diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
index 09dd53d6f6..d7bacaef32 100644
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@@ -1130,7 +1130,7 @@ private:
       static void M913();
       static void M913_report(const bool forReplay=true);
     #endif
-    #if ENABLED(USE_SENSORLESS)
+    #if USE_SENSORLESS
       static void M914();
       static void M914_report(const bool forReplay=true);
     #endif
diff --git a/Marlin/src/inc/Warnings.cpp b/Marlin/src/inc/Warnings.cpp
index d258aefd82..2510949010 100644
--- a/Marlin/src/inc/Warnings.cpp
+++ b/Marlin/src/inc/Warnings.cpp
@@ -488,3 +488,12 @@
 #if HOMING_Z_WITH_PROBE && IS_CARTESIAN && DISABLED(Z_SAFE_HOMING)
   #error "Z_SAFE_HOMING is recommended when homing with a probe. Enable Z_SAFE_HOMING or comment out this line to continue."
 #endif
+
+//
+// Warn users of potential endstop/DIAG pin conflicts to prevent homing issues when not using sensorless homing
+//
+#if !USE_SENSORLESS && ENABLED(USES_DIAG_JUMPERS)
+  #warning "Motherboard DIAG jumpers must be removed when SENSORLESS_HOMING is disabled."
+#elif !USE_SENSORLESS && ENABLED(USES_DIAG_PINS)
+  #warning "Driver DIAG pins must be physically removed unless SENSORLESS_HOMING is enabled. (See https://bit.ly/2ZPRlt0)"
+#endif
diff --git a/Marlin/src/pins/lpc1768/pins_BTT_SKR_V1_3.h b/Marlin/src/pins/lpc1768/pins_BTT_SKR_V1_3.h
index dc52a7c36d..749f6b8bdf 100644
--- a/Marlin/src/pins/lpc1768/pins_BTT_SKR_V1_3.h
+++ b/Marlin/src/pins/lpc1768/pins_BTT_SKR_V1_3.h
@@ -26,7 +26,9 @@
  */
 
 #define BOARD_INFO_NAME "BTT SKR V1.3"
-#define LPC1768_IS_SKRV1_3 1
+
+#define LPC1768_IS_SKRV1_3
+#define USES_DIAG_JUMPERS
 
 //
 // Trinamic Stallguard pins
diff --git a/Marlin/src/pins/lpc1768/pins_BTT_SKR_V1_4.h b/Marlin/src/pins/lpc1768/pins_BTT_SKR_V1_4.h
index 5de875cafa..442360f594 100644
--- a/Marlin/src/pins/lpc1768/pins_BTT_SKR_V1_4.h
+++ b/Marlin/src/pins/lpc1768/pins_BTT_SKR_V1_4.h
@@ -35,6 +35,8 @@
   #define BOARD_CUSTOM_BUILD_FLAGS -DLPC_PINCFG_UART3_P4_28
 #endif
 
+#define USES_DIAG_PINS
+
 //
 // EEPROM
 //
diff --git a/Marlin/src/pins/lpc1768/pins_MKS_SGEN_L.h b/Marlin/src/pins/lpc1768/pins_MKS_SGEN_L.h
index d6b1eeab46..15afe7e238 100644
--- a/Marlin/src/pins/lpc1768/pins_MKS_SGEN_L.h
+++ b/Marlin/src/pins/lpc1768/pins_MKS_SGEN_L.h
@@ -30,6 +30,8 @@
 #define BOARD_INFO_NAME   "MKS SGen-L"
 #define BOARD_WEBSITE_URL "github.com/makerbase-mks/MKS-SGEN_L"
 
+#define USES_DIAG_JUMPERS
+
 //
 // Servos
 //
diff --git a/Marlin/src/pins/lpc1769/pins_BTT_SKR_E3_TURBO.h b/Marlin/src/pins/lpc1769/pins_BTT_SKR_E3_TURBO.h
index 9c514f8ca3..bdc49fc236 100644
--- a/Marlin/src/pins/lpc1769/pins_BTT_SKR_E3_TURBO.h
+++ b/Marlin/src/pins/lpc1769/pins_BTT_SKR_E3_TURBO.h
@@ -31,6 +31,8 @@
   #define BOARD_INFO_NAME "BTT SKR E3 Turbo"
 #endif
 
+#define USES_DIAG_JUMPERS
+
 // Onboard I2C EEPROM
 #define I2C_EEPROM
 #define MARLIN_EEPROM_SIZE                0x1000  // 4KB (AT24C32)
diff --git a/Marlin/src/pins/lpc1769/pins_MKS_SGEN_L_V2.h b/Marlin/src/pins/lpc1769/pins_MKS_SGEN_L_V2.h
index bb39009f09..8107f11937 100644
--- a/Marlin/src/pins/lpc1769/pins_MKS_SGEN_L_V2.h
+++ b/Marlin/src/pins/lpc1769/pins_MKS_SGEN_L_V2.h
@@ -30,6 +30,8 @@
 #define BOARD_INFO_NAME   "MKS SGEN_L V2"
 #define BOARD_WEBSITE_URL "github.com/makerbase-mks"
 
+#define USES_DIAG_JUMPERS
+
 //
 // EEPROM, MKS SGEN_L V2.0 hardware has 4K EEPROM on the board
 //
diff --git a/Marlin/src/pins/stm32f1/pins_BTT_SKR_MINI_E3_common.h b/Marlin/src/pins/stm32f1/pins_BTT_SKR_MINI_E3_common.h
index 48d38e2213..c132691c20 100644
--- a/Marlin/src/pins/stm32f1/pins_BTT_SKR_MINI_E3_common.h
+++ b/Marlin/src/pins/stm32f1/pins_BTT_SKR_MINI_E3_common.h
@@ -26,6 +26,8 @@
 // Release PB3/PB4 (E0 STP/DIR) from JTAG pins
 #define DISABLE_JTAG
 
+#define USES_DIAG_JUMPERS
+
 // Ignore temp readings during development.
 //#define BOGUS_TEMPERATURE_GRACE_PERIOD    2000
 
diff --git a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3_common.h b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3_common.h
index 89742b6d5a..d8f143247c 100644
--- a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3_common.h
+++ b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_E3_common.h
@@ -27,10 +27,11 @@
 
 #include "env_validate.h"
 
-#define BOARD_NO_NATIVE_USB
-
 #define BOARD_WEBSITE_URL "github.com/makerbase-mks"
 
+#define BOARD_NO_NATIVE_USB
+#define USES_DIAG_JUMPERS
+
 //#define DISABLE_DEBUG
 #define DISABLE_JTAG
 
diff --git a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO_V2.h b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO_V2.h
index d19343386e..bd24dad155 100644
--- a/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO_V2.h
+++ b/Marlin/src/pins/stm32f1/pins_MKS_ROBIN_NANO_V2.h
@@ -36,6 +36,7 @@
 #define BOARD_INFO_NAME "MKS Robin nano V2.0"
 
 #define BOARD_NO_NATIVE_USB
+#define USES_DIAG_PINS
 
 // Avoid conflict with TIMER_SERVO when using the STM32 HAL
 #define TEMP_TIMER                             5
diff --git a/Marlin/src/pins/stm32f4/pins_BTT_BTT002_V1_0.h b/Marlin/src/pins/stm32f4/pins_BTT_BTT002_V1_0.h
index da53266b7d..86e04b9999 100644
--- a/Marlin/src/pins/stm32f4/pins_BTT_BTT002_V1_0.h
+++ b/Marlin/src/pins/stm32f4/pins_BTT_BTT002_V1_0.h
@@ -29,6 +29,11 @@
 
 #define BOARD_INFO_NAME "BTT BTT002 V1.0"
 
+#define USES_DIAG_PINS
+
+// Ignore temp readings during development.
+//#define BOGUS_TEMPERATURE_GRACE_PERIOD    2000
+
 // Use one of these or SDCard-based Emulation will be used
 #if NO_EEPROM_SELECTED
   //#define SRAM_EEPROM_EMULATION                 // Use BackSRAM-based EEPROM emulation
@@ -41,9 +46,6 @@
   #define FLASH_EEPROM_LEVELING
 #endif
 
-// Ignore temp readings during development.
-//#define BOGUS_TEMPERATURE_GRACE_PERIOD    2000
-
 //
 // Limit Switches
 //
diff --git a/Marlin/src/pins/stm32f4/pins_BTT_E3_RRF.h b/Marlin/src/pins/stm32f4/pins_BTT_E3_RRF.h
index eb0c3bdbb9..2da79119e9 100644
--- a/Marlin/src/pins/stm32f4/pins_BTT_E3_RRF.h
+++ b/Marlin/src/pins/stm32f4/pins_BTT_E3_RRF.h
@@ -29,6 +29,8 @@
   #define BOARD_INFO_NAME "BTT E3 RRF"
 #endif
 
+#define USES_DIAG_JUMPERS
+
 // Add-on board for IDEX conversion
 //#define BTT_E3_RRF_IDEX_BOARD
 
diff --git a/Marlin/src/pins/stm32f4/pins_BTT_GTR_V1_0.h b/Marlin/src/pins/stm32f4/pins_BTT_GTR_V1_0.h
index 95f74efe84..dfa9d8a7b9 100644
--- a/Marlin/src/pins/stm32f4/pins_BTT_GTR_V1_0.h
+++ b/Marlin/src/pins/stm32f4/pins_BTT_GTR_V1_0.h
@@ -31,15 +31,14 @@
 
 #define BOARD_INFO_NAME "BTT GTR V1.0"
 
+#define USES_DIAG_JUMPERS
+#define HAS_OTG_USB_HOST_SUPPORT                  // USB Flash Drive support
+#define M5_EXTENDER                               // The M5 extender is attached
+
 // Onboard I2C EEPROM
 #define I2C_EEPROM
 #define MARLIN_EEPROM_SIZE                0x2000  // 8KB (24C64 ... 64Kb = 8KB)
 
-// USB Flash Drive support
-#define HAS_OTG_USB_HOST_SUPPORT
-
-#define M5_EXTENDER                               // The M5 extender is attached
-
 //
 // Servos
 //
diff --git a/Marlin/src/pins/stm32f4/pins_BTT_OCTOPUS_V1_common.h b/Marlin/src/pins/stm32f4/pins_BTT_OCTOPUS_V1_common.h
index 943dda7345..cc9c88c10b 100644
--- a/Marlin/src/pins/stm32f4/pins_BTT_OCTOPUS_V1_common.h
+++ b/Marlin/src/pins/stm32f4/pins_BTT_OCTOPUS_V1_common.h
@@ -23,15 +23,15 @@
 
 #include "env_validate.h"
 
+#define HAS_OTG_USB_HOST_SUPPORT                  // USB Flash Drive support
+#define USES_DIAG_JUMPERS
+
 // Onboard I2C EEPROM
 #define I2C_EEPROM
 #define MARLIN_EEPROM_SIZE                0x8000  // 32KB (24C32A)
 #define I2C_SCL_PIN                         PB8
 #define I2C_SDA_PIN                         PB9
 
-// USB Flash Drive support
-#define HAS_OTG_USB_HOST_SUPPORT
-
 // Avoid conflict with TIMER_TONE
 #define STEP_TIMER                            10
 
diff --git a/Marlin/src/pins/stm32f4/pins_BTT_SKR_PRO_common.h b/Marlin/src/pins/stm32f4/pins_BTT_SKR_PRO_common.h
index 72154be2ee..565eba41f7 100644
--- a/Marlin/src/pins/stm32f4/pins_BTT_SKR_PRO_common.h
+++ b/Marlin/src/pins/stm32f4/pins_BTT_SKR_PRO_common.h
@@ -23,6 +23,8 @@
 
 #include "env_validate.h"
 
+#define USES_DIAG_JUMPERS
+
 // If you have the BigTreeTech driver expansion module, enable BTT_MOTOR_EXPANSION
 // https://github.com/bigtreetech/BTT-Expansion-module/tree/master/BTT%20EXP-MOT
 //#define BTT_MOTOR_EXPANSION
@@ -47,8 +49,7 @@
   #define FLASH_EEPROM_LEVELING
 #endif
 
-// USB Flash Drive support
-#define HAS_OTG_USB_HOST_SUPPORT
+#define HAS_OTG_USB_HOST_SUPPORT                  // USB Flash Drive support
 
 //
 // Servos
diff --git a/Marlin/src/pins/stm32f4/pins_BTT_SKR_V2_0_common.h b/Marlin/src/pins/stm32f4/pins_BTT_SKR_V2_0_common.h
index 90c1de3cb3..4180fb8414 100644
--- a/Marlin/src/pins/stm32f4/pins_BTT_SKR_V2_0_common.h
+++ b/Marlin/src/pins/stm32f4/pins_BTT_SKR_V2_0_common.h
@@ -47,8 +47,7 @@
   #define FLASH_EEPROM_LEVELING
 #endif
 
-// USB Flash Drive support
-#define HAS_OTG_USB_HOST_SUPPORT
+#define HAS_OTG_USB_HOST_SUPPORT                  // USB Flash Drive support
 
 // Avoid conflict with TIMER_TONE
 #define STEP_TIMER                            10
diff --git a/Marlin/src/pins/stm32f4/pins_LERDGE_K.h b/Marlin/src/pins/stm32f4/pins_LERDGE_K.h
index 6ad3849d11..099b3b79a4 100644
--- a/Marlin/src/pins/stm32f4/pins_LERDGE_K.h
+++ b/Marlin/src/pins/stm32f4/pins_LERDGE_K.h
@@ -40,8 +40,7 @@
   #define MARLIN_EEPROM_SIZE             0x10000
 #endif
 
-// USB Flash Drive support
-#define HAS_OTG_USB_HOST_SUPPORT
+#define HAS_OTG_USB_HOST_SUPPORT                  // USB Flash Drive support
 
 //
 // Servos
diff --git a/Marlin/src/pins/stm32f4/pins_LERDGE_S.h b/Marlin/src/pins/stm32f4/pins_LERDGE_S.h
index 68e5636955..c686e19ccb 100644
--- a/Marlin/src/pins/stm32f4/pins_LERDGE_S.h
+++ b/Marlin/src/pins/stm32f4/pins_LERDGE_S.h
@@ -34,8 +34,7 @@
 #define STEP_TIMER                             4
 #define TEMP_TIMER                             2
 
-// USB Flash Drive support
-#define HAS_OTG_USB_HOST_SUPPORT
+#define HAS_OTG_USB_HOST_SUPPORT                  // USB Flash Drive support
 
 //
 // Servos
diff --git a/Marlin/src/pins/stm32f4/pins_LERDGE_X.h b/Marlin/src/pins/stm32f4/pins_LERDGE_X.h
index 7f35c0f5dd..93526db442 100644
--- a/Marlin/src/pins/stm32f4/pins_LERDGE_X.h
+++ b/Marlin/src/pins/stm32f4/pins_LERDGE_X.h
@@ -39,8 +39,7 @@
 #define I2C_SDA_PIN                         PB9
 #define MARLIN_EEPROM_SIZE               0x10000  // FM24CL64 F-RAM 64K (8Kx8)
 
-// USB Flash Drive support
-#define HAS_OTG_USB_HOST_SUPPORT
+#define HAS_OTG_USB_HOST_SUPPORT                  // USB Flash Drive support
 
 //
 // Servos
diff --git a/Marlin/src/pins/stm32f4/pins_MKS_MONSTER8.h b/Marlin/src/pins/stm32f4/pins_MKS_MONSTER8.h
index 8fa211dc95..a7f853185e 100644
--- a/Marlin/src/pins/stm32f4/pins_MKS_MONSTER8.h
+++ b/Marlin/src/pins/stm32f4/pins_MKS_MONSTER8.h
@@ -32,8 +32,8 @@
 
 #define BOARD_INFO_NAME "MKS Monster8 V1.x"
 
-// USB Flash Drive support
-#define HAS_OTG_USB_HOST_SUPPORT
+#define HAS_OTG_USB_HOST_SUPPORT                  // USB Flash Drive support
+#define USES_DIAG_JUMPERS
 
 //#define DISABLE_DEBUG
 
diff --git a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3.h b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3.h
index 4dc73e0312..02140865f9 100644
--- a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3.h
+++ b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3.h
@@ -32,22 +32,20 @@
 
 #define BOARD_INFO_NAME "MKS Robin Nano V3"
 
+#define USES_DIAG_JUMPERS
+
 #ifndef X_CS_PIN
   #define X_CS_PIN                          PD5
 #endif
-
 #ifndef Y_CS_PIN
   #define Y_CS_PIN                          PD7
 #endif
-
 #ifndef Z_CS_PIN
   #define Z_CS_PIN                          PD4
 #endif
-
 #ifndef E0_CS_PIN
   #define E0_CS_PIN                         PD9
 #endif
-
 #ifndef E1_CS_PIN
   #define E1_CS_PIN                         PD8
 #endif
diff --git a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3_common.h b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3_common.h
index c3e3963b55..256439e654 100644
--- a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3_common.h
+++ b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_NANO_V3_common.h
@@ -26,8 +26,7 @@
 // MKS Robin Nano V3, MKS Eagle pinmap
 //
 
-// USB Flash Drive support
-#define HAS_OTG_USB_HOST_SUPPORT
+#define HAS_OTG_USB_HOST_SUPPORT                  // USB Flash Drive support
 
 // Avoid conflict with TIMER_TONE
 #define STEP_TIMER                            10
diff --git a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_PRO_V2.h b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_PRO_V2.h
index 46dec71c11..68b2385254 100644
--- a/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_PRO_V2.h
+++ b/Marlin/src/pins/stm32f4/pins_MKS_ROBIN_PRO_V2.h
@@ -39,8 +39,7 @@
 #define I2C_EEPROM
 #define MARLIN_EEPROM_SIZE                0x1000  // 4KB
 
-// USB Flash Drive support
-#define HAS_OTG_USB_HOST_SUPPORT
+#define HAS_OTG_USB_HOST_SUPPORT                  // USB Flash Drive support
 
 //
 // Release PB4 (Y_ENABLE_PIN) from JTAG NRST role
diff --git a/Marlin/src/pins/stm32h7/pins_BTT_SKR_SE_BX.h b/Marlin/src/pins/stm32h7/pins_BTT_SKR_SE_BX.h
index 991c611a89..9eb0acf144 100644
--- a/Marlin/src/pins/stm32h7/pins_BTT_SKR_SE_BX.h
+++ b/Marlin/src/pins/stm32h7/pins_BTT_SKR_SE_BX.h
@@ -32,8 +32,7 @@
 #define I2C_EEPROM
 #define MARLIN_EEPROM_SIZE                0x1000  // 4KB (24C32 ... 32Kb = 4KB)
 
-// USB Flash Drive support
-#define HAS_OTG_USB_HOST_SUPPORT
+#define HAS_OTG_USB_HOST_SUPPORT                  // USB Flash Drive support
 
 //
 // Limit Switches