diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
index dc91b7d6b185..e41af9f3cd23 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -1009,6 +1009,8 @@
 
         lcd_mesh_edit_setup(new_z);
 
+        SET_SOFT_ENDSTOP_LOOSE(true);
+
         do {
           idle();
           new_z = lcd_mesh_edit();
@@ -1016,6 +1018,8 @@
           SERIAL_FLUSH();                                   // Prevent host M105 buffer overrun.
         } while (!ui.button_pressed());
 
+        SET_SOFT_ENDSTOP_LOOSE(false);
+
         if (!lcd_map_control) ui.return_to_status();        // Just editing a single point? Return to status
 
         if (click_and_hold(abort_fine_tune)) break;         // Button held down? Abort editing
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index e9b6e0e3a6db..f7de6c8cee57 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -201,10 +201,6 @@ G29_TYPE GcodeSuite::G29() {
     ABL_VAR int abl_probe_index;
   #endif
 
-  #if BOTH(HAS_SOFTWARE_ENDSTOPS, PROBE_MANUALLY)
-    ABL_VAR bool saved_soft_endstops_state = true;
-  #endif
-
   #if ABL_GRID
 
     #if ENABLED(PROBE_MANUALLY)
@@ -461,7 +457,7 @@ G29_TYPE GcodeSuite::G29() {
     // Abort current G29 procedure, go back to idle state
     if (seenA && g29_in_progress) {
       SERIAL_ECHOLNPGM("Manual G29 aborted");
-      TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
+      SET_SOFT_ENDSTOP_LOOSE(false);
       set_bed_leveling_enabled(abl_should_enable);
       g29_in_progress = false;
       TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
@@ -482,7 +478,7 @@ G29_TYPE GcodeSuite::G29() {
 
     if (abl_probe_index == 0) {
       // For the initial G29 S2 save software endstop state
-      TERN_(HAS_SOFTWARE_ENDSTOPS, saved_soft_endstops_state = soft_endstops_enabled);
+      SET_SOFT_ENDSTOP_LOOSE(true);
       // Move close to the bed before the first point
       do_blocking_move_to_z(0);
     }
@@ -552,14 +548,14 @@ G29_TYPE GcodeSuite::G29() {
         _manual_goto_xy(probePos); // Can be used here too!
         // Disable software endstops to allow manual adjustment
         // If G29 is not completed, they will not be re-enabled
-        TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = false);
+        SET_SOFT_ENDSTOP_LOOSE(true);
         G29_RETURN(false);
       }
       else {
         // Leveling done! Fall through to G29 finishing code below
         SERIAL_ECHOLNPGM("Grid probing done.");
         // Re-enable software endstops, if needed
-        TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
+        SET_SOFT_ENDSTOP_LOOSE(false);
       }
 
     #elif ENABLED(AUTO_BED_LEVELING_3POINT)
@@ -570,7 +566,7 @@ G29_TYPE GcodeSuite::G29() {
         _manual_goto_xy(probePos);
         // Disable software endstops to allow manual adjustment
         // If G29 is not completed, they will not be re-enabled
-        TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = false);
+        SET_SOFT_ENDSTOP_LOOSE(true);
         G29_RETURN(false);
       }
       else {
@@ -578,7 +574,7 @@ G29_TYPE GcodeSuite::G29() {
         SERIAL_ECHOLNPGM("3-point probing done.");
 
         // Re-enable software endstops, if needed
-        TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
+        SET_SOFT_ENDSTOP_LOOSE(false);
 
         if (!dryrun) {
           vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
index 5da99386adc5..d94c16052bcf 100644
--- a/Marlin/src/gcode/bedlevel/mbl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
@@ -61,7 +61,6 @@ inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM("
 void GcodeSuite::G29() {
 
   static int mbl_probe_index = -1;
-  TERN_(HAS_SOFTWARE_ENDSTOPS, static bool saved_soft_endstops_state);
 
   MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
   if (!WITHIN(state, 0, 5)) {
@@ -98,26 +97,19 @@ void GcodeSuite::G29() {
       }
       // For each G29 S2...
       if (mbl_probe_index == 0) {
-        #if HAS_SOFTWARE_ENDSTOPS
-          // For the initial G29 S2 save software endstop state
-          saved_soft_endstops_state = soft_endstops_enabled;
-        #endif
         // Move close to the bed before the first point
         do_blocking_move_to_z(0);
       }
       else {
         // Save Z for the previous mesh position
         mbl.set_zigzag_z(mbl_probe_index - 1, current_position.z);
-        TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = saved_soft_endstops_state);
+        SET_SOFT_ENDSTOP_LOOSE(false);
       }
       // If there's another point to sample, move there with optional lift.
       if (mbl_probe_index < GRID_MAX_POINTS) {
-        #if HAS_SOFTWARE_ENDSTOPS
-          // Disable software endstops to allow manual adjustment
-          // If G29 is not completed, they will not be re-enabled
-          soft_endstops_enabled = false;
-        #endif
-
+        // Disable software endstops to allow manual adjustment
+        // If G29 is left hanging without completion they won't be re-enabled!
+        SET_SOFT_ENDSTOP_LOOSE(true);
         mbl.zigzag(mbl_probe_index++, ix, iy);
         _manual_goto_xy({ mbl.index_to_xpos[ix], mbl.index_to_ypos[iy] });
       }
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 7bc40b2127c4..34209568035d 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -222,8 +222,9 @@ void GcodeSuite::G28() {
     return;
   }
 
-  // Wait for planner moves to finish!
-  planner.synchronize();
+  planner.synchronize();          // Wait for planner moves to finish!
+
+  SET_SOFT_ENDSTOP_LOOSE(false);  // Reset a leftover 'loose' motion state
 
   // Disable the leveling matrix before homing
   #if HAS_LEVELING
diff --git a/Marlin/src/gcode/calibrate/G34.cpp b/Marlin/src/gcode/calibrate/G34.cpp
index eb1d32f90927..fd876d3fe9ea 100644
--- a/Marlin/src/gcode/calibrate/G34.cpp
+++ b/Marlin/src/gcode/calibrate/G34.cpp
@@ -40,7 +40,7 @@ void GcodeSuite::G34() {
 
   if (homing_needed()) return;
 
-  TEMPORARY_SOFT_ENDSTOP_STATE(false);
+  SET_SOFT_ENDSTOP_LOOSE(true);
   TEMPORARY_BED_LEVELING_STATE(false);
   TemporaryGlobalEndstopsState unlock_z(false);
 
@@ -148,6 +148,8 @@ void GcodeSuite::G34() {
     if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands");
     gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST));
   #endif
+
+  SET_SOFT_ENDSTOP_LOOSE(false);
 }
 
 #endif // MECHANICAL_GANTRY_CALIBRATION
diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp
index 746cb108766b..8968f789995f 100644
--- a/Marlin/src/gcode/calibrate/G425.cpp
+++ b/Marlin/src/gcode/calibrate/G425.cpp
@@ -581,13 +581,12 @@ void GcodeSuite::G425() {
     GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_PRE));
   #endif
 
-  TEMPORARY_SOFT_ENDSTOP_STATE(false);
-  TEMPORARY_BED_LEVELING_STATE(false);
-
   if (homing_needed_error()) return;
 
-  measurements_t m;
+  TEMPORARY_BED_LEVELING_STATE(false);
+  SET_SOFT_ENDSTOP_LOOSE(true);
 
+  measurements_t m;
   float uncertainty = parser.seenval('U') ? parser.value_float() : CALIBRATION_MEASUREMENT_UNCERTAIN;
 
   if (parser.seen('B'))
@@ -612,6 +611,8 @@ void GcodeSuite::G425() {
   else
     calibrate_all();
 
+  SET_SOFT_ENDSTOP_LOOSE(false);
+
   #ifdef CALIBRATION_SCRIPT_POST
     GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_POST));
   #endif
diff --git a/Marlin/src/gcode/control/M211.cpp b/Marlin/src/gcode/control/M211.cpp
index ffad722f3f7a..2049f1eb6955 100644
--- a/Marlin/src/gcode/control/M211.cpp
+++ b/Marlin/src/gcode/control/M211.cpp
@@ -37,8 +37,8 @@ void GcodeSuite::M211() {
                   l_soft_max = soft_endstop.max.asLogical();
   SERIAL_ECHO_START();
   SERIAL_ECHOPGM(STR_SOFT_ENDSTOPS);
-  if (parser.seen('S')) soft_endstops_enabled = parser.value_bool();
-  serialprint_onoff(soft_endstops_enabled);
+  if (parser.seen('S')) soft_endstop._enabled = parser.value_bool();
+  serialprint_onoff(soft_endstop._enabled);
   print_xyz(l_soft_min, PSTR(STR_SOFT_MIN), PSTR(" "));
   print_xyz(l_soft_max, PSTR(STR_SOFT_MAX));
 }
diff --git a/Marlin/src/gcode/feature/clean/G12.cpp b/Marlin/src/gcode/feature/clean/G12.cpp
index f91db39703f0..216db5bae374 100644
--- a/Marlin/src/gcode/feature/clean/G12.cpp
+++ b/Marlin/src/gcode/feature/clean/G12.cpp
@@ -70,9 +70,11 @@ void GcodeSuite::G12() {
     TEMPORARY_BED_LEVELING_STATE(!TEST(cleans, Z_AXIS) && planner.leveling_active);
   #endif
 
-  TEMPORARY_SOFT_ENDSTOP_STATE(parser.boolval('E'));
+  SET_SOFT_ENDSTOP_LOOSE(!parser.boolval('E'));
 
   nozzle.clean(pattern, strokes, radius, objects, cleans);
+
+  SET_SOFT_ENDSTOP_LOOSE(false);
 }
 
 #endif // NOZZLE_CLEAN_FEATURE
diff --git a/Marlin/src/lcd/extui/ui_api.cpp b/Marlin/src/lcd/extui/ui_api.cpp
index 0acfc9c025c1..30cf696f3ed7 100644
--- a/Marlin/src/lcd/extui/ui_api.cpp
+++ b/Marlin/src/lcd/extui/ui_api.cpp
@@ -305,27 +305,9 @@ namespace ExtUI {
   }
 
   void setAxisPosition_mm(const float position, const axis_t axis, const feedRate_t feedrate/*=0*/) {
-    // Start with no limits to movement
-    float min = current_position[axis] - 1000,
-          max = current_position[axis] + 1000;
-
-    // Limit to software endstops, if enabled
-    #if HAS_SOFTWARE_ENDSTOPS
-      if (soft_endstops_enabled) switch (axis) {
-        case X_AXIS:
-          TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x);
-          TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x);
-          break;
-        case Y_AXIS:
-          TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y);
-          TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y);
-          break;
-        case Z_AXIS:
-          TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z);
-          TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z);
-        default: break;
-      }
-    #endif // HAS_SOFTWARE_ENDSTOPS
+    // Get motion limit from software endstops, if any
+    float min, max;
+    soft_endstop.get_manual_axis_limits((AxisEnum)axis, min, max);
 
     // Delta limits XY based on the current offset from center
     // This assumes the center is 0,0
@@ -389,8 +371,8 @@ namespace ExtUI {
   }
 
   #if HAS_SOFTWARE_ENDSTOPS
-    bool getSoftEndstopState() { return soft_endstops_enabled; }
-    void setSoftEndstopState(const bool value) { soft_endstops_enabled = value; }
+    bool getSoftEndstopState() { return soft_endstop._enabled; }
+    void setSoftEndstopState(const bool value) { soft_endstop._enabled = value; }
   #endif
 
   #if HAS_TRINAMIC_CONFIG
diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp
index 676ba46ea730..2972920f34a7 100644
--- a/Marlin/src/lcd/menu/menu_motion.cpp
+++ b/Marlin/src/lcd/menu/menu_motion.cpp
@@ -57,28 +57,9 @@
 static void _lcd_move_xyz(PGM_P const name, const AxisEnum axis) {
   if (ui.use_click()) return ui.goto_previous_screen_no_defer();
   if (ui.encoderPosition && !ui.manual_move.processing) {
-
-    // Start with no limits to movement
-    float min = current_position[axis] - 1000,
-          max = current_position[axis] + 1000;
-
-    // Limit to software endstops, if enabled
-    #if HAS_SOFTWARE_ENDSTOPS
-      if (soft_endstops_enabled) switch (axis) {
-        case X_AXIS:
-          TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x);
-          TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x);
-          break;
-        case Y_AXIS:
-          TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y);
-          TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y);
-          break;
-        case Z_AXIS:
-          TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z);
-          TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z);
-        default: break;
-      }
-    #endif // HAS_SOFTWARE_ENDSTOPS
+    // Get motion limit from software endstops, if any
+    float min, max;
+    soft_endstop.get_manual_axis_limits(axis, min, max);
 
     // Delta limits XY based on the current offset from center
     // This assumes the center is 0,0
@@ -238,7 +219,7 @@ void menu_move() {
   BACK_ITEM(MSG_MOTION);
 
   #if BOTH(HAS_SOFTWARE_ENDSTOPS, SOFT_ENDSTOPS_MENU_ITEM)
-    EDIT_ITEM(bool, MSG_LCD_SOFT_ENDSTOPS, &soft_endstops_enabled);
+    EDIT_ITEM(bool, MSG_LCD_SOFT_ENDSTOPS, &soft_endstop._enabled);
   #endif
 
   if (NONE(IS_KINEMATIC, NO_MOTION_BEFORE_HOMING) || all_axes_homed()) {
diff --git a/Marlin/src/lcd/menu/menu_probe_offset.cpp b/Marlin/src/lcd/menu/menu_probe_offset.cpp
index 87957e6207ef..6b7830b853d8 100644
--- a/Marlin/src/lcd/menu/menu_probe_offset.cpp
+++ b/Marlin/src/lcd/menu/menu_probe_offset.cpp
@@ -48,16 +48,12 @@
 float z_offset_backup, calculated_z_offset;
 
 TERN_(HAS_LEVELING, bool leveling_was_active);
-TERN_(HAS_SOFTWARE_ENDSTOPS, bool store_soft_endstops_enabled);
 
 void prepare_for_calibration() {
   z_offset_backup = probe.offset.z;
 
   // Disable soft endstops for free Z movement
-  #if HAS_SOFTWARE_ENDSTOPS
-    store_soft_endstops_enabled = soft_endstops_enabled;
-    soft_endstops_enabled = false;
-  #endif
+  SET_SOFT_ENDSTOP_LOOSE(true);
 
   // Disable leveling for raw planner motion
   #if HAS_LEVELING
@@ -68,7 +64,7 @@ void prepare_for_calibration() {
 
 void set_offset_and_go_back(const float &z) {
   probe.offset.z = z;
-  TERN_(HAS_SOFTWARE_ENDSTOPS, soft_endstops_enabled = store_soft_endstops_enabled);
+  SET_SOFT_ENDSTOP_LOOSE(false);
   TERN_(HAS_LEVELING, set_bed_leveling_enabled(leveling_was_active));
   ui.goto_previous_screen_no_defer();
 }
diff --git a/Marlin/src/lcd/tft/ui_480x320.cpp b/Marlin/src/lcd/tft/ui_480x320.cpp
index 549cbc4d9ba5..3dab9418f5fa 100644
--- a/Marlin/src/lcd/tft/ui_480x320.cpp
+++ b/Marlin/src/lcd/tft/ui_480x320.cpp
@@ -813,27 +813,9 @@ static void moveAxis(AxisEnum axis, const int8_t direction) {
   }
 
   if (!ui.manual_move.processing) {
-    // Start with no limits to movement
-    float min = current_position[axis] - 1000,
-          max = current_position[axis] + 1000;
-
-    // Limit to software endstops, if enabled
-    #if HAS_SOFTWARE_ENDSTOPS
-      if (soft_endstops_enabled) switch (axis) {
-        case X_AXIS:
-          TERN_(MIN_SOFTWARE_ENDSTOP_X, min = soft_endstop.min.x);
-          TERN_(MAX_SOFTWARE_ENDSTOP_X, max = soft_endstop.max.x);
-          break;
-        case Y_AXIS:
-          TERN_(MIN_SOFTWARE_ENDSTOP_Y, min = soft_endstop.min.y);
-          TERN_(MAX_SOFTWARE_ENDSTOP_Y, max = soft_endstop.max.y);
-          break;
-        case Z_AXIS:
-          TERN_(MIN_SOFTWARE_ENDSTOP_Z, min = soft_endstop.min.z);
-          TERN_(MAX_SOFTWARE_ENDSTOP_Z, max = soft_endstop.max.z);
-        default: break;
-      }
-    #endif // HAS_SOFTWARE_ENDSTOPS
+    // Get motion limit from software endstops, if any
+    float min, max;
+    soft_endstop.get_manual_axis_limits(axis, min, max);
 
     // Delta limits XY based on the current offset from center
     // This assumes the center is 0,0
diff --git a/Marlin/src/libs/nozzle.cpp b/Marlin/src/libs/nozzle.cpp
index f93e5524813a..10021005e5b3 100644
--- a/Marlin/src/libs/nozzle.cpp
+++ b/Marlin/src/libs/nozzle.cpp
@@ -161,7 +161,7 @@ Nozzle nozzle;
         LIMIT(   end[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \
       }while(0)
 
-      if (soft_endstops_enabled) {
+      if (soft_endstop.enabled()) {
 
         LIMIT_AXIS(x);
         LIMIT_AXIS(y);
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index da1cb173e56c..92712b0c221c 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -534,12 +534,11 @@ void restore_feedrate_and_scaling() {
 
 #if HAS_SOFTWARE_ENDSTOPS
 
-  bool soft_endstops_enabled = true;
-
   // Software Endstops are based on the configured limits.
-  axis_limits_t soft_endstop = {
+  soft_endstops_t soft_endstop = {
     { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
-    { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }
+    { X_MAX_POS, Y_MAX_POS, Z_MAX_POS },
+    { true, false }
   };
 
   /**
@@ -624,9 +623,9 @@ void restore_feedrate_and_scaling() {
 
     #endif
 
-  if (DEBUGGING(LEVELING))
-    SERIAL_ECHOLNPAIR("Axis ", XYZ_CHAR(axis), " min:", soft_endstop.min[axis], " max:", soft_endstop.max[axis]);
-}
+    if (DEBUGGING(LEVELING))
+      SERIAL_ECHOLNPAIR("Axis ", XYZ_CHAR(axis), " min:", soft_endstop.min[axis], " max:", soft_endstop.max[axis]);
+  }
 
   /**
    * Constrain the given coordinates to the software endstops.
@@ -636,7 +635,7 @@ void restore_feedrate_and_scaling() {
    */
   void apply_motion_limits(xyz_pos_t &target) {
 
-    if (!soft_endstops_enabled) return;
+    if (!soft_endstop._enabled) return;
 
     #if IS_KINEMATIC
 
@@ -688,7 +687,11 @@ void restore_feedrate_and_scaling() {
     }
   }
 
-#endif // HAS_SOFTWARE_ENDSTOPS
+#else // !HAS_SOFTWARE_ENDSTOPS
+
+  soft_endstops_t soft_endstop;
+
+#endif // !HAS_SOFTWARE_ENDSTOPS
 
 #if !UBL_SEGMENTED
 
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 2b108b053177..338eb387cf9d 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -148,26 +148,61 @@ inline float home_bump_mm(const AxisEnum axis) {
   constexpr xyz_pos_t hotend_offset[1] = { { 0 } };
 #endif
 
-typedef struct { xyz_pos_t min, max; } axis_limits_t;
 #if HAS_SOFTWARE_ENDSTOPS
-  extern bool soft_endstops_enabled;
-  extern axis_limits_t soft_endstop;
+
+  typedef struct {
+    xyz_pos_t min, max;
+    struct {
+      bool _enabled:1;
+      bool _loose:1;
+    };
+    bool enabled() { return _enabled && !_loose; }
+    void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) {
+      amin = -100000; amax = 100000; // "No limits"
+      #if HAS_SOFTWARE_ENDSTOPS
+        if (enabled()) switch (axis) {
+          case X_AXIS:
+            TERN_(MIN_SOFTWARE_ENDSTOP_X, amin = min.x);
+            TERN_(MAX_SOFTWARE_ENDSTOP_X, amax = max.x);
+            break;
+          case Y_AXIS:
+            TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y);
+            TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y);
+            break;
+          case Z_AXIS:
+            TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z);
+            TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z);
+          default: break;
+        }
+      #endif
+    }
+  } soft_endstops_t;
+
+  extern soft_endstops_t soft_endstop;
   void apply_motion_limits(xyz_pos_t &target);
   void update_software_endstops(const AxisEnum axis
     #if HAS_HOTEND_OFFSET
       , const uint8_t old_tool_index=0, const uint8_t new_tool_index=0
     #endif
   );
-  #define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable);
-#else
-  constexpr bool soft_endstops_enabled = false;
-  //constexpr axis_limits_t soft_endstop = {
-  //  { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
-  //  { X_MAX_POS, Y_MAX_POS, Z_MAX_POS } };
-  #define apply_motion_limits(V)    NOOP
+  #define SET_SOFT_ENDSTOP_LOOSE(loose) (soft_endstop._loose = loose)
+
+#else // !HAS_SOFTWARE_ENDSTOPS
+
+  typedef struct {
+    bool enabled() { return false; }
+    void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) {
+      // No limits
+      amin = current_position[axis] - 1000;
+      amax = current_position[axis] + 1000;
+    }
+  } soft_endstops_t;
+  extern soft_endstops_t soft_endstop;
+  #define apply_motion_limits(V)        NOOP
   #define update_software_endstops(...) NOOP
-  #define TEMPORARY_SOFT_ENDSTOP_STATE(...) NOOP
-#endif
+  #define SET_SOFT_ENDSTOP_LOOSE()      NOOP
+
+#endif // !HAS_SOFTWARE_ENDSTOPS
 
 void report_real_position();
 void report_current_position();
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index 0f823cfbd000..4ab818f41d2e 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -1017,14 +1017,10 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
         // Raise by a configured distance to avoid workpiece, except with
         // SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
         if (!no_move) {
-          #if HAS_SOFTWARE_ENDSTOPS
-            const float maxz = _MIN(soft_endstop.max.z, Z_MAX_POS);
-          #else
-            constexpr float maxz = Z_MAX_POS;
-          #endif
+          const float newz = current_position.z + _MAX(-diff.z, 0.0);
 
           // Check if Z has space to compensate at least z_offset, and if not, just abort now
-          const float newz = current_position.z + _MAX(-diff.z, 0.0);
+          const float maxz = _MIN(TERN(HAS_SOFTWARE_ENDSTOPS, soft_endstop.max.z, Z_MAX_POS), Z_MAX_POS);
           if (newz > maxz) return;
 
           current_position.z = _MIN(newz + toolchange_settings.z_raise, maxz);