diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index c993bf80039c..f783ab7441b7 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -326,7 +326,14 @@
  */
 //#define ELECTROMAGNETIC_SWITCHING_TOOLHEAD
 
+
+// Safe toolchange start Z position.
+//#define SAFE_TOOLCHANGE_START_Z           200
+
 #if ANY(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD, ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
+  //#define SWITCHING_TOOLHEAD_Z_POS        100         // (mm) Z position of the toolhead dock.
+                                                        // Leave this option disabled if the bed can move in Z direction
+  //#define SWITCHING_TOOLHEAD_Z_CLEAR       60         // (mm) Minimum distance from dock along Z for unobstructed X axis if the tools are placed onto the dock in Z direction
   #define SWITCHING_TOOLHEAD_Y_POS          235         // (mm) Y position of the toolhead dock
   #define SWITCHING_TOOLHEAD_Y_SECURITY      10         // (mm) Security distance Y axis
   #define SWITCHING_TOOLHEAD_Y_CLEAR         60         // (mm) Minimum distance from dock for unobstructed X axis
@@ -371,7 +378,7 @@
 
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
 // The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
-// For the other hotends it is their distance from the extruder 0 hotend.
+// For the other hotends it is their distance from the extruder 0 hotend in positive axis direction.
 //#define HOTEND_OFFSET_X { 0.0, 20.00 } // (mm) relative X-offset for each nozzle
 //#define HOTEND_OFFSET_Y { 0.0, 5.00 }  // (mm) relative Y-offset for each nozzle
 //#define HOTEND_OFFSET_Z { 0.0, 0.00 }  // (mm) relative Z-offset for each nozzle
@@ -1117,6 +1124,75 @@
   #define FEEDRATE_SCALING                  // Convert XY feedrate from mm/s to degrees/s on the fly
 #endif
 
+// @section PENTA_AXIS_TRT
+
+/** 
+ * For a 5 axis CNC machine in tilting rotary table configuration. 
+ * This machine has a rotary table (C axis) mounted on a tilting table
+ * (A axis parallel to the X axis, or B axis parallel to the Y axis).
+ * More information can be found at https://github.com/DerAndere1/Marlin/wiki/Marlin2ForPipetBot:-five-axis-CNC
+ */
+//#define PENTA_AXIS_TRT
+#if ENABLED(PENTA_AXIS_TRT)
+
+  // Machine rotary zero point offsets  
+  // The distance along the X axis from machine zero point to the center of rotation. The center of rotation is
+  // usually the center of the top surface of the table when all axes are at machine position 0.
+  #define DEFAULT_MRZP_OFFSET_X 0.0 // (mm)
+
+  // The distance along the Y axis from machine zero point to the center of rotation. The center of rotation is
+  // usually the center of the top surface of the table when all axes are at machine position 0.
+  #define DEFAULT_MRZP_OFFSET_Y 0.0 // (mm)
+  
+  // The distance along the Z axis from machine zero point to the center of rotation. The center of rotation is
+  // usually the center of the top surface of the table when all axes are at machine position 0.
+  #define DEFAULT_MRZP_OFFSET_Z 0.0 // (mm)
+
+  // For a machine with XYZBC axes, this is the distance along the x axis from the vertical centerline of the
+  // joint of the horizontal rotary table to the horizontal centerline of the joint that tilts the table.
+  // Measured when the table is oriented horizontally.
+  #define DEFAULT_ROTATIONAL_JOINT_OFFSET_X 0.0 // (mm)
+
+  // For a machine with XYZAC axes, this is the distance along the y axis from the vertical centerline of the
+  // joint of the horizontal table to the horizontal centerline of the joint that tilts the table. 
+  // Measured when the table is oriented horizontally.
+  #define DEFAULT_ROTATIONAL_JOINT_OFFSET_Y 0.0 // (mm)
+
+  // This is the distance along the Z axis from the surface at the top of the table to the horizontal
+  // centerline of the joint that tilts the table when the table is oriented horizontally.
+  #define DEFAULT_ROTATIONAL_JOINT_OFFSET_Z 0.0 // (mm)
+
+  // Moves involving rotational axes is broken up into small straight segments (linear interpolation).
+  // This is a trade-off between visible corners (not enough segments)
+  // and processor overload (too many expensive sqrt calls).
+  #define DEFAULT_SEGMENTS_PER_SECOND 200
+
+  // Print surface diameter/2
+  #define PRINTABLE_RADIUS 100.0    // (mm)
+#endif
+
+// @section PENTA_AXIS_HT
+
+/**
+ * For a 5 axis CNC machine in head-table configuration. 
+ * This machine has a swivel head and a horizontal rotary table.
+ */
+//#define PENTA_AXIS_HT
+#if ENABLED(PENTA_AXIS_HT)
+
+  // Machine rotary zero point offset is the distance from the gage line at the tool head (tip of the nozzle of tool 0) to the horizontal 
+  // centerline of the joint that tilts the tool head. Measured when all axes are at machine position 0.
+  #define DEFAULT_MRZP_OFFSET_Z 100.0 // (mm)
+
+  // Moves involving rotational axes is broken up into small straight segments (linear interpolation).
+  // This is a trade-off between visible corners (not enough segments)
+  // and processor overload (too many expensive sqrt calls).
+  #define DEFAULT_SEGMENTS_PER_SECOND 200
+
+  // Print surface diameter/2
+  #define PRINTABLE_RADIUS 100.0    // (mm)
+#endif
+
 // @section machine
 
 // Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
@@ -1902,6 +1978,13 @@
 #endif
 
 #if ANY(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
+  /**
+   * Abort printing when any software endstop is triggered.
+   * This feature is enabled with 'M541 S1' or from the LCD menu.
+   * Software endstops must be activated for this option to work.
+   */
+  //#define ABORT_ON_SOFTWARE_ENDSTOP
+
   //#define SOFT_ENDSTOPS_MENU_ITEM  // Enable/Disable software endstops from the LCD
 #endif
 
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 7cda16dc0f30..ac6c3b0f03aa 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -935,6 +935,9 @@
 //#define XY_COUNTERPART_BACKOFF_MM 0         // (mm) Backoff X after homing Y, and vice-versa
 
 //#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
+#if ENABLED(QUICK_HOME)
+  //#define QUICK_HOME_SECONDARY_AXES          // If G28 contains XYABCUVW, first do a coordinated move of axes XYABCUVW towards the limit used for homing.
+#endif
 //#define HOME_Y_BEFORE_X                     // If G28 contains XY home Y before X
 //#define HOME_Z_FIRST                        // Home Z first. Requires a real endstop (not a probe).
 //#define CODEPENDENT_XY_HOMING               // If X/Y can't home without homing Y/X first
@@ -2784,7 +2787,7 @@
  * Universal tool change settings.
  * Applies to all types of extruders except where explicitly noted.
  */
-#if HAS_MULTI_EXTRUDER
+#if HAS_MULTI_TOOLS
   // Z raise distance for tool-change, as needed for some extruders
   #define TOOLCHANGE_ZRAISE                 2 // (mm)
   //#define TOOLCHANGE_ZRAISE_BEFORE_RETRACT  // Apply raise before swap retraction (if enabled)
@@ -2891,7 +2894,7 @@
       //#define TOOLCHANGE_MIGRATION_DO_PARK  // Force park (or no-park) on migration
     #endif
   #endif
-#endif // HAS_MULTI_EXTRUDER
+#endif // HAS_MULTI_TOOLS
 
 // @section advanced pause
 
diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
index 0cf5728110ec..03c8af3cd300 100644
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@@ -177,6 +177,10 @@
   #include "module/scara.h"
 #elif ENABLED(POLAR)
   #include "module/polar.h"
+#elif ENABLED(PENTA_AXIS_TRT)
+  #include "module/penta_axis_trt.h"
+#elif ENABLED(PENTA_AXIS_HT)
+  #include "module/penta_axis_ht.h"
 #endif
 
 #if HAS_LEVELING
diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h
index 2736a7833ed5..f133d6e758e8 100644
--- a/Marlin/src/core/language.h
+++ b/Marlin/src/core/language.h
@@ -186,6 +186,7 @@
 #define STR_SD_CANT_ENTER_SUBDIR            "Cannot enter subdir: "
 
 #define STR_ENDSTOPS_HIT                    "endstops hit: "
+#define STR_ERR_SW_ENDSTOP                  "software endstops hit"
 #define STR_ERR_COLD_EXTRUDE_STOP           " cold extrusion prevented"
 #define STR_ERR_LONG_EXTRUDE_STOP           " too long extrusion prevented"
 #define STR_ERR_HOTEND_TOO_COLD             "Hotend too cold"
@@ -283,6 +284,8 @@
 #define STR_SCARA_SETTINGS                  "SCARA"
 #define STR_POLAR_SETTINGS                  "Polar"
 #define STR_POLARGRAPH_SETTINGS             "Polargraph"
+#define STR_PAX_TRT_SETTINGS                "Penta-Axis-TRT"
+#define STR_PAX_HT_SETTINGS                 "Penta-Axis-Head-Table"
 #define STR_SCARA_P_T_Z                     "P<theta-psi-offset> T<theta-offset> Z<home-offset>"
 #define STR_ENDSTOP_ADJUSTMENT              "Endstop adjustment"
 #define STR_SKEW_FACTOR                     "Skew Factor"
diff --git a/Marlin/src/core/types.h b/Marlin/src/core/types.h
index 7793f1f99561..3bb35fdd00d0 100644
--- a/Marlin/src/core/types.h
+++ b/Marlin/src/core/types.h
@@ -345,6 +345,16 @@ enum AxisEnum : uint8_t {
 #define LOOP_DISTINCT_AXES(VAR) for (uint8_t VAR = 0; VAR < DISTINCT_AXES; ++VAR)
 #define LOOP_DISTINCT_E(VAR) for (uint8_t VAR = 0; VAR < DISTINCT_E; ++VAR)
 
+
+//
+// Enumerates tool types
+//
+enum ToolTypeEnum : uint8_t {
+  TYPE_EXTRUDER, 
+  TYPE_LASER,
+  TYPE_SPINLDE
+};
+
 //
 // feedRate_t is just a humble float
 //
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
index 4637bf87e828..92223a1f185b 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -1281,8 +1281,13 @@ mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() {
     if (!isnan(z_values[i][j])) continue;  // Skip valid mesh points
 
     // Skip unreachable points
-    if (!probe.can_reach(get_mesh_x(i), get_mesh_y(j)))
-      continue;
+    #if ANY(PENTA_AXIS_HT, PENTA_AXIS_TRT)
+      if (!probe.can_reach(NUM_AXIS_LIST(get_mesh_x(i), get_mesh_y(j), TERN0(SAFE_BED_LEVELING_START_Z, SAFE_BED_LEVELING_START_Z), TERN0(SAFE_BED_LEVELING_START_I, SAFE_BED_LEVELING_START_I), TERN0(SAFE_BED_LEVELING_START_J, SAFE_BED_LEVELING_START_J), TERN0(SAFE_BED_LEVELING_START_K, SAFE_BED_LEVELING_START_K), TERN0(SAFE_BED_LEVELING_START_U, SAFE_BED_LEVELING_START_U), TERN0(SAFE_BED_LEVELING_START_V, SAFE_BED_LEVELING_START_V), TERN0(SAFE_BED_LEVELING_START_W, SAFE_BED_LEVELING_START_W))))
+        continue;
+    #else
+      if (!probe.can_reach(get_mesh_x(i), get_mesh_y(j)))
+        continue;
+    #endif
 
     found_a_NAN = true;
 
diff --git a/Marlin/src/feature/powerloss.cpp b/Marlin/src/feature/powerloss.cpp
index b7dcf0038548..15b1422b3413 100644
--- a/Marlin/src/feature/powerloss.cpp
+++ b/Marlin/src/feature/powerloss.cpp
@@ -516,7 +516,7 @@ void PrintJobRecovery::resume() {
   #endif
 
   // Restore the previously active tool (with no_move)
-  #if HAS_MULTI_EXTRUDER || HAS_MULTI_HOTEND
+  #if HAS_MULTI_TOOLS || HAS_MULTI_HOTEND
     PROCESS_SUBCOMMANDS_NOW(TS('T', info.active_extruder, 'S'));
   #endif
 
@@ -638,7 +638,7 @@ void PrintJobRecovery::resume() {
           DEBUG_EOL();
         #endif
 
-        #if HAS_MULTI_EXTRUDER
+        #if HAS_MULTI_TOOLS
           DEBUG_ECHOLNPGM("active_extruder: ", info.active_extruder);
         #endif
 
diff --git a/Marlin/src/feature/powerloss.h b/Marlin/src/feature/powerloss.h
index 238f276c1bc8..64f95cbeabdc 100644
--- a/Marlin/src/feature/powerloss.h
+++ b/Marlin/src/feature/powerloss.h
@@ -75,7 +75,7 @@ typedef struct {
   #if HAS_WORKSPACE_OFFSET
     xyz_pos_t workspace_offset;
   #endif
-  #if HAS_MULTI_EXTRUDER
+  #if HAS_MULTI_TOOLS
     uint8_t active_extruder;
   #endif
 
diff --git a/Marlin/src/feature/spindle_laser.cpp b/Marlin/src/feature/spindle_laser.cpp
index c0635c72206f..68415490a463 100644
--- a/Marlin/src/feature/spindle_laser.cpp
+++ b/Marlin/src/feature/spindle_laser.cpp
@@ -39,6 +39,7 @@
 #endif
 
 SpindleLaser cutter;
+uint8_t SpindleLaser::active_tool_type;                               // Tool type: 0 for extruder, 1 for spindle, 2 for laser
 bool SpindleLaser::enable_state;                                      // Virtual enable state, controls enable pin if present and or apply power if > 0
 uint8_t SpindleLaser::power,                                          // Actual power output 0-255 ocr or "0 = off" > 0 = "on"
         SpindleLaser::last_power_applied; // = 0                      // Basic power state tracking
@@ -65,21 +66,36 @@ cutter_frequency_t SpindleLaser::frequency;                           // PWM fre
  * Init the cutter to a safe OFF state
  */
 void SpindleLaser::init() {
+  #if ENABLED(LASER_FEATURE) && LASER_TOOL == 0
+    active_tool_type = TYPE_LASER;
+  #elif ENABLED(SPINDLE_FEATURE) && LASER_TOOL == 0
+    active_tool_type = TYPE_LASER;
+  #else
+    active_tool_type = TYPE_EXTRUDER;
+  #endif
   #if ENABLED(SPINDLE_SERVO)
     servo[SPINDLE_SERVO_NR].move(SPINDLE_SERVO_MIN);
   #elif PIN_EXISTS(SPINDLE_LASER_ENA)
     OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);    // Init spindle to off
   #endif
+  #if PIN_EXISTS(LASER_ENA)
+    OUT_WRITE(LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);    // Init spindle to off
+  #endif
   #if ENABLED(SPINDLE_CHANGE_DIR)
     OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR);                   // Init rotation to clockwise (M3)
   #endif
   #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
     frequency = SPINDLE_LASER_FREQUENCY;
     hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
+    hal.set_pwm_frequency(pin_t(LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
   #endif
   #if ENABLED(SPINDLE_LASER_USE_PWM)
     SET_PWM(SPINDLE_LASER_PWM_PIN);
     hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed
+    #if PIN_EXISTS(LASER_PWM)
+      SET_PWM(SPINDLE_LASER_PWM_PIN);
+      hal.set_pwm_duty(pin_t(LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed
+    #endif
   #endif
   #if ENABLED(AIR_EVACUATION)
     OUT_WRITE(AIR_EVACUATION_PIN, !AIR_EVACUATION_ACTIVE);            // Init Vacuum/Blower OFF
@@ -98,21 +114,37 @@ void SpindleLaser::init() {
    */
   void SpindleLaser::_set_ocr(const uint8_t ocr) {
     #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
-      hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency);
+      if (active_tool_type == TYPE_LASER)
+        hal.set_pwm_frequency(pin_t(LASER_PWM_PIN), frequency);
+      else
+        hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency);
     #endif
-    hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
+    if (active_tool_type == TYPE_LASER)
+      hal.set_pwm_duty(pin_t(LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
+    elif (active_tool_type == TYPE_SPINDLE)
+      hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
   }
 
   void SpindleLaser::set_ocr(const uint8_t ocr) {
+    #if PIN_EXISTS(LASER_ENA)
+      if (tool_type == TYPE_LASER)
+        WRITE(LASER_ENA_PIN,  SPINDLE_LASER_ACTIVE_STATE); // Cutter ON
+    #endif
     #if PIN_EXISTS(SPINDLE_LASER_ENA)
-      WRITE(SPINDLE_LASER_ENA_PIN,  SPINDLE_LASER_ACTIVE_STATE); // Cutter ON
+      if (tool_type == TYPE_SPINDLE)
+        WRITE(SPINDLE_LASER_ENA_PIN,  SPINDLE_LASER_ACTIVE_STATE); // Cutter ON
     #endif
     _set_ocr(ocr);
   }
 
   void SpindleLaser::ocr_off() {
+    #if PIN_EXISTS(LASER_ENA)
+      if (active_tool_type == TYPE_LASER)
+        WRITE(LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF
+    #endif
     #if PIN_EXISTS(SPINDLE_LASER_ENA)
-      WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF
+      if (active_tool_type TYPE_SPINDLE)
+        WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF
     #endif
     _set_ocr(0);
   }
@@ -143,13 +175,21 @@ void SpindleLaser::apply_power(const uint8_t opwr) {
     #elif ENABLED(SPINDLE_SERVO)
       servo[SPINDLE_SERVO_NR].move(opwr);
     #else
-      WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
+      if (active_tool_type == TYPE_LASER)
+        WRITE(LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
+      elif (active_tool_type == TYPE_SPINDLE)
+        WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
       isReadyForUI = true;
     #endif
   }
   else {
+    #if PIN_EXISTS(LASER_ENA)
+      if (active_tool_type == TYPE_LASER)
+        WRITE(LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);
+    #endif
     #if PIN_EXISTS(SPINDLE_LASER_ENA)
-      WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);
+      if (active_tool_type  == TYPE_SPINDLE)
+        WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);
     #endif
     isReadyForUI = false; // Only used for UI display updates.
     TERN_(SPINDLE_LASER_USE_PWM, ocr_off());
diff --git a/Marlin/src/feature/spindle_laser.h b/Marlin/src/feature/spindle_laser.h
index a443d7df5e0c..3aa409dfe49a 100644
--- a/Marlin/src/feature/spindle_laser.h
+++ b/Marlin/src/feature/spindle_laser.h
@@ -117,7 +117,14 @@ class SpindleLaser {
   static void init();
 
   #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
-    static void refresh_frequency() { hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
+    static void refresh_frequency() { 
+      if (active_tool_type == TYPE_LASER) {
+        hal.set_pwm_frequency(pin_t(LASER_PWM_PIN), frequency);
+      } 
+      elif (active_tool_type == TYPE_SPINDLE) {
+        hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); 
+      }
+    }
   #endif
 
   // Modifying this function should update everywhere
@@ -211,6 +218,9 @@ class SpindleLaser {
         enable = false;
         apply_power(0);
     }
+    #if PIN_EXISTS(LASER_ENA)
+      WRITE(LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
+    #endif
     #if PIN_EXISTS(SPINDLE_LASER_ENA)
       WRITE(SPINDLE_LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
     #endif
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 03fd2c80ed9d..79a7241392e4 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -126,6 +126,93 @@
 
 #endif // QUICK_HOME
 
+#if ENABLED(QUICK_HOME_SECONDARY_AXES)
+
+  static void quick_home_xyijkuvw() {
+
+    // Pretend the current position is 0,0
+    current_position.set(0.0, 0.0);
+    SECONDARY_AXIS_CODE(
+      current_position.i = 0.0,
+      current_position.j = 0.0,
+      current_position.k = 0.0,
+      current_position.u = 0.0,
+      current_position.v = 0.0,
+      current_position.w = 0.0
+    );
+
+    sync_plan_position();
+
+    const int x_axis_home_dir = TOOL_X_HOME_DIR(active_extruder);
+
+    // Use a higher diagonal feedrate so axes move at homing speed
+    const float minfr = _MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)),
+                fr_mm_s = HYPOT(minfr, minfr);
+
+    feedRate_t old_max_speeds[NUM_AXES];
+    LOOP_NUM_AXES(i) {
+      old_max_speeds[i] = planner.settings.max_feedrate_mm_s[i];
+      planner.set_max_feedrate((AxisEnum)i, homing_feedrate((AxisEnum)i));
+    }
+    #if ENABLED(SENSORLESS_HOMING)
+      sensorless_t stealth_states {
+          NUM_AXIS_LIST(
+            TERN0(X_SENSORLESS, tmc_enable_stallguard(stepperX)), 
+            TERN0(Y_SENSORLESS, tmc_enable_stallguard(stepperY)), 
+            false,
+            tmc_enable_stallguard(stepperI),
+            tmc_enable_stallguard(stepperJ),
+            tmc_enable_stallguard(stepperK),
+            tmc_enable_stallguard(stepperU),
+            tmc_enable_stallguard(stepperV),
+            tmc_enable_stallguard(stepperW)
+          )
+          , false
+          , TERN0(X2_SENSORLESS, tmc_enable_stallguard(stepperX2)),
+          , TERN0(Y2_SENSORLESS, tmc_enable_stallguard(stepperX2))
+      };
+    #endif
+
+    do_blocking_move_to(1.5 * max_length(X_AXIS) * x_axis_home_dir, 1.5 * max_length(Y_AXIS) * Y_HOME_DIR, current_position.z, 
+        SECONDARY_AXIS_LIST(1.5 * max_length(I_AXIS) * I_HOME_DIR, 1.5 * max_length(J_AXIS) * J_HOME_DIR , 1.5 * max_length(K_AXIS) * K_HOME_DIR, 1.5 * max_length(U_AXIS) * U_HOME_DIR, 1.5 * max_length(V_AXIS) * V_HOME_DIR, 1.5 * max_length(W_AXIS) * W_HOME_DIR), 
+        fr_mm_s
+    );
+
+    endstops.validate_homing_move();
+
+    current_position.set(0.0, 0.0);
+
+    SECONDARY_AXIS_CODE(
+      current_position.i = 0.0,
+      current_position.j = 0.0,
+      current_position.k = 0.0,
+      current_position.u = 0.0,
+      current_position.v = 0.0,
+      current_position.w = 0.0
+    );
+
+    LOOP_NUM_AXES(i) { 
+      planner.set_max_feedrate((AxisEnum)i, old_max_speeds[i]);
+    }
+
+    #if ENABLED(SENSORLESS_HOMING) && DISABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
+      TERN_(X_SENSORLESS, tmc_disable_stallguard(stepperX, stealth_states.x));
+      TERN_(X2_SENSORLESS, tmc_disable_stallguard(stepperY, stealth_states.y));
+      TERN_(Y_SENSORLESS, tmc_disable_stallguard(stepperX2, stealth_states.x2));
+      TERN_(Y2_SENSORLESS, tmc_disable_stallguard(stepperY2, stealth_states.y2));
+      SECONDARY_AXIS_CODE(
+        tmc_disable_stallguard(stepperI, stealth_states.i),
+        tmc_disable_stallguard(stepperJ, stealth_states.j),
+        tmc_disable_stallguard(stepperK, stealth_states.k),
+        tmc_disable_stallguard(stepperU, stealth_states.u),
+        tmc_disable_stallguard(stepperV, stealth_states.v),
+        tmc_disable_stallguard(stepperW, stealth_states.w)
+      );
+    #endif
+  }
+
+#endif // QUICK_HOME_SECONDARY_AXES
+
 #if ENABLED(Z_SAFE_HOMING)
 
   inline void home_z_safely() {
@@ -396,7 +483,21 @@ void GcodeSuite::G28() {
       #endif // HAS_Z_AXIS
 
       // Diagonal move first if both are homing
-      TERN_(QUICK_HOME, if (doX && doY) quick_home_xy());
+
+      #if ENABLED(QUICK_HOME)
+        if (doX && doY) {
+          #if ENABLED(QUICK_HOME_SECONDARY_AXES)
+            // move all axes except Z towards 0 first if all are homing
+            if (SECONDARY_AXIS_GANG(doI, && doJ, && doK, && doU, && doV, && doW))
+              quick_home_xyijkuvw();
+            else
+              quick_home_xy();
+          #else
+            // Diagonal move first if both x and y but not not all secondary axes are homing
+            quick_home_xy();
+          #endif
+        }
+      #endif
 
       #if HAS_Y_AXIS
         // Home Y (before X)
diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp
index 6338873ea775..7439750171a2 100644
--- a/Marlin/src/gcode/calibrate/G425.cpp
+++ b/Marlin/src/gcode/calibrate/G425.cpp
@@ -174,7 +174,7 @@ inline void park_above_object(measurements_t &m, const float uncertainty) {
 #if HAS_HOTEND_OFFSET
 
   inline void normalize_hotend_offsets() {
-    for (uint8_t e = 1; e < HOTENDS; ++e)
+    for (uint8_t e = 1; e < TOOLS; ++e)
       hotend_offset[e] -= hotend_offset[0];
     hotend_offset[0].reset();
   }
@@ -617,7 +617,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
     // This function requires normalize_hotend_offsets() to be called
     //
     inline void report_hotend_offsets() {
-      for (uint8_t e = 1; e < HOTENDS; ++e)
+      for (uint8_t e = 1; e < TOOLS; ++e)
         SERIAL_ECHOLNPGM_P(PSTR("T"), e, PSTR(" Hotend Offset X"), hotend_offset[e].x, SP_Y_STR, hotend_offset[e].y, SP_Z_STR, hotend_offset[e].z);
     }
   #endif
diff --git a/Marlin/src/gcode/calibrate/M665.cpp b/Marlin/src/gcode/calibrate/M665.cpp
index 5409ff42324e..45e165d1b201 100644
--- a/Marlin/src/gcode/calibrate/M665.cpp
+++ b/Marlin/src/gcode/calibrate/M665.cpp
@@ -207,6 +207,69 @@
     SERIAL_ECHOLNPGM_P(PSTR("  M665 S"), segments_per_second);
   }
 
-#endif // POLAR
+#elif ENABLED(PENTA_AXIS_TRT)
+
+  #include "../../module/penta_axis_trt.h"
+
+  /**
+   * M665: Set PENTA_AXIS_TRT settings
+   * Parameters:
+   *   S[segments]             - Segments-per-second
+   *   X[mrzp_offset_x]        - mrzp_offset_x
+   *   Y[mrzp_offset_y]        - mrzp_offset_y
+   *   Z[mrzp_offset_z]        - mrzp_offset_z
+   *   I[rotational_offset_x]  - rotational_offset_x
+   *   J[rotational_offset_y]  - rotational_offset_y
+   *   K[rotational_offset_z]  - rotational_offset_z
+   */
+  void GcodeSuite::M665() {
+    if (!parser.seen_any()) return M665_report();
+    if (parser.seenval('S')) segments_per_second = parser.value_float();
+    if (parser.seenval('X')) mrzp_offset_x = parser.value_linear_units();
+    if (parser.seenval('Y')) mrzp_offset_y = parser.value_linear_units();
+    if (parser.seenval('Z')) mrzp_offset_z = parser.value_linear_units();
+    if (parser.seenval('I')) rotational_offset_x = parser.value_linear_units();
+    if (parser.seenval('J')) rotational_offset_y = parser.value_linear_units();
+    if (parser.seenval('K')) rotational_offset_z = parser.value_linear_units();
+  }
+
+  void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
+    report_heading_etc(forReplay, F(STR_PAX_TRT_SETTINGS));
+    SERIAL_ECHOLNPGM_P(
+      PSTR("  M665 S"), LINEAR_UNIT(segments_per_second),
+      PSTR(" X"), LINEAR_UNIT(mrzp_offset_x),
+      PSTR(" Y"), LINEAR_UNIT(mrzp_offset_y),
+      PSTR(" Z"), LINEAR_UNIT(mrzp_offset_z),
+      PSTR(" I"), LINEAR_UNIT(rotational_offset_x),
+      PSTR(" J"), LINEAR_UNIT(rotational_offset_y),
+      PSTR(" K"), LINEAR_UNIT(rotational_offset_z)
+    );
+  }
+
+#elif ENABLED(PENTA_AXIS_HT)
+
+  #include "../../module/penta_axis_ht.h"
+
+  /**
+   * M665: Set PENTA_AXIS_HT settings
+   * Parameters:
+   *   S[segments]             - Segments-per-second
+   *   Z[mrzp_offset_z]        - mrzp_offset_z
+   */
+  void GcodeSuite::M665() {
+    if (!parser.seen_any()) return M665_report();
+    if (parser.seenval('S')) segments_per_second = parser.value_float();
+    if (parser.seenval('Z')) mrzp_offset_z = parser.value_linear_units();
+  }
+
+  void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
+    report_heading_etc(forReplay, F(STR_PAX_HT_SETTINGS));
+    SERIAL_ECHOLNPGM_P(
+      PSTR("  M665 S"), LINEAR_UNIT(segments_per_second),
+      PSTR(" Z"), LINEAR_UNIT(mrzp_offset_z)
+    );
+  }
+
+#endif // PENTA_AXIS_HT
 
 #endif // IS_KINEMATIC
diff --git a/Marlin/src/gcode/config/M217.cpp b/Marlin/src/gcode/config/M217.cpp
index df275c2d3193..e11b093b86b4 100644
--- a/Marlin/src/gcode/config/M217.cpp
+++ b/Marlin/src/gcode/config/M217.cpp
@@ -22,7 +22,7 @@
 
 #include "../../inc/MarlinConfigPre.h"
 
-#if HAS_MULTI_EXTRUDER
+#if HAS_MULTI_TOOLS
 
 #include "../gcode.h"
 
@@ -220,4 +220,4 @@ void GcodeSuite::M217_report(const bool forReplay/*=true*/) {
   SERIAL_ECHOLNPGM_P(SP_Z_STR, LINEAR_UNIT(toolchange_settings.z_raise));
 }
 
-#endif // HAS_MULTI_EXTRUDER
+#endif // HAS_MULTI_TOOLS
diff --git a/Marlin/src/gcode/config/M218.cpp b/Marlin/src/gcode/config/M218.cpp
index 006f9a1d2c1b..5c5903c0206e 100644
--- a/Marlin/src/gcode/config/M218.cpp
+++ b/Marlin/src/gcode/config/M218.cpp
@@ -66,7 +66,7 @@ void GcodeSuite::M218_report(const bool forReplay/*=true*/) {
   TERN_(MARLIN_SMALL_BUILD, return);
 
   report_heading_etc(forReplay, F(STR_HOTEND_OFFSETS));
-  for (uint8_t e = 1; e < HOTENDS; ++e) {
+  for (uint8_t e = 1; e < TOOLS; ++e) {
     report_echo_start(forReplay);
     SERIAL_ECHOLNPGM_P(
       PSTR("  M218 T"), e,
diff --git a/Marlin/src/gcode/control/M211.cpp b/Marlin/src/gcode/control/M211.cpp
index 471ca6c448de..431dba1c44a0 100644
--- a/Marlin/src/gcode/control/M211.cpp
+++ b/Marlin/src/gcode/control/M211.cpp
@@ -27,15 +27,34 @@
 #include "../gcode.h"
 #include "../../module/motion.h"
 
+
+#if ENABLED(ABORT_ON_SOFTWARE_ENDSTOP)
+  #include "../../module/planner.h"
+#endif
+
 /**
  * M211: Enable, Disable, and/or Report software endstops
  *
- * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
+ * Parameters
+ *   S<bool>: flag to enable (1, default) or disable (0) software endstops.
+ *   H<bool>: flag to abort print on software endstops (1) or clamp movement to software endstops (0, default) 
+ *            if software endstops are enabled. Requires ABORT_ON_SOFTWARE_ENDSTOP
+ * 
+ * Report the software endstop status if no parameter is specified, 
+ * 
+ * Examples:
+ *   M211 S0 to disable software endstops
+ *   M211 S1 H1 to enable software endstops and halt printer on the next move beyond software endstops
+ *   M211 S1 H0 to enable software endstops and clamp movement to software endstops (default)
  */
 void GcodeSuite::M211() {
   if (parser.seen('S'))
     soft_endstop._enabled = parser.value_bool();
-  else
+  #if ENABLED(ABORT_ON_SOFTWARE_ENDSTOP)
+    if (parser.seen('H'))
+      planner.abort_on_software_endstop = parser.value_bool();
+  #endif
+  if (!(parser.seen('S') || TERN0(HABORT_ON_SOFTWARE_ENDSTOP, parser.seen('H'))))
     M211_report();
 }
 
diff --git a/Marlin/src/gcode/control/M605.cpp b/Marlin/src/gcode/control/M605.cpp
index 167cdae4a931..784e29512bc5 100644
--- a/Marlin/src/gcode/control/M605.cpp
+++ b/Marlin/src/gcode/control/M605.cpp
@@ -142,7 +142,7 @@
           "\nDEFAULT_DUPLICATION_X_OFFSET=", DEFAULT_DUPLICATION_X_OFFSET
         );
 
-        HOTEND_LOOP() {
+        for (int8_t i = 0; i < TOOLS; i++)
           DEBUG_ECHOPGM_P(SP_T_STR, e);
           LOOP_NUM_AXES(a) DEBUG_ECHOPGM("  hotend_offset[", e, "].", C(AXIS_CHAR(a) | 0x20), "=", hotend_offset[e][a]);
           DEBUG_EOL();
diff --git a/Marlin/src/gcode/control/T.cpp b/Marlin/src/gcode/control/T.cpp
index 3b0c173195d1..558a69031064 100644
--- a/Marlin/src/gcode/control/T.cpp
+++ b/Marlin/src/gcode/control/T.cpp
@@ -27,7 +27,7 @@
 #include "../gcode.h"
 #include "../../module/tool_change.h"
 
-#if ANY(HAS_MULTI_EXTRUDER, DEBUG_LEVELING_FEATURE)
+#if ANY(HAS_MULTI_TOOLS, DEBUG_LEVELING_FEATURE)
   #include "../../module/motion.h"
 #endif
 
@@ -54,7 +54,7 @@
  */
 void GcodeSuite::T(const int8_t tool_index) {
 
-  #if HAS_MULTI_EXTRUDER
+  #if HAS_MULTI_TOOLS
     // For 'T' with no parameter report the current tool.
     if (parser.string_arg && *parser.string_arg == '*') {
       SERIAL_ECHOLNPGM(STR_ACTIVE_EXTRUDER, active_extruder);
@@ -81,7 +81,7 @@ void GcodeSuite::T(const int8_t tool_index) {
   #endif
 
   tool_change(tool_index
-    #if HAS_MULTI_EXTRUDER
+    #if HAS_MULTI_TOOLS
       , parser.boolval('S')
         || TERN(PARKING_EXTRUDER, false, tool_index == active_extruder) // For PARKING_EXTRUDER motion is decided in tool_change()
     #endif
diff --git a/Marlin/src/gcode/feature/fwretract/G10_G11.cpp b/Marlin/src/gcode/feature/fwretract/G10_G11.cpp
index 1889f83d6211..c5346789e2a2 100644
--- a/Marlin/src/gcode/feature/fwretract/G10_G11.cpp
+++ b/Marlin/src/gcode/feature/fwretract/G10_G11.cpp
@@ -21,18 +21,146 @@
  */
 
 #include "../../../inc/MarlinConfig.h"
-
 #if ENABLED(FWRETRACT)
+  #include "../../feature/fwretract.h"
+#endif
 
-#include "../../../feature/fwretract.h"
-#include "../../gcode.h"
-#include "../../../module/motion.h"
+#if ANY(FWRETRACT, CNC_COORDINATE_SYSTEMS)
+  #include "../../gcode.h"
+  #include "../../../module/motion.h"
 
 /**
- * G10 - Retract filament according to settings of M207
- *       TODO: Handle 'G10 P' for tool settings and 'G10 L' for workspace settings
+ * G10
+ *     S#                    - Retract filament according to settings of M207
+ *     L1 P# X# Y# Z#...     - Sets the tool length of the tool specified by the P parameter (0 to (TOOLS - 1))
+ *     L10 P# Z#             - Set the tool length of the tool specified by the P parameter (0 to (TOOLS - 1)) so that if the tool offset is reloaded, with the machine in its 
+ *                             current position and with the current G5x and G52/G92 offsets active, the current coordinates for the given axes 
+ *                             will become the given Z value.
+ *     L2/L20 P# X# Y# Z#... - Sets the origin of the coordinate system, specified by the P parameter (1 to 9)
+ *     L2/L20 P0 X# Y# Z#... - Sets the origin of the current coordinate system
+ *
+ *
+ * Beta L2/L20 implementation based on https://github.com/MarlinFirmware/Marlin/issues/14734
+ * and http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G10-L1_
+ *
+ * !Beta - Use with caution.
  */
-void GcodeSuite::G10() { fwretract.retract(true E_OPTARG(parser.boolval('S'))); }
+
+void GcodeSuite::G10() {
+  #if ENABLED(FWRETRACT)
+    fwretract.retract(true E_OPTARG(parser.boolval('S')));
+  #endif
+
+  #if ANY(CNC_COORDINATE_SYSTEMS, HAS_TOOL_LENGTH_COMPENSATION)
+    uint8_t index,
+            offset_type;
+
+    if (parser.seenval('P'))
+      index = parser.value_byte();
+    else
+      return;
+    if (parser.seenval('L'))
+      offset_type = parser.value_byte();
+    else
+      return;
+
+    #if HAS_HOTEND_OFFSET && HAS_TOOL_LENGTH_COMPENSATION
+      if ((offset_type == 1 || offset_type == 10) && WITHIN(index, 1, TOOLS)) {
+        switch (offset_type) {
+
+          default: break;                                              // Ignore unknown G10 Lx
+
+          case 1: // Sets the tool offset
+            LOOP_NUM_AXES(i) {
+              if (parser.seen(axis_codes[i])) {
+                const float axis_value = parser.value_axis_units((AxisEnum)i);
+                if (i == Z_AXIS) {
+                  hotend_offset[index][i] = -axis_value;
+                }
+                else {
+                  hotend_offset[index][i] = axis_value;
+                }
+              }
+            }
+            break;
+
+          // G10 L10 changes the tool table entry for tool P so that if the tool offset is reloaded, with the machine in its 
+          // current position and with the current G5x and G52/G92 offsets active, the current coordinates for the given axes 
+          // will become the given values. (Intended to work the same as LinuxCNC).
+          // e.g. G10 L10 P1 Z1.5 followed by G43 sets the current position for Z to be 1.5.
+          case 10:
+            LOOP_NUM_AXES(i) {
+              if (parser.seen(axis_codes[i])) {
+                const float axis_value = parser.value_axis_units((AxisEnum)i);
+                hotend_offset[index][i] = current_position[i] - axis_value;
+              }
+            }
+            break;
+        }
+      }
+    #endif
+    #if ENABLED(CNC_COORDINATE_SYSTEMS)
+      if (offset_type == 2 || offset_type == 20) {
+        const int8_t target_system = (index == 0) ? gcode.active_coordinate_system : (index - 1);  // P0 selects current coordinate system. P1 is G54, which is Marlin coordinate_system 0 
+        const int8_t current_system = gcode.active_coordinate_system; // Store current coord system
+        if (WITHIN(target_system, 0, MAX_COORDINATE_SYSTEMS - 1)) {
+          if (current_system != target_system) {
+            gcode.select_coordinate_system(target_system); // Select new coordinate system if needed
+            #if ENABLED(DEBUG_G10)
+              SERIAL_ECHOLNPGM("Switching to workspace ", target_system);
+              report_current_position();
+            #endif
+          }
+        }
+        switch (offset_type) {
+          default: break;                                              // Ignore unknown G10 Lx
+
+          // Sets the work offsets of the specified (P[1-9]) coordinate system, by subtracting the specified X, Y, Z... values
+          // from the current machine coordinate X, Y, Z... values (Works the same as LinuxCNC)
+          // eg: If G53's X=50, Y=100 then G10 P1 L2 X10 Y2 will set G54's X=40, Y=98
+          case 2:
+            LOOP_LOGICAL_AXES(i) {
+              if (parser.seenval(axis_codes[i])) {
+                if (TERN1(HAS_EXTRUDERS, i != E_AXIS)) {
+                  const float axis_shift = parser.value_axis_units((AxisEnum)i);
+                  workspace_offset[i] = -axis_shift;
+                }
+              }
+            }
+            break;
+        
+          // Sets the work coordinates of the specified (P[1-9]) coordinate system, by matching the specified X, Y, Z... values
+          // Works similar to G92, except you can specifiy a coordinate system directly (Works the same as LinuxCNC)
+          // eg: G10 P2 L20 X10 Y50 will set G55's X=10, Y=50 no matter which coordinate system is currently selected
+          case 20:
+            LOOP_LOGICAL_AXES(i) {
+              if (parser.seenval(axis_codes[i])) {
+                if (TERN1(HAS_EXTRUDERS, i != E_AXIS)) {
+                  const float axis_value = parser.value_axis_units((AxisEnum)i);
+                  workspace_offset[i] = axis_value - current_position[i];
+                }
+              }
+            }
+            break;
+        }
+        if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1)) {
+          coordinate_system[active_coordinate_system] = workspace_offset;
+        }
+        #if ENABLED(DEBUG_G10)
+          SERIAL_ECHOLNPGM("New position for workspace ", target_system);
+          report_current_position();
+        #endif
+        if (current_system != target_system) {
+          gcode.select_coordinate_system(current_system);
+        }
+      }
+    #endif // ENABLED(CNC_COORDINATE_SYSTEMS)
+  #endif // ANY(CNC_COORDINATE_SYSTEMS, HAS_TOOL_LENGTH_COMPENSATION)
+}
+#endif   // ANY(FWRETRACT, CNC_COORDINATE_SYSTEMS)
+
+
+#if ENABLED(FWRETRACT)
 
 /**
  * G11 - Recover filament according to settings of M208
diff --git a/Marlin/src/gcode/feature/pause/M600.cpp b/Marlin/src/gcode/feature/pause/M600.cpp
index 293179ba6f7e..2a2d558e84c7 100644
--- a/Marlin/src/gcode/feature/pause/M600.cpp
+++ b/Marlin/src/gcode/feature/pause/M600.cpp
@@ -34,7 +34,7 @@
   #include "../../../lcd/sovol_rts/sovol_rts.h"
 #endif
 
-#if HAS_MULTI_EXTRUDER
+#if HAS_MULTI_TOOLS
   #include "../../../module/tool_change.h"
 #endif
 
@@ -124,7 +124,7 @@ void GcodeSuite::M600() {
   // If needed, home before parking for filament change
   TERN_(HOME_BEFORE_FILAMENT_CHANGE, home_if_needed(true));
 
-  #if HAS_MULTI_EXTRUDER
+  #if HAS_MULTI_TOOLS
     // Change toolhead if specified
     const uint8_t active_extruder_before_filament_change = active_extruder;
     if (active_extruder != target_extruder && TERN1(DUAL_X_CARRIAGE, !idex_is_duplicating()))
@@ -186,7 +186,7 @@ void GcodeSuite::M600() {
     }
   }
 
-  #if HAS_MULTI_EXTRUDER
+  #if HAS_MULTI_TOOLS
     // Restore toolhead if it was changed
     if (active_extruder_before_filament_change != active_extruder)
       tool_change(active_extruder_before_filament_change);
diff --git a/Marlin/src/gcode/feature/pause/M701_M702.cpp b/Marlin/src/gcode/feature/pause/M701_M702.cpp
index 29c8fe9a4524..8bf4756c2467 100644
--- a/Marlin/src/gcode/feature/pause/M701_M702.cpp
+++ b/Marlin/src/gcode/feature/pause/M701_M702.cpp
@@ -31,7 +31,7 @@
 #include "../../../feature/pause.h"
 #include "../../../lcd/marlinui.h"
 
-#if HAS_MULTI_EXTRUDER
+#if HAS_MULTI_TOOLS
   #include "../../../module/tool_change.h"
 #endif
 
@@ -83,7 +83,7 @@ void GcodeSuite::M701() {
   // Show initial "wait for load" message
   ui.pause_show_message(PAUSE_MESSAGE_LOAD, PAUSE_MODE_LOAD_FILAMENT, target_extruder);
 
-  #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
+  #if (HAS_MULTI_TOOLS) && (HAS_PRUSA_MMU1 || !HAS_MMU)
     // Change toolhead if specified
     uint8_t active_extruder_before_filament_change = active_extruder;
     if (active_extruder != target_extruder)
@@ -125,7 +125,7 @@ void GcodeSuite::M701() {
   // Restore Z axis
   move_z_by(-park_raise);
 
-  #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
+  #if (HAS_MULTI_TOOLS) && (HAS_PRUSA_MMU1 || !HAS_MMU)
     // Restore toolhead if it was changed
     if (active_extruder_before_filament_change != active_extruder)
       tool_change(active_extruder_before_filament_change);
@@ -188,7 +188,7 @@ void GcodeSuite::M702() {
   // Show initial "wait for unload" message
   ui.pause_show_message(PAUSE_MESSAGE_UNLOAD, PAUSE_MODE_UNLOAD_FILAMENT, target_extruder);
 
-  #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
+  #if (HAS_MULTI_TOOLS) && (HAS_PRUSA_MMU1 || !HAS_MMU)
     // Change toolhead if specified
     uint8_t active_extruder_before_filament_change = active_extruder;
     if (active_extruder != target_extruder)
@@ -205,7 +205,7 @@ void GcodeSuite::M702() {
   #elif HAS_PRUSA_MMU2
     mmu2.unload();
   #else
-    #if ALL(HAS_MULTI_EXTRUDER, FILAMENT_UNLOAD_ALL_EXTRUDERS)
+    #if ALL(HAS_MULTI_EXTRUDER, FILAMENT_UNLOAD_ALL_EXTRUDERS) || ALL(HAS_MULTI_TOOLS, FILAMENT_UNLOAD_ALL_EXTRUDERS)
       if (!parser.seenval('T')) {
         HOTEND_LOOP() {
           if (e != active_extruder) tool_change(e);
@@ -231,7 +231,7 @@ void GcodeSuite::M702() {
   if (park_point.z > 0)
     do_blocking_move_to_z(_MAX(current_position.z - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
 
-  #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
+  #if (HAS_MULTI_TOOLS) && (HAS_PRUSA_MMU1 || !HAS_MMU)
     // Restore toolhead if it was changed
     if (active_extruder_before_filament_change != active_extruder)
       tool_change(active_extruder_before_filament_change);
diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
index 1ccb10753cbc..3f6a7e156a76 100644
--- a/Marlin/src/gcode/gcode.cpp
+++ b/Marlin/src/gcode/gcode.cpp
@@ -746,7 +746,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 211: M211(); break;                                  // M211: Enable, Disable, and/or Report software endstops
       #endif
 
-      #if HAS_MULTI_EXTRUDER
+      #if HAS_MULTI_TOOLS
         case 217: M217(); break;                                  // M217: Set filament swap parameters
       #endif
 
diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
index 421dda9aec0f..b13ad5c430c6 100644
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@@ -523,8 +523,11 @@ class GcodeSuite {
     static void G6();
   #endif
 
-  #if ENABLED(FWRETRACT)
+#if ANY(FWRETRACT, CNC_COORDINATE_SYSTEMS)
     static void G10();
+  #endif
+
+  #if ENABLED(FWRETRACT)
     static void G11();
   #endif
 
@@ -900,7 +903,7 @@ class GcodeSuite {
   static void M211();
   static void M211_report(const bool forReplay=true);
 
-  #if HAS_MULTI_EXTRUDER
+  #if HAS_MULTI_TOOLS
     static void M217();
     static void M217_report(const bool forReplay=true);
   #endif
diff --git a/Marlin/src/gcode/parser.cpp b/Marlin/src/gcode/parser.cpp
index 3975cea50488..d686d0164834 100644
--- a/Marlin/src/gcode/parser.cpp
+++ b/Marlin/src/gcode/parser.cpp
@@ -190,7 +190,7 @@ void GCodeParser::parse(char *p) {
 
       // Bail if there's no command code number
       if (!TERN(SIGNED_CODENUM, NUMERIC_SIGNED(*p), NUMERIC(*p))) {
-        if (TERN0(HAS_MULTI_EXTRUDER, letter == 'T')) {
+        if (TERN0(HAS_MULTI_TOOLS, letter == 'T')) {
           p[0] = '*'; p[1] = '\0'; string_arg = p; // Convert 'T' alone into 'T*'
           command_letter = letter;
         }
diff --git a/Marlin/src/gcode/probe/G30.cpp b/Marlin/src/gcode/probe/G30.cpp
index 29d6c1ad2ba7..f25648f9115e 100644
--- a/Marlin/src/gcode/probe/G30.cpp
+++ b/Marlin/src/gcode/probe/G30.cpp
@@ -26,6 +26,7 @@
 
 #include "../gcode.h"
 #include "../../module/motion.h"
+#include "../../MarlinCore.h"
 #include "../../module/probe.h"
 #include "../../feature/bedlevel/bedlevel.h"
 #include "../../lcd/marlinui.h"
@@ -50,6 +51,8 @@
  */
 void GcodeSuite::G30() {
 
+  if (!MOTION_CONDITIONS) return;
+  
   xy_pos_t probepos = current_position;
 
   const bool seenX = parser.seenval('X');
diff --git a/Marlin/src/gcode/probe/G38.cpp b/Marlin/src/gcode/probe/G38.cpp
index d57eb9b59e9d..635ea4bc2cbb 100644
--- a/Marlin/src/gcode/probe/G38.cpp
+++ b/Marlin/src/gcode/probe/G38.cpp
@@ -28,6 +28,7 @@
 
 #include "../../module/endstops.h"
 #include "../../module/motion.h"
+#include "../../MarlinCore.h"
 #include "../../module/planner.h"
 #include "../../module/probe.h"
 
@@ -106,6 +107,8 @@ inline bool G38_run_probe() {
  */
 void GcodeSuite::G38(const int8_t subcode) {
 
+  if (!MOTION_CONDITIONS) return;
+
   // Get X Y Z E F
   get_destination_from_command();
 
diff --git a/Marlin/src/inc/Conditionals-1-axes.h b/Marlin/src/inc/Conditionals-1-axes.h
index 1ea88cec865c..7e71d13bb572 100644
--- a/Marlin/src/inc/Conditionals-1-axes.h
+++ b/Marlin/src/inc/Conditionals-1-axes.h
@@ -47,6 +47,7 @@
   #define HAS_EXTRUDERS 1
   #if EXTRUDERS > 1
     #define HAS_MULTI_EXTRUDER 1
+    #define HAS_MULTI_TOOLS 1
   #endif
   #define E_AXIS_N(E) AxisEnum(E_AXIS + E_INDEX_N(E))
 #else
@@ -198,6 +199,9 @@
 // More than one hotend...
 #if HOTENDS > 1
   #define HAS_MULTI_HOTEND 1
+  #ifndef HAS_MULTI_TOOLS
+    #define HAS_MULTI_TOOLS 1
+  #endif
   #define HAS_HOTEND_OFFSET 1
   #ifndef HOTEND_OFFSET_X
     #define HOTEND_OFFSET_X { 0 } // X offsets for each extruder
@@ -214,6 +218,23 @@
   #undef HOTEND_OFFSET_Z
 #endif
 
+/**
+ * Tools include non-extruder/hotend-tools and extruder/hotend-tools. Non-extruder/hotend-tools have no stepper motor and no hotend.
+ * 
+ * TOOLS         - Number of Selectable Tools
+ */
+#if !defined(TOOLS)
+  #define TOOLS HOTENDS
+#else
+  #if TOOLS > 0
+    #define HAS_TOOL_LENGTH_COMPENSATION 1
+  #endif
+  #if TOOLS > 1
+    #define HAS_MULTI_TOOLS 1
+    #define HAS_HOTEND_OFFSET 1
+  #endif
+#endif
+
 /**
  * Number of Linear Axes (e.g., XYZIJKUVW)
  * All the logical axes except for the tool (E) axis
diff --git a/Marlin/src/inc/Conditionals-3-etc.h b/Marlin/src/inc/Conditionals-3-etc.h
index 3c685ad58720..66e94c812222 100644
--- a/Marlin/src/inc/Conditionals-3-etc.h
+++ b/Marlin/src/inc/Conditionals-3-etc.h
@@ -151,7 +151,7 @@
 #endif
 
 // Probing tool change
-#if !HAS_MULTI_EXTRUDER
+#if !HAS_MULTI_TOOLS
   #undef PROBING_TOOL
 #endif
 #if HAS_BED_PROBE && defined(PROBING_TOOL)
@@ -642,6 +642,9 @@
   #define IS_KINEMATIC 1
 #elif ANY(DELTA, POLARGRAPH, POLAR)
   #define IS_KINEMATIC 1
+#elif ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+  #define IS_KINEMATIC 1
+  #define HAS_TOOL_CENTERPOINT_CONTROL 1
 #else
   #define IS_CARTESIAN 1
   #if !IS_CORE
diff --git a/Marlin/src/inc/Conditionals-4-adv.h b/Marlin/src/inc/Conditionals-4-adv.h
index 1401dab57031..21a1857ba231 100644
--- a/Marlin/src/inc/Conditionals-4-adv.h
+++ b/Marlin/src/inc/Conditionals-4-adv.h
@@ -868,7 +868,7 @@
   #undef WATCH_COOLER_TEMP_INCREASE
 #endif
 
-#if HAS_MULTI_EXTRUDER || HAS_MULTI_HOTEND || HAS_PRUSA_MMU2 || HAS_PRUSA_MMU3 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
+#if HAS_MULTI_TOOLS || HAS_MULTI_HOTEND || HAS_PRUSA_MMU2 || HAS_PRUSA_MMU3 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
   #define HAS_TOOLCHANGE 1
 #endif
 
@@ -1065,6 +1065,9 @@
 //
 #if ANY(SPINDLE_FEATURE, LASER_FEATURE)
   #define HAS_CUTTER 1
+  #if ENABLED(LASER_FEATURE)
+    #define LASER_TOOL EXTRUDERS
+  #endif
   #define _CUTTER_POWER_PWM255  1
   #define _CUTTER_POWER_PERCENT 2
   #define _CUTTER_POWER_RPM     3
@@ -1431,7 +1434,7 @@
 #endif
 
 // Toolchange Event G-code
-#if !HAS_MULTI_EXTRUDER || !(defined(EVENT_GCODE_TOOLCHANGE_T0) || defined(EVENT_GCODE_TOOLCHANGE_T1) || defined(EVENT_GCODE_TOOLCHANGE_T2) || defined(EVENT_GCODE_TOOLCHANGE_T3) || defined(EVENT_GCODE_TOOLCHANGE_T4) || defined(EVENT_GCODE_TOOLCHANGE_T5) || defined(EVENT_GCODE_TOOLCHANGE_T6) || defined(EVENT_GCODE_TOOLCHANGE_T7))
+#if !HAS_MULTI_TOOLS || !(defined(EVENT_GCODE_TOOLCHANGE_T0) || defined(EVENT_GCODE_TOOLCHANGE_T1) || defined(EVENT_GCODE_TOOLCHANGE_T2) || defined(EVENT_GCODE_TOOLCHANGE_T3) || defined(EVENT_GCODE_TOOLCHANGE_T4) || defined(EVENT_GCODE_TOOLCHANGE_T5) || defined(EVENT_GCODE_TOOLCHANGE_T6) || defined(EVENT_GCODE_TOOLCHANGE_T7))
   #undef TC_GCODE_USE_GLOBAL_X
   #undef TC_GCODE_USE_GLOBAL_Y
   #undef TC_GCODE_USE_GLOBAL_Z
diff --git a/Marlin/src/inc/Conditionals-5-post.h b/Marlin/src/inc/Conditionals-5-post.h
index 4884d7df0a9b..ce0b0272c777 100644
--- a/Marlin/src/inc/Conditionals-5-post.h
+++ b/Marlin/src/inc/Conditionals-5-post.h
@@ -3243,7 +3243,7 @@
 #if ENABLED(POLAR)
   #undef MIN_SOFTWARE_ENDSTOP_Y
   #undef MAX_SOFTWARE_ENDSTOP_Y
-#elif IS_KINEMATIC
+#elif IS_KINEMATIC && NONE(PENTA_AXIS_TRT, PENTA_AXIS_HT)
   #undef MIN_SOFTWARE_ENDSTOP_X
   #undef MIN_SOFTWARE_ENDSTOP_Y
   #undef MAX_SOFTWARE_ENDSTOP_X
@@ -3254,7 +3254,7 @@
  * Bed Probing bounds
  */
 
-#if IS_KINEMATIC
+#if IS_KINEMATIC && NONE(PENTA_AXIS_TRT, PENTA_AXIS_HT)
   #undef PROBING_MARGIN_LEFT
   #undef PROBING_MARGIN_RIGHT
   #undef PROBING_MARGIN_FRONT
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 5f7be17b9b5a..d917a5009b03 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -893,7 +893,11 @@ static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _L
  */
 #if ANY(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD, ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
   constexpr float thpx[] = SWITCHING_TOOLHEAD_X_POS;
-  static_assert(COUNT(thpx) == EXTRUDERS, "SWITCHING_TOOLHEAD_X_POS must be an array EXTRUDERS long.");
+  #if HAS_TOOL_LENGTH_COMPENSATION
+    static_assert(COUNT(thpx) == TOOLS, "SWITCHING_TOOLHEAD_X_POS must be an array TOOLS long.");
+  #else
+    static_assert(COUNT(thpx) == EXTRUDERS, "SWITCHING_TOOLHEAD_X_POS must be an array EXTRUDERS long.");
+  #endif
 #endif
 
 /**
@@ -902,7 +906,9 @@ static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _L
 #if ENABLED(SWITCHING_TOOLHEAD)
   #ifndef SWITCHING_TOOLHEAD_SERVO_NR
     #error "SWITCHING_TOOLHEAD requires SWITCHING_TOOLHEAD_SERVO_NR."
-  #elif EXTRUDERS < 2
+  #elif HAS_TOOL_LENGTH_COMPENSATION && (TOOLS < 2)
+    #error "SWITCHING_TOOLHEAD requires at least 2 TOOLS."
+  #elif (!HAS_TOOL_LENGTH_COMPENSATION) && (EXTRUDERS < 2)
     #error "SWITCHING_TOOLHEAD requires at least 2 EXTRUDERS."
   #elif NUM_SERVOS < (SWITCHING_TOOLHEAD_SERVO_NR - 1)
     #if SWITCHING_TOOLHEAD_SERVO_NR == 0
@@ -1174,8 +1180,8 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
 /**
  * Allow only one kinematic type to be defined
  */
-#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, ARTICULATED_ROBOT_ARM, FOAMCUTTER_XYUV, POLAR)
-  #error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, ARTICULATED_ROBOT_ARM, FOAMCUTTER_XYUV, or POLAR."
+#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, ARTICULATED_ROBOT_ARM, FOAMCUTTER_XYUV, POLAR, PENTA_AXIS_TRT, PENTA_AXIS_HT)
+  #error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, ARTICULATED_ROBOT_ARM, FOAMCUTTER_XYUV, POLAR, PENTA_AXIS_TRT or PENTA_AXIS_HT."
 #endif
 
 /**
@@ -2241,7 +2247,7 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
   #endif // HAS_MULTI_HOTEND
 #endif // HAS_HOTEND
 
-#if DO_TOOLCHANGE_FOR_PROBING && PROBING_TOOL >= EXTRUDERS
+#if DO_TOOLCHANGE_FOR_PROBING && PROBING_TOOL >= TOOLS
   #error "PROBING_TOOL must be a valid tool index."
 #endif
 
@@ -3910,9 +3916,7 @@ static_assert(_PLUS_TEST(3), "DEFAULT_MAX_ACCELERATION values must be positive."
   #endif
 
   #define _PIN_CONFLICT(P) (PIN_EXISTS(P) && P##_PIN == SPINDLE_LASER_PWM_PIN)
-  #if ALL(SPINDLE_FEATURE, LASER_FEATURE)
-    #error "Enable only one of SPINDLE_FEATURE or LASER_FEATURE."
-  #elif NONE(SPINDLE_SERVO, SPINDLE_LASER_USE_PWM) && !PIN_EXISTS(SPINDLE_LASER_ENA)
+  #if NONE(SPINDLE_SERVO, SPINDLE_LASER_USE_PWM) && !PIN_EXISTS(SPINDLE_LASER_ENA)
     #error "(SPINDLE|LASER)_FEATURE requires SPINDLE_LASER_ENA_PIN, SPINDLE_LASER_USE_PWM, or SPINDLE_SERVO to control the power."
   #elif ENABLED(SPINDLE_CHANGE_DIR) && !PIN_EXISTS(SPINDLE_DIR)
     #error "SPINDLE_DIR_PIN is required for SPINDLE_CHANGE_DIR."
diff --git a/Marlin/src/lcd/marlinui.cpp b/Marlin/src/lcd/marlinui.cpp
index b8e11b5b4d34..1e0029a94ea4 100644
--- a/Marlin/src/lcd/marlinui.cpp
+++ b/Marlin/src/lcd/marlinui.cpp
@@ -831,7 +831,7 @@ void MarlinUI::init() {
 
       #if IS_KINEMATIC
 
-        #if HAS_MULTI_EXTRUDER
+        #if HAS_MULTI_TOOLS
           REMEMBER(ae, active_extruder);
           #if MULTI_E_MANUAL
             if (axis == E_AXIS) active_extruder = e_index;
diff --git a/Marlin/src/lcd/menu/menu_advanced.cpp b/Marlin/src/lcd/menu/menu_advanced.cpp
index e1072f3ee41c..fb8e1f35fb9f 100644
--- a/Marlin/src/lcd/menu/menu_advanced.cpp
+++ b/Marlin/src/lcd/menu/menu_advanced.cpp
@@ -731,6 +731,11 @@ void menu_advanced_settings() {
     EDIT_ITEM(bool, MSG_ENDSTOP_ABORT, &planner.abort_on_endstop_hit);
   #endif
 
+  // M211 H - Abort on software endstop hit
+  #if ENABLED(ABORT_ON_SOFTWARE_ENDSTOP)
+    EDIT_ITEM(bool, MSG_SOFTWARE_ENDSTOP_ABORT, &planner.abort_on_software_endstop);
+  #endif
+
   #if ENABLED(SD_FIRMWARE_UPDATE)
     EDIT_ITEM(bool, MSG_MEDIA_UPDATE, &sd_update_state, []{
       //
diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 999e07ea7431..98471094f41c 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -58,6 +58,10 @@
   #include "probe.h"
 #endif
 
+#if ANY(SD_ABORT_ON_ENDSTOP_HIT, ABORT_ON_SOFTWARE_ENDSTOP) && HAS_CUTTER
+  #include "../feature/spindle_laser.h"
+#endif
+
 #define DEBUG_OUT ALL(USE_SENSORLESS, DEBUG_LEVELING_FEATURE)
 #include "../core/debug_out.h"
 
@@ -394,6 +398,21 @@ void Endstops::event_handler() {
         #endif
         print_job_timer.stop();
       }
+
+    #elif ENABLED(ABORT_ON_SOFTWARE_ENDSTOP)
+      if (planner.abort_on_software_endstop) {
+        TERN_(ADVANCED_PAUSE_FEATURE, did_pause_print = 0);
+        quickstop_stepper();
+        #if HAS_CUTTER
+          TERN_(SPINDLE_FEATURE, safe_delay(1000));
+          cutter.kill();
+        #endif
+        #ifdef SD_ABORT_ON_ENDSTOP_HIT_GCODE
+          queue.clear();
+          queue.inject(F(SD_ABORT_ON_ENDSTOP_HIT_GCODE));
+        #endif
+        stop();
+      }
     #endif
   }
 }
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index af26cfff02ac..81ee3bc59a71 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -70,6 +70,10 @@
   #include "../feature/babystep.h"
 #endif
 
+#if ENABLED(ABORT_ON_SOFTWARE_ENDSTOP) && HAS_CUTTER
+  #include "../feature/spindle_laser.h"
+#endif
+
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
 #include "../core/debug_out.h"
 
@@ -114,7 +118,7 @@ xyze_pos_t destination; // {0}
 #endif
 
 // The active extruder (tool). Set with T<extruder> command.
-#if HAS_MULTI_EXTRUDER
+#if HAS_MULTI_TOOLS
   uint8_t active_extruder = 0; // = 0
 #endif
 
@@ -124,15 +128,19 @@ xyze_pos_t destination; // {0}
 
 // Extruder offsets
 #if HAS_HOTEND_OFFSET
-  xyz_pos_t hotend_offset[HOTENDS]; // Initialized by settings.load()
+  xyz_pos_t hotend_offset[TOOLS]; // Initialized by settings.load()
   void reset_hotend_offsets() {
-    constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
+    constexpr float tmp[XYZ][TOOLS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
     static_assert(
       !tmp[X_AXIS][0] && !tmp[Y_AXIS][0] && !tmp[Z_AXIS][0],
       "Offsets for the first hotend must be 0.0."
     );
     // Transpose from [XYZ][HOTENDS] to [HOTENDS][XYZ]
-    HOTEND_LOOP() LOOP_ABC(a) hotend_offset[e][a] = tmp[a][e];
+    for (uint8_t e = 0; e < TOOLS; e++) {
+      for (uint8_t a = 0; a < XYZ; a++) {
+        hotend_offset[e][a] = tmp[a][e];
+      }
+    }
     TERN_(DUAL_X_CARRIAGE, hotend_offset[1].x = _MAX(X2_HOME_POS, X2_MAX_POS));
   }
 #endif
@@ -150,9 +158,13 @@ int16_t feedrate_percentage = 100;
 // Cartesian conversion result goes here:
 xyz_pos_t cartes;
 
+#if HAS_TOOL_LENGTH_COMPENSATION
+  bool simple_tool_length_compensation = false;
+#endif
+
 #if IS_KINEMATIC
 
-  abce_pos_t delta;
+  abce_pos_t delta = LOGICAL_AXIS_ARRAY(0, X_HOME_POS, Y_HOME_POS, Z_INIT_POS, I_HOME_POS, J_HOME_POS, K_HOME_POS, U_HOME_POS, V_HOME_POS, W_HOME_POS);
 
   #if HAS_SCARA_OFFSET
     abc_pos_t scara_home_offset;
@@ -171,6 +183,11 @@ xyz_pos_t cartes;
                     delta_max_radius_2 = sq(PRINTABLE_RADIUS);
   #endif
 
+
+  #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+    bool tool_centerpoint_control = true;
+  #endif
+
 #endif
 
 /**
@@ -871,7 +888,7 @@ void report_current_position_projected() {
 
 #endif // REALTIME_REPORTING_COMMANDS
 
-#if IS_KINEMATIC
+#if IS_KINEMATIC && NONE(PENTA_AXIS_TRT, PENTA_AXIS_HT)
 
   bool position_is_reachable(const_float_t rx, const_float_t ry, const float inset/*=0*/) {
 
@@ -939,6 +956,28 @@ void report_current_position_projected() {
 
 #endif // CARTESIAN
 
+#if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+  bool position_is_reachable_xyijkuvw(NUM_AXIS_LIST(const_float_t rx, const_float_t ry, const_float_t rz, const_float_t ri, const_float_t rj, const_float_t rk, const_float_t ru, const_float_t rv, const_float_t rw)) {
+
+    const bool can_reach = (
+      NUM_AXIS_GANG(
+           COORDINATE_OKAY(rx, X_MIN_POS - fslop, X_MAX_POS + fslop),
+        && COORDINATE_OKAY(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop),
+        && true,
+        && COORDINATE_OKAY(ri, I_MIN_POS - fslop, I_MAX_POS + fslop),
+        && COORDINATE_OKAY(rj, J_MIN_POS - fslop, J_MAX_POS + fslop),
+        && COORDINATE_OKAY(rk, K_MIN_POS - fslop, K_MAX_POS + fslop),
+        && COORDINATE_OKAY(ru, U_MIN_POS - fslop, U_MAX_POS + fslop),
+        && COORDINATE_OKAY(rv, V_MIN_POS - fslop, V_MAX_POS + fslop),
+        && COORDINATE_OKAY(rw, W_MIN_POS - fslop, W_MAX_POS + fslop)
+      )
+    );
+
+    return can_reach;
+  }
+#endif
+
+
 void home_if_needed(const bool keeplev/*=false*/) {
   if (!all_axes_trusted()) gcode.home_all_axes(keeplev);
 }
@@ -1136,10 +1175,13 @@ void do_blocking_move_to(NUM_AXIS_ARGS_(const_float_t) const_feedRate_t fr_mm_s/
     const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS);
   #endif
 
-  #if IS_KINEMATIC && DISABLED(POLARGRAPH)
+  #if IS_KINEMATIC && NONE(POLARGRAPH, PENTA_AXIS_TRT, PENTA_AXIS_HT)
     // kinematic machines are expected to home to a point 1.5x their range? never reachable.
     if (!position_is_reachable(x, y)) return;
     destination = current_position;          // sync destination at the start
+  #elif ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+      if (!position_is_reachable_xyijkuvw(NUM_AXIS_LIST(x, y, z, i, j, k, u, v, w))) return;
+    destination = current_position;          // sync destination at the start
   #endif
 
   #if ENABLED(DELTA)
@@ -1498,6 +1540,51 @@ void restore_feedrate_and_scaling() {
       SERIAL_ECHOLNPGM("Axis ", C(AXIS_CHAR(axis)), " min:", soft_endstop.min[axis], " max:", soft_endstop.max[axis]);
   }
 
+
+  void handle_min_software_endstop(const AxisEnum axis, xyz_pos_t &target_pos) {
+    #if ENABLED(ABORT_ON_SOFTWARE_ENDSTOP)
+      if (planner.abort_on_software_endstop) {
+        if (target_pos[axis] < soft_endstop.min[axis]) {
+          NOLESS(target_pos[axis], soft_endstop.min[axis]);
+          SERIAL_ERROR_MSG(STR_ERR_SW_ENDSTOP);
+          quickstop_stepper();
+          #if HAS_CUTTER
+            TERN_(SPINDLE_FEATURE, safe_delay(1000));
+            cutter.kill();
+          #endif
+          stop();
+        }
+        else {
+          NOLESS(target_pos[axis], soft_endstop.min[axis]);
+        }
+      }
+    #else
+      NOLESS(target_pos[axis], soft_endstop.min[axis]);
+    #endif
+  }
+
+  void handle_max_software_endstop(const AxisEnum axis, xyz_pos_t &target_pos) {
+    #if ENABLED(ABORT_ON_SOFTWARE_ENDSTOP)
+      if (planner.abort_on_software_endstop) {
+        if (target_pos[axis] > soft_endstop.max[axis]) {
+          NOMORE(target_pos[axis], soft_endstop.max[axis]);
+          SERIAL_ERROR_MSG(STR_ERR_SW_ENDSTOP);
+          quickstop_stepper();
+          #if HAS_CUTTER
+            TERN_(SPINDLE_FEATURE, safe_delay(1000));
+            cutter.kill();
+          #endif
+          stop();
+        }
+        else {
+          NOMORE(target_pos[axis], soft_endstop.max[axis]);
+        }
+      }
+    #else
+      NOMORE(target_pos[axis], soft_endstop.max[axis]);
+    #endif
+  }
+
   /**
    * Constrain the given coordinates to the software endstops.
    *
@@ -1508,7 +1595,7 @@ void restore_feedrate_and_scaling() {
 
     if (!soft_endstop._enabled) return;
 
-    #if IS_KINEMATIC
+    #if IS_KINEMATIC && NONE(PENTA_AXIS_HT, PENTA_AXIS_TRT)
 
       if (TERN0(DELTA, !all_axes_homed())) return;
 
@@ -1542,10 +1629,10 @@ void restore_feedrate_and_scaling() {
       #if HAS_X_AXIS
         if (axis_was_homed(X_AXIS)) {
           #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
-            NOLESS(target.x, soft_endstop.min.x);
+            handle_min_software_endstop(X_AXIS, target);
           #endif
           #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
-            NOMORE(target.x, soft_endstop.max.x);
+            handle_max_software_endstop(X_AXIS, target);
           #endif
         }
       #endif
@@ -1553,10 +1640,10 @@ void restore_feedrate_and_scaling() {
       #if HAS_Y_AXIS
         if (axis_was_homed(Y_AXIS)) {
           #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
-            NOLESS(target.y, soft_endstop.min.y);
+            handle_min_software_endstop(Y_AXIS, target);
           #endif
           #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
-            NOMORE(target.y, soft_endstop.max.y);
+            handle_max_software_endstop(Y_AXIS, target);
           #endif
         }
       #endif
@@ -1566,70 +1653,70 @@ void restore_feedrate_and_scaling() {
     #if HAS_Z_AXIS
       if (axis_was_homed(Z_AXIS)) {
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
-          NOLESS(target.z, soft_endstop.min.z);
+          handle_min_software_endstop(Z_AXIS, target);
         #endif
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
-          NOMORE(target.z, soft_endstop.max.z);
+          handle_max_software_endstop(Z_AXIS, target);
         #endif
       }
     #endif
     #if HAS_I_AXIS
       if (axis_was_homed(I_AXIS)) {
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_I)
-          NOLESS(target.i, soft_endstop.min.i);
+          handle_min_software_endstop(I_AXIS, target);
         #endif
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_I)
-          NOMORE(target.i, soft_endstop.max.i);
+          handle_max_software_endstop(I_AXIS, target); 
         #endif
       }
     #endif
     #if HAS_J_AXIS
       if (axis_was_homed(J_AXIS)) {
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_J)
-          NOLESS(target.j, soft_endstop.min.j);
+          handle_min_software_endstop(J_AXIS, target);
         #endif
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_J)
-          NOMORE(target.j, soft_endstop.max.j);
+          handle_max_software_endstop(J_AXIS, target);
         #endif
       }
     #endif
     #if HAS_K_AXIS
       if (axis_was_homed(K_AXIS)) {
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_K)
-          NOLESS(target.k, soft_endstop.min.k);
+          handle_min_software_endstop(K_AXIS, target);
         #endif
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_K)
-          NOMORE(target.k, soft_endstop.max.k);
+          handle_max_software_endstop(K_AXIS, target);
         #endif
       }
     #endif
     #if HAS_U_AXIS
       if (axis_was_homed(U_AXIS)) {
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_U)
-          NOLESS(target.u, soft_endstop.min.u);
+          handle_min_software_endstop(U_AXIS, target);
         #endif
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_U)
-          NOMORE(target.u, soft_endstop.max.u);
+          handle_max_software_endstop(U_AXIS, target);
         #endif
       }
     #endif
     #if HAS_V_AXIS
       if (axis_was_homed(V_AXIS)) {
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_V)
-          NOLESS(target.v, soft_endstop.min.v);
+          handle_min_software_endstop(V_AXIS, target);
         #endif
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_V)
-          NOMORE(target.v, soft_endstop.max.v);
+          handle_max_software_endstop(V_AXIS, target);
         #endif
       }
     #endif
     #if HAS_W_AXIS
       if (axis_was_homed(W_AXIS)) {
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_W)
-          NOLESS(target.w, soft_endstop.min.w);
+          handle_min_software_endstop(W_AXIS, target);
         #endif
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_W)
-          NOMORE(target.w, soft_endstop.max.w);
+          handle_max_software_endstop(W_AXIS, target);
         #endif
       }
     #endif
@@ -1783,14 +1870,35 @@ float get_move_distance(const xyze_pos_t &diff OPTARG(HAS_ROTATIONAL_AXES, bool
 
     const xyze_float_t diff = destination - current_position;
 
-    // If the move is only in Z/E don't split up the move
-    if (!diff.x && !diff.y) {
+
+    #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+      // If the move is only in X/Y/Z/E don't split up the move
+      if ((!tool_centerpoint_control) || (NEAR_ZERO(diff.i) && TERN1(HAS_J_AXIS, NEAR_ZERO(diff.j)))) {
+    #else
+      // If the move is only in Z/E don't split up the move
+      if (!diff.x && !diff.y) {
+    #endif
       planner.buffer_line(destination, scaled_fr_mm_s);
       return false; // caller will update current_position
     }
 
     // Fail if attempting move outside printable radius
-    if (!position_is_reachable(destination)) return true;
+    #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+      // Abort if attempting move outside printable radius
+      if (!position_is_reachable(destination)) {
+        SERIAL_ERROR_MSG("Position not reachable.");
+        quickstop_stepper();
+        #if HAS_CUTTER
+          TERN_(SPINDLE_FEATURE, safe_delay(1000));
+          cutter.kill();
+        #endif
+        stop();
+        return true;
+      }
+    #else
+      // Fail if attempting move outside printable radius
+      if (!position_is_reachable(destination)) return true;
+    #endif
 
     // Get the linear distance in XYZ
     #if HAS_ROTATIONAL_AXES
@@ -3057,6 +3165,12 @@ void set_axis_is_at_home(const AxisEnum axis) {
     current_position[axis] = (axis == Z_AXIS) ? DIFF_TERN(HAS_BED_PROBE, delta_height, probe.offset.z) : base_home_pos(axis);
   #else
     current_position[axis] = SUM_TERN(HAS_HOME_OFFSET, base_home_pos(axis), home_offset[axis]);
+    #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+      // TODO (DerAndere): Introduce a function like scara_set_axis_is_at_home.
+      delta[axis] = current_position[axis];
+      if (axis == J_AXIS)
+        delta = SUM_TERN(HAS_HOME_OFFSET, base_home_pos(axis), home_offset[axis]);
+    #endif
   #endif
 
   /**
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index ef3a1026e033..1b05dc1b4ba1 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -57,9 +57,16 @@ extern xyze_pos_t current_position,  // High-level current tool position
 // Scratch space for a cartesian result
 extern xyz_pos_t cartes;
 
+#if HAS_TOOL_LENGTH_COMPENSATION
+  extern bool simple_tool_length_compensation;
+#endif
+
 // Until kinematics.cpp is created, declare this here
 #if IS_KINEMATIC
   extern abce_pos_t delta;
+  #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+    extern bool tool_centerpoint_control;
+  #endif
 #endif
 
 #if HAS_ABL_NOT_UBL
@@ -112,7 +119,7 @@ extern int16_t feedrate_percentage;
 #define MMS_SCALED(V) ((V) * 0.01f * feedrate_percentage)
 
 // The active extruder (tool). Set with T<extruder> command.
-#if HAS_MULTI_EXTRUDER
+#if HAS_MULTI_TOOLS
   extern uint8_t active_extruder;
 #else
   constexpr uint8_t active_extruder = 0;
@@ -155,10 +162,10 @@ inline float home_bump_mm(const AxisEnum axis) {
 }
 
 #if HAS_HOTEND_OFFSET
-  extern xyz_pos_t hotend_offset[HOTENDS];
+  extern xyz_pos_t hotend_offset[TOOLS];
   void reset_hotend_offsets();
 #elif HOTENDS
-  constexpr xyz_pos_t hotend_offset[HOTENDS] = { { TERN_(HAS_X_AXIS, 0) } };
+  constexpr xyz_pos_t hotend_offset[TOOLS] = { { TERN_(HAS_X_AXIS, 0) } };
 #else
   constexpr xyz_pos_t hotend_offset[1] = { { TERN_(HAS_X_AXIS, 0) } };
 #endif
@@ -554,7 +561,7 @@ void home_if_needed(const bool keeplev=false);
 /**
  * position_is_reachable family of functions
  */
-#if IS_KINEMATIC // (DELTA or SCARA)
+#if IS_KINEMATIC && NONE(PENTA_AXIS_TRT, PENTA_AXIS_HT)  // (DELTA or SCARA)
 
   #if HAS_SCARA_OFFSET
     extern abc_pos_t scara_home_offset; // A and B angular offsets, Z mm offset
@@ -577,6 +584,14 @@ void home_if_needed(const bool keeplev=false);
 
 #endif
 
+#if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+
+  bool position_is_reachable_xyijkuvw(NUM_AXIS_LIST(const_float_t rx, const_float_t ry, const_float_t rz, const_float_t ri, const_float_t rj, const_float_t rk, const_float_t ru, const_float_t rv, const_float_t rw));
+  inline bool position_is_reachable_xyijkuvw(const xyz_pos_t &pos) {
+    return position_is_reachable_xyijkuvw(NUM_AXIS_LIST(pos.x, pos.y, pos.z, pos.i, pos.j, pos.k, pos.u, pos.v, pos.w));
+  }
+#endif
+
 /**
  * Duplication mode
  */
diff --git a/Marlin/src/module/penta_axis_ht.cpp b/Marlin/src/module/penta_axis_ht.cpp
new file mode 100644
index 000000000000..6cc33229059f
--- /dev/null
+++ b/Marlin/src/module/penta_axis_ht.cpp
@@ -0,0 +1,117 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+
+/**
+ * @file penta_axis_ht.cpp
+ * @author DerAndere
+ * @brief Kinematics for a 5 axis CNC machine in head-table configuration.
+ *
+ * This machine has a tilting head and a horizontal rotary table.
+ *
+ * Copyright 2024 DerAndere
+ *
+ * Based on a relicensed verion of LinuxCNC file maxkins.c
+ * Author: Chris Radek <chris@timeguy.com>
+ *
+ * Copyright (c) 2007, 2022 Chris Radek
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(PENTA_AXIS_HT)
+
+#include "penta_axis_ht.h"
+#include "motion.h"
+
+
+// Initialized by settings.load()
+float segments_per_second;
+float mrzp_offset_z;
+
+/**
+ * penta axis head table inverse kinematics
+ *
+ * Calculate the joints positions for a given position, storing the result in the global delta[] array.
+ * The raw position is interpreted as native machine position using native_to_joint().
+ */
+void inverse_kinematics(const xyz_pos_t &raw) {
+    delta = native_to_joint(raw);
+}
+
+/**
+ * Calculate the joints positions for a given position.
+ *
+ * This is an expensive calculation.
+ */
+xyz_pos_t native_to_joint(const xyz_pos_t &native) {
+  if (!tool_centerpoint_control) return native;
+
+  // X and Y hotend offsets must be applied in Cartesian space with no "spoofing"
+  xyz_pos_t pos = NUM_AXIS_ARRAY(
+                    DIFF_TERN(HAS_HOTEND_OFFSET, native.x, hotend_offset[active_extruder].x),
+                    DIFF_TERN(HAS_HOTEND_OFFSET, native.y, hotend_offset[active_extruder].y),
+                    native.z,
+                    native.i,
+                    native.j
+                  );
+
+  const float pivot_length = DIFF_TERN(HAS_HOTEND_OFFSET, mrzp_offset_z, hotend_offset[active_extruder].z);
+  const float i_rad = RADIANS(pos.i);
+
+  #if HAS_J_AXIS || AXIS4_NAME == 'B'
+    // B correction
+    const float zb = pivot_length * cos(i_rad) - mrzp_offset_z;
+    const float xb = pivot_length * sin(i_rad);
+
+    #if HAS_J_AXIS
+      // C correction
+      const float xyr = HYPOT(pos.x, pos.y);
+      const float xytheta = ATAN2(pos.y, pos.x) - RADIANS(pos.j);
+    #endif
+
+    const xyz_pos_t joints_pos = NUM_AXIS_ARRAY(
+      TERN(HAS_J_AXIS, xyr * cos(xytheta) + xb, pos.x + xb),
+      TERN(HAS_J_AXIS, xyr * sin(xytheta), pos.y),
+      pos.z + zb,
+      pos.i,
+      pos.j
+    );
+
+  #elif (!HAS_J_AXIS) && (AXIS4_NAME == 'C')
+    // C correction
+    const float xyr = HYPOT(pos.x, pos.y);
+    const float xytheta = ATAN2(pos.y, pos.x) - i_rad;
+
+    const xyz_pos_t joints_pos = NUM_AXIS_ARRAY(
+      xyr * cos(xytheta),
+      xyr * sin(xytheta),
+      DIFF_TERN(HAS_HOTEND_OFFSET, pos.z, hotend_offset[active_extruder].z),
+      pos.i,
+      pos.j
+    );
+  #endif
+
+  return joints_pos;
+}
+
+#endif //PENTA_AXIS_HT
diff --git a/Marlin/src/module/penta_axis_ht.h b/Marlin/src/module/penta_axis_ht.h
new file mode 100644
index 000000000000..7325eb704f93
--- /dev/null
+++ b/Marlin/src/module/penta_axis_ht.h
@@ -0,0 +1,60 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#pragma once
+
+/**
+ * @file penta_axis_ht.h
+ * @author DerAndere
+ * @brief Kinematics for a 5 axis CNC machine in head-table configuration.
+ * 
+ * This machine has a swivel head and a horizontal rotary table.
+ *
+ * Copyright 2024 DerAndere
+ *
+ * Based on a relicensed verion of LinuxCNC file maxkins.c
+ * Author: Chris Radek <chris@timeguy.com>
+ *
+ * Copyright (c) 2007, 2022 Chris Radek
+ */
+
+#include "../core/types.h"
+
+// Machine rotary zero point Z offset is the distance from the center of rotation of the joint that tilts the toolhead to the gage line.
+extern float mrzp_offset_z;
+extern bool tool_centerpoint_control;
+extern float segments_per_second;
+
+/**
+ * penta axis head table inverse kinematics
+ *
+ * Calculate the joints positions for a given position, storing the result in the global delta[] array.
+ * The raw position is interpreted as native machine position using native_to_joint().
+ */
+void inverse_kinematics(const xyz_pos_t &raw);
+
+/**
+ * Calculate the joints positions for a given position.
+ *
+ * This is an expensive calculation.
+ */
+xyz_pos_t native_to_joint(const xyz_pos_t &native);
diff --git a/Marlin/src/module/penta_axis_trt.cpp b/Marlin/src/module/penta_axis_trt.cpp
new file mode 100644
index 000000000000..c37fc18f95dd
--- /dev/null
+++ b/Marlin/src/module/penta_axis_trt.cpp
@@ -0,0 +1,147 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+
+/**
+ * @file penta_axis_trt.cpp
+ * @author DerAndere
+ * @brief Kinematics for a 5 axis CNC machine in tilting rotary table configuration.
+ *
+ *  A) XYZAC_TRT:
+ *     This machine has a tilting table (A axis parallel to the X axis) and horizontal rotary
+ *     mounted to the table (C axis).
+ *  B) XYZBC_TRT:
+ *     This machine has a tilting table (B axis parallel to the Y axis) and horizontal rotary
+ *     mounted to the table (C axis).
+ *
+ * Copyright 2024 DerAndere
+ *
+ * Based on the file trtfuncs.c from LinuxCNC (https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/kinematics/trtfuncs.c)
+ * Copyright 2016 Rudy du Preez <rudy@asmsa.co.za>
+ * Author: Rudy du Preez <rudy@asmsa.co.za>
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(PENTA_AXIS_TRT)
+
+#include "penta_axis_trt.h"
+#include "motion.h"
+
+// Initialized by settings.load()
+float segments_per_second;
+float mrzp_offset_x;
+float mrzp_offset_y;
+float mrzp_offset_z;
+float rotational_offset_x;
+float rotational_offset_y;
+float rotational_offset_z;
+
+/**
+ * 5 axis tilting rotary table inverse kinematics
+ *
+ * Calculate the joints positions for a given position, storing the result in the global delta[] array.
+ * The raw position is interpreted as machine position using native_to_joint().
+ */
+void inverse_kinematics(const xyz_pos_t &raw) {
+    delta = native_to_joint(raw);
+}
+
+/**
+ * Calculate the joints positions for a given position.
+ *
+ * This is an expensive calculation.
+ */
+xyz_pos_t native_to_joint(const xyz_pos_t &native) {
+  if (!tool_centerpoint_control) return native;
+
+  const float pivot_length_x = native.x - mrzp_offset_x;
+  const float pivot_length_y = native.y - mrzp_offset_y;
+  const float pivot_length_z = native.z - mrzp_offset_z;
+
+  const float i_rad = RADIANS(native.i);
+  const float cos_i = cos(i_rad);
+  const float sin_i = sin(i_rad);
+
+  const float j_rad = TERN0(HAS_J_AXIS, RADIANS(native.j));
+  const float cos_j = TERN1(HAS_J_AXIS, cos(j_rad));
+  const float sin_j = TERN0(HAS_J_AXIS, sin(j_rad));
+
+  #if AXIS4_NAME == 'A'
+    // computed position
+    const xyz_pos_t joints_pos = NUM_AXIS_ARRAY(
+        cos_j      * pivot_length_x
+      - sin_j      * pivot_length_y
+      + DIFF_TERN(HAS_HOTEND_OFFSET, mrzp_offset_x, hotend_offset[active_extruder].x),
+
+        sin_j * cos_i * pivot_length_x
+      + cos_j * cos_i * pivot_length_y
+      +         sin_i * pivot_length_z
+      -         cos_i * rotational_offset_y
+      -         sin_i * rotational_offset_z
+      + rotational_offset_y
+      + DIFF_TERN(HAS_HOTEND_OFFSET, mrzp_offset_y, hotend_offset[active_extruder].y),
+
+      - sin_j * sin_i * pivot_length_x
+      - cos_j * sin_i * pivot_length_y
+      +         cos_i * pivot_length_z
+      +         sin_i * rotational_offset_y
+      -         cos_i * rotational_offset_z
+      + rotational_offset_z      
+      + DIFF_TERN(HAS_HOTEND_OFFSET, mrzp_offset_z, hotend_offset[active_extruder].z),
+
+        native.i,
+
+        native.j
+    );
+  #elif AXIS4_NAME == 'B'
+    // computed position
+    const xyz_pos_t joints_pos = NUM_AXIS_ARRAY(
+        cos_j * cos_i * pivot_length_x
+      + sin_j * cos_i * pivot_length_y
+      -         sin_i * pivot_length_z
+      -         cos_i * rotational_offset_x 
+      +         sin_i * rotational_offset_z 
+      + rotational_offset_x 
+      + DIFF_TERN(HAS_HOTEND_OFFSET, mrzp_offset_x, hotend_offset[active_extruder].x),
+
+      - sin_j      * pivot_length_x
+      + cos_j      * pivot_length_y
+      + DIFF_TERN(HAS_HOTEND_OFFSET, mrzp_offset_y, hotend_offset[active_extruder].y),
+
+        cos_j * sin_i * pivot_length_x
+      + sin_j * sin_i * pivot_length_y
+      +         cos_i * pivot_length_z
+      -         sin_i * rotational_offset_x 
+      -         cos_i * rotational_offset_z
+      + rotational_offset_z
+      + DIFF_TERN(HAS_HOTEND_OFFSET, mrzp_offset_z, hotend_offset[active_extruder].z),
+
+        native.i,
+
+        native.j
+    );
+  #endif
+  return joints_pos;
+}
+
+#endif // PENTA_AXIS_TRT
diff --git a/Marlin/src/module/penta_axis_trt.h b/Marlin/src/module/penta_axis_trt.h
new file mode 100644
index 000000000000..7ef8021964b0
--- /dev/null
+++ b/Marlin/src/module/penta_axis_trt.h
@@ -0,0 +1,72 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#pragma once
+
+/**
+ * @file penta_axis_trt.h
+ * @author DerAndere
+ * @brief Kinematics for a 5 axis CNC machine in tilting rotating table configuration.
+ *
+ *  A) XYZAC_TRT:
+ *     This machine has a tilting table (A axis paralel to the X axis) and horizontal rotary
+ *     mounted to the table (C axis).
+ *  B) XYZBC_TRT:
+ *     This machine has a tilting table (B axis paralel to the Y axis) and horizontal rotary
+ *     mounted to the table (C axis).
+ *
+ * Copyright 2024 DerAndere
+ *
+ * Based on the file trtfuncs.c from LinuxCNC (https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/kinematics/trtfuncs.c)
+ * Copyright 2016 Rudy du Preez <rudy@asmsa.co.za>
+ * Author: Rudy du Preez <rudy@asmsa.co.za>
+ */
+
+#include "../core/types.h"
+
+extern bool tool_centerpoint_control;
+extern float segments_per_second;
+
+// Center of rotation of the tilting rotating table, given as native machine coorinates when all axes are at 0.
+extern float mrzp_offset_x;
+extern float mrzp_offset_y;
+extern float mrzp_offset_z;
+
+// Offsets between the Centerlines of the rotational joints.
+extern float rotational_offset_x; // For a machine with XYZBC axes, this is the x offset between the centerlines of the rotational joints
+extern float rotational_offset_y; // For a machine with XYZAC axes, this is the y offset between the centerlines of the rotational joints
+extern float rotational_offset_z; // This is the Z offset between the table surface and the joint that tilts the table
+
+/**
+ * 5 axis tilting rotary table inverse kinematics
+ *
+ * Calculate the joints positions for a given position, storing the result in the global delta[] array.
+ * The raw position is interpreted as machine position using native_to_joint().
+ */
+void inverse_kinematics(const xyz_pos_t &raw);
+
+/**
+ * Calculate the joints positions for a given position.
+ *
+ * This is an expensive calculation.
+ */
+xyz_pos_t native_to_joint(const xyz_pos_t &native);
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 7c746fa5f0a7..30feb31d5bd8 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -164,6 +164,10 @@ uint32_t Planner::max_acceleration_steps_per_s2[DISTINCT_AXES]; // (steps/s^2) D
   bool Planner::abort_on_endstop_hit = false;
 #endif
 
+#if ENABLED(ABORT_ON_SOFTWARE_ENDSTOP)
+  bool Planner::abort_on_software_endstop = false;
+#endif
+
 #if ENABLED(DISTINCT_E_FACTORS)
   uint8_t Planner::last_extruder = 0;     // Respond to extruder change
 #endif
@@ -2977,13 +2981,20 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s
       );
     #endif
 
-    // Cartesian XYZ to kinematic ABC, stored in global 'delta'
-    inverse_kinematics(machine);
-
     PlannerHints ph = hints;
     if (!hints.millimeters)
       ph.millimeters = get_move_distance(xyze_pos_t(cart_dist_mm) OPTARG(HAS_ROTATIONAL_AXES, ph.cartesian_move));
 
+    #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT) 
+      if (NEAR_ZERO(cart_dist_mm.i) && TERN1(HAS_J_AXIS, NEAR_ZERO(cart_dist_mm.j))) {
+        delta += cart_dist_mm;
+      }
+      else
+    #endif
+
+    // Cartesian XYZ to kinematic ABC, stored in global 'delta'
+    inverse_kinematics(machine);
+
     #if DISABLED(FEEDRATE_SCALING)
 
       const feedRate_t feedrate = fr_mm_s;
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 5b37d7fdda5b..6f0cdf01d3c6 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -52,6 +52,10 @@
   #include "polargraph.h"
 #elif ENABLED(POLAR)
   #include "polar.h"
+#elif ENABLED(PENTA_AXIS_TRT)
+  #include "penta_axis_trt.h"
+#elif ENABLED(PENTA_AXIS_HT)
+  #include "penta_axis_ht.h"
 #endif
 
 #if ABL_PLANAR
@@ -534,6 +538,11 @@ class Planner {
     #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
       static bool abort_on_endstop_hit;
     #endif
+
+    #if ENABLED(ABORT_ON_SOFTWARE_ENDSTOP)
+      static bool abort_on_software_endstop;
+    #endif
+
     #ifdef XY_FREQUENCY_LIMIT
       static int8_t xy_freq_limit_hz;         // Minimum XY frequency setting
       static float xy_freq_min_speed_factor;  // Minimum speed factor setting
diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h
index 08a02b4d4004..64414e61cccd 100644
--- a/Marlin/src/module/probe.h
+++ b/Marlin/src/module/probe.h
@@ -95,7 +95,7 @@ class Probe {
 
     static bool set_deployed(const bool deploy, const bool no_return=false);
 
-    #if IS_KINEMATIC
+    #if IS_KINEMATIC && NONE(PENTA_AXIS_TRT, PENTA_AXIS_HT)
 
       #if HAS_PROBE_XY_OFFSET
         // Return true if the both nozzle and the probe can reach the given point.
diff --git a/Marlin/src/module/settings.cpp b/Marlin/src/module/settings.cpp
index 52057ceab51e..8e69e656a47b 100644
--- a/Marlin/src/module/settings.cpp
+++ b/Marlin/src/module/settings.cpp
@@ -125,7 +125,7 @@
   extern float other_extruder_advance_K[DISTINCT_E];
 #endif
 
-#if HAS_MULTI_EXTRUDER
+#if HAS_MULTI_TOOLS
   #include "tool_change.h"
   void M217_report(const bool eeprom);
 #endif
@@ -249,7 +249,7 @@ typedef struct SettingsDataStruct {
   // Hotend Offset
   //
   #if HAS_HOTEND_OFFSET
-    xyz_pos_t hotend_offset[HOTENDS - 1];               // M218 XYZ
+    xyz_pos_t hotend_offset[TOOLS - 1];               // M218 XYZ
   #endif
 
   //
@@ -354,7 +354,16 @@ typedef struct SettingsDataStruct {
   //
   #if IS_KINEMATIC
     float segments_per_second;                          // M665 S
-    #if ENABLED(DELTA)
+    #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+      #if ENABLED(PENTA_AXIS_TRT)
+        float mrzp_offset_x;                              // M665 X
+        float mrzp_offset_y;                              // M665 Y
+        float rotational_offset_x;                        // M665 I
+        float rotational_offset_y;                        // M665 J
+        float rotational_offset_z;                        // M665 K
+      #endif 
+      float mrzp_offset_z;                              // M665 Z
+    #elif ENABLED(DELTA)
       float delta_height;                               // M666 H
       abc_float_t delta_endstop_adj;                    // M666 X Y Z
       float delta_radius,                               // M665 R
@@ -529,7 +538,7 @@ typedef struct SettingsDataStruct {
   //
   // Tool-change settings
   //
-  #if HAS_MULTI_EXTRUDER
+  #if HAS_MULTI_TOOLS
     toolchange_settings_t toolchange_settings;          // M217 S P R
   #endif
 
@@ -925,7 +934,7 @@ void MarlinSettings::postprocess() {
     {
       #if HAS_HOTEND_OFFSET
         // Skip hotend 0 which must be 0
-        for (uint8_t e = 1; e < HOTENDS; ++e)
+        for (uint8_t e = 1; e < TOOLS; ++e)
           EEPROM_WRITE(hotend_offset[e]);
       #endif
     }
@@ -1135,7 +1144,22 @@ void MarlinSettings::postprocess() {
     #if IS_KINEMATIC
     {
       EEPROM_WRITE(segments_per_second);
-      #if ENABLED(DELTA)
+      #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+        #if ENABLED(PENTA_AXIS_TRT)
+          _FIELD_TEST(mrzp_offset_x);
+          EEPROM_WRITE(mrzp_offset_x);               // 1 float
+          _FIELD_TEST(mrzp_offset_y);
+          EEPROM_WRITE(mrzp_offset_y);               // 1 float
+          _FIELD_TEST(rotational_offset_x);
+          EEPROM_WRITE(rotational_offset_x);         // 1 float
+          _FIELD_TEST(rotational_offset_y);
+          EEPROM_WRITE(rotational_offset_y);         // 1 float
+          _FIELD_TEST(rotational_offset_z);
+          EEPROM_WRITE(rotational_offset_z);         // 1 float
+        #endif
+        _FIELD_TEST(mrzp_offset_z);
+        EEPROM_WRITE(mrzp_offset_z);                 // 1 float
+      #elif ENABLED(DELTA)
         _FIELD_TEST(delta_height);
         EEPROM_WRITE(delta_height);              // 1 float
         EEPROM_WRITE(delta_endstop_adj);         // 3 floats
@@ -1610,7 +1634,7 @@ void MarlinSettings::postprocess() {
     // Multiple Extruders
     //
 
-    #if HAS_MULTI_EXTRUDER
+    #if HAS_MULTI_TOOLS
       _FIELD_TEST(toolchange_settings);
       EEPROM_WRITE(toolchange_settings);
     #endif
@@ -1990,7 +2014,7 @@ void MarlinSettings::postprocess() {
       {
         #if HAS_HOTEND_OFFSET
           // Skip hotend 0 which must be 0
-          for (uint8_t e = 1; e < HOTENDS; ++e)
+          for (uint8_t e = 1; e < TOOLS; ++e)
             EEPROM_READ(hotend_offset[e]);
         #endif
       }
@@ -2218,7 +2242,22 @@ void MarlinSettings::postprocess() {
       #if IS_KINEMATIC
       {
         EEPROM_READ(segments_per_second);
-        #if ENABLED(DELTA)
+        #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+          #if ENABLED(PENTA_AXIS_TRT)
+            _FIELD_TEST(mrzp_offset_x);
+            EEPROM_READ(mrzp_offset_x);
+            _FIELD_TEST(mrzp_offset_y);
+            EEPROM_READ(mrzp_offset_y);
+            _FIELD_TEST(rotational_offset_x);
+            EEPROM_READ(rotational_offset_x);
+            _FIELD_TEST(rotational_offset_y);
+            EEPROM_READ(rotational_offset_y);
+            _FIELD_TEST(rotational_offset_z);
+            EEPROM_READ(rotational_offset_z);
+          #endif
+          _FIELD_TEST(mrzp_offset_z);
+          EEPROM_READ(mrzp_offset_z);
+        #elif ENABLED(DELTA)
           _FIELD_TEST(delta_height);
           EEPROM_READ(delta_height);              // 1 float
           EEPROM_READ(delta_endstop_adj);         // 3 floats
@@ -2724,7 +2763,7 @@ void MarlinSettings::postprocess() {
       //
       // Tool-change settings
       //
-      #if HAS_MULTI_EXTRUDER
+      #if HAS_MULTI_TOOLS
         _FIELD_TEST(toolchange_settings);
         EEPROM_READ(toolchange_settings);
       #endif
@@ -3445,7 +3484,16 @@ void MarlinSettings::reset() {
 
   #if IS_KINEMATIC
     segments_per_second = DEFAULT_SEGMENTS_PER_SECOND;
-    #if ENABLED(DELTA)
+    #if ANY(PENTA_AXIS_TRT, PENTA_AXIS_HT)
+      #if ENABLED(PENTA_AXIS_TRT)
+        mrzp_offset_x = DEFAULT_MRZP_OFFSET_X;
+        mrzp_offset_y = DEFAULT_MRZP_OFFSET_Y;
+        rotational_offset_x = DEFAULT_ROTATIONAL_JOINT_OFFSET_X;
+        rotational_offset_y = DEFAULT_ROTATIONAL_JOINT_OFFSET_Y;
+        rotational_offset_z = DEFAULT_ROTATIONAL_JOINT_OFFSET_Z;
+      #endif
+      mrzp_offset_z = DEFAULT_MRZP_OFFSET_Z;
+    #elif ENABLED(DELTA)
       const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
       delta_height = DELTA_HEIGHT;
       delta_endstop_adj = adj;
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index 5d34dc3aa5a4..8536a5e62408 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -36,7 +36,7 @@
 //#define DEBUG_TOOL_CHANGE
 //#define DEBUG_TOOLCHANGE_FILAMENT_SWAP
 
-#if HAS_MULTI_EXTRUDER
+#if HAS_MULTI_TOOLS
   toolchange_settings_t toolchange_settings;  // Initialized by settings.load()
 #endif
 
@@ -96,6 +96,10 @@
   #include "probe.h"
 #endif
 
+#if HAS_CUTTER
+  #include "../feature/spindle_laser.h"
+#endif
+
 #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
   #if TOOLCHANGE_FS_WIPE_RETRACT <= 0
     #undef TOOLCHANGE_FS_WIPE_RETRACT
@@ -517,19 +521,58 @@ void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.
 
     DEBUG_POS("Start ST Tool-Change", current_position);
 
-    current_position.x = placexpos;
+    current_position.x = SUM_TERN(HAS_HOTEND_OFFSET, placexpos, hotend_offset[active_extruder].x);
 
     DEBUG_ECHOLNPGM("(1) Place old tool ", active_extruder);
     DEBUG_POS("Move X SwitchPos", current_position);
 
     fast_line_to_current(X_AXIS);
 
-    current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
+    current_position.y = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Y_POS, hotend_offset[active_extruder].y) - (SWITCHING_TOOLHEAD_Y_CLEAR);
 
     DEBUG_SYNCHRONIZE();
-    DEBUG_POS("Move Y SwitchPos + Security", current_position);
+    DEBUG_POS("Move Y SwitchPos - Y Clear", current_position);
 
-    slow_line_to_current(Y_AXIS);
+    fast_line_to_current(Y_AXIS);  // move Y in front of the toolhead dock
+
+    #if defined(SWITCHING_TOOLHEAD_Z_CLEAR)
+      current_position.z = SWITCHING_TOOLHEAD_Z_POS + (SWITCHING_TOOLHEAD_Z_CLEAR);
+
+      DEBUG_SYNCHRONIZE();
+      DEBUG_POS("Move Z SwitchPos + Z Clear", current_position);
+
+      fast_line_to_current(Z_AXIS);  // move Z on top of the toolhead dock
+
+      current_position.y = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Y_POS, hotend_offset[active_extruder].y);
+
+      DEBUG_SYNCHRONIZE();
+      DEBUG_POS("Move Y SwitchPos", current_position);
+
+      fast_line_to_current(Y_AXIS);  // move Y to the toolhead dock
+
+      current_position.z = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Z_POS, hotend_offset[active_extruder].z);
+
+      DEBUG_SYNCHRONIZE();
+      DEBUG_POS("Move Z SwitchPos", current_position);
+
+      slow_line_to_current(Z_AXIS);  // place tool in the toolhead dock
+      
+    #else
+      #if defined(SWITCHING_TOOLHEAD_Z_POS)
+        current_position.z = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Z_POS, hotend_offset[active_extruder].z);
+
+        DEBUG_SYNCHRONIZE();
+        DEBUG_POS("Move Z SwitchPos", current_position);
+
+        fast_line_to_current(Z_AXIS);  // move Z to the toolhead dock
+      #endif
+      current_position.y = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Y_POS, hotend_offset[active_extruder].y) - (SWITCHING_TOOLHEAD_Y_SECURITY);
+
+      DEBUG_SYNCHRONIZE();
+      DEBUG_POS("Move Y SwitchPos + Security", current_position);
+
+      slow_line_to_current(Y_AXIS);
+    #endif
 
     // 2. Unlock tool and drop it in the dock
     TERN_(TOOL_SENSOR, tool_sensor_disabled = true);
@@ -538,24 +581,35 @@ void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.
     DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
     switching_toolhead_lock(false);
     safe_delay(500);
-
-    current_position.y = SWITCHING_TOOLHEAD_Y_POS;
-    DEBUG_POS("Move Y SwitchPos", current_position);
-    slow_line_to_current(Y_AXIS);
+    #if !defined(SWITCHING_TOOLHEAD_Z_CLEAR)
+      current_position.y += (SWITCHING_TOOLHEAD_Y_SECURITY);
+      DEBUG_POS("Move Y SwitchPos", current_position);
+      slow_line_to_current(Y_AXIS);
+    #endif
 
     // Wait for move to complete, then another 0.2s
     planner.synchronize();
     safe_delay(200);
 
-    current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
-    DEBUG_POS("Move back Y clear", current_position);
-    slow_line_to_current(Y_AXIS); // move away from docked toolhead
+    #if defined(SWITCHING_TOOLHEAD_Z_CLEAR)
+      current_position.z += (SWITCHING_TOOLHEAD_Z_CLEAR);
+
+      DEBUG_SYNCHRONIZE();
+      DEBUG_POS("Move back Z Clear", current_position);
+
+      slow_line_to_current(Z_AXIS); // move away from docked toolhead
+    #else
+      current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
+
+      DEBUG_POS("Move back Y clear", current_position);
+      slow_line_to_current(Y_AXIS); // move away from docked toolhead
+    #endif
 
     (void)check_tool_sensor_stats(active_extruder);
 
     // 3. Move to the new toolhead
 
-    current_position.x = grabxpos;
+    current_position.x = SUM_TERN(HAS_HOTEND_OFFSET, grabxpos, hotend_offset[active_extruder].x);
 
     DEBUG_SYNCHRONIZE();
     DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
@@ -563,22 +617,32 @@ void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.
 
     fast_line_to_current(X_AXIS);
 
-    current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
+    // 4. Grab and lock the new toolhead
 
-    DEBUG_SYNCHRONIZE();
-    DEBUG_POS("Move Y SwitchPos + Security", current_position);
+    #if defined(SWITCHING_TOOLHEAD_Z_CLEAR)
+      current_position.z = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Z_POS, hotend_offset[active_extruder].z);
 
-    slow_line_to_current(Y_AXIS);
+      DEBUG_SYNCHRONIZE();
+      DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
+      DEBUG_POS("Move Z SwitchPos", current_position);
 
-    // 4. Grab and lock the new toolhead
+      slow_line_to_current(Z_AXIS);
+    #else
+      current_position.y = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Y_POS, hotend_offset[active_extruder].y) - SWITCHING_TOOLHEAD_Y_SECURITY;
 
-    current_position.y = SWITCHING_TOOLHEAD_Y_POS;
+      DEBUG_SYNCHRONIZE();
+      DEBUG_POS("Move Y SwitchPos + Security", current_position);
 
-    DEBUG_SYNCHRONIZE();
-    DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
-    DEBUG_POS("Move Y SwitchPos", current_position);
+      slow_line_to_current(Y_AXIS);
 
-    slow_line_to_current(Y_AXIS);
+      current_position.y = SUM_TERN(HAS_HOTEND_OFFSET, SWITCHING_TOOLHEAD_Y_POS, hotend_offset[active_extruder].y);
+
+      DEBUG_SYNCHRONIZE();
+      DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
+      DEBUG_POS("Move Y SwitchPos", current_position);
+
+      slow_line_to_current(Y_AXIS);
+    #endif
 
     // Wait for move to finish, pause 0.2s, move servo, pause 0.5s
     planner.synchronize();
@@ -588,10 +652,24 @@ void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.
 
     switching_toolhead_lock(true);
     safe_delay(500);
+    #if defined(SWITCHING_TOOLHEAD_Z_CLEAR)
+      #if HAS_HOTEND_OFFSET
+        current_position.z = SWITCHING_TOOLHEAD_Z_POS + hotend_offset[active_extruder].z - hotend_offset[new_tool].z + (SWITCHING_TOOLHEAD_Z_CLEAR);
+      #else
+        current_position.z = SWITCHING_TOOLHEAD_Z_POS + (SWITCHING_TOOLHEAD_Z_CLEAR);
+      #endif
+      DEBUG_POS("Move back Z clear", current_position);
+      slow_line_to_current(Z_AXIS); // Move away from docked toolhead
 
-    current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
-    DEBUG_POS("Move back Y clear", current_position);
-    slow_line_to_current(Y_AXIS); // Move away from docked toolhead
+      current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
+      DEBUG_POS("Move back Y clear", current_position);
+      slow_line_to_current(Y_AXIS); // Move away from docked toolhead
+
+    #else
+      current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
+      DEBUG_POS("Move back Y clear", current_position);
+      slow_line_to_current(Y_AXIS); // Move away from docked toolhead
+    #endif
     planner.synchronize();        // Always sync the final move
 
     (void)check_tool_sensor_stats(new_tool, true, true);
@@ -822,7 +900,7 @@ void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.
 
 #endif // ELECTROMAGNETIC_SWITCHING_TOOLHEAD
 
-#if HAS_EXTRUDERS
+#if HAS_EXTRUDERS || HAS_TOOL_LENGTH_COMPENSATION
   inline void invalid_extruder_error(const uint8_t e) {
     SERIAL_ECHO_START();
     SERIAL_CHAR('T'); SERIAL_ECHO(e);
@@ -1136,19 +1214,19 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
 
     mmu2.tool_change(new_tool);
 
-  #elif EXTRUDERS == 0
+  #elif !TOOLS
 
     // Nothing to do
     UNUSED(new_tool); UNUSED(no_move);
 
-  #elif EXTRUDERS < 2
+  #elif TOOLS < 2
 
     UNUSED(no_move);
 
     if (new_tool) invalid_extruder_error(new_tool);
     return;
 
-  #elif HAS_MULTI_EXTRUDER
+  #elif HAS_MULTI_TOOLS
 
     planner.synchronize();
 
@@ -1157,7 +1235,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
          return invalid_extruder_error(new_tool);
     #endif
 
-    if (new_tool >= EXTRUDERS)
+    if (new_tool >= TERN(HAS_TOOL_LENGTH_COMPENSATION, TOOLS, EXTRUDERS))
       return invalid_extruder_error(new_tool);
 
     if (!no_move && homing_needed()) {
@@ -1192,6 +1270,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
     if (new_tool != old_tool || TERN0(PARKING_EXTRUDER, extruder_parked)) { // PARKING_EXTRUDER may need to attach old_tool when homing
       destination = current_position;
 
+
       #if ALL(TOOLCHANGE_FILAMENT_SWAP, HAS_FAN) && TOOLCHANGE_FS_FAN >= 0
         // Store and stop fan. Restored on any exit.
         REMEMBER(fan, thermalManager.fan_speed[TOOLCHANGE_FS_FAN], 0);
@@ -1249,6 +1328,39 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
         }
       #endif
 
+      // Raise to safe Z
+      #if defined(SAFE_TOOLCHANGE_START_Z)
+        if (can_move_away && TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) {
+          current_position.z = SUM_TERN(HAS_HOTEND_OFFSET, (SAFE_TOOLCHANGE_START_Z), hotend_offset[old_tool].z);
+          TERN_(HAS_SOFTWARE_ENDSTOPS, NOMORE(current_position.z, soft_endstop.max.z));
+          fast_line_to_current(Z_AXIS);
+          planner.synchronize();
+        }
+      #endif
+
+      #if HAS_CUTTER
+        // Store cutter state and stop cutter
+        bool old_cutter_state = cutter.enable_state;
+        uint8_t old_cutter_power = cutter.power;
+        uint8_t old_tool_type = cutter.active_tool_type;
+        cutter.power = 0;
+        cutter.apply_power(0);
+        #if ENABLED(LASER_FEATURE)
+          cutter.inline_power(cutter.power);
+        #endif
+        cutter.set_enabled(false);
+        TERN_(SPINDLE_FEATURE, safe_delay(1000));
+      #endif
+
+      #if ENABLED(COOLANT_MIST)
+        bool old_mist_coolant_state = TERN(COOLANT_MIST_INVERT, !READ(COOLANT_MIST_PIN), READ(COOLANT_MIST_PIN));
+        WRITE(COOLANT_MIST_PIN, COOLANT_MIST_INVERT);     // Turn off Mist coolant
+      #endif
+      #if ENABLED(COOLANT_FLOOD)
+        bool old_flood_coolant_state = TERN(COOLANT_FLOOD_INVERT, !READ(COOLANT_FLOOD_PIN), READ(COOLANT_FLOOD_PIN));
+        WRITE(COOLANT_FLOOD_PIN, COOLANT_FLOOD_INVERT);   // Turn off Flood coolant
+      #endif
+
       // Toolchange park
       #if ENABLED(TOOLCHANGE_PARK) && !HAS_SWITCHING_NOZZLE
         if (can_move_away && toolchange_settings.enable_park) {
@@ -1369,22 +1481,30 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
           #else
             // Move back to the original (or adjusted) position
             DEBUG_POS("Move back", destination);
+            const xyze_pos_t toolchange_destination = destination;
+
+            // Raise to safe Z
+            #if defined(SAFE_TOOLCHANGE_START_Z)
+              if (TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) {
+                do_blocking_move_to_z(SUM_TERN(HAS_HOTEND_OFFSET, (SAFE_TOOLCHANGE_START_Z), hotend_offset[new_tool].z), planner.settings.max_feedrate_mm_s[Z_AXIS]);
+              }
+            #endif
 
             #if ENABLED(TOOLCHANGE_PARK)
-              if (toolchange_settings.enable_park) do_blocking_move_to_xy_z(destination, destination.z, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE));
+              if (toolchange_settings.enable_park) do_blocking_move_to_xy_z(toolchange_destination, toolchange_destination.z, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE));
             #else
-              do_blocking_move_to_xy(destination, planner.settings.max_feedrate_mm_s[X_AXIS]* 0.5f);
+              do_blocking_move_to_xy(toolchange_destination, planner.settings.max_feedrate_mm_s[X_AXIS]* 0.5f);
 
               // If using MECHANICAL_SWITCHING extruder/nozzle, set HOTEND_OFFSET in Z axis after running EVENT_GCODE_TOOLCHANGE below.
               #if NONE(MECHANICAL_SWITCHING_EXTRUDER, MECHANICAL_SWITCHING_NOZZLE)
-                do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
+                do_blocking_move_to_z(toolchange_destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
                 SECONDARY_AXIS_CODE(
-                  do_blocking_move_to_i(destination.i, planner.settings.max_feedrate_mm_s[I_AXIS]),
-                  do_blocking_move_to_j(destination.j, planner.settings.max_feedrate_mm_s[J_AXIS]),
-                  do_blocking_move_to_k(destination.k, planner.settings.max_feedrate_mm_s[K_AXIS]),
-                  do_blocking_move_to_u(destination.u, planner.settings.max_feedrate_mm_s[U_AXIS]),
-                  do_blocking_move_to_v(destination.v, planner.settings.max_feedrate_mm_s[V_AXIS]),
-                  do_blocking_move_to_w(destination.w, planner.settings.max_feedrate_mm_s[W_AXIS])
+                  do_blocking_move_to_i(toolchange_destination.i, planner.settings.max_feedrate_mm_s[I_AXIS]),
+                  do_blocking_move_to_j(toolchange_destination.j, planner.settings.max_feedrate_mm_s[J_AXIS]),
+                  do_blocking_move_to_k(toolchange_destination.k, planner.settings.max_feedrate_mm_s[K_AXIS]),
+                  do_blocking_move_to_u(toolchange_destination.u, planner.settings.max_feedrate_mm_s[U_AXIS]),
+                  do_blocking_move_to_v(toolchange_destination.v, planner.settings.max_feedrate_mm_s[V_AXIS]),
+                  do_blocking_move_to_w(toolchange_destination.w, planner.settings.max_feedrate_mm_s[W_AXIS])
                 );
               #endif
             #endif
@@ -1408,6 +1528,63 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
         TERN_(DUAL_X_CARRIAGE, idex_set_parked(false));
       } // should_move
 
+      #if HAS_CUTTER
+
+        #if ALL(SPINDLE_FEATURE, LASER_FEATURE)
+          if (new_tool == LASER_TOOL) {
+            cutter.active_tool_type = TYPE_LASER;
+          }
+          elif (new_tool < LASER_TOOL) {
+            cutter.active_tool_type = TYPE_EXTRUDER;
+          }
+          else {
+            cutter.active_tool_type = TYPE_SPINDLE;
+          }
+          // Restore cutter state
+          if (old_cutter_state && (old_tool == TYPE_SPINDLE) && new_tool > LASER_TOOL) {
+        #elif ENABLED(SPINDLE_FEATURE)
+          if (new_tool < EXTRUDERS) {
+            cutter.active_tool_type = TYPE_EXTRUDER;
+          }
+          else {
+            cutter.active_tool_type = TYPE_SPINDLE;
+          }
+          if (old_cutter_state && cutter.active_tool_type != TYPE_EXTRUDER) {
+        #elif ENABLED(LASER_FEATURE)
+          if (new_tool < LASER_TOOL) {
+            cutter.active_tool_type = TYPE_EXTRUDER;
+          }
+          else {
+            cutter.active_tool_type = TYPE_LASER;
+          }
+          if (old_cutter_state && cutter.active_tool_type != TYPE_EXTRUDER) { 
+        #endif
+            cutter.power = old_cutter_power;
+            cutter.apply_power(cutter.power);
+            #if ENABLED(LASER_FEATURE)
+              if ((cutter.active_tool_type == TYPE_LASER ) && (cutter.cutter_mode != CUTTER_MODE_STANDARD)) {
+                cutter.inline_power(cutter.power);
+              }
+            #endif
+            cutter.set_enabled(true);
+            if (TERN0(SPINDLE_FEATURE, cutter.active_tool_type = TYPE_SPINDLE)) {
+             safe_delay(1000);
+            }
+          }
+      #endif
+
+
+      #if ENABLED(COOLANT_MIST)
+        if old_mist_coolant_state {
+          WRITE(COOLANT_MIST_PIN, !COOLANT_MIST_INVERT);     // Turn on Mist coolant
+        }
+      #endif
+      #if ENABLED(COOLANT_FLOOD)
+        if old_flood_coolant_state {
+          WRITE(COOLANT_FLOOD_PIN, !COOLANT_FLOOD_INVERT);   // Turn on Flood coolant
+        }
+      #endif
+
       #if HAS_SWITCHING_NOZZLE
         // Move back down. (Including when the new tool is higher.)
         if (!should_move)
@@ -1514,7 +1691,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
 
     SERIAL_ECHOLNPGM(STR_ACTIVE_EXTRUDER, active_extruder);
 
-  #endif // HAS_MULTI_EXTRUDER
+  #endif // HAS_MULTI_TOOLS
 }
 
 #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
diff --git a/Marlin/src/module/tool_change.h b/Marlin/src/module/tool_change.h
index 3cb8b4a63784..2cea1601d05e 100644
--- a/Marlin/src/module/tool_change.h
+++ b/Marlin/src/module/tool_change.h
@@ -25,7 +25,7 @@
 
 //#define DEBUG_TOOLCHANGE_MIGRATION_FEATURE
 
-#if HAS_MULTI_EXTRUDER
+#if HAS_MULTI_TOOLS
 
   typedef struct {
     #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
diff --git a/ini/features.ini b/ini/features.ini
index 420ba8e131f7..16f73b80b4a0 100644
--- a/ini/features.ini
+++ b/ini/features.ini
@@ -239,6 +239,7 @@ HAS_FANCHECK                           = build_src_filter=+<src/feature/fancheck
 HAS_FANMUX                             = build_src_filter=+<src/feature/fanmux.cpp>
 FILAMENT_WIDTH_SENSOR                  = build_src_filter=+<src/feature/filwidth.cpp> +<src/gcode/feature/filwidth>
 FWRETRACT                              = build_src_filter=+<src/feature/fwretract.cpp> +<src/gcode/feature/fwretract>
+HAS_TOOL_LENGTH_COMPENSATION           = build_src_filter=+<src/gcode/feature/fwretract>
 HOST_ACTION_COMMANDS                   = build_src_filter=+<src/feature/host_actions.cpp>
 HOTEND_IDLE_TIMEOUT                    = build_src_filter=+<src/feature/hotend_idle.cpp> +<src/gcode/temp/M86_M87.cpp>
 JOYSTICK                               = build_src_filter=+<src/feature/joystick.cpp>
@@ -285,7 +286,7 @@ SKEW_CORRECTION_GCODE                  = build_src_filter=+<src/gcode/calibrate/
 DIRECT_PIN_CONTROL                     = build_src_filter=+<src/gcode/control/M42.cpp> +<src/gcode/control/M226.cpp>
 PINS_DEBUGGING                         = build_src_filter=+<src/gcode/config/M43.cpp>
 EDITABLE_STEPS_PER_UNIT                = build_src_filter=+<src/gcode/config/M92.cpp>
-HAS_MULTI_EXTRUDER                     = build_src_filter=+<src/gcode/config/M217.cpp>
+HAS_MULTI_TOOLS                        = build_src_filter=+<src/gcode/config/M217.cpp>
 HAS_HOTEND_OFFSET                      = build_src_filter=+<src/gcode/config/M218.cpp>
 EDITABLE_SERVO_ANGLES                  = build_src_filter=+<src/gcode/config/M281.cpp>
 PIDTEMP                                = build_src_filter=+<src/gcode/config/M301.cpp>
@@ -366,6 +367,8 @@ NOZZLE_CLEAN_FEATURE                   = build_src_filter=+<src/libs/nozzle.cpp>
 DELTA                                  = build_src_filter=+<src/module/delta.cpp> +<src/gcode/calibrate/M666.cpp>
 POLAR                                  = build_src_filter=+<src/module/polar.cpp>
 POLARGRAPH                             = build_src_filter=+<src/module/polargraph.cpp>
+PENTA_AXIS_TRT                         = build_src_filter=+<src/module/penta_axis_trt.cpp>
+PENTA_AXIS_HT                          = build_src_filter=+<src/module/penta_axis_ht.cpp>
 BEZIER_CURVE_SUPPORT                   = build_src_filter=+<src/module/planner_bezier.cpp> +<src/gcode/motion/G5.cpp>
 PRINTCOUNTER                           = build_src_filter=+<src/module/printcounter.cpp>
 HAS_BED_PROBE                          = build_src_filter=+<src/module/probe.cpp> +<src/gcode/probe/G30.cpp> +<src/gcode/probe/M401_M402.cpp> +<src/gcode/probe/M851.cpp>