diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 928b721b1..5f5301e6d 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1719,7 +1719,6 @@ static void setup_for_endstop_or_probe_move() {
   saved_feedrate_percentage = feedrate_percentage;
   feedrate_percentage = 100;
   refresh_cmd_timeout();
-  planner.split_first_move = false; 
 }
 
 static void clean_up_after_endstop_or_probe_move() {
@@ -1729,7 +1728,6 @@ static void clean_up_after_endstop_or_probe_move() {
   feedrate_mm_s = saved_feedrate_mm_s;
   feedrate_percentage = saved_feedrate_percentage;
   refresh_cmd_timeout();
-  planner.split_first_move = true; 
 }
 
 #if HAS_BED_PROBE
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 39715c0cf..6ce8261f9 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -92,8 +92,6 @@ float Planner::max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
   uint8_t Planner::last_extruder = 0;     // Respond to extruder change
 #endif
 
-bool Planner::split_first_move = true;
-
 int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder
 
 float Planner::e_factor[EXTRUDERS],               // The flow percentage and volumetric multiplier combine to scale E movement
@@ -1441,7 +1439,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
     position[E_AXIS] = target[E_AXIS];
 
   // Always split the first move into two (if not homing or probing)
-  if (!blocks_queued() && split_first_move) {
+  if (!blocks_queued()) {
     #define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
     const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) };
     DISABLE_STEPPER_DRIVER_INTERRUPT();
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 079e0296c..85ebcba08 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -161,7 +161,6 @@ class Planner {
                  travel_acceleration,  // Travel acceleration mm/s^2  DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
                  max_jerk[XYZE],       // The largest speed change requiring no acceleration
                  min_travel_feedrate_mm_s;
-    static bool split_first_move;
 
     #if HAS_LEVELING
       static bool leveling_active;          // Flag that bed leveling is enabled
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index a74c317e8..6bc1602fc 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -1255,6 +1255,7 @@ void Stepper::endstop_triggered(AxisEnum axis) {
   #endif // !COREXY && !COREXZ && !COREYZ
 
   kill_current_block();
+  cleaning_buffer_counter = -(BLOCK_BUFFER_SIZE - 1); // Ignore remaining blocks
 }
 
 void Stepper::report_positions() {