diff --git a/Marlin/src/core/serial.cpp b/Marlin/src/core/serial.cpp
index 77854d0f8..0d22f7bfc 100644
--- a/Marlin/src/core/serial.cpp
+++ b/Marlin/src/core/serial.cpp
@@ -68,7 +68,7 @@ void print_bin(uint16_t val) {
 extern const char SP_X_STR[], SP_Y_STR[], SP_Z_STR[];
 
 void print_xyz(const float &x, const float &y, const float &z, PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) {
-  serialprintPGM(prefix);
+  if (prefix) serialprintPGM(prefix);
   SERIAL_ECHOPAIR_P(SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z);
   if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
 }
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 2cba0fecf..9fde639b0 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -3047,8 +3047,8 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
 /**
  * Sanity check for WIFI
  */
-#if ENABLED(ESP3D_WIFISUPPORT) && DISABLED(ARDUINO_ARCH_ESP32) 
-  #error "ESP3D_WIFISUPPORT requires an ESP32 controller. Use WIFISUPPORT for standalone ESP3D modules."
+#if EITHER(ESP3D_WIFISUPPORT, WIFISUPPORT) && DISABLED(ARDUINO_ARCH_ESP32)
+  #error "ESP3D_WIFISUPPORT or WIFISUPPORT requires an ESP32 controller."
 #endif
 
 // Misc. Cleanup
diff --git a/Marlin/src/inc/Version.h b/Marlin/src/inc/Version.h
index 49e7cc6a2..ed29a9e0e 100644
--- a/Marlin/src/inc/Version.h
+++ b/Marlin/src/inc/Version.h
@@ -42,7 +42,7 @@
  * version was tagged.
  */
 #ifndef STRING_DISTRIBUTION_DATE
-  #define STRING_DISTRIBUTION_DATE "2020-07-27"
+  #define STRING_DISTRIBUTION_DATE "2020-07-28"
 #endif
 
 /**
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index 936172946..df6cae6e0 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -242,11 +242,9 @@ void home_delta() {
 
   // Disable stealthChop if used. Enable diag1 pin on driver.
   #if ENABLED(SENSORLESS_HOMING)
-    sensorless_t stealth_states {
-      tmc_enable_stallguard(stepperX),
-      tmc_enable_stallguard(stepperY),
-      tmc_enable_stallguard(stepperZ)
-    };
+  TERN_(X_SENSORLESS, sensorless_t stealth_states_x = start_sensorless_homing_per_axis(X_AXIS));
+  TERN_(Y_SENSORLESS, sensorless_t stealth_states_y = start_sensorless_homing_per_axis(Y_AXIS));
+  TERN_(Z_SENSORLESS, sensorless_t stealth_states_z = start_sensorless_homing_per_axis(Z_AXIS));
   #endif
 
   // Move all carriages together linearly until an endstop is hit.
@@ -256,9 +254,9 @@ void home_delta() {
 
   // Re-enable stealthChop if used. Disable diag1 pin on driver.
   #if ENABLED(SENSORLESS_HOMING)
-    tmc_disable_stallguard(stepperX, stealth_states.x);
-    tmc_disable_stallguard(stepperY, stealth_states.y);
-    tmc_disable_stallguard(stepperZ, stealth_states.z);
+  TERN_(X_SENSORLESS, end_sensorless_homing_per_axis(X_AXIS, stealth_states_x));
+  TERN_(Y_SENSORLESS, end_sensorless_homing_per_axis(Y_AXIS, stealth_states_y));
+  TERN_(Z_SENSORLESS, end_sensorless_homing_per_axis(Z_AXIS, stealth_states_z));
   #endif
 
   endstops.validate_homing_move();
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index d33ce623a..38ce980da 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -395,3 +395,9 @@ void homeaxis(const AxisEnum axis);
 #if HAS_M206_COMMAND
   void set_home_offset(const AxisEnum axis, const float v);
 #endif
+
+#if USE_SENSORLESS
+  struct sensorless_t;
+  sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis);
+  void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth);
+#endif