diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index c4b7a9271..11b8ab560 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -1448,14 +1448,18 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
     // clearing the stallGuard activated status is found.
     #if ENABLED(DELTA) && !ENABLED(STEALTHCHOP)
       #error "SENSORLESS_HOMING on DELTA currently requires STEALTHCHOP."
-    #elif X_HOME_DIR == -1 && DISABLED(X_MIN_ENDSTOP_INVERTING)
-      #error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_INVERTING when homing to X_MIN."
-    #elif X_HOME_DIR ==  1 && DISABLED(X_MAX_ENDSTOP_INVERTING)
-      #error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_INVERTING when homing to X_MAX."
-    #elif Y_HOME_DIR == -1 && DISABLED(Y_MIN_ENDSTOP_INVERTING)
-      #error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_INVERTING when homing to Y_MIN."
-    #elif Y_HOME_DIR ==  1 && DISABLED(Y_MAX_ENDSTOP_INVERTING)
-      #error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_INVERTING when homing to Y_MAX."
+    #elif X_SENSORLESS && X_HOME_DIR == -1 && (DISABLED(X_MIN_ENDSTOP_INVERTING) || DISABLED(ENDSTOPPULLUP_XMIN))
+      #error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_XMIN when homing to X_MIN."
+    #elif X_SENSORLESS && X_HOME_DIR ==  1 && (DISABLED(X_MAX_ENDSTOP_INVERTING) || DISABLED(ENDSTOPPULLUP_XMAX))
+      #error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_XMAX when homing to X_MAX."
+    #elif Y_SENSORLESS && Y_HOME_DIR == -1 && (DISABLED(Y_MIN_ENDSTOP_INVERTING) || DISABLED(ENDSTOPPULLUP_YMIN))
+      #error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_YMIN when homing to Y_MIN."
+    #elif Y_SENSORLESS && Y_HOME_DIR ==  1 && (DISABLED(Y_MAX_ENDSTOP_INVERTING) || DISABLED(ENDSTOPPULLUP_YMAX))
+      #error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_YMAX when homing to Y_MAX."
+    #elif Z_SENSORLESS && Z_HOME_DIR == -1 && (DISABLED(Z_MIN_ENDSTOP_INVERTING) || DISABLED(ENDSTOPPULLUP_ZMIN))
+      #error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMIN when homing to Z_MIN."
+    #elif Z_SENSORLESS && Z_HOME_DIR ==  1 && (DISABLED(Z_MAX_ENDSTOP_INVERTING) || DISABLED(ENDSTOPPULLUP_ZMAX))
+      #error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMAX when homing to Z_MAX."
     #endif
   #endif
 
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index 761d26a84..5e8e2704e 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -505,23 +505,23 @@
 // Specify here all the endstop connectors that are connected to any endstop or probe.
 // Almost all printers will be using one per axis. Probes will use one or more of the
 // extra connectors. Leave undefined any used for non-endstop and non-probe purposes.
-#define USE_XMIN_PLUG
-#define USE_YMIN_PLUG
+//#define USE_XMIN_PLUG
+//#define USE_YMIN_PLUG
 #define USE_ZMIN_PLUG
-//#define USE_XMAX_PLUG
-//#define USE_YMAX_PLUG
+#define USE_XMAX_PLUG
+#define USE_YMAX_PLUG
 //#define USE_ZMAX_PLUG
 
 // Enable pullup for all endstops to prevent a floating state
 //#define ENDSTOPPULLUPS
 #if DISABLED(ENDSTOPPULLUPS)
   // Disable ENDSTOPPULLUPS to set pullups individually
-  //#define ENDSTOPPULLUP_XMAX
-  //#define ENDSTOPPULLUP_YMAX
-  #define ENDSTOPPULLUP_ZMAX  // open pin, inverted
-  #define ENDSTOPPULLUP_XMIN  // open pin, inverted
-  #define ENDSTOPPULLUP_YMIN  // open pin, inverted
-  //#define ENDSTOPPULLUP_ZMIN
+  #define ENDSTOPPULLUP_XMAX
+  #define ENDSTOPPULLUP_YMAX
+  //#define ENDSTOPPULLUP_ZMAX  // open pin, inverted
+  //#define ENDSTOPPULLUP_XMIN  // open pin, inverted
+  //#define ENDSTOPPULLUP_YMIN  // open pin, inverted
+  #define ENDSTOPPULLUP_ZMIN
   //#define ENDSTOPPULLUP_ZMIN_PROBE
 #endif