diff --git a/Marlin/src/gcode/calibrate/G34.cpp b/Marlin/src/gcode/calibrate/G34.cpp
index 0ca4490eb6c1b..eb1d32f909273 100644
--- a/Marlin/src/gcode/calibrate/G34.cpp
+++ b/Marlin/src/gcode/calibrate/G34.cpp
@@ -38,10 +38,9 @@
 
 void GcodeSuite::G34() {
 
-  // Home before the alignment procedure
-  if (!all_axes_known()) home_all_axes();
+  if (homing_needed()) return;
 
-  SET_SOFT_ENDSTOP_LOOSE(true);
+  TEMPORARY_SOFT_ENDSTOP_STATE(false);
   TEMPORARY_BED_LEVELING_STATE(false);
   TemporaryGlobalEndstopsState unlock_z(false);
 
@@ -149,8 +148,6 @@ void GcodeSuite::G34() {
     if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands");
     gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST));
   #endif
-
-  SET_SOFT_ENDSTOP_LOOSE(false);
 }
 
 #endif // MECHANICAL_GANTRY_CALIBRATION
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 2cffde0907f7d..7acb5e70c9947 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -2807,10 +2807,6 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
   #endif
 #endif
 
-#if BOTH(Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
-  #error "You cannot use Z_STEPPER_AUTO_ALIGN and MECHANICAL_GANTRY_CALIBRATION at the same time."
-#endif
-
 #if ENABLED(PRINTCOUNTER) && DISABLED(EEPROM_SETTINGS)
   #error "PRINTCOUNTER requires EEPROM_SETTINGS. Please update your Configuration."
 #endif