diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 5cfd7771a0..47d63df64b 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -674,6 +674,15 @@ void Endstops::update() {
     } \
   }while(0)
 
+  // Core Sensorless Homing needs to test an Extra Pin
+  #define CORE_DIAG(QQ,A,MM) (CORE_IS_##QQ && A##_SENSORLESS && !A##_SPI_SENSORLESS && HAS_##A##_##MM)
+  #define PROCESS_CORE_ENDSTOP(A1,M1,A2,M2) do { \
+    if (TEST_ENDSTOP(_ENDSTOP(A1,M1))) { \
+      _ENDSTOP_HIT(A2,M2); \
+      planner.endstop_triggered(_AXIS(A2)); \
+    } \
+  }while(0)
+
   // Call the endstop triggered routine for dual endstops
   #define PROCESS_DUAL_ENDSTOP(A, MINMAX) do { \
     const byte dual_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1); \
@@ -748,11 +757,29 @@ void Endstops::update() {
     if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction
       #if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0)
         PROCESS_ENDSTOP_X(MIN);
+        #if   CORE_DIAG(XY, Y, MIN)
+          PROCESS_CORE_ENDSTOP(Y,MIN,X,MIN);
+        #elif CORE_DIAG(XY, Y, MAX)
+          PROCESS_CORE_ENDSTOP(Y,MAX,X,MIN);
+        #elif CORE_DIAG(XZ, Z, MIN)
+          PROCESS_CORE_ENDSTOP(Z,MIN,X,MIN);
+        #elif CORE_DIAG(XZ, Z, MAX)
+          PROCESS_CORE_ENDSTOP(Z,MAX,X,MIN);
+        #endif
       #endif
     }
     else { // +direction
       #if HAS_X_MAX || (X_SPI_SENSORLESS && X_HOME_DIR > 0)
         PROCESS_ENDSTOP_X(MAX);
+        #if   CORE_DIAG(XY, Y, MIN)
+          PROCESS_CORE_ENDSTOP(Y,MIN,X,MAX);
+        #elif CORE_DIAG(XY, Y, MAX)
+          PROCESS_CORE_ENDSTOP(Y,MAX,X,MAX);
+        #elif CORE_DIAG(XZ, Z, MIN)
+          PROCESS_CORE_ENDSTOP(Z,MIN,X,MAX);
+        #elif CORE_DIAG(XZ, Z, MAX)
+          PROCESS_CORE_ENDSTOP(Z,MAX,X,MAX);
+        #endif
       #endif
     }
   }
@@ -761,11 +788,29 @@ void Endstops::update() {
     if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
       #if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_DIR < 0)
         PROCESS_ENDSTOP_Y(MIN);
+        #if   CORE_DIAG(XY, X, MIN)
+          PROCESS_CORE_ENDSTOP(X,MIN,Y,MIN);
+        #elif CORE_DIAG(XY, X, MAX)
+          PROCESS_CORE_ENDSTOP(X,MAX,Y,MIN);
+        #elif CORE_DIAG(YZ, Z, MIN)
+          PROCESS_CORE_ENDSTOP(Z,MIN,Y,MIN);
+        #elif CORE_DIAG(YZ, Z, MAX)
+          PROCESS_CORE_ENDSTOP(Z,MAX,Y,MIN);
+        #endif
       #endif
     }
     else { // +direction
       #if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_DIR > 0)
         PROCESS_ENDSTOP_Y(MAX);
+        #if   CORE_DIAG(XY, X, MIN)
+          PROCESS_CORE_ENDSTOP(X,MIN,Y,MAX);
+        #elif CORE_DIAG(XY, X, MAX)
+          PROCESS_CORE_ENDSTOP(X,MAX,Y,MAX);
+        #elif CORE_DIAG(YZ, Z, MIN)
+          PROCESS_CORE_ENDSTOP(Z,MIN,Y,MAX);
+        #elif CORE_DIAG(YZ, Z, MAX)
+          PROCESS_CORE_ENDSTOP(Z,MAX,Y,MAX);
+        #endif
       #endif
     }
   }
@@ -777,6 +822,15 @@ void Endstops::update() {
         if ( TERN1(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, z_probe_enabled)
           && TERN1(HAS_CUSTOM_PROBE_PIN, !z_probe_enabled)
         ) PROCESS_ENDSTOP_Z(MIN);
+        #if   CORE_DIAG(XZ, X, MIN)
+          PROCESS_CORE_ENDSTOP(X,MIN,Z,MIN);
+        #elif CORE_DIAG(XZ, X, MAX)
+          PROCESS_CORE_ENDSTOP(X,MAX,Z,MIN);
+        #elif CORE_DIAG(YZ, Y, MIN)
+          PROCESS_CORE_ENDSTOP(Y,MIN,Z,MIN);
+        #elif CORE_DIAG(YZ, Y, MAX)
+          PROCESS_CORE_ENDSTOP(Y,MAX,Z,MIN);
+        #endif
       #endif
 
       // When closing the gap check the enabled probe
@@ -791,6 +845,15 @@ void Endstops::update() {
         #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN  // No probe or probe is Z_MIN || Probe is not Z_MAX
           PROCESS_ENDSTOP(Z, MAX);
         #endif
+        #if   CORE_DIAG(XZ, X, MIN)
+          PROCESS_CORE_ENDSTOP(X,MIN,Z,MAX);
+        #elif CORE_DIAG(XZ, X, MAX)
+          PROCESS_CORE_ENDSTOP(X,MAX,Z,MAX);
+        #elif CORE_DIAG(YZ, Y, MIN)
+          PROCESS_CORE_ENDSTOP(Y,MIN,Z,MAX);
+        #elif CORE_DIAG(YZ, Y, MAX)
+          PROCESS_CORE_ENDSTOP(Y,MAX,Z,MAX);
+        #endif
       #endif
     }
   }
diff --git a/buildroot/share/tests/teensy35-tests b/buildroot/share/tests/teensy35-tests
index 6ea8bd3c1c..c729f212a4 100755
--- a/buildroot/share/tests/teensy35-tests
+++ b/buildroot/share/tests/teensy35-tests
@@ -90,6 +90,13 @@ exec_test $1 $2 "Mixing Extruder"
 restore_configs
 opt_set MOTHERBOARD BOARD_TEENSY35_36
 opt_enable COREXY
+opt_set X_DRIVER_TYPE TMC5160
+opt_set Y_DRIVER_TYPE TMC5160
+opt_set X_MIN_ENDSTOP_INVERTING true
+opt_set Y_MIN_ENDSTOP_INVERTING true
+opt_add X_CS_PIN 46
+opt_add Y_CS_PIN 47
+opt_enable USE_ZMIN_PLUG MONITOR_DRIVER_STATUS SENSORLESS_HOMING
 exec_test $1 $2 "Teensy 3.5/3.6 COREXY"
 
 #