diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index b04cf67506..d2f63ac573 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3832,15 +3832,17 @@ inline void gcode_G4() {
     buffer_line_to_current_position();
     stepper.synchronize();
 
+    // Re-enable stealthChop if used. Disable diag1 pin on driver.
+    #if ENABLED(SENSORLESS_HOMING)
+      delta_sensorless_homing(false);
+    #endif
+
     // If an endstop was not hit, then damage can occur if homing is continued.
     // This can occur if the delta height not set correctly.
     if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
       LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
       SERIAL_ERROR_START();
       SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
-      #if ENABLED(SENSORLESS_HOMING)
-        delta_sensorless_homing(false);
-      #endif
       return false;
     }
 
@@ -3852,11 +3854,6 @@ inline void gcode_G4() {
     HOMEAXIS(B);
     HOMEAXIS(C);
 
-    // Re-enable stealthChop if used. Disable diag1 pin on driver.
-    #if ENABLED(SENSORLESS_HOMING)
-      delta_sensorless_homing(false);
-    #endif
-
     // Set all carriages to their home positions
     // Do this here all at once for Delta, because
     // XYZ isn't ABC. Applying this per-tower would