diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp
index 220955c81..c4b6756d0 100644
--- a/Marlin/src/lcd/ultralcd.cpp
+++ b/Marlin/src/lcd/ultralcd.cpp
@@ -2818,7 +2818,10 @@ void kill_screen(const char* lcd_msg) {
         manual_move_offset = 0.0;
         manual_move_axis = (int8_t)NO_AXIS;
 
-        // Set a blocking flag so no new moves can be added until all segments are done
+        // DELTA and SCARA machines use segmented moves, which could fill the planner during the call to
+        // move_to_destination. This will cause idle() to be called, which can then call this function while the
+        // previous invocation is being blocked. Modifications to manual_move_offset shouldn't be made while
+        // processing_manual_move is true or the planner will get out of sync.
         processing_manual_move = true;
         prepare_move_to_destination(); // will call set_current_from_destination()
         processing_manual_move = false;
@@ -2930,11 +2933,11 @@ void kill_screen(const char* lcd_msg) {
     }
     encoderPosition = 0;
     if (lcdDrawUpdate) {
-      const float pos = current_position[axis]
+      const float pos = (processing_manual_move ? destination[axis] : current_position[axis]
         #if IS_KINEMATIC
           + manual_move_offset
         #endif
-      ;
+      );
       lcd_implementation_drawedit(name, move_menu_scale >= 0.1 ? ftostr41sign(pos) : ftostr43sign(pos));
     }
   }