diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index d0ad234a7f664..e32c71b7dd4ed 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -786,7 +786,6 @@ void Endstops::update() {
     #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX)
   #endif
 
-
   #if ENABLED(G38_PROBE_TARGET)
     // For G38 moves check the probe's pin for ALL movement
     if (G38_move && TEST_ENDSTOP(Z_MIN_PROBE) == TERN1(G38_PROBE_AWAY, (G38_move < 4))) {
@@ -801,17 +800,20 @@ void Endstops::update() {
   // Signal, after validation, if an endstop limit is pressed or not
 
   #if HAS_X_AXIS
-    #if ENABLED(FT_MOTION)
-      const bool x_moving_pos = ftMotion.axis_moving_pos(X_AXIS_HEAD),
-                 x_moving_neg = ftMotion.axis_moving_neg(X_AXIS_HEAD);
-      #define X_MOVE_TEST x_moving_pos || x_moving_neg
-      #define X_NEG_DIR_TEST x_moving_neg
-    #else
-      #define X_MOVE_TEST stepper.axis_is_moving(X_AXIS)
-      #define X_NEG_DIR_TEST !stepper.motor_direction(X_AXIS_HEAD)
-    #endif
-    if (X_MOVE_TEST) {
-      if (X_NEG_DIR_TEST) { // -direction
+    bool x_moving, x_moving_neg;
+    if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
+      #if ENABLED(FT_MOTION)
+        const bool x_moving_pos = ftMotion.axis_moving_pos(X_AXIS_HEAD);
+        x_moving_neg = ftMotion.axis_moving_neg(X_AXIS_HEAD);
+        x_moving = x_moving_pos || x_moving_neg;
+      #endif
+    }
+    else {
+      x_moving = stepper.axis_is_moving(X_AXIS);
+      x_moving_neg = !stepper.motor_direction(X_AXIS_HEAD);
+    }
+    if (x_moving) {
+      if (x_moving_neg) { // -direction
         #if HAS_X_MIN_STATE
           PROCESS_ENDSTOP_X(MIN);
           #if   CORE_DIAG(XY, Y, MIN)
@@ -843,17 +845,20 @@ void Endstops::update() {
   #endif // HAS_X_AXIS
 
   #if HAS_Y_AXIS
-    #if ENABLED(FT_MOTION)
-      const bool y_moving_pos = ftMotion.axis_moving_pos(Y_AXIS_HEAD),
-                 y_moving_neg = ftMotion.axis_moving_neg(Y_AXIS_HEAD);
-      #define Y_MOVE_TEST y_moving_pos || y_moving_neg
-      #define Y_NEG_DIR_TEST y_moving_neg
-    #else
-      #define Y_MOVE_TEST stepper.axis_is_moving(Y_AXIS)
-      #define Y_NEG_DIR_TEST !stepper.motor_direction(Y_AXIS_HEAD)
-    #endif
-    if (Y_MOVE_TEST) {
-      if (Y_NEG_DIR_TEST) { // -direction
+    bool y_moving, y_moving_neg;
+    if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
+      #if ENABLED(FT_MOTION)
+        const bool y_moving_pos = ftMotion.axis_moving_pos(Y_AXIS_HEAD);
+        y_moving_neg = ftMotion.axis_moving_neg(Y_AXIS_HEAD);
+        y_moving = y_moving_pos || y_moving_neg;
+      #endif
+    }
+    else {
+      y_moving = stepper.axis_is_moving(Y_AXIS);
+      y_moving_neg = !stepper.motor_direction(Y_AXIS_HEAD);
+    }
+    if (y_moving) {
+      if (y_moving_neg) { // -direction
         #if HAS_Y_MIN_STATE
           PROCESS_ENDSTOP_Y(MIN);
           #if   CORE_DIAG(XY, X, MIN)
@@ -885,17 +890,20 @@ void Endstops::update() {
   #endif // HAS_Y_AXIS
 
   #if HAS_Z_AXIS
-    #if ENABLED(FT_MOTION)
-      const bool z_moving_pos = ftMotion.axis_moving_pos(Z_AXIS_HEAD),
-                 z_moving_neg = ftMotion.axis_moving_neg(Z_AXIS_HEAD);
-      #define Z_MOVE_TEST z_moving_pos || z_moving_neg
-      #define Z_NEG_DIR_TEST z_moving_neg
-    #else
-      #define Z_MOVE_TEST stepper.axis_is_moving(Z_AXIS)
-      #define Z_NEG_DIR_TEST !stepper.motor_direction(Z_AXIS_HEAD)
-    #endif
-    if (Z_MOVE_TEST) {
-      if (Z_NEG_DIR_TEST) { // Z -direction. Gantry down, bed up.
+    bool z_moving, z_moving_neg;
+    if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
+      #if ENABLED(FT_MOTION)
+        const bool z_moving_pos = ftMotion.axis_moving_pos(Z_AXIS_HEAD);
+        z_moving_neg = ftMotion.axis_moving_neg(Z_AXIS_HEAD);
+        z_moving = z_moving_pos || z_moving_neg;
+      #endif
+    }
+    else {
+      z_moving = stepper.axis_is_moving(Z_AXIS);
+      z_moving_neg = !stepper.motor_direction(Z_AXIS_HEAD);
+    }
+    if (z_moving) {
+      if (z_moving_neg) { // Z -direction. Gantry down, bed up.
         #if HAS_Z_MIN_STATE
           // If the Z_MIN_PIN is being used for the probe there's no
           // separate Z_MIN endstop. But a Z endstop could be wired
@@ -939,9 +947,20 @@ void Endstops::update() {
   #endif // HAS_Z_AXIS
 
   #if HAS_I_AXIS
-  // TODO: FT_Motion logic.
-    if (stepper.axis_is_moving(I_AXIS)) {
-      if (!stepper.motor_direction(I_AXIS_HEAD)) { // -direction
+    bool i_moving, i_moving_neg;
+    if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
+      #if ENABLED(FT_MOTION)
+        const bool i_moving_pos = ftMotion.axis_moving_pos(I_AXIS_HEAD);
+        i_moving_neg = ftMotion.axis_moving_neg(I_AXIS_HEAD);
+        i_moving = i_moving_pos || i_moving_neg;
+      #endif
+    }
+    else {
+      i_moving = stepper.axis_is_moving(I_AXIS);
+      i_moving_neg = !stepper.motor_direction(I_AXIS_HEAD);
+    }
+    if (i_moving) {
+      if (i_moving_neg) { // -direction
         #if HAS_I_MIN_STATE
           PROCESS_ENDSTOP(I, MIN);
         #endif
@@ -955,8 +974,20 @@ void Endstops::update() {
   #endif // HAS_I_AXIS
 
   #if HAS_J_AXIS
-    if (stepper.axis_is_moving(J_AXIS)) {
-      if (!stepper.motor_direction(J_AXIS_HEAD)) { // -direction
+    bool j_moving, j_moving_neg;
+    if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
+      #if ENABLED(FT_MOTION)
+        const bool j_moving_pos = ftMotion.axis_moving_pos(J_AXIS_HEAD);
+        j_moving_neg = ftMotion.axis_moving_neg(J_AXIS_HEAD);
+        j_moving = j_moving_pos || j_moving_neg;
+      #endif
+    }
+    else {
+      j_moving = stepper.axis_is_moving(J_AXIS);
+      j_moving_neg = !stepper.motor_direction(J_AXIS_HEAD);
+    }
+    if (j_moving) {
+      if (j_moving_neg) { // -direction
         #if HAS_J_MIN_STATE
           PROCESS_ENDSTOP(J, MIN);
         #endif
@@ -970,8 +1001,20 @@ void Endstops::update() {
   #endif // HAS_J_AXIS
 
   #if HAS_K_AXIS
-    if (stepper.axis_is_moving(K_AXIS)) {
-      if (!stepper.motor_direction(K_AXIS_HEAD)) { // -direction
+    bool k_moving, k_moving_neg;
+    if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
+      #if ENABLED(FT_MOTION)
+        const bool k_moving_pos = ftMotion.axis_moving_pos(K_AXIS_HEAD);
+        k_moving_neg = ftMotion.axis_moving_neg(K_AXIS_HEAD);
+        k_moving = k_moving_pos || k_moving_neg;
+      #endif
+    }
+    else {
+      k_moving = stepper.axis_is_moving(K_AXIS);
+      k_moving_neg = !stepper.motor_direction(K_AXIS_HEAD);
+    }
+    if (k_moving) {
+      if (k_moving_neg) { // -direction
         #if HAS_K_MIN_STATE
           PROCESS_ENDSTOP(K, MIN);
         #endif
@@ -985,8 +1028,20 @@ void Endstops::update() {
   #endif // HAS_K_AXIS
 
   #if HAS_U_AXIS
-    if (stepper.axis_is_moving(U_AXIS)) {
-      if (!stepper.motor_direction(U_AXIS_HEAD)) { // -direction
+    bool u_moving, u_moving_neg;
+    if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
+      #if ENABLED(FT_MOTION)
+        const bool u_moving_pos = ftMotion.axis_moving_pos(U_AXIS_HEAD);
+        u_moving_neg = ftMotion.axis_moving_neg(U_AXIS_HEAD);
+        u_moving = u_moving_pos || u_moving_neg;
+      #endif
+    }
+    else {
+      u_moving = stepper.axis_is_moving(U_AXIS);
+      u_moving_neg = !stepper.motor_direction(U_AXIS_HEAD);
+    }
+    if (u_moving) {
+      if (u_moving_neg) { // -direction
         #if HAS_U_MIN_STATE
           PROCESS_ENDSTOP(U, MIN);
         #endif
@@ -1000,8 +1055,20 @@ void Endstops::update() {
   #endif // HAS_U_AXIS
 
   #if HAS_V_AXIS
-    if (stepper.axis_is_moving(V_AXIS)) {
-      if (!stepper.motor_direction(V_AXIS_HEAD)) { // -direction
+    bool v_moving, v_moving_neg;
+    if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
+      #if ENABLED(FT_MOTION)
+        const bool v_moving_pos = ftMotion.axis_moving_pos(V_AXIS_HEAD);
+        v_moving_neg = ftMotion.axis_moving_neg(V_AXIS_HEAD);
+        v_moving = v_moving_pos || v_moving_neg;
+      #endif
+    }
+    else {
+      v_moving = stepper.axis_is_moving(V_AXIS);
+      v_moving_neg = !stepper.motor_direction(V_AXIS_HEAD);
+    }
+    if (v_moving) {
+      if (v_moving_neg) { // -direction
         #if HAS_V_MIN_STATE
           PROCESS_ENDSTOP(V, MIN);
         #endif
@@ -1015,8 +1082,20 @@ void Endstops::update() {
   #endif // HAS_V_AXIS
 
   #if HAS_W_AXIS
-    if (stepper.axis_is_moving(W_AXIS)) {
-      if (!stepper.motor_direction(W_AXIS_HEAD)) { // -direction
+    bool w_moving, w_moving_neg;
+    if (TERN0(FT_MOTION, ftMotion.cfg.mode != ftMotionMode_DISABLED)) {
+      #if ENABLED(FT_MOTION)
+        const bool w_moving_pos = ftMotion.axis_moving_pos(W_AXIS_HEAD);
+        w_moving_neg = ftMotion.axis_moving_neg(W_AXIS_HEAD);
+        w_moving = w_moving_pos || w_moving_neg;
+      #endif
+    }
+    else {
+      w_moving = stepper.axis_is_moving(W_AXIS);
+      w_moving_neg = !stepper.motor_direction(W_AXIS_HEAD);
+    }
+    if (w_moving) {
+      if (w_moving_neg) { // -direction
         #if HAS_W_MIN_STATE
           PROCESS_ENDSTOP(W, MIN);
         #endif