diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 88a67473d..525a61163 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1388,6 +1388,7 @@ static void setup_for_endstop_move() {
   inline void do_blocking_move_to_xy(float x, float y) { do_blocking_move_to(x, y, current_position[Z_AXIS]); }
   inline void do_blocking_move_to_x(float x) { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); }
   inline void do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); }
+  inline void raise_z_after_probing() { do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); }
 
   static void clean_up_after_endstop_move() {
     #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
@@ -1518,11 +1519,11 @@ static void setup_for_endstop_move() {
               if (marlin_debug_flags & DEBUG_LEVELING) {
                 SERIAL_ECHOPAIR("Raise Z (after) by ", (float)Z_RAISE_AFTER_PROBING);
                 SERIAL_EOL;
-                SERIAL_ECHOPAIR("> SERVO_ENDSTOPS > do_blocking_move_to_z ", current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
+                SERIAL_ECHOPAIR("> SERVO_ENDSTOPS > raise_z_after_probing()");
                 SERIAL_EOL;
               }
             #endif
-            do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position
+            raise_z_after_probing(); // this also updates current_position
             st_synchronize();
           }
         #endif
@@ -1794,7 +1795,7 @@ static void setup_for_endstop_move() {
     float oldXpos = current_position[X_AXIS]; // save x position
     if (dock) {
       #if Z_RAISE_AFTER_PROBING > 0
-        do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // raise Z
+        raise_z_after_probing(); // raise Z
       #endif
       do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);  // Dock sled a bit closer to ensure proper capturing
       digitalWrite(SLED_PIN, LOW); // turn off magnet
@@ -3126,7 +3127,14 @@ inline void gcode_G28() {
 
     #endif // !AUTO_BED_LEVELING_GRID
 
-    #if DISABLED(DELTA)
+    #if ENABLED(DELTA)
+      // Allen Key Probe for Delta
+      #if ENABLED(Z_PROBE_ALLEN_KEY)
+        stow_z_probe();
+      #elif Z_RAISE_AFTER_PROBING > 0
+        raise_z_after_probing();
+      #endif
+    #else // !DELTA
       if (verbose_level > 0)
         plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
 
@@ -3187,13 +3195,13 @@ inline void gcode_G28() {
           }
         #endif
       }
-    #endif // !DELTA
 
-    #if ENABLED(Z_PROBE_SLED)
-      dock_sled(true); // dock the Z probe
-    #elif ENABLED(Z_PROBE_ALLEN_KEY) //|| SERVO_LEVELING
-      stow_z_probe();
-    #endif
+      // Sled assembly for Cartesian bots
+      #if ENABLED(Z_PROBE_SLED)
+        dock_sled(true); // dock the sled
+      #endif
+
+    #endif // !DELTA
 
     #ifdef Z_PROBE_END_SCRIPT
       #if ENABLED(DEBUG_LEVELING_FEATURE)