diff --git a/app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx b/app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx
index 5f38dfabf48..e1dd7c5add2 100644
--- a/app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx
+++ b/app/src/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard.tsx
@@ -29,7 +29,7 @@ import {
 import { RecoveryInProgress } from './RecoveryInProgress'
 import { getErrorKind } from './utils'
 import { RECOVERY_MAP } from './constants'
-import { useHomeGripperZAxis } from './hooks'
+import { useHomeGripper } from './hooks'
 
 import type { LabwareDefinition2, RobotType } from '@opentrons/shared-data'
 import type { RecoveryRoute, RouteStep, RecoveryContentProps } from './types'
@@ -90,7 +90,7 @@ export function ErrorRecoveryWizard(
     routeUpdateActions,
   })
 
-  useHomeGripperZAxis(props)
+  useHomeGripper(props)
 
   return <ErrorRecoveryComponent errorKind={errorKind} {...props} />
 }
diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripperZAxis.test.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripperZAxis.test.ts
index 197dfbfd3e7..32f5d939eb8 100644
--- a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripperZAxis.test.ts
+++ b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripperZAxis.test.ts
@@ -1,12 +1,14 @@
 import { renderHook, act } from '@testing-library/react'
 import { describe, it, expect, vi, beforeEach } from 'vitest'
 
-import { useHomeGripperZAxis } from '../useHomeGripperZAxis'
+import { useHomeGripper } from '../useHomeGripper'
 import { RECOVERY_MAP } from '/app/organisms/ErrorRecoveryFlows/constants'
 
-describe('useHomeGripperZAxis', () => {
+describe('useHomeGripper', () => {
   const mockRecoveryCommands = {
-    homeGripperZAxis: vi.fn().mockResolvedValue(undefined),
+    updatePositionEstimatorsAndHomeGripper: vi
+      .fn()
+      .mockResolvedValue(undefined),
   }
 
   const mockRouteUpdateActions = {
@@ -28,7 +30,7 @@ describe('useHomeGripperZAxis', () => {
 
   it('should home gripper Z axis when in manual gripper step and door is closed', async () => {
     renderHook(() => {
-      useHomeGripperZAxis({
+      useHomeGripper({
         recoveryCommands: mockRecoveryCommands,
         routeUpdateActions: mockRouteUpdateActions,
         recoveryMap: mockRecoveryMap,
@@ -43,7 +45,9 @@ describe('useHomeGripperZAxis', () => {
     expect(mockRouteUpdateActions.handleMotionRouting).toHaveBeenCalledWith(
       true
     )
-    expect(mockRecoveryCommands.homeGripperZAxis).toHaveBeenCalled()
+    expect(
+      mockRecoveryCommands.updatePositionEstimatorsAndHomeGripper
+    ).toHaveBeenCalled()
     expect(mockRouteUpdateActions.handleMotionRouting).toHaveBeenCalledWith(
       false
     )
@@ -51,7 +55,7 @@ describe('useHomeGripperZAxis', () => {
 
   it('should go back to previous step when door is open', () => {
     renderHook(() => {
-      useHomeGripperZAxis({
+      useHomeGripper({
         recoveryCommands: mockRecoveryCommands,
         routeUpdateActions: mockRouteUpdateActions,
         recoveryMap: mockRecoveryMap,
@@ -60,12 +64,14 @@ describe('useHomeGripperZAxis', () => {
     })
 
     expect(mockRouteUpdateActions.goBackPrevStep).toHaveBeenCalled()
-    expect(mockRecoveryCommands.homeGripperZAxis).not.toHaveBeenCalled()
+    expect(
+      mockRecoveryCommands.updatePositionEstimatorsAndHomeGripper
+    ).not.toHaveBeenCalled()
   })
 
   it('should not home again if already homed once', async () => {
     const { rerender } = renderHook(() => {
-      useHomeGripperZAxis({
+      useHomeGripper({
         recoveryCommands: mockRecoveryCommands,
         routeUpdateActions: mockRouteUpdateActions,
         recoveryMap: mockRecoveryMap,
@@ -77,17 +83,21 @@ describe('useHomeGripperZAxis', () => {
       await new Promise(resolve => setTimeout(resolve, 0))
     })
 
-    expect(mockRecoveryCommands.homeGripperZAxis).toHaveBeenCalledTimes(1)
+    expect(
+      mockRecoveryCommands.updatePositionEstimatorsAndHomeGripper
+    ).toHaveBeenCalledTimes(1)
 
     rerender()
 
-    expect(mockRecoveryCommands.homeGripperZAxis).toHaveBeenCalledTimes(1)
+    expect(
+      mockRecoveryCommands.updatePositionEstimatorsAndHomeGripper
+    ).toHaveBeenCalledTimes(1)
   })
 
   it('should reset hasHomedOnce when step changes to non-manual gripper step and back', async () => {
     const { rerender } = renderHook(
       ({ recoveryMap }) => {
-        useHomeGripperZAxis({
+        useHomeGripper({
           recoveryCommands: mockRecoveryCommands,
           routeUpdateActions: mockRouteUpdateActions,
           recoveryMap,
@@ -103,7 +113,9 @@ describe('useHomeGripperZAxis', () => {
       await new Promise(resolve => setTimeout(resolve, 0))
     })
 
-    expect(mockRecoveryCommands.homeGripperZAxis).toHaveBeenCalledTimes(1)
+    expect(
+      mockRecoveryCommands.updatePositionEstimatorsAndHomeGripper
+    ).toHaveBeenCalledTimes(1)
 
     rerender({ recoveryMap: { step: 'SOME_OTHER_STEP' } as any })
 
@@ -117,6 +129,8 @@ describe('useHomeGripperZAxis', () => {
       await new Promise(resolve => setTimeout(resolve, 0))
     })
 
-    expect(mockRecoveryCommands.homeGripperZAxis).toHaveBeenCalledTimes(2)
+    expect(
+      mockRecoveryCommands.updatePositionEstimatorsAndHomeGripper
+    ).toHaveBeenCalledTimes(2)
   })
 })
diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts
index 11a15edfbfd..a553bdcb4ee 100644
--- a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts
+++ b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useRecoveryCommands.test.ts
@@ -14,7 +14,8 @@ import {
   RELEASE_GRIPPER_JAW,
   buildPickUpTips,
   buildIgnorePolicyRules,
-  HOME_GRIPPER_Z_AXIS,
+  UPDATE_ESTIMATORS_EXCEPT_PLUNGERS,
+  HOME_GRIPPER_Z,
 } from '../useRecoveryCommands'
 import { RECOVERY_MAP } from '../../constants'
 
@@ -264,15 +265,15 @@ describe('useRecoveryCommands', () => {
     )
   })
 
-  it('should call homeGripperZAxis and resolve the promise', async () => {
+  it('should call useUpdatePositionEstimators and resolve the promise', async () => {
     const { result } = renderHook(() => useRecoveryCommands(props))
 
     await act(async () => {
-      await result.current.homeGripperZAxis()
+      await result.current.updatePositionEstimatorsAndHomeGripper()
     })
 
     expect(mockChainRunCommands).toHaveBeenCalledWith(
-      [HOME_GRIPPER_Z_AXIS],
+      [UPDATE_ESTIMATORS_EXCEPT_PLUNGERS, HOME_GRIPPER_Z],
       false
     )
   })
diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/index.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/index.ts
index baa685c0dcc..75904a24966 100644
--- a/app/src/organisms/ErrorRecoveryFlows/hooks/index.ts
+++ b/app/src/organisms/ErrorRecoveryFlows/hooks/index.ts
@@ -5,7 +5,7 @@ export { useRouteUpdateActions } from './useRouteUpdateActions'
 export { useERUtils } from './useERUtils'
 export { useRecoveryTakeover } from './useRecoveryTakeover'
 export { useRetainedFailedCommandBySource } from './useRetainedFailedCommandBySource'
-export { useHomeGripperZAxis } from './useHomeGripperZAxis'
+export { useHomeGripper } from './useHomeGripper'
 
 export type { ERUtilsProps } from './useERUtils'
 export type { UseRouteUpdateActionsResult } from './useRouteUpdateActions'
diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripperZAxis.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripper.ts
similarity index 82%
rename from app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripperZAxis.ts
rename to app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripper.ts
index 649fb801d44..b165e59ebd4 100644
--- a/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripperZAxis.ts
+++ b/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripper.ts
@@ -3,8 +3,8 @@ import { RECOVERY_MAP } from '/app/organisms/ErrorRecoveryFlows/constants'
 
 import type { ErrorRecoveryWizardProps } from '/app/organisms/ErrorRecoveryFlows/ErrorRecoveryWizard'
 
-// Home the gripper z-axis implicitly. Because the z-home is not tied to a CTA, it must be handled here.
-export function useHomeGripperZAxis({
+// Home the gripper implicitly. Because the home is not tied to a CTA, it must be handled here.
+export function useHomeGripper({
   recoveryCommands,
   routeUpdateActions,
   recoveryMap,
@@ -20,7 +20,7 @@ export function useHomeGripperZAxis({
 
   useLayoutEffect(() => {
     const { handleMotionRouting, goBackPrevStep } = routeUpdateActions
-    const { homeGripperZAxis } = recoveryCommands
+    const { updatePositionEstimatorsAndHomeGripper } = recoveryCommands
 
     if (!hasHomedOnce) {
       if (isManualGripperStep) {
@@ -28,7 +28,7 @@ export function useHomeGripperZAxis({
           void goBackPrevStep()
         } else {
           void handleMotionRouting(true)
-            .then(() => homeGripperZAxis())
+            .then(() => updatePositionEstimatorsAndHomeGripper())
             .then(() => {
               setHasHomedOnce(true)
             })
diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts
index f0962b07693..69101d92fe9 100644
--- a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts
+++ b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts
@@ -63,7 +63,7 @@ export interface UseRecoveryCommandsResult {
   /* A non-terminal recovery command */
   releaseGripperJaws: () => Promise<CommandData[]>
   /* A non-terminal recovery command */
-  homeGripperZAxis: () => Promise<CommandData[]>
+  updatePositionEstimatorsAndHomeGripper: () => Promise<CommandData[]>
   /* A non-terminal recovery command */
   moveLabwareWithoutPause: () => Promise<CommandData[]>
 }
@@ -269,8 +269,13 @@ export function useRecoveryCommands({
     return chainRunRecoveryCommands([RELEASE_GRIPPER_JAW])
   }, [chainRunRecoveryCommands])
 
-  const homeGripperZAxis = useCallback((): Promise<CommandData[]> => {
-    return chainRunRecoveryCommands([HOME_GRIPPER_Z_AXIS])
+  const updatePositionEstimatorsAndHomeGripper = useCallback((): Promise<
+    CommandData[]
+  > => {
+    return chainRunRecoveryCommands([
+      UPDATE_ESTIMATORS_EXCEPT_PLUNGERS,
+      HOME_GRIPPER_Z,
+    ])
   }, [chainRunRecoveryCommands])
 
   const moveLabwareWithoutPause = useCallback((): Promise<CommandData[]> => {
@@ -291,7 +296,7 @@ export function useRecoveryCommands({
     homePipetteZAxes,
     pickUpTips,
     releaseGripperJaws,
-    homeGripperZAxis,
+    updatePositionEstimatorsAndHomeGripper,
     moveLabwareWithoutPause,
     skipFailedCommand,
     ignoreErrorKindThisRun,
@@ -310,10 +315,15 @@ export const RELEASE_GRIPPER_JAW: CreateCommand = {
   intent: 'fixit',
 }
 
-export const HOME_GRIPPER_Z_AXIS: CreateCommand = {
+// in case the gripper does not know the position after a stall/collision we must update the position.
+export const UPDATE_ESTIMATORS_EXCEPT_PLUNGERS: CreateCommand = {
+  commandType: 'unsafe/updatePositionEstimators',
+  params: { axes: ['x', 'y', 'extensionZ'] },
+}
+
+export const HOME_GRIPPER_Z: CreateCommand = {
   commandType: 'home',
   params: { axes: ['extensionZ'] },
-  intent: 'fixit',
 }
 
 const buildMoveLabwareWithoutPause = (