diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp
index ae58c10b1..79d65437d 100644
--- a/Marlin/src/lcd/ultralcd.cpp
+++ b/Marlin/src/lcd/ultralcd.cpp
@@ -2307,11 +2307,12 @@ void kill_screen(const char* lcd_msg) {
 
     void _lcd_ubl_map_homing() {
       defer_return_to_status = true;
-      ubl.lcd_map_control = true; // Return to the map screen
       if (lcdDrawUpdate) lcd_implementation_drawmenu_static(LCD_HEIGHT < 3 ? 0 : (LCD_HEIGHT > 4 ? 2 : 1), PSTR(MSG_LEVEL_BED_HOMING));
       lcdDrawUpdate = LCDVIEW_CALL_NO_REDRAW;
-      if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
+      if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
+        ubl.lcd_map_control = true; // Return to the map screen
         lcd_goto_screen(_lcd_ubl_output_map_lcd);
+      }
     }
 
     /**
@@ -2341,6 +2342,19 @@ void kill_screen(const char* lcd_msg) {
     void set_current_from_steppers_for_axis(const AxisEnum axis);
     void sync_plan_position();
 
+    void _lcd_do_nothing() {}
+    void _lcd_hard_stop() {
+      stepper.quick_stop();
+      const screenFunc_t old_screen = currentScreen;
+      currentScreen = _lcd_do_nothing;
+      while (planner.movesplanned()) idle();
+      currentScreen = old_screen;
+      stepper.cleaning_buffer_counter = 0;
+      set_current_from_steppers_for_axis(ALL_AXES);
+      sync_plan_position();
+      gcode.refresh_cmd_timeout();
+    }
+
     void _lcd_ubl_output_map_lcd() {
       static int16_t step_scaler = 0;
 
@@ -2385,15 +2399,10 @@ void kill_screen(const char* lcd_msg) {
       if (lcdDrawUpdate) {
         lcd_implementation_ubl_plot(x_plot, y_plot);
 
-        ubl_map_move_to_xy(); // Move to current location
+        if (planner.movesplanned()) // If the nozzle is already moving, cancel the move.
+          _lcd_hard_stop();
 
-        if (planner.movesplanned() > 1) { // if the nozzle is moving, cancel the move.  There is a new location
-          stepper.quick_stop();
-          set_current_from_steppers_for_axis(ALL_AXES);
-          sync_plan_position();
-          ubl_map_move_to_xy(); // Move to new location
-          gcode.refresh_cmd_timeout();
-        }
+        ubl_map_move_to_xy();       // Move to new location
       }
     }
 
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 503a0e97c..8ed841be3 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -426,13 +426,11 @@ void bracket_probe_move(const bool before) {
     saved_feedrate_percentage = feedrate_percentage;
     feedrate_percentage = 100;
     gcode.refresh_cmd_timeout();
-    planner.split_first_move = false;
   }
   else {
     feedrate_mm_s = saved_feedrate_mm_s;
     feedrate_percentage = saved_feedrate_percentage;
     gcode.refresh_cmd_timeout();
-    planner.split_first_move = true;
   }
 }
 
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 64f11a8e0..fc2dd2acd 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -103,8 +103,6 @@ float Planner::max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
   uint8_t Planner::last_extruder = 0;     // Respond to extruder change
 #endif
 
-bool Planner::split_first_move = true;
-
 int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder
 
 float Planner::e_factor[EXTRUDERS],               // The flow percentage and volumetric multiplier combine to scale E movement
@@ -1452,7 +1450,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
     position[E_AXIS] = target[E_AXIS];
 
   // Always split the first move into two (if not homing or probing)
-  if (!blocks_queued() && split_first_move) {
+  if (!blocks_queued()) {
     #define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
     const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) };
     DISABLE_STEPPER_DRIVER_INTERRUPT();
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index ce0a89cd1..314d6daa0 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -165,7 +165,6 @@ class Planner {
                  travel_acceleration,  // Travel acceleration mm/s^2  DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
                  max_jerk[XYZE],       // The largest speed change requiring no acceleration
                  min_travel_feedrate_mm_s;
-    static bool split_first_move;
 
     #if HAS_LEVELING
       static bool leveling_active;          // Flag that bed leveling is enabled
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 9a464f1cf..721c9c57c 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -1219,12 +1219,7 @@ void Stepper::finish_and_disable() {
 }
 
 void Stepper::quick_stop() {
-
-  #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTIPANEL)
-    if (!ubl.lcd_map_control)
-  #endif
-      cleaning_buffer_counter = 5000;
-
+  cleaning_buffer_counter = 5000;
   DISABLE_STEPPER_DRIVER_INTERRUPT();
   while (planner.blocks_queued()) planner.discard_current_block();
   current_block = NULL;
@@ -1250,6 +1245,7 @@ void Stepper::endstop_triggered(AxisEnum axis) {
   #endif // !COREXY && !COREXZ && !COREYZ
 
   kill_current_block();
+  cleaning_buffer_counter = -(BLOCK_BUFFER_SIZE - 1); // Ignore remaining blocks
 }
 
 void Stepper::report_positions() {
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 06dac1cd0..a8e55c4d2 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -77,10 +77,11 @@ class Stepper {
       static uint32_t motor_current_setting[3];
     #endif
 
+    static int16_t cleaning_buffer_counter;
+
   private:
 
     static uint8_t last_direction_bits;        // The next stepping-bits to be output
-    static int16_t cleaning_buffer_counter;
 
     #if ENABLED(X_DUAL_ENDSTOPS)
       static bool locked_x_motor, locked_x2_motor;