diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 312ffd4ae..87578f805 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -789,7 +789,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 5cb9aa01c..7f7e623d1 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -316,7 +316,7 @@ bool target_direction;
 
 #ifdef SERVO_ENDSTOPS
   const int servo_endstops[] = SERVO_ENDSTOPS;
-  const int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
+  const int servo_endstop_angles[][] = SERVO_ENDSTOP_ANGLES;
 #endif
 
 #ifdef BARICUDA
@@ -581,7 +581,7 @@ void servo_init() {
   #ifdef SERVO_ENDSTOPS
     for (int i = 0; i < 3; i++)
       if (servo_endstops[i] >= 0)
-        servo[servo_endstops[i]].move(servo_endstop_angles[i * 2 + 1]);
+        servo[servo_endstops[i]].move(servo_endstop_angles[i][1]);
   #endif
 
 }
@@ -1325,7 +1325,7 @@ static void setup_for_endstop_move() {
     #ifdef SERVO_ENDSTOPS
 
       // Engage Z Servo endstop if enabled
-      if (servo_endstops[Z_AXIS] >= 0) servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS * 2]);
+      if (servo_endstops[Z_AXIS] >= 0) servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS][0]);
 
     #elif defined(Z_PROBE_ALLEN_KEY)
       feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;
@@ -1425,7 +1425,7 @@ static void setup_for_endstop_move() {
         #endif
 
         // Change the Z servo angle
-        servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS * 2 + 1]);
+        servo[servo_endstops[Z_AXIS]].move(servo_endstop_angles[Z_AXIS][1]);
       }
 
     #elif defined(Z_PROBE_ALLEN_KEY)
@@ -1677,11 +1677,9 @@ static void homeaxis(AxisEnum axis) {
     #endif
 
     #ifdef SERVO_ENDSTOPS
-      if (axis != Z_AXIS) {
-        // Engage Servo endstop if enabled
-        if (servo_endstops[axis] >= 0) 
-          servo[servo_endstops[axis]].move(servo_endstop_angles[axis * 2]);
-      }
+      // Engage Servo endstop if enabled
+      if (axis != Z_AXIS && servo_endstops[axis] >= 0)
+        servo[servo_endstops[axis]].move(servo_endstop_angles[axis][0]);
     #endif
 
     // Set a flag for Z motor locking
@@ -1783,7 +1781,7 @@ static void homeaxis(AxisEnum axis) {
       #ifdef SERVO_ENDSTOPS
         // Retract Servo endstop if enabled
         if (servo_endstops[axis] >= 0)
-          servo[servo_endstops[axis]].move(servo_endstop_angles[axis * 2 + 1]);
+          servo[servo_endstops[axis]].move(servo_endstop_angles[axis][1]);
       #endif
     }
 
diff --git a/Marlin/configurator/config/Configuration.h b/Marlin/configurator/config/Configuration.h
index 312ffd4ae..87578f805 100644
--- a/Marlin/configurator/config/Configuration.h
+++ b/Marlin/configurator/config/Configuration.h
@@ -789,7 +789,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
index 6fe4c1105..0c85394f1 100644
--- a/Marlin/example_configurations/Felix/Configuration.h
+++ b/Marlin/example_configurations/Felix/Configuration.h
@@ -767,7 +767,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/Felix/Configuration_DUAL.h b/Marlin/example_configurations/Felix/Configuration_DUAL.h
index ae0fecb59..93f5ca27b 100644
--- a/Marlin/example_configurations/Felix/Configuration_DUAL.h
+++ b/Marlin/example_configurations/Felix/Configuration_DUAL.h
@@ -719,7 +719,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h
index 79ba580b2..349a1edf3 100644
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -776,7 +776,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h
index 65ea729aa..b41470df3 100644
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -772,7 +772,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
index 0e0642566..24c2108ca 100644
--- a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
+++ b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
@@ -784,7 +784,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/RigidBot/Configuration.h b/Marlin/example_configurations/RigidBot/Configuration.h
index 79db5dc17..6ec2b15d0 100644
--- a/Marlin/example_configurations/RigidBot/Configuration.h
+++ b/Marlin/example_configurations/RigidBot/Configuration.h
@@ -767,7 +767,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index 87784198d..5ee968a18 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -792,7 +792,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h
index 6d8a332e9..ec36541db 100644
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -776,7 +776,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
index b4dc32ddb..b2d56fea8 100644
--- a/Marlin/example_configurations/adafruit/ST7565/Configuration.h
+++ b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
@@ -784,7 +784,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration.h b/Marlin/example_configurations/delta/biv2.5/Configuration.h
index cdf403873..a9a7d8ba0 100644
--- a/Marlin/example_configurations/delta/biv2.5/Configuration.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration.h
@@ -907,7 +907,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index 2f5a177a8..6908ea9e4 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -911,7 +911,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index 68373974e..fec90f295 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -911,7 +911,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index 5a8868705..6ba3f9af4 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -906,7 +906,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
index 8041ad226..eb425026a 100644
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -787,7 +787,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
index f61b2bf52..cd6072414 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -778,7 +778,7 @@ const bool Z_PROBE_ENDSTOP_INVERTING = true; // set to true to invert the logic
 //#define X_ENDSTOP_SERVO_NR 1
 //#define Y_ENDSTOP_SERVO_NR 2
 //#define Z_ENDSTOP_SERVO_NR 0
-//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
+//#define SERVO_ENDSTOP_ANGLES {{0,0}, {0,0}, {70,0}} // X,Y,Z Axis Extend and Retract angles
 
 // Servo deactivation
 //