diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index afa37cd131..abdc654da2 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -1610,7 +1610,8 @@
 // with NOZZLE_AS_PROBE this can be negative for a wider probing area.
 #define PROBING_MARGIN 10
 
-// X and Y axis travel speed (mm/min) between probes
+// X and Y axis travel speed (mm/min) between probes.
+// Leave undefined to use the average of the current XY homing feedrate.
 #define XY_PROBE_FEEDRATE (133*60)
 
 // Feedrate (mm/min) for the first approach when double-probing (MULTIPLE_PROBING == 2)
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 9125512f40..b5ae3f8457 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -237,11 +237,11 @@ void GcodeSuite::G28() {
     return;
   }
 
-  #if NUM_AXES >= 2
-    if (parser.seen_test('F'))
-      homing_feedrate_mm_m.x = homing_feedrate_mm_m.y = parser.floatval('F');
+  #if HAS_Y_AXIS
+    if (parser.floatval('F') > 0)
+      homing_feedrate_mm_m.x = homing_feedrate_mm_m.y = parser.value_feedrate();
     else
-      homing_feedrate_mm_m   = xyz_feedrate_t(HOMING_FEEDRATE_MM_M);
+      homing_feedrate_mm_m = xyz_feedrate_t(HOMING_FEEDRATE_MM_M);
   #endif
 
   #if ENABLED(FULL_REPORT_TO_HOST_FEATURE)
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 8d2fe21e57..cca22b0f10 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -141,7 +141,7 @@ xyze_pos_t destination; // {0}
 #endif
 feedRate_t feedrate_mm_s = MMM_TO_MMS(DEFAULT_FEEDRATE_MM_M);
 int16_t feedrate_percentage = 100;
-#if NUM_AXES >= 2
+#if HAS_Y_AXIS
   xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M;
 #endif  
 
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index de23aaab06..4166402824 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -79,7 +79,7 @@ extern xyz_pos_t cartes;
  * Feed rates are often configured with mm/m
  * but the planner and stepper like mm/s units.
  */
-#if NUM_AXES >= 2
+#if HAS_Y_AXIS
   extern xyz_feedrate_t homing_feedrate_mm_m;
 #else
   constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M;