diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 839e29ecc4..a9f378adfc 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -424,20 +424,10 @@ void GcodeSuite::G28() {
     if (seenR && z_homing_height == 0) {
       if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("R0 = No Z raise");
     }
-    else {
-      bool with_probe = ENABLED(HOMING_Z_WITH_PROBE);
-      // Raise above the current Z (which should be synced in the planner)
-      // The "height" for Z is a coordinate. But if Z is not trusted/homed make it relative.
-      if (seenR || !TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(Z_AXIS)) {
-        z_homing_height += current_position.z;
-        with_probe = false;
-      }
-
-      if (may_skate) {
-        // Apply Z clearance before doing any lateral motion
-        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Raise Z before homing:");
-        do_z_clearance(z_homing_height, with_probe);
-      }
+    else if (z_homing_height && may_skate) {
+      // Raise Z before homing any other axes and z is not already high enough (never lower z)
+      if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Raise Z before homing:");
+      do_z_clearance(z_homing_height);
     }
 
     // Init BLTouch ahead of any lateral motion, even if not homing with the probe