diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 917d849a12..0f7234d6ae 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1559,5 +1559,9 @@
  * [[WaitForDoneMessage]] instead of populating your gcode with M400 commands
  */
 //#define NANODLP_Z_SYNC
+#if ENABLED(NANODLP_Z_SYNC)
+  //#define NANODLP_ALL_AXIS  // Enables "Z_move_comp" output on any axis move.
+                              // Default behaviour is limited to Z axis only.
+#endif
 
 #endif // CONFIGURATION_ADV_H
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index ad008dd6e4..454cca89ab 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3364,8 +3364,12 @@ inline void gcode_G0_G1(
     #endif
 
     #if ENABLED(NANODLP_Z_SYNC)
-      // If G0/G1 command include Z-axis, wait for move and output sync text.
-      if (parser.seenval('Z')) {
+      #if ENABLED(NANODLP_ALL_AXIS)
+        #define _MOVE_SYNC true                 // For any move wait and output sync message
+      #else
+        #define _MOVE_SYNC parser.seenval('Z')  // Only for Z move
+      #endif
+      if (_MOVE_SYNC) {
         stepper.synchronize();
         SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
       }
@@ -3484,6 +3488,9 @@ inline void gcode_G4() {
   if (parser.seenval('S')) dwell_ms = parser.value_millis_from_seconds(); // seconds to wait
 
   stepper.synchronize();
+  #if ENABLED(NANODLP_Z_SYNC)
+    SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
+  #endif
 
   if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
 
@@ -4155,6 +4162,16 @@ inline void gcode_G28(const bool always_home_all) {
 
   report_current_position();
 
+  #if ENABLED(NANODLP_Z_SYNC)
+    #if ENABLED(NANODLP_ALL_AXIS)
+      #define _HOME_SYNC true                 // For any axis, output sync text.
+    #else
+      #define _HOME_SYNC (home_all || homeZ)  // Only for Z-axis
+    #endif
+    if (_HOME_SYNC)
+      SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
+  #endif
+
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
   #endif