diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 11c68b985..9f285f537 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3193,6 +3193,8 @@ static void homeaxis(const AxisEnum axis) {
     // The current position will be the destination for E and Z moves
     set_destination_to_current();
 
+    stepper.synchronize(); // Wait for all moves to finish
+
     if (retracting) {
       // Remember the Z height since G-code may include its own Z-hop
       // For best results turn off Z hop if G-code already includes it