diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index aa3d54de7..dc73e8e74 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -275,8 +275,8 @@ extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in m
 extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
 extern float current_position[NUM_AXIS];
 extern float home_offset[3]; // axis[n].home_offset
-extern float min_pos[3]; // axis[n].min_pos
-extern float max_pos[3]; // axis[n].max_pos
+extern float sw_endstop_min[3]; // axis[n].sw_endstop_min
+extern float sw_endstop_max[3]; // axis[n].sw_endstop_max
 extern bool axis_known_position[3]; // axis[n].is_known
 extern bool axis_homed[3]; // axis[n].is_homed
 
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 7b232e56b..3bb393c7c 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -286,8 +286,10 @@ float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
 
 float position_shift[3] = { 0 };
 float home_offset[3] = { 0 };
-float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
-float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
+
+// Software Endstops. Default to configured limits.
+float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
+float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
 
 #if FAN_COUNT > 0
   int fanSpeeds[FAN_COUNT] = { 0 };
@@ -1212,24 +1214,32 @@ static void update_software_endstops(AxisEnum axis) {
     if (axis == X_AXIS) {
       float dual_max_x = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
       if (active_extruder != 0) {
-        min_pos[X_AXIS] = X2_MIN_POS + offs;
-        max_pos[X_AXIS] = dual_max_x + offs;
+        sw_endstop_min[X_AXIS] = X2_MIN_POS + offs;
+        sw_endstop_max[X_AXIS] = dual_max_x + offs;
         return;
       }
       else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
-        min_pos[X_AXIS] = base_min_pos(X_AXIS) + offs;
-        max_pos[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
+        sw_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
+        sw_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
         return;
       }
     }
     else
   #endif
   {
-    min_pos[axis] = base_min_pos(axis) + offs;
-    max_pos[axis] = base_max_pos(axis) + offs;
+    sw_endstop_min[axis] = base_min_pos(axis) + offs;
+    sw_endstop_max[axis] = base_max_pos(axis) + offs;
   }
 }
 
+/**
+ * Change the home offset for an axis, update the current
+ * position and the software endstops to retain the same
+ * relative distance to the new home.
+ *
+ * Since this changes the current_position, code should
+ * call sync_plan_position soon after this.
+ */
 static void set_home_offset(AxisEnum axis, float v) {
   current_position[axis] += v - home_offset[axis];
   home_offset[axis] = v;
@@ -1294,8 +1304,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
        * SCARA home positions are based on configuration since the actual
        * limits are determined by the inverse kinematic transform.
        */
-      min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
-      max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
+      sw_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
+      sw_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
     }
     else
   #endif
@@ -5842,7 +5852,7 @@ inline void gcode_M428() {
   bool err = false;
   for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
     if (axis_homed[i]) {
-      float base = (current_position[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos(i) : 0,
+      float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) / 2) ? base_home_pos(i) : 0,
             diff = current_position[i] - base;
       if (diff > -20 && diff < 20) {
         set_home_offset((AxisEnum)i, home_offset[i] - diff);
@@ -7032,8 +7042,8 @@ void ok_to_send() {
 
 void clamp_to_software_endstops(float target[3]) {
   if (min_software_endstops) {
-    NOLESS(target[X_AXIS], min_pos[X_AXIS]);
-    NOLESS(target[Y_AXIS], min_pos[Y_AXIS]);
+    NOLESS(target[X_AXIS], sw_endstop_min[X_AXIS]);
+    NOLESS(target[Y_AXIS], sw_endstop_min[Y_AXIS]);
 
     float negative_z_offset = 0;
     #if ENABLED(AUTO_BED_LEVELING_FEATURE)
@@ -7048,13 +7058,13 @@ void clamp_to_software_endstops(float target[3]) {
         negative_z_offset += home_offset[Z_AXIS];
       }
     #endif
-    NOLESS(target[Z_AXIS], min_pos[Z_AXIS] + negative_z_offset);
+    NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS] + negative_z_offset);
   }
 
   if (max_software_endstops) {
-    NOMORE(target[X_AXIS], max_pos[X_AXIS]);
-    NOMORE(target[Y_AXIS], max_pos[Y_AXIS]);
-    NOMORE(target[Z_AXIS], max_pos[Z_AXIS]);
+    NOMORE(target[X_AXIS], sw_endstop_max[X_AXIS]);
+    NOMORE(target[Y_AXIS], sw_endstop_max[Y_AXIS]);
+    NOMORE(target[Z_AXIS], sw_endstop_max[Z_AXIS]);
   }
 }
 
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index a8296c0db..4521587b0 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1167,13 +1167,13 @@ static void _lcd_move(const char* name, AxisEnum axis, float min, float max) {
 #if ENABLED(DELTA)
   static float delta_clip_radius_2 =  (DELTA_PRINTABLE_RADIUS) * (DELTA_PRINTABLE_RADIUS);
   static int delta_clip( float a ) { return sqrt(delta_clip_radius_2 - a*a); }
-  static void lcd_move_x() { int clip = delta_clip(current_position[Y_AXIS]); _lcd_move(PSTR(MSG_MOVE_X), X_AXIS, max(min_pos[X_AXIS], -clip), min(max_pos[X_AXIS], clip)); }
-  static void lcd_move_y() { int clip = delta_clip(current_position[X_AXIS]); _lcd_move(PSTR(MSG_MOVE_Y), Y_AXIS, max(min_pos[Y_AXIS], -clip), min(max_pos[Y_AXIS], clip)); }
+  static void lcd_move_x() { int clip = delta_clip(current_position[Y_AXIS]); _lcd_move(PSTR(MSG_MOVE_X), X_AXIS, max(sw_endstop_min[X_AXIS], -clip), min(sw_endstop_max[X_AXIS], clip)); }
+  static void lcd_move_y() { int clip = delta_clip(current_position[X_AXIS]); _lcd_move(PSTR(MSG_MOVE_Y), Y_AXIS, max(sw_endstop_min[Y_AXIS], -clip), min(sw_endstop_max[Y_AXIS], clip)); }
 #else
-  static void lcd_move_x() { _lcd_move(PSTR(MSG_MOVE_X), X_AXIS, min_pos[X_AXIS], max_pos[X_AXIS]); }
-  static void lcd_move_y() { _lcd_move(PSTR(MSG_MOVE_Y), Y_AXIS, min_pos[Y_AXIS], max_pos[Y_AXIS]); }
+  static void lcd_move_x() { _lcd_move(PSTR(MSG_MOVE_X), X_AXIS, sw_endstop_min[X_AXIS], sw_endstop_max[X_AXIS]); }
+  static void lcd_move_y() { _lcd_move(PSTR(MSG_MOVE_Y), Y_AXIS, sw_endstop_min[Y_AXIS], sw_endstop_max[Y_AXIS]); }
 #endif
-static void lcd_move_z() { _lcd_move(PSTR(MSG_MOVE_Z), Z_AXIS, min_pos[Z_AXIS], max_pos[Z_AXIS]); }
+static void lcd_move_z() { _lcd_move(PSTR(MSG_MOVE_Z), Z_AXIS, sw_endstop_min[Z_AXIS], sw_endstop_max[Z_AXIS]); }
 static void lcd_move_e(
   #if EXTRUDERS > 1
     uint8_t e