diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
index 595312e6ae17..1ccb10753cbc 100644
--- a/Marlin/src/gcode/gcode.cpp
+++ b/Marlin/src/gcode/gcode.cpp
@@ -350,7 +350,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
       case 0: case 1:                                             // G0: Fast Move, G1: Linear Move
         G0_G1(TERN_(HAS_FAST_MOVES, parser.codenum == 0)); break;
 
-      #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
+      #if ENABLED(ARC_SUPPORT)
         case 2: case 3: G2_G3(parser.codenum == 2); break;        // G2: CW ARC, G3: CCW ARC
       #endif
 
diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp
index c87d64d19b26..516513e14e6f 100644
--- a/Marlin/src/gcode/motion/G2_G3.cpp
+++ b/Marlin/src/gcode/motion/G2_G3.cpp
@@ -27,13 +27,6 @@
 #include "../gcode.h"
 #include "../../module/motion.h"
 #include "../../module/planner.h"
-#include "../../module/temperature.h"
-
-#if ENABLED(DELTA)
-  #include "../../module/delta.h"
-#elif ENABLED(SCARA)
-  #include "../../module/scara.h"
-#endif
 
 #if N_ARC_CORRECTION < 1
   #undef N_ARC_CORRECTION
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index a300e795b029..42d63ee39876 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -477,7 +477,7 @@ static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _L
  * Babystepping
  */
 #if ENABLED(BABYSTEPPING)
-  #if ENABLED(SCARA)
+  #if IS_SCARA
     #error "BABYSTEPPING is not implemented for SCARA yet."
   #elif ENABLED(BABYSTEP_XY) && ANY(MARKFORGED_XY, MARKFORGED_YX)
     #error "BABYSTEPPING only implemented for Z axis on MarkForged."
@@ -1777,9 +1777,6 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
  */
 #if HAS_Z_AXIS
   static_assert(Z_CLEARANCE_FOR_HOMING <= Z_MAX_POS, "Z_CLEARANCE_FOR_HOMING must be less than or equal to Z_MAX_POS.");
-  #if ALL(Z_HOME_TO_MAX, HOME_Z_FIRST) && NONE(DELTA, TPARA)
-    static_assert(Z_CLEARANCE_FOR_HOMING == 0, "Z_CLEARANCE_FOR_HOMING must be 0.");
-  #endif
 #endif
 
 // Check Safe Bed Leveling settings
@@ -4321,9 +4318,9 @@ static_assert(_PLUS_TEST(3), "DEFAULT_MAX_ACCELERATION values must be positive."
       static_assert(SHAPING_FREQ_X == SHAPING_FREQ_Y && SHAPING_FREQ_Y == SHAPING_FREQ_Z, "SHAPING_FREQ_X, SHAPING_FREQ_Y and SHAPING_FREQ_Z must be the same for DELTA.");
       static_assert(SHAPING_ZETA_X == SHAPING_ZETA_Y && SHAPING_ZETA_Y == SHAPING_ZETA_Z, "SHAPING_ZETA_X, SHAPING_ZETA_Y and SHAPING_ZETA_Z must be the same for DELTA.");
     #endif
-  #elif ENABLED(SCARA)
+  #elif IS_SCARA
     #error "Input Shaping is not compatible with SCARA kinematics."
-  #elif ENABLED(TPARA)
+  #elif ENABLED(AXEL_TPARA)
     #error "Input Shaping is not compatible with TPARA kinematics."
   #elif ENABLED(POLAR)
     #error "Input Shaping is not compatible with POLAR kinematics."