diff --git a/Marlin/src/gcode/scara/M360-M364.cpp b/Marlin/src/gcode/scara/M360-M364.cpp
index 562beee4f9..f32fa09de0 100644
--- a/Marlin/src/gcode/scara/M360-M364.cpp
+++ b/Marlin/src/gcode/scara/M360-M364.cpp
@@ -31,7 +31,7 @@
 
 inline bool SCARA_move_to_cal(const uint8_t delta_a, const uint8_t delta_b) {
   if (IsRunning()) {
-    forward_kinematics_SCARA(delta_a, delta_b);
+    forward_kinematics(delta_a, delta_b);
     do_blocking_move_to_xy(cartes);
     return true;
   }
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index 565c676823..9857b89bf3 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -177,7 +177,7 @@ float delta_safe_distance_from_top() {
  *
  * The result is stored in the cartes[] array.
  */
-void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3) {
+void forward_kinematics(const float &z1, const float &z2, const float &z3) {
   // Create a vector in old coordinates along x axis of new coordinate
   const float p12[3] = { delta_tower[B_AXIS].x - delta_tower[A_AXIS].x, delta_tower[B_AXIS].y - delta_tower[A_AXIS].y, z2 - z1 },
 
diff --git a/Marlin/src/module/delta.h b/Marlin/src/module/delta.h
index 5e9a78bd86..a974da97c8 100644
--- a/Marlin/src/module/delta.h
+++ b/Marlin/src/module/delta.h
@@ -120,10 +120,10 @@ float delta_safe_distance_from_top();
  *
  * The result is stored in the cartes[] array.
  */
-void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3);
+void forward_kinematics(const float &z1, const float &z2, const float &z3);
 
-FORCE_INLINE void forward_kinematics_DELTA(const abc_float_t &point) {
-  forward_kinematics_DELTA(point.a, point.b, point.c);
+FORCE_INLINE void forward_kinematics(const abc_float_t &point) {
+  forward_kinematics(point.a, point.b, point.c);
 }
 
 void home_delta();
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 7b4d1e36b3..024f28dc9f 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -263,10 +263,10 @@ void sync_plan_position_e() { planner.set_e_position_mm(current_position.e); }
  */
 void get_cartesian_from_steppers() {
   #if ENABLED(DELTA)
-    forward_kinematics_DELTA(planner.get_axis_positions_mm());
+    forward_kinematics(planner.get_axis_positions_mm());
   #else
     #if IS_SCARA
-      forward_kinematics_SCARA(
+      forward_kinematics(
           planner.get_axis_position_degrees(A_AXIS)
         , planner.get_axis_position_degrees(B_AXIS)
         #if ENABLED(AXEL_TPARA)
@@ -949,7 +949,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
 
   float x_home_pos(const uint8_t extruder) {
     if (extruder == 0)
-      return base_home_pos(X_AXIS);
+      return X_HOME_POS;
     else
       /**
        * In dual carriage mode the extruder offset provides an override of the
diff --git a/Marlin/src/module/scara.cpp b/Marlin/src/module/scara.cpp
index a8a3acf0f8..7586b8136f 100644
--- a/Marlin/src/module/scara.cpp
+++ b/Marlin/src/module/scara.cpp
@@ -33,10 +33,7 @@
 #include "planner.h"
 
 #if ENABLED(AXEL_TPARA)
-  // For homing, as in delta
-  #include "planner.h"
   #include "endstops.h"
-  #include "../lcd/marlinui.h"
   #include "../MarlinCore.h"
 #endif
 
@@ -46,30 +43,35 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
   if (axis == Z_AXIS)
     current_position.z = Z_HOME_POS;
   else {
-    xyz_pos_t homeposition;
-    LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
     #if ENABLED(MORGAN_SCARA)
       // MORGAN_SCARA uses arm angles for AB home position
+      ab_float_t homeposition = { SCARA_OFFSET_THETA1, SCARA_OFFSET_THETA2 };
       //DEBUG_ECHOLNPAIR("homeposition A:", homeposition.a, " B:", homeposition.b);
-      inverse_kinematics(homeposition);
-      forward_kinematics_SCARA(delta.a, delta.b);
-      current_position[axis] = cartes[axis];
     #elif ENABLED(MP_SCARA)
       // MP_SCARA uses a Cartesian XY home position
+      xyz_pos_t homeposition = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
       //DEBUG_ECHOPGM("homeposition");
       //DEBUG_ECHOLNPAIR_P(SP_X_LBL, homeposition.x, SP_Y_LBL, homeposition.y);
-      delta.a = SCARA_OFFSET_THETA1;
-      delta.b = SCARA_OFFSET_THETA2;
-      forward_kinematics_SCARA(delta.a, delta.b);
-      current_position[axis] = cartes[axis];
     #elif ENABLED(AXEL_TPARA)
+      xyz_pos_t homeposition = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
       //DEBUG_ECHOPGM("homeposition");
       //DEBUG_ECHOLNPAIR_P(SP_X_LBL, homeposition.x, SP_Y_LBL, homeposition.y, SP_Z_LBL, homeposition.z);
-      inverse_kinematics(homeposition);
-      forward_kinematics_TPARA(delta.a, delta.b, delta.c);
-      current_position[axis] = cartes[axis];
     #endif
 
+    #if ENABLED(MORGAN_SCARA)
+      delta = homeposition;
+    #else
+      inverse_kinematics(homeposition);
+    #endif
+
+    #if EITHER(MORGAN_SCARA, MP_SCARA)
+      forward_kinematics(delta.a, delta.b);
+    #elif ENABLED(AXEL_TPARA)
+      forward_kinematics(delta.a, delta.b, delta.c);
+    #endif
+
+    current_position[axis] = cartes[axis];
+
     //DEBUG_ECHOPGM("Cartesian");
     //DEBUG_ECHOLNPAIR_P(SP_X_LBL, current_position.x, SP_Y_LBL, current_position.y);
     update_software_endstops(axis);
@@ -85,7 +87,7 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
    * Maths and first version by QHARLEY.
    * Integrated into Marlin and slightly restructured by Joachim Cerny.
    */
-  void forward_kinematics_SCARA(const float &a, const float &b) {
+  void forward_kinematics(const float &a, const float &b) {
     const float a_sin = sin(RADIANS(a)) * L1,
                 a_cos = cos(RADIANS(a)) * L1,
                 b_sin = sin(RADIANS(b + TERN0(MP_SCARA, a))) * L2,
@@ -174,7 +176,7 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
   static constexpr xyz_pos_t robot_offset = { TPARA_OFFSET_X, TPARA_OFFSET_Y, TPARA_OFFSET_Z };
 
   // Convert ABC inputs in degrees to XYZ outputs in mm
-  void forward_kinematics_TPARA(const float &a, const float &b, const float &c) {
+  void forward_kinematics(const float &a, const float &b, const float &c) {
     const float w = c - b,
                 r = L1 * cos(RADIANS(b)) + L2 * sin(RADIANS(w - (90 - b))),
                 x = r  * cos(RADIANS(a)),
@@ -227,7 +229,6 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
     homeaxis(C_AXIS);
     homeaxis(B_AXIS);
 
-
     // 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
diff --git a/Marlin/src/module/scara.h b/Marlin/src/module/scara.h
index d462842b57..5549e506b0 100644
--- a/Marlin/src/module/scara.h
+++ b/Marlin/src/module/scara.h
@@ -35,7 +35,7 @@ extern float delta_segments_per_second;
                   L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
                   L2_2 = sq(float(L2));
 
-  void forward_kinematics_TPARA(const float &a, const float &b, const float &c);
+  void forward_kinematics(const float &a, const float &b, const float &c);
   void home_TPARA();
 
 #else
@@ -44,7 +44,7 @@ extern float delta_segments_per_second;
                   L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
                   L2_2 = sq(float(L2));
 
-  void forward_kinematics_SCARA(const float &a, const float &b);
+  void forward_kinematics(const float &a, const float &b);
 
 #endif