diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index d66a8d709..35a9f3e5d 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -5080,6 +5080,8 @@ void home_all_axes() { gcode_G28(true); }
      *      V0  Dry-run mode. Report settings and probe results. No calibration.
      *      V1  Report settings
      *      V2  Report settings and probe results
+     *
+     *   E   Engage the probe for each point
      */
     inline void gcode_G33() {
 
@@ -5102,6 +5104,7 @@ void home_all_axes() { gcode_G28(true); }
       }
 
       const bool towers_set = !parser.seen('T'),
+                 stow_after_each = parser.seen('E'),
                  _1p_calibration      = probe_points == 1,
                  _4p_calibration      = probe_points == 2,
                  _4p_towers_points    = _4p_calibration && towers_set,
@@ -5120,13 +5123,30 @@ void home_all_axes() { gcode_G28(true); }
                                _7p_double_circle    ? 0.5 : 0),
                     radius = (1 + circles * 0.1) * delta_calibration_radius;
         for (uint8_t axis = 1; axis < 13; ++axis) {
-          if (!position_is_reachable_by_probe_xy(cos(RADIANS(180 + 30 * axis)) * radius, sin(RADIANS(180 + 30 * axis)) * radius)) {
+          if (!position_is_reachable_xy(cos(RADIANS(180 + 30 * axis)) * radius, sin(RADIANS(180 + 30 * axis)) * radius)) {
             SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
             return;
           }
         }
       }
 
+      const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
+      const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
+                  dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
+      int8_t iterations = 0;
+      float test_precision,
+            zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
+            zero_std_dev_old = zero_std_dev,
+            e_old[XYZ] = {
+              endstop_adj[A_AXIS],
+              endstop_adj[B_AXIS],
+              endstop_adj[C_AXIS]
+            },
+            dr_old = delta_radius,
+            zh_old = home_offset[Z_AXIS],
+            alpha_old = delta_tower_angle_trim[A_AXIS],
+            beta_old = delta_tower_angle_trim[B_AXIS];
+
       SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
 
       stepper.synchronize();
@@ -5138,25 +5158,11 @@ void home_all_axes() { gcode_G28(true); }
         tool_change(0, 0, true);
       #endif
       setup_for_endstop_or_probe_move();
-
+      DEPLOY_PROBE();
       endstops.enable(true);
       home_delta();
       endstops.not_homing();
 
-      const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
-      float test_precision,
-            zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
-            zero_std_dev_old = zero_std_dev,
-            e_old[XYZ] = {
-              endstop_adj[A_AXIS],
-              endstop_adj[B_AXIS],
-              endstop_adj[C_AXIS]
-            },
-            dr_old = delta_radius,
-            zh_old = home_offset[Z_AXIS],
-            alpha_old = delta_tower_angle_trim[A_AXIS],
-            beta_old = delta_tower_angle_trim[B_AXIS];
-
       // print settings
 
       SERIAL_PROTOCOLPGM("Checking... AC");
@@ -5189,13 +5195,7 @@ void home_all_axes() { gcode_G28(true); }
         SERIAL_EOL();
       }
 
-      #if ENABLED(Z_PROBE_SLED)
-        DEPLOY_PROBE();
-      #endif
-
-      int8_t iterations = 0;
-
-      home_offset[Z_AXIS] -= probe_pt(0.0, 0.0 , true, 1); // 1st probe to set height
+      home_offset[Z_AXIS] -= probe_pt(dx, dy, stow_after_each, 1); // 1st probe to set height
       do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
 
       do {
@@ -5210,12 +5210,12 @@ void home_all_axes() { gcode_G28(true); }
         // Probe the points
 
         if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
-          z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
+          z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1);
         }
         if (_7p_calibration) { // probe extra center points
           for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
             const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
-            z_at_pt[0] += probe_pt(cos(a) * r, sin(a) * r, true, 1); // TODO: Needs error handling
+            z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
           }
           z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
         }
@@ -5230,7 +5230,7 @@ void home_all_axes() { gcode_G28(true); }
             for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
               const float a = RADIANS(180 + 30 * axis),
                           r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
-              z_at_pt[axis] += probe_pt(cos(a) * r, sin(a) * r, true, 1); // TODO: Needs error handling
+              z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
             }
             zig_zag = !zig_zag;
             z_at_pt[axis] /= (2 * offset_circles + 1);
@@ -5452,13 +5452,11 @@ void home_all_axes() { gcode_G28(true); }
       #if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
         do_blocking_move_to_z(delta_clip_start_height);
       #endif
+      STOW_PROBE();
       clean_up_after_endstop_or_probe_move();
       #if HOTENDS > 1
         tool_change(old_tool_index, 0, true);
       #endif
-      #if ENABLED(Z_PROBE_SLED)
-        RETRACT_PROBE();
-      #endif
     }
 
   #endif // DELTA_AUTO_CALIBRATION
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 503ae95b3..fa22df4ef 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -2323,7 +2323,7 @@ void kill_screen(const char* lcd_msg) {
       MENU_BACK(MSG_MAIN);
       #if ENABLED(DELTA_AUTO_CALIBRATION)
         MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
-        MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 P1 A"));
+        MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 P1"));
       #endif
       MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home);
       if (axis_homed[Z_AXIS]) {