diff --git a/Grbl_Esp32/src/Machine/Axes.cpp b/Grbl_Esp32/src/Machine/Axes.cpp
index 45e1a8bc..0ae8b55f 100644
--- a/Grbl_Esp32/src/Machine/Axes.cpp
+++ b/Grbl_Esp32/src/Machine/Axes.cpp
@@ -28,6 +28,8 @@ namespace Machine {
             _sharedStepperDisable.report("Shared stepper disable");
         }
 
+        release_all_motors();
+
         // certain motors need features to be turned on. Check them here
         for (uint8_t axis = X_AXIS; axis < _numberAxis; axis++) {
             auto a = _axis[axis];
@@ -80,24 +82,24 @@ namespace Machine {
 
     // Put the motors in the given axes into homing mode, returning a
     // mask of which motors (considering gangs) can do homing.
-    MotorMask Axes::set_homing_mode(AxisMask homing_mask, bool isHoming) {
+    MotorMask Axes::set_homing_mode(AxisMask axisMask, bool isHoming) {
         release_all_motors();  // On homing transitions, cancel all motor lockouts
-        MotorMask can_home = 0;
+        MotorMask motorsCanHome = 0;
 
         for (uint8_t axis = X_AXIS; axis < _numberAxis; axis++) {
-            if (bitnum_is_true(homing_mask, axis)) {
+            if (bitnum_is_true(axisMask, axis)) {
                 auto a = _axis[axis];
                 if (a != nullptr) {
                     for (uint8_t gang = 0; gang < Axis::MAX_NUMBER_GANGED; gang++) {
                         if (a->_gangs[gang]->_motor->set_homing_mode(isHoming)) {
-                            set_bitnum(can_home, gang * 16 + axis);
+                            set_bitnum(motorsCanHome, gang * 16 + axis);
                         }
                     }
                 }
             }
         }
 
-        return can_home;
+        return motorsCanHome;
     }
 
     void Axes::release_all_motors() { _motorLockoutMask = 0xffffffff; }
diff --git a/Grbl_Esp32/src/Machine/Axes.h b/Grbl_Esp32/src/Machine/Axes.h
index 00d4d465..14aec9ea 100644
--- a/Grbl_Esp32/src/Machine/Axes.h
+++ b/Grbl_Esp32/src/Machine/Axes.h
@@ -33,7 +33,7 @@ namespace Machine {
 
         // During homing, this is used to stop stepping on motors that have
         // reached their limit switches, by clearing bits in the mask.
-        MotorMask _motorLockoutMask = 0;
+        MotorMask _motorLockoutMask = 0xffffffff;
 
     public:
         Axes();
diff --git a/Grbl_Esp32/src/Machine/Homing.cpp b/Grbl_Esp32/src/Machine/Homing.cpp
index 207e889b..6048c7d4 100644
--- a/Grbl_Esp32/src/Machine/Homing.cpp
+++ b/Grbl_Esp32/src/Machine/Homing.cpp
@@ -52,7 +52,7 @@ namespace Machine {
         AxisMask axesMask = 0;
         // Find the axis that will take the longest
         for (int axis = 0; axis < n_axis; axis++) {
-            if (bits_are_false(motors, axis | (axis << 16))) {
+            if (bitnum_is_false(motors, axis) && bitnum_is_false(motors, axis + 16)) {
                 continue;
             }
 
@@ -89,10 +89,6 @@ namespace Machine {
                         travel = std::max(travel, axisConfig->_gangs[1]->_endstops->_pulloff);
                     }
                 }
-
-                // We know that endstop is not nullptr because we checked for a
-                // valid endstop configuration before starting to home.
-                travel = endstop->_pulloff;
             }
 
             // First we compute the maximum-time-to-completion vector; later we will
@@ -107,11 +103,11 @@ namespace Machine {
             }
         }
         // Scale the target array, currently in units of time, back to positions
-        // When approaching a small fudge factor to ensure that the limit is reached -
+        // When approaching add a fudge factor (scaler) to ensure that the limit is reached -
         // but no fudge factor when pulling off.
         for (int axis = 0; axis < n_axis; axis++) {
             if (bitnum_is_true(axesMask, axis)) {
-                auto homing = config->_axes->_axis[axis]->_homing;
+                auto homing = axes->_axis[axis]->_homing;
                 auto scaler = approach ? (seek ? homing->_seek_scaler : homing->_feed_scaler) : 1.0;
                 target[axis] *= limitingRate * scaler;
             }
@@ -148,6 +144,8 @@ namespace Machine {
 
         uint32_t settling_ms = plan_move(remainingMotors, approach, seek);
 
+        config->_axes->release_all_motors();
+
         do {
             if (approach) {
                 // Check limit state. Lock out cycle axes when they change.