diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index d4faf9b0ef..3a00846d93 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1446,27 +1446,27 @@ inline float get_homing_bump_feedrate(AxisEnum axis) {
   }
   return homing_feedrate_mm_s[axis] / hbd;
 }
-//
-// line_to_current_position
-// Move the planner to the current position from wherever it last moved
-// (or from wherever it has been told it is located).
-//
-inline void line_to_current_position() {
-  planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
-}
 
-inline void line_to_z(float zPosition) {
-  planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate_mm_s, active_extruder);
-}
+#if !IS_KINEMATIC
+  //
+  // line_to_current_position
+  // Move the planner to the current position from wherever it last moved
+  // (or from wherever it has been told it is located).
+  //
+  inline void line_to_current_position() {
+    planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
+  }
 
-//
-// line_to_destination
-// Move the planner, not necessarily synced with current_position
-//
-inline void line_to_destination(float fr_mm_s) {
-  planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
-}
-inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
+  //
+  // line_to_destination
+  // Move the planner, not necessarily synced with current_position
+  //
+  inline void line_to_destination(float fr_mm_s) {
+    planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
+  }
+  inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
+
+#endif // !IS_KINEMATIC
 
 inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
 inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
@@ -2785,8 +2785,7 @@ inline void gcode_G4() {
 
     // Move all carriages together linearly until an endstop is hit.
     current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
-    feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
-    line_to_current_position();
+    planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate_mm_s[X_AXIS], active_extruder);
     stepper.synchronize();
     endstops.hit_on_purpose(); // clear endstop hit flags