diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 57209236a..a22e6dc90 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -649,6 +649,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 18fffc911..10a2a9f66 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -61,7 +61,7 @@
  * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
  * G31 - Dock sled (Z_PROBE_SLED only)
  * G32 - Undock sled (Z_PROBE_SLED only)
- * G38 - Probe target - similar to G28 except it uses the Z_MIN endstop for all three axes
+ * G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
  * G90 - Use Absolute Coordinates
  * G91 - Use Relative Coordinates
  * G92 - Set current position to coordinates given
@@ -4488,31 +4488,32 @@ inline void gcode_G28() {
     set_current_from_steppers_for_axis(ALL_AXES);
     SYNC_PLAN_POSITION_KINEMATIC();
 
-    // Only do remaining moves if target was hit
     if (G38_endstop_hit) {
 
       G38_pass_fail = true;
 
-      // Move away by the retract distance
-      set_destination_to_current();
-      LOOP_XYZ(i) destination[i] += retract_mm[i];
-      endstops.enable(false);
-      prepare_move_to_destination();
-      stepper.synchronize();
+      #if ENABLED(PROBE_DOUBLE_TOUCH)
+        // Move away by the retract distance
+        set_destination_to_current();
+        LOOP_XYZ(i) destination[i] += retract_mm[i];
+        endstops.enable(false);
+        prepare_move_to_destination();
+        stepper.synchronize();
 
-      feedrate_mm_s /= 4;
+        feedrate_mm_s /= 4;
 
-      // Bump the target more slowly
-      LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
+        // Bump the target more slowly
+        LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
 
-      endstops.enable(true);
-      G38_move = true;
-      prepare_move_to_destination();
-      stepper.synchronize();
-      G38_move = false;
+        endstops.enable(true);
+        G38_move = true;
+        prepare_move_to_destination();
+        stepper.synchronize();
+        G38_move = false;
 
-      set_current_from_steppers_for_axis(ALL_AXES);
-      SYNC_PLAN_POSITION_KINEMATIC();
+        set_current_from_steppers_for_axis(ALL_AXES);
+        SYNC_PLAN_POSITION_KINEMATIC();
+      #endif
     }
 
     endstops.hit_on_purpose();
@@ -4524,7 +4525,7 @@ inline void gcode_G28() {
    * G38.2 - probe toward workpiece, stop on contact, signal error if failure
    * G38.3 - probe toward workpiece, stop on contact
    *
-   * Like G28 except uses Z min endstop for all axes
+   * Like G28 except uses Z min probe for all axes
    */
   inline void gcode_G38(bool is_38_2) {
     // Get X Y Z E F
diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index 54a512787..69162f80b 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -259,26 +259,25 @@ void Endstops::update() {
   // COPY_BIT: copy the value of SRC_BIT to DST_BIT in DST
   #define COPY_BIT(DST, SRC_BIT, DST_BIT) SET_BIT(DST, DST_BIT, TEST(DST, SRC_BIT))
 
-  #define _UPDATE_ENDSTOP(AXIS,MINMAX,CODE) do { \
+  #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
       UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
       if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
         _ENDSTOP_HIT(AXIS); \
         stepper.endstop_triggered(_AXIS(AXIS)); \
-        CODE; \
       } \
     } while(0)
 
-  #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN)  // If G38 command then check Z_MIN for every axis and every direction
-
-    #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
-        _UPDATE_ENDSTOP(AXIS,MINMAX,NOOP); \
-        if (G38_move) _UPDATE_ENDSTOP(Z, MIN, G38_endstop_hit = true); \
-      } while(0)
-
-  #else
-
-    #define UPDATE_ENDSTOP(AXIS,MINMAX) _UPDATE_ENDSTOP(AXIS,MINMAX,NOOP)
-
+  #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
+  // If G38 command then check Z_MIN_PROBE for every axis and every direction
+    if (G38_move) {
+      UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
+      if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
+        if      (stepper.current_block->steps[_AXIS(X)] > 0) {_ENDSTOP_HIT(X); stepper.endstop_triggered(_AXIS(X));}
+        else if (stepper.current_block->steps[_AXIS(Y)] > 0) {_ENDSTOP_HIT(Y); stepper.endstop_triggered(_AXIS(Y));}
+        else if (stepper.current_block->steps[_AXIS(Z)] > 0) {_ENDSTOP_HIT(Z); stepper.endstop_triggered(_AXIS(Z));}
+        G38_endstop_hit = true;
+      }
+    }
   #endif
 
   #if CORE_IS_XY || CORE_IS_XZ
diff --git a/Marlin/example_configurations/Cartesio/Configuration_adv.h b/Marlin/example_configurations/Cartesio/Configuration_adv.h
index c3e90d78f..0972168d8 100644
--- a/Marlin/example_configurations/Cartesio/Configuration_adv.h
+++ b/Marlin/example_configurations/Cartesio/Configuration_adv.h
@@ -639,6 +639,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/Felix/Configuration_adv.h b/Marlin/example_configurations/Felix/Configuration_adv.h
index 749573c8a..06f8e7483 100644
--- a/Marlin/example_configurations/Felix/Configuration_adv.h
+++ b/Marlin/example_configurations/Felix/Configuration_adv.h
@@ -639,6 +639,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/Hephestos/Configuration_adv.h b/Marlin/example_configurations/Hephestos/Configuration_adv.h
index 7d8d8a469..ac7a7f7c7 100644
--- a/Marlin/example_configurations/Hephestos/Configuration_adv.h
+++ b/Marlin/example_configurations/Hephestos/Configuration_adv.h
@@ -639,6 +639,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
index 1b86b4773..0bd821de4 100644
--- a/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration_adv.h
@@ -622,6 +622,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/K8200/Configuration_adv.h b/Marlin/example_configurations/K8200/Configuration_adv.h
index a8bf20564..2bcf1b8f5 100644
--- a/Marlin/example_configurations/K8200/Configuration_adv.h
+++ b/Marlin/example_configurations/K8200/Configuration_adv.h
@@ -652,6 +652,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/K8400/Configuration_adv.h b/Marlin/example_configurations/K8400/Configuration_adv.h
index feeb1dee9..9f1dd356a 100644
--- a/Marlin/example_configurations/K8400/Configuration_adv.h
+++ b/Marlin/example_configurations/K8400/Configuration_adv.h
@@ -639,6 +639,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/RigidBot/Configuration_adv.h b/Marlin/example_configurations/RigidBot/Configuration_adv.h
index f13eb5e60..12783507c 100644
--- a/Marlin/example_configurations/RigidBot/Configuration_adv.h
+++ b/Marlin/example_configurations/RigidBot/Configuration_adv.h
@@ -639,6 +639,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/SCARA/Configuration_adv.h b/Marlin/example_configurations/SCARA/Configuration_adv.h
index 21eed190c..200407cca 100644
--- a/Marlin/example_configurations/SCARA/Configuration_adv.h
+++ b/Marlin/example_configurations/SCARA/Configuration_adv.h
@@ -639,6 +639,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/TAZ4/Configuration_adv.h b/Marlin/example_configurations/TAZ4/Configuration_adv.h
index f257b7f0a..9ee5bf3e4 100644
--- a/Marlin/example_configurations/TAZ4/Configuration_adv.h
+++ b/Marlin/example_configurations/TAZ4/Configuration_adv.h
@@ -647,6 +647,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/WITBOX/Configuration_adv.h b/Marlin/example_configurations/WITBOX/Configuration_adv.h
index 7d8d8a469..ac7a7f7c7 100644
--- a/Marlin/example_configurations/WITBOX/Configuration_adv.h
+++ b/Marlin/example_configurations/WITBOX/Configuration_adv.h
@@ -639,6 +639,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/delta/generic/Configuration_adv.h b/Marlin/example_configurations/delta/generic/Configuration_adv.h
index ad8d1ec8d..3d97e4d8f 100644
--- a/Marlin/example_configurations/delta/generic/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/generic/Configuration_adv.h
@@ -641,6 +641,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
index ad8d1ec8d..3d97e4d8f 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
@@ -641,6 +641,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
index 4ea6e9637..86887a5f1 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
@@ -646,6 +646,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
index 7651a35e2..5c078bc70 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
@@ -641,6 +641,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/makibox/Configuration_adv.h b/Marlin/example_configurations/makibox/Configuration_adv.h
index a3c7c764e..f1c6d5211 100644
--- a/Marlin/example_configurations/makibox/Configuration_adv.h
+++ b/Marlin/example_configurations/makibox/Configuration_adv.h
@@ -639,6 +639,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
index db2b5f85b..f00740759 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
@@ -639,6 +639,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
+// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)