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/stepper.cpp b/Marlin/src/module/stepper.cpp
index b39fdf6a5..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;
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;