diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index ea77b4e429..b22a04fffc 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -130,7 +130,6 @@
 #ifndef MOTHERBOARD
   #define MOTHERBOARD BOARD_RAMPS_14_EFB
 #endif
-
 // Name displayed in the LCD "Ready" message and Info menu
 //#define CUSTOM_MACHINE_NAME "3D Printer"
 
@@ -795,7 +794,7 @@
  * When changing speed and direction, if the difference is less than the
  * value set here, it may happen instantaneously.
  */
-//#define CLASSIC_JERK
+#define CLASSIC_JERK
 #if ENABLED(CLASSIC_JERK)
   #define DEFAULT_XJERK 10.0
   #define DEFAULT_YJERK 10.0
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index a91dd82a2a..832920ff38 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -62,11 +62,44 @@
 #include "../../core/debug_out.h"
 
 #if ENABLED(QUICK_HOME)
-
+    #if IS_SCARA
+      extern Planner planner;
+      static void mWork_Home_EndStop(double _theta,double _psi,feedRate_t feedRate){
+        float e_tam = 0;
+        uint8_t extruder = 0;
+        float mm = 360;
+        planner.buffer_segment(_theta, _psi, delta.c, e_tam, feedRate, extruder, mm);
+        millis_t time_end = millis() + 1000;
+        while (!endstops.any()) {
+          const millis_t ms = millis();
+          if (ELAPSED(ms, time_end)) { // check
+            time_end = ms + 1000;
+            const float x_tam = planner.get_axis_position_degrees(A_AXIS),
+                        y_tam = planner.get_axis_position_degrees(B_AXIS);
+            if (NEAR(x_tam, _theta) && NEAR(y_tam, _psi)) break;
+          }
+          idle();
+        }
+        endstops.validate_homing_move();
+      }
+      static void mWork_Set_Pos_Frome_angles(double _theta, double _psi){
+        forward_kinematics_SCARA( _theta, _psi );
+        current_position.set(cartes.x, cartes.y);
+        sync_plan_position();
+      }
+      static void quick_home_xy() {
+        endstops.hit_on_purpose();
+        mWork_Set_Pos_Frome_angles(0,0);
+        mWork_Home_EndStop(360.0 * X_HOME_DIR,360.0* X_HOME_DIR,homing_feedrate(X_AXIS)); //Move X 360 angles and wait endstop
+        mWork_Set_Pos_Frome_angles(0,0); 
+        mWork_Home_EndStop( 0 , 360.0* Y_HOME_DIR , homing_feedrate(Y_AXIS)); //Move Y 360 angles and wait endstop
+        mWork_Set_Pos_Frome_angles(THETA_ANGLE_AT_HOME,PSI_ANGLE_AT_HOME);  // Set Home position
+      }
+  #else
   static void quick_home_xy() {
 
     // Pretend the current position is 0,0
-    current_position.set(0.0, 0.0);
+    current_position.set(0.0, 0.0);  // Error with scara. x=0 y=0 -> theta = nul and psi = nul
     sync_plan_position();
 
     const int x_axis_home_dir = x_home_dir(active_extruder);
@@ -109,7 +142,7 @@
       #endif
     #endif
   }
-
+  #endif
 #endif // QUICK_HOME
 
 #if ENABLED(Z_SAFE_HOMING)
diff --git a/Marlin/src/module/endstops.h b/Marlin/src/module/endstops.h
index 888d25a8bd..f804b9bb90 100644
--- a/Marlin/src/module/endstops.h
+++ b/Marlin/src/module/endstops.h
@@ -138,6 +138,7 @@ class Endstops {
     #if ENABLED(VALIDATE_HOMING_ENDSTOPS)
       // If the last move failed to trigger an endstop, call kill
       static void validate_homing_move();
+      FORCE_INLINE static bool any() { return trigger_state() != 0; }
     #else
       FORCE_INLINE static void validate_homing_move() { hit_on_purpose(); }
     #endif
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index c4e11490b1..7284a3dade 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -704,13 +704,6 @@ class Planner {
      */
     static void buffer_sync_block();
 
-  #if IS_KINEMATIC
-    private:
-
-      // Allow do_homing_move to access internal functions, such as buffer_segment.
-      friend void do_homing_move(const AxisEnum, const float, const feedRate_t);
-  #endif
-
     /**
      * Planner::buffer_segment
      *
@@ -722,7 +715,11 @@ class Planner {
      *  fr_mm_s     - (target) speed of the move
      *  extruder    - target extruder
      *  millimeters - the length of the movement, if known
+     * 
      */
+
+  TERN_(DELTA, private:)
+
     static bool buffer_segment(const float &a, const float &b, const float &c, const float &e
       #if HAS_DIST_MM_ARG
         , const xyze_float_t &cart_dist_mm
@@ -730,6 +727,13 @@ class Planner {
       , const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
     );
 
+    
+  private:
+
+    #if IS_KINEMATIC
+      friend void do_homing_move(const AxisEnum, const float, const feedRate_t);
+    #endif
+
     FORCE_INLINE static bool buffer_segment(abce_pos_t &abce
       #if HAS_DIST_MM_ARG
         , const xyze_float_t &cart_dist_mm