diff --git a/Marlin/src/gcode/feature/pause/G60.cpp b/Marlin/src/gcode/feature/pause/G60.cpp
index 6f695b99a942..670ea2a58be6 100644
--- a/Marlin/src/gcode/feature/pause/G60.cpp
+++ b/Marlin/src/gcode/feature/pause/G60.cpp
@@ -48,10 +48,11 @@ void GcodeSuite::G60() {
 
   #if ENABLED(SAVED_POSITIONS_DEBUG)
     const xyze_pos_t &pos = stored_position[slot];
-    DEBUG_ECHOPAIR_F(STR_SAVED_POS " S", slot);
+    DEBUG_ECHOPAIR(STR_SAVED_POS " S", slot);
     DEBUG_ECHOPAIR_F(" : X", pos.x);
     DEBUG_ECHOPAIR_F_P(SP_Y_STR, pos.y);
-    DEBUG_ECHOLNPAIR_F_P(SP_Z_STR, pos.z);
+    DEBUG_ECHOPAIR_F_P(SP_Z_STR, pos.z);
+    DEBUG_ECHOLNPAIR_F_P(SP_E_STR, pos.e);
   #endif
 }
 
diff --git a/Marlin/src/gcode/feature/pause/G61.cpp b/Marlin/src/gcode/feature/pause/G61.cpp
index 9d5dcc060ab4..bb1146490209 100644
--- a/Marlin/src/gcode/feature/pause/G61.cpp
+++ b/Marlin/src/gcode/feature/pause/G61.cpp
@@ -27,6 +27,10 @@
 #include "../../../module/planner.h"
 #include "../../gcode.h"
 #include "../../../module/motion.h"
+#include "../../../module/planner.h"
+
+#define DEBUG_OUT ENABLED(SAVED_POSITIONS_DEBUG)
+#include "../../../core/debug_out.h"
 
 /**
  * G61: Return to saved position
@@ -34,11 +38,16 @@
  *   F<rate>  - Feedrate (optional) for the move back.
  *   S<slot>  - Slot # (0-based) to restore from (default 0).
  *   X Y Z    - Axes to restore. At least one is required.
+ *   E - Restore extruder position
+ *
+ *   If XYZE are not given, default restore uses the smart blocking move.
  */
 void GcodeSuite::G61(void) {
 
   const uint8_t slot = parser.byteval('S');
 
+  #define SYNC_E(POINT) planner.set_e_position_mm((destination.e = current_position.e = (POINT)))
+
   #if SAVED_POSITIONS < 256
     if (slot >= SAVED_POSITIONS) {
       SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
@@ -47,25 +56,37 @@ void GcodeSuite::G61(void) {
   #endif
 
   // No saved position? No axes being restored?
-  if (!TEST(saved_slots[slot >> 3], slot & 0x07) || !parser.seen("XYZ")) return;
-
-  SERIAL_ECHOPAIR(STR_RESTORING_POS " S", slot);
-  LOOP_XYZ(i) {
-    destination[i] = parser.seen(XYZ_CHAR(i))
-      ? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
-      : current_position[i];
-    SERIAL_CHAR(' ', XYZ_CHAR(i));
-    SERIAL_ECHO_F(destination[i]);
-  }
-  SERIAL_EOL();
+  if (!TEST(saved_slots[slot >> 3], slot & 0x07)) return;
 
   // Apply any given feedrate over 0.0
   feedRate_t saved_feedrate = feedrate_mm_s;
   const float fr = parser.linearval('F');
   if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
 
-  // Move to the saved position
-  prepare_line_to_destination();
+  if (!parser.seen_axis()) {
+    DEBUG_ECHOLNPGM("Default position restore");
+    do_blocking_move_to(stored_position[slot], feedrate_mm_s);
+    SYNC_E(stored_position[slot].e);
+  }
+  else {
+    if (parser.seen("XYZ")) {
+      DEBUG_ECHOPAIR(STR_RESTORING_POS " S", slot);
+      LOOP_XYZ(i) {
+        destination[i] = parser.seen(XYZ_CHAR(i))
+          ? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
+          : current_position[i];
+        DEBUG_CHAR(' ', XYZ_CHAR(i));
+        DEBUG_ECHO_F(destination[i]);
+      }
+      DEBUG_EOL();
+      // Move to the saved position
+      prepare_line_to_destination();
+    }
+    if (parser.seen_test('E')) {
+      DEBUG_ECHOLNPAIR(STR_RESTORING_POS " S", slot, " E", current_position.e, "=>", stored_position[slot].e);
+      SYNC_E(stored_position[slot].e);
+    }
+  }
 
   feedrate_mm_s = saved_feedrate;
 }
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 7c0f8f404adb..6ca8dc054c2e 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -102,7 +102,7 @@ xyze_pos_t destination; // {0}
 // G60/G61 Position Save and Return
 #if SAVED_POSITIONS
   uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
-  xyz_pos_t stored_position[SAVED_POSITIONS];
+  xyze_pos_t stored_position[SAVED_POSITIONS];
 #endif
 
 // The active extruder (tool). Set with T<extruder> command.
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 647b3af52af9..c734fbdf341e 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -45,7 +45,7 @@ extern xyze_pos_t current_position,  // High-level current tool position
 // G60/G61 Position Save and Return
 #if SAVED_POSITIONS
   extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3];
-  extern xyz_pos_t stored_position[SAVED_POSITIONS];
+  extern xyze_pos_t stored_position[SAVED_POSITIONS];
 #endif
 
 // Scratch space for a cartesian result