diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index c66745d8bf..a635e4a302 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1543,7 +1543,7 @@
    */
   #define SHOW_BOOTSCREEN                 // Show the Marlin bootscreen on startup. ** ENABLE FOR PRODUCTION **
   #if ENABLED(SHOW_BOOTSCREEN)
-    #define BOOTSCREEN_TIMEOUT 4000       // (ms) Total Duration to display the boot screen(s)
+    #define BOOTSCREEN_TIMEOUT 3000       // (ms) Total Duration to display the boot screen(s)
     #if EITHER(HAS_MARLINUI_U8GLIB, TFT_COLOR_UI)
       #define BOOT_MARLIN_LOGO_SMALL      // Show a smaller Marlin logo on the Boot Screen (saving lots of flash)
     #endif
@@ -2190,9 +2190,10 @@
  */
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
-  //#define INTEGRATED_BABYSTEPPING         // EXPERIMENTAL integration of babystepping into the Stepper ISR
+  //#define INTEGRATED_BABYSTEPPING         // Integration of babystepping into the Stepper ISR
+  //#define EP_BABYSTEPPING                 // M293/M294 babystepping with EMERGENCY_PARSER support
   //#define BABYSTEP_WITHOUT_HOMING
-  //#define BABYSTEP_ALWAYS_AVAILABLE       // Allow babystepping at all times (not just during movement).
+  //#define BABYSTEP_ALWAYS_AVAILABLE       // Allow babystepping at all times (not just during movement)
   //#define BABYSTEP_XY                     // Also enable X/Y Babystepping. Not supported on DELTA!
   //#define BABYSTEP_INVERT_Z               // Enable if Z babysteps should go the other way
   //#define BABYSTEP_MILLIMETER_UNITS       // Specify BABYSTEP_MULTIPLICATOR_(XY|Z) in mm instead of micro-steps
diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
index 08c69aa5b7..f1d43e7b60 100644
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@@ -726,6 +726,10 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
   #endif
 }
 
+#if BOTH(EP_BABYSTEPPING, EMERGENCY_PARSER)
+  #include "feature/babystep.h"
+#endif
+
 /**
  * Standard idle routine keeps the machine alive:
  *  - Core Marlin activities
@@ -848,6 +852,11 @@ void idle(const bool no_stepper_sleep/*=false*/) {
   // Handle Joystick jogging
   TERN_(POLL_JOG, joystick.inject_jog_moves());
 
+  // Async Babystepping via the Emergency Parser
+  #if BOTH(EP_BABYSTEPPING, EMERGENCY_PARSER)
+    babystep.do_ep_steps();
+  #endif
+
   // Direct Stepping
   TERN_(DIRECT_STEPPING, page_manager.write_responses());
 
diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp
index 2e3d6a9fd2..c8c1d42f88 100644
--- a/Marlin/src/feature/babystep.cpp
+++ b/Marlin/src/feature/babystep.cpp
@@ -26,7 +26,7 @@
 
 #include "babystep.h"
 #include "../MarlinCore.h"
-#include "../module/motion.h"   // for axes_should_home()
+#include "../module/motion.h"   // for axes_should_home(), BABYSTEP_ALLOWED
 #include "../module/planner.h"  // for axis_steps_per_mm[]
 #include "../module/stepper.h"
 
@@ -42,6 +42,10 @@ volatile int16_t Babystep::steps[BS_AXIS_IND(Z_AXIS) + 1];
 #endif
 int16_t Babystep::accum;
 
+#if BOTH(EP_BABYSTEPPING, EMERGENCY_PARSER)
+  int16_t Babystep::ep_babysteps;
+#endif
+
 void Babystep::step_axis(const AxisEnum axis) {
   const int16_t curTodo = steps[BS_AXIS_IND(axis)]; // get rid of volatile for performance
   if (curTodo) {
@@ -76,4 +80,10 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
   TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
 }
 
+#if ENABLED(EP_BABYSTEPPING)
+  // Step Z for M293 / M294
+  void Babystep::z_up()   { if (BABYSTEP_ALLOWED()) add_steps(Z_AXIS, +BABYSTEP_SIZE_Z); }
+  void Babystep::z_down() { if (BABYSTEP_ALLOWED()) add_steps(Z_AXIS, -BABYSTEP_SIZE_Z); }
+#endif
+
 #endif // BABYSTEPPING
diff --git a/Marlin/src/feature/babystep.h b/Marlin/src/feature/babystep.h
index bbf0c5a260..1e319ec544 100644
--- a/Marlin/src/feature/babystep.h
+++ b/Marlin/src/feature/babystep.h
@@ -52,6 +52,10 @@ public:
   static volatile int16_t steps[BS_AXIS_IND(Z_AXIS) + 1];
   static int16_t accum;                                     // Total babysteps in current edit
 
+  #if BOTH(EP_BABYSTEPPING, EMERGENCY_PARSER)
+    static int16_t ep_babysteps;
+  #endif
+
   #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
     static int16_t axis_total[BS_TOTAL_IND(Z_AXIS) + 1];   // Total babysteps since G28
     static void reset_total(const AxisEnum axis) {
@@ -63,6 +67,21 @@ public:
   static void add_steps(const AxisEnum axis, const int16_t distance);
   static void add_mm(const AxisEnum axis, const_float_t mm);
 
+  #if ENABLED(EP_BABYSTEPPING)
+    // Step Z for M293 / M294
+    static void z_up();
+    static void z_down();
+    #if ENABLED(EMERGENCY_PARSER)
+      // Step Z according to steps accumulated by the EP
+      FORCE_INLINE static void do_ep_steps() {
+        if (ep_babysteps) {
+          if (ep_babysteps > 0) { z_up();   ep_babysteps--; }
+          else                  { z_down(); ep_babysteps++; }
+        }
+      }
+    #endif
+  #endif // EP_BABYSTEPPING
+
   #if ENABLED(BD_SENSOR)
     static void set_mm(const AxisEnum axis, const_float_t mm);
   #endif
diff --git a/Marlin/src/feature/e_parser.cpp b/Marlin/src/feature/e_parser.cpp
index b50a12d1af..da193ed30a 100644
--- a/Marlin/src/feature/e_parser.cpp
+++ b/Marlin/src/feature/e_parser.cpp
@@ -24,7 +24,7 @@
  * e_parser.cpp - Intercept special commands directly in the serial stream
  */
 
-#include "../inc/MarlinConfigPre.h"
+#include "../inc/MarlinConfig.h"
 
 #if ENABLED(EMERGENCY_PARSER)
 
@@ -39,10 +39,193 @@ bool EmergencyParser::killed_by_M112, // = false
      EmergencyParser::enabled;
 
 #if ENABLED(HOST_PROMPT_SUPPORT)
+  #include "host_actions.h"
   uint8_t EmergencyParser::M876_reason; // = 0
 #endif
 
 // Global instance
 EmergencyParser emergency_parser;
 
+// External references
+extern bool wait_for_user, wait_for_heatup;
+
+#if ENABLED(EP_BABYSTEPPING)
+  #include "babystep.h"
+#endif
+
+#if ENABLED(REALTIME_REPORTING_COMMANDS)
+  // From motion.h, which cannot be included here
+  void report_current_position_moving();
+  void quickpause_stepper();
+  void quickresume_stepper();
+#endif
+
+void EmergencyParser::update(EmergencyParser::State &state, const uint8_t c) {
+  switch (state) {
+    case EP_RESET:
+      switch (c) {
+        case ' ': case '\n': case '\r': break;
+        case 'N': state = EP_N; break;
+        case 'M': state = EP_M; break;
+        #if ENABLED(REALTIME_REPORTING_COMMANDS)
+          case 'S': state = EP_S; break;
+          case 'P': state = EP_P; break;
+          case 'R': state = EP_R; break;
+        #endif
+        #if ENABLED(SOFT_RESET_VIA_SERIAL)
+          case '^': state = EP_ctrl; break;
+          case 'K': state = EP_K; break;
+        #endif
+        default: state = EP_IGNORE;
+      }
+      break;
+
+    case EP_N:
+      switch (c) {
+        case '0' ... '9':
+        case '-': case ' ':     break;
+        case 'M': state = EP_M; break;
+        #if ENABLED(REALTIME_REPORTING_COMMANDS)
+          case 'S': state = EP_S; break;
+          case 'P': state = EP_P; break;
+          case 'R': state = EP_R; break;
+        #endif
+        default: state = EP_IGNORE;
+      }
+      break;
+
+    #if ENABLED(REALTIME_REPORTING_COMMANDS)
+      case EP_S:   state = (c == '0') ? EP_S0          : EP_IGNORE; break;
+      case EP_S0:  state = (c == '0') ? EP_S00         : EP_IGNORE; break;
+      case EP_S00: state = (c == '0') ? EP_GRBL_STATUS : EP_IGNORE; break;
+
+      case EP_R:   state = (c == '0') ? EP_R0          : EP_IGNORE; break;
+      case EP_R0:  state = (c == '0') ? EP_R00         : EP_IGNORE; break;
+      case EP_R00: state = (c == '0') ? EP_GRBL_RESUME : EP_IGNORE; break;
+
+      case EP_P:   state = (c == '0') ? EP_P0          : EP_IGNORE; break;
+      case EP_P0:  state = (c == '0') ? EP_P00         : EP_IGNORE; break;
+      case EP_P00: state = (c == '0') ? EP_GRBL_PAUSE  : EP_IGNORE; break;
+    #endif
+
+    #if ENABLED(SOFT_RESET_VIA_SERIAL)
+      case EP_ctrl: state = (c == 'X') ? EP_KILL : EP_IGNORE; break;
+      case EP_K:    state = (c == 'I') ? EP_KI   : EP_IGNORE; break;
+      case EP_KI:   state = (c == 'L') ? EP_KIL  : EP_IGNORE; break;
+      case EP_KIL:  state = (c == 'L') ? EP_KILL : EP_IGNORE; break;
+    #endif
+
+    case EP_M:
+      switch (c) {
+        case ' ': break;
+        case '1': state = EP_M1;     break;
+        #if ENABLED(EP_BABYSTEPPING)
+          case '2': state = EP_M2;   break;
+        #endif
+        case '4': state = EP_M4;     break;
+        #if HAS_MEDIA
+          case '5': state = EP_M5;   break;
+        #endif
+        #if ENABLED(HOST_PROMPT_SUPPORT)
+          case '8': state = EP_M8;   break;
+        #endif
+        default: state  = EP_IGNORE;
+      }
+      break;
+
+    case EP_M1:
+      switch (c) {
+        case '0': state = EP_M10;    break;
+        case '1': state = EP_M11;    break;
+        default: state  = EP_IGNORE;
+      }
+      break;
+
+    case EP_M10: state = (c == '8') ? EP_M108 : EP_IGNORE; break;
+    case EP_M11: state = (c == '2') ? EP_M112 : EP_IGNORE; break;
+    case EP_M4:  state = (c == '1') ? EP_M41  : EP_IGNORE; break;
+    case EP_M41: state = (c == '0') ? EP_M410 : EP_IGNORE; break;
+
+    #if HAS_MEDIA
+      case EP_M5:  state = (c == '2') ? EP_M52  : EP_IGNORE; break;
+      case EP_M52: state = (c == '4') ? EP_M524 : EP_IGNORE; break;
+    #endif
+
+    #if ENABLED(EP_BABYSTEPPING)
+      case EP_M2:
+        switch (c) {
+          case '9': state = EP_M29;    break;
+          default: state  = EP_IGNORE;
+        }
+        break;
+
+      case EP_M29:
+        switch (c) {
+          case '3': state = EP_M293;   break;
+          case '4': state = EP_M294;   break;
+          default: state  = EP_IGNORE;
+        }
+        break;
+    #endif
+
+    #if ENABLED(HOST_PROMPT_SUPPORT)
+
+      case EP_M8:  state = (c == '7') ? EP_M87  : EP_IGNORE; break;
+      case EP_M87: state = (c == '6') ? EP_M876 : EP_IGNORE; break;
+
+      case EP_M876:
+        switch (c) {
+          case ' ': break;
+          case 'S': state = EP_M876S; break;
+          default: state = EP_IGNORE; break;
+        }
+        break;
+
+      case EP_M876S:
+        switch (c) {
+          case ' ': break;
+          case '0' ... '9':
+            state = EP_M876SN;
+            M876_reason = uint8_t(c - '0');
+            break;
+        }
+        break;
+
+    #endif
+
+    case EP_IGNORE:
+      if (ISEOL(c)) state = EP_RESET;
+      break;
+
+    default:
+      if (ISEOL(c)) {
+        if (enabled) switch (state) {
+          case EP_M108: wait_for_user = wait_for_heatup = false; break;
+          case EP_M112: killed_by_M112 = true; break;
+          case EP_M410: quickstop_by_M410 = true; break;
+          #if ENABLED(EP_BABYSTEPPING)
+            case EP_M293: babystep.ep_babysteps++; break;
+            case EP_M294: babystep.ep_babysteps--; break;
+          #endif
+          #if HAS_MEDIA
+            case EP_M524: sd_abort_by_M524 = true; break;
+          #endif
+          #if ENABLED(HOST_PROMPT_SUPPORT)
+            case EP_M876SN: hostui.handle_response(M876_reason); break;
+          #endif
+          #if ENABLED(REALTIME_REPORTING_COMMANDS)
+            case EP_GRBL_STATUS: report_current_position_moving(); break;
+            case EP_GRBL_PAUSE: quickpause_stepper(); break;
+            case EP_GRBL_RESUME: quickresume_stepper(); break;
+          #endif
+          #if ENABLED(SOFT_RESET_VIA_SERIAL)
+            case EP_KILL: hal.reboot(); break;
+          #endif
+          default: break;
+        }
+        state = EP_RESET;
+      }
+  }
+}
+
 #endif // EMERGENCY_PARSER
diff --git a/Marlin/src/feature/e_parser.h b/Marlin/src/feature/e_parser.h
index df4456d8d3..8dacb0581c 100644
--- a/Marlin/src/feature/e_parser.h
+++ b/Marlin/src/feature/e_parser.h
@@ -27,24 +27,6 @@
 
 #include "../inc/MarlinConfigPre.h"
 
-#if ENABLED(HOST_PROMPT_SUPPORT)
-  #include "host_actions.h"
-#endif
-
-// External references
-extern bool wait_for_user, wait_for_heatup;
-
-#if ENABLED(REALTIME_REPORTING_COMMANDS)
-  // From motion.h, which cannot be included here
-  void report_current_position_moving();
-  void quickpause_stepper();
-  void quickresume_stepper();
-#endif
-
-#if ENABLED(SOFT_RESET_VIA_SERIAL)
-  void HAL_reboot();
-#endif
-
 class EmergencyParser {
 
 public:
@@ -61,6 +43,9 @@ public:
     #if HAS_MEDIA
       EP_M5, EP_M52, EP_M524,
     #endif
+    #if ENABLED(EP_BABYSTEPPING)
+      EP_M2, EP_M29, EP_M293, EP_M294,
+    #endif
     #if ENABLED(HOST_PROMPT_SUPPORT)
       EP_M8, EP_M87, EP_M876, EP_M876S, EP_M876SN,
     #endif
@@ -92,149 +77,7 @@ public:
   FORCE_INLINE static void enable()  { enabled = true; }
   FORCE_INLINE static void disable() { enabled = false; }
 
-  FORCE_INLINE static void update(State &state, const uint8_t c) {
-    switch (state) {
-      case EP_RESET:
-        switch (c) {
-          case ' ': case '\n': case '\r': break;
-          case 'N': state = EP_N; break;
-          case 'M': state = EP_M; break;
-          #if ENABLED(REALTIME_REPORTING_COMMANDS)
-            case 'S': state = EP_S; break;
-            case 'P': state = EP_P; break;
-            case 'R': state = EP_R; break;
-          #endif
-          #if ENABLED(SOFT_RESET_VIA_SERIAL)
-            case '^': state = EP_ctrl; break;
-            case 'K': state = EP_K; break;
-          #endif
-          default: state = EP_IGNORE;
-        }
-        break;
-
-      case EP_N:
-        switch (c) {
-          case '0' ... '9':
-          case '-': case ' ':     break;
-          case 'M': state = EP_M; break;
-          #if ENABLED(REALTIME_REPORTING_COMMANDS)
-            case 'S': state = EP_S; break;
-            case 'P': state = EP_P; break;
-            case 'R': state = EP_R; break;
-          #endif
-          default: state = EP_IGNORE;
-        }
-        break;
-
-      #if ENABLED(REALTIME_REPORTING_COMMANDS)
-        case EP_S:   state = (c == '0') ? EP_S0          : EP_IGNORE; break;
-        case EP_S0:  state = (c == '0') ? EP_S00         : EP_IGNORE; break;
-        case EP_S00: state = (c == '0') ? EP_GRBL_STATUS : EP_IGNORE; break;
-
-        case EP_R:   state = (c == '0') ? EP_R0          : EP_IGNORE; break;
-        case EP_R0:  state = (c == '0') ? EP_R00         : EP_IGNORE; break;
-        case EP_R00: state = (c == '0') ? EP_GRBL_RESUME : EP_IGNORE; break;
-
-        case EP_P:   state = (c == '0') ? EP_P0          : EP_IGNORE; break;
-        case EP_P0:  state = (c == '0') ? EP_P00         : EP_IGNORE; break;
-        case EP_P00: state = (c == '0') ? EP_GRBL_PAUSE  : EP_IGNORE; break;
-      #endif
-
-      #if ENABLED(SOFT_RESET_VIA_SERIAL)
-        case EP_ctrl: state = (c == 'X') ? EP_KILL : EP_IGNORE; break;
-        case EP_K:    state = (c == 'I') ? EP_KI   : EP_IGNORE; break;
-        case EP_KI:   state = (c == 'L') ? EP_KIL  : EP_IGNORE; break;
-        case EP_KIL:  state = (c == 'L') ? EP_KILL : EP_IGNORE; break;
-      #endif
-
-      case EP_M:
-        switch (c) {
-          case ' ': break;
-          case '1': state = EP_M1;     break;
-          case '4': state = EP_M4;     break;
-          #if HAS_MEDIA
-            case '5': state = EP_M5;   break;
-          #endif
-          #if ENABLED(HOST_PROMPT_SUPPORT)
-            case '8': state = EP_M8;     break;
-          #endif
-          default: state  = EP_IGNORE;
-        }
-        break;
-
-      case EP_M1:
-        switch (c) {
-          case '0': state = EP_M10;    break;
-          case '1': state = EP_M11;    break;
-          default: state  = EP_IGNORE;
-        }
-        break;
-
-      case EP_M10: state = (c == '8') ? EP_M108 : EP_IGNORE; break;
-      case EP_M11: state = (c == '2') ? EP_M112 : EP_IGNORE; break;
-      case EP_M4:  state = (c == '1') ? EP_M41  : EP_IGNORE; break;
-      case EP_M41: state = (c == '0') ? EP_M410 : EP_IGNORE; break;
-
-      #if HAS_MEDIA
-        case EP_M5:  state = (c == '2') ? EP_M52  : EP_IGNORE; break;
-        case EP_M52: state = (c == '4') ? EP_M524 : EP_IGNORE; break;
-      #endif
-
-      #if ENABLED(HOST_PROMPT_SUPPORT)
-
-        case EP_M8:  state = (c == '7') ? EP_M87  : EP_IGNORE; break;
-        case EP_M87: state = (c == '6') ? EP_M876 : EP_IGNORE; break;
-
-        case EP_M876:
-          switch (c) {
-            case ' ': break;
-            case 'S': state = EP_M876S; break;
-            default: state = EP_IGNORE; break;
-          }
-          break;
-
-        case EP_M876S:
-          switch (c) {
-            case ' ': break;
-            case '0' ... '9':
-              state = EP_M876SN;
-              M876_reason = uint8_t(c - '0');
-              break;
-          }
-          break;
-
-      #endif
-
-      case EP_IGNORE:
-        if (ISEOL(c)) state = EP_RESET;
-        break;
-
-      default:
-        if (ISEOL(c)) {
-          if (enabled) switch (state) {
-            case EP_M108: wait_for_user = wait_for_heatup = false; break;
-            case EP_M112: killed_by_M112 = true; break;
-            case EP_M410: quickstop_by_M410 = true; break;
-            #if HAS_MEDIA
-              case EP_M524: sd_abort_by_M524 = true; break;
-            #endif
-            #if ENABLED(HOST_PROMPT_SUPPORT)
-              case EP_M876SN: hostui.handle_response(M876_reason); break;
-            #endif
-            #if ENABLED(REALTIME_REPORTING_COMMANDS)
-              case EP_GRBL_STATUS: report_current_position_moving(); break;
-              case EP_GRBL_PAUSE: quickpause_stepper(); break;
-              case EP_GRBL_RESUME: quickresume_stepper(); break;
-            #endif
-            #if ENABLED(SOFT_RESET_VIA_SERIAL)
-              case EP_KILL: HAL_reboot(); break;
-            #endif
-            default: break;
-          }
-          state = EP_RESET;
-        }
-    }
-  }
+  static void update(State &state, const uint8_t c);
 
 private:
   static bool enabled;
diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
index 2313bbf78f..530cde7901 100644
--- a/Marlin/src/gcode/gcode.cpp
+++ b/Marlin/src/gcode/gcode.cpp
@@ -757,6 +757,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
 
       #if ENABLED(BABYSTEPPING)
         case 290: M290(); break;                                  // M290: Babystepping
+        #if ENABLED(EP_BABYSTEPPING)
+          case 293: IF_DISABLED(EMERGENCY_PARSER, M293()); break; // M293: Babystep up
+          case 294: IF_DISABLED(EMERGENCY_PARSER, M294()); break; // M294: Babystep down
+        #endif
       #endif
 
       #if HAS_SOUND
diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
index 9283a92e39..52e8fbf802 100644
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@@ -930,6 +930,10 @@ private:
 
   #if ENABLED(BABYSTEPPING)
     static void M290();
+    #if ENABLED(EP_BABYSTEPPING)
+      static void M293();
+      static void M294();
+    #endif
   #endif
 
   #if HAS_SOUND
diff --git a/Marlin/src/gcode/host/M115.cpp b/Marlin/src/gcode/host/M115.cpp
index 239407816b..8ca6d07ce2 100644
--- a/Marlin/src/gcode/host/M115.cpp
+++ b/Marlin/src/gcode/host/M115.cpp
@@ -54,6 +54,9 @@
  * M115: Capabilities string and extended capabilities report
  *       If a capability is not reported, hosts should assume
  *       the capability is not present.
+ *
+ * NOTE: Always make sure to add new capabilities to the RepRap Wiki
+ *       at https://reprap.org/wiki/Firmware_Capabilities_Protocol
  */
 void GcodeSuite::M115() {
   SERIAL_ECHOPGM("FIRMWARE_NAME:Marlin"
@@ -201,6 +204,9 @@ void GcodeSuite::M115() {
     // BABYSTEPPING (M290)
     cap_line(F("BABYSTEPPING"), ENABLED(BABYSTEPPING));
 
+    // EP_BABYSTEP (M293, M294)
+    cap_line(F("EP_BABYSTEP"), ENABLED(EP_BABYSTEPPING));
+
     // CHAMBER_TEMPERATURE (M141, M191)
     cap_line(F("CHAMBER_TEMPERATURE"), ENABLED(HAS_HEATED_CHAMBER));
 
diff --git a/Marlin/src/gcode/motion/M290.cpp b/Marlin/src/gcode/motion/M290.cpp
index 4fe83ccd40..d10f9ee73c 100644
--- a/Marlin/src/gcode/motion/M290.cpp
+++ b/Marlin/src/gcode/motion/M290.cpp
@@ -131,4 +131,10 @@ void GcodeSuite::M290() {
   }
 }
 
+#if ENABLED(EP_BABYSTEPPING) && DISABLED(EMERGENCY_PARSER)
+  // Without Emergency Parser M293/M294 will be added to the queue
+  void GcodeSuite::M293() { babystep.z_up(); }
+  void GcodeSuite::M294() { babystep.z_down(); }
+#endif
+
 #endif // BABYSTEPPING
diff --git a/Marlin/src/inc/Warnings.cpp b/Marlin/src/inc/Warnings.cpp
index f760920854..5c6297ba60 100644
--- a/Marlin/src/inc/Warnings.cpp
+++ b/Marlin/src/inc/Warnings.cpp
@@ -729,6 +729,13 @@
   #warning "BABYSTEPPING is recommended with BD_SENSOR."
 #endif
 
+/**
+ * EP Babystepping works best with EMERGENCY_PARSER
+ */
+#if ENABLED(EP_BABYSTEPPING) && DISABLED(EMERGENCY_PARSER)
+  #warning "EMERGENCY_PARSER is recommended for EP_BABYSTEPPING."
+#endif
+
 /**
  * POLAR warnings
  */
diff --git a/Marlin/src/lcd/menu/menu.h b/Marlin/src/lcd/menu/menu.h
index 1face4774b..d4cbfd7a73 100644
--- a/Marlin/src/lcd/menu/menu.h
+++ b/Marlin/src/lcd/menu/menu.h
@@ -242,17 +242,6 @@ void _lcd_draw_homing();
   #else
     void lcd_babystep_z();
   #endif
-
-  #if ENABLED(BABYSTEP_MILLIMETER_UNITS)
-    #define BABYSTEP_SIZE_X int32_t((BABYSTEP_MULTIPLICATOR_XY) * planner.settings.axis_steps_per_mm[X_AXIS])
-    #define BABYSTEP_SIZE_Y int32_t((BABYSTEP_MULTIPLICATOR_XY) * planner.settings.axis_steps_per_mm[Y_AXIS])
-    #define BABYSTEP_SIZE_Z int32_t((BABYSTEP_MULTIPLICATOR_Z)  * planner.settings.axis_steps_per_mm[Z_AXIS])
-  #else
-    #define BABYSTEP_SIZE_X BABYSTEP_MULTIPLICATOR_XY
-    #define BABYSTEP_SIZE_Y BABYSTEP_MULTIPLICATOR_XY
-    #define BABYSTEP_SIZE_Z BABYSTEP_MULTIPLICATOR_Z
-  #endif
-
 #endif
 
 #if ENABLED(TOUCH_SCREEN_CALIBRATION)
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 4b68c5f656..ee79c913af 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -88,6 +88,18 @@
                               MMM_TO_MMS(manual_feedrate_mm_m.u), MMM_TO_MMS(manual_feedrate_mm_m.v), MMM_TO_MMS(manual_feedrate_mm_m.w));
 #endif
 
+#if ENABLED(BABYSTEPPING)
+  #if ENABLED(BABYSTEP_MILLIMETER_UNITS)
+    #define BABYSTEP_SIZE_X int32_t((BABYSTEP_MULTIPLICATOR_XY) * planner.settings.axis_steps_per_mm[X_AXIS])
+    #define BABYSTEP_SIZE_Y int32_t((BABYSTEP_MULTIPLICATOR_XY) * planner.settings.axis_steps_per_mm[Y_AXIS])
+    #define BABYSTEP_SIZE_Z int32_t((BABYSTEP_MULTIPLICATOR_Z)  * planner.settings.axis_steps_per_mm[Z_AXIS])
+  #else
+    #define BABYSTEP_SIZE_X BABYSTEP_MULTIPLICATOR_XY
+    #define BABYSTEP_SIZE_Y BABYSTEP_MULTIPLICATOR_XY
+    #define BABYSTEP_SIZE_Z BABYSTEP_MULTIPLICATOR_Z
+  #endif
+#endif
+
 #if IS_KINEMATIC && HAS_JUNCTION_DEVIATION
   #define HAS_DIST_MM_ARG 1
 #endif
diff --git a/buildroot/tests/LPC1768 b/buildroot/tests/LPC1768
index ee01bb621f..d616f7f48f 100755
--- a/buildroot/tests/LPC1768
+++ b/buildroot/tests/LPC1768
@@ -44,7 +44,7 @@ opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER ADAPTIVE_FAN_SLOWING TE
            FILAMENT_WIDTH_SENSOR FILAMENT_LCD_DISPLAY PID_EXTRUSION_SCALING SOUND_MENU_ITEM \
            NOZZLE_AS_PROBE AUTO_BED_LEVELING_BILINEAR PREHEAT_BEFORE_LEVELING G29_RETRY_AND_RECOVER Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE \
            ASSISTED_TRAMMING ASSISTED_TRAMMING_WIZARD REPORT_TRAMMING_MM ASSISTED_TRAMMING_WAIT_POSITION \
-           BABYSTEPPING BABYSTEP_XY BABYSTEP_ZPROBE_OFFSET BABYSTEP_GFX_OVERLAY \
+           BABYSTEPPING BABYSTEP_XY BABYSTEP_ZPROBE_OFFSET EP_BABYSTEPPING BABYSTEP_GFX_OVERLAY \
            PRINTCOUNTER NOZZLE_PARK_FEATURE NOZZLE_CLEAN_FEATURE SLOW_PWM_HEATERS PIDTEMPBED EEPROM_SETTINGS INCH_MODE_SUPPORT TEMPERATURE_UNITS_SUPPORT \
            Z_SAFE_HOMING ADVANCED_PAUSE_FEATURE PARK_HEAD_ON_PAUSE \
            HOST_KEEPALIVE_FEATURE HOST_ACTION_COMMANDS HOST_PROMPT_SUPPORT \
diff --git a/buildroot/tests/mega2560 b/buildroot/tests/mega2560
index ad9763451f..1490c9e4aa 100755
--- a/buildroot/tests/mega2560
+++ b/buildroot/tests/mega2560
@@ -30,7 +30,7 @@ opt_enable AUTO_BED_LEVELING_UBL AVOID_OBSTACLES RESTORE_LEVELING_AFTER_G28 DEBU
            REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER LIGHTWEIGHT_UI STATUS_MESSAGE_SCROLLING SHOW_CUSTOM_BOOTSCREEN BOOT_MARLIN_LOGO_SMALL \
            SDSUPPORT SDCARD_SORT_ALPHA USB_FLASH_DRIVE_SUPPORT AUTO_REPORT_SD_STATUS SCROLL_LONG_FILENAMES MEDIA_MENU_AT_TOP \
            EEPROM_SETTINGS EEPROM_CHITCHAT GCODE_MACROS CUSTOM_MENU_MAIN FREEZE_FEATURE CANCEL_OBJECTS SOUND_MENU_ITEM \
-           MULTI_NOZZLE_DUPLICATION CLASSIC_JERK LIN_ADVANCE ADVANCE_K_EXTRA QUICK_HOME \
+           EMERGENCY_PARSER MULTI_NOZZLE_DUPLICATION CLASSIC_JERK LIN_ADVANCE ADVANCE_K_EXTRA QUICK_HOME \
            SET_PROGRESS_MANUALLY SET_PROGRESS_PERCENT PRINT_PROGRESS_SHOW_DECIMALS SHOW_REMAINING_TIME \
            ENCODER_NOISE_FILTER BABYSTEPPING BABYSTEP_XY NANODLP_Z_SYNC I2C_POSITION_ENCODERS M114_DETAIL
 exec_test $1 $2 "Azteeg X3 Pro | EXTRUDERS 5 | RRDFGSC | UBL | LIN_ADVANCE ..." "$3"
diff --git a/ini/native.ini b/ini/native.ini
index 481dac1777..03c6c59265 100644
--- a/ini/native.ini
+++ b/ini/native.ini
@@ -43,7 +43,7 @@ debug_build_flags = -fstack-protector-strong -g -g3 -ggdb
 lib_compat_mode   = off
 build_src_filter  = ${common.default_src_filter} +<src/HAL/NATIVE_SIM>
 lib_deps          = ${common.lib_deps}
-  MarlinSimUI=https://github.com/p3p/MarlinSimUI/archive/refs/heads/bugfix-2.1.x.zip
+  MarlinSimUI=https://github.com/p3p/MarlinSimUI/archive/bugfix-2.1.x.zip
   Adafruit NeoPixel=https://github.com/p3p/Adafruit_NeoPixel/archive/marlin_sim_native.zip
   LiquidCrystal=https://github.com/p3p/LiquidCrystal/archive/master.zip
 extra_scripts = ${common.extra_scripts}