diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 1cf44ffaa..66276bf13 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3776,6 +3776,14 @@ inline void gcode_G4() {
 
 #if ENABLED(DELTA)
 
+  #if ENABLED(SENSORLESS_HOMING)
+    inline void delta_sensorless_homing(const bool on=true) {
+      sensorless_homing_per_axis(A_AXIS, on);
+      sensorless_homing_per_axis(B_AXIS, on);
+      sensorless_homing_per_axis(C_AXIS, on);
+    }
+  #endif
+
   /**
    * A delta can only safely home all axes at the same time
    * This is like quick_home_xy() but for 3 towers.
@@ -3790,9 +3798,7 @@ inline void gcode_G4() {
 
     // Disable stealthChop if used. Enable diag1 pin on driver.
     #if ENABLED(SENSORLESS_HOMING)
-      sensorless_homing_per_axis(A_AXIS);
-      sensorless_homing_per_axis(B_AXIS);
-      sensorless_homing_per_axis(C_AXIS);
+      delta_sensorless_homing();
     #endif
 
     // Move all carriages together linearly until an endstop is hit.
@@ -3801,19 +3807,15 @@ inline void gcode_G4() {
     buffer_line_to_current_position();
     stepper.synchronize();
 
-    // Re-enable stealthChop if used. Disable diag1 pin on driver.
-    #if ENABLED(SENSORLESS_HOMING)
-      sensorless_homing_per_axis(A_AXIS, false);
-      sensorless_homing_per_axis(B_AXIS, false);
-      sensorless_homing_per_axis(C_AXIS, false);
-    #endif
-
     // If an endstop was not hit, then damage can occur if homing is continued.
     // This can occur if the delta height not set correctly.
     if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
       LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
       SERIAL_ERROR_START();
       SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
+      #if ENABLED(SENSORLESS_HOMING)
+        delta_sensorless_homing(false);
+      #endif
       return false;
     }
 
@@ -3825,6 +3827,11 @@ inline void gcode_G4() {
     HOMEAXIS(B);
     HOMEAXIS(C);
 
+    // Re-enable stealthChop if used. Disable diag1 pin on driver.
+    #if ENABLED(SENSORLESS_HOMING)
+      delta_sensorless_homing(false);
+    #endif
+
     // Set all carriages to their home positions
     // Do this here all at once for Delta, because
     // XYZ isn't ABC. Applying this per-tower would