.h
index 36298d05f5e6..0aa6f709f67c 100644
--- a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN2.h
+++ b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN2.h
@@ -28,7 +28,7 @@
 #endif
 
 #ifndef BOARD_INFO_NAME
-  #define BOARD_NAME "MKS_ROBIN2"
+  #define BOARD_INFO_NAME "MKS_ROBIN2"
 #endif
 
 #ifndef DEFAULT_MACHINE_NAME
diff --git a/Marlin/src/pins/stm32f4/pins_VAKE403D.h b/Marlin/src/pins/stm32f4/pins_VAKE403D.h
index 4d27910c1664..08f8adebc4f1 100644
--- a/Marlin/src/pins/stm32f4/pins_VAKE403D.h
+++ b/Marlin/src/pins/stm32f4/pins_VAKE403D.h
@@ -28,7 +28,7 @@
 #endif
 
 #define DEFAULT_MACHINE_NAME "STM32F446VET6"
-#define BOARD_NAME           "STM32F4 VAkE"
+#define BOARD_INFO_NAME      "STM32F4 VAkE"
 
 //#define I2C_EEPROM
 
diff --git a/buildroot/share/PlatformIO/variants/BIGTREE_BTT002/variant.h b/buildroot/share/PlatformIO/variants/BIGTREE_BTT002/variant.h
index ca56b5f456ee..ecc319f47ce0 100644
--- a/buildroot/share/PlatformIO/variants/BIGTREE_BTT002/variant.h
+++ b/buildroot/share/PlatformIO/variants/BIGTREE_BTT002/variant.h
@@ -245,11 +245,9 @@ extern "C" {
 
 // Timer Definitions
 //Do not use timer used by PWM pins when possible. See PinMap_PWM in PeripheralPins.c
-#define TIMER_TONE              TIM6
-#define TIMER_SERIAL            TIM7
-
-// Do not use basic timer: OC is required
-#define TIMER_SERVO             TIM2  //TODO: advanced-control timers don't work
+#define TIMER_TONE              TIM7
+#define TIMER_SERVO             TIM5
+#define TIMER_SERIAL            TIM2
 
 // UART Definitions
 // Define here Serial instance number to map on Serial generic name
diff --git a/buildroot/share/tests/teensy35-tests b/buildroot/share/tests/teensy35-tests
index f2a098e7cd1c..c729f212a427 100755
--- a/buildroot/share/tests/teensy35-tests
+++ b/buildroot/share/tests/teensy35-tests
@@ -83,13 +83,21 @@ exec_test $1 $2 "Mixing Extruder"
 # opt_set NUM_SERVOS 1
 # opt_enable SWITCHING_EXTRUDER ULTIMAKERCONTROLLER
 # exec_test $1 $2 "SWITCHING_EXTRUDER"
+
 #
 # Enable COREXY
 #
 restore_configs
 opt_set MOTHERBOARD BOARD_TEENSY35_36
 opt_enable COREXY
-exec_test $1 $2 "COREXY"
+opt_set X_DRIVER_TYPE TMC5160
+opt_set Y_DRIVER_TYPE TMC5160
+opt_set X_MIN_ENDSTOP_INVERTING true
+opt_set Y_MIN_ENDSTOP_INVERTING true
+opt_add X_CS_PIN 46
+opt_add Y_CS_PIN 47
+opt_enable USE_ZMIN_PLUG MONITOR_DRIVER_STATUS SENSORLESS_HOMING
+exec_test $1 $2 "Teensy 3.5/3.6 COREXY"
 
 #
 # Enable COREXZ
@@ -97,7 +105,7 @@ exec_test $1 $2 "COREXY"
 restore_configs
 opt_set MOTHERBOARD BOARD_TEENSY35_36
 opt_enable COREXZ
-exec_test $1 $2 "COREXZ"
+exec_test $1 $2 "Teensy 3.5/3.6 COREXZ"
 
 #
 # Enable Dual Z with Dual Z endstops