diff --git a/Marlin/src/inc/Conditionals_LCD.h b/Marlin/src/inc/Conditionals_LCD.h
index ba60e2481f..adb65f5f7d 100644
--- a/Marlin/src/inc/Conditionals_LCD.h
+++ b/Marlin/src/inc/Conditionals_LCD.h
@@ -1241,7 +1241,7 @@
  */
 #if ENABLED(AUTO_BED_LEVELING_UBL)
   #undef LCD_BED_LEVELING
-  #if ENABLED(DELTA)
+  #if EITHER(DELTA, SEGMENT_LEVELED_MOVES)
     #define UBL_SEGMENTED 1
   #endif
 #endif
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index a824f56d93..5d78df4859 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -960,8 +960,6 @@ void restore_feedrate_and_scaling() {
 
 #endif // !HAS_SOFTWARE_ENDSTOPS
 
-#if !UBL_SEGMENTED
-
 FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
   const millis_t ms = millis();
   if (ELAPSED(ms, next_idle_ms)) {
@@ -1078,7 +1076,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
 
 #else // !IS_KINEMATIC
 
-  #if ENABLED(SEGMENT_LEVELED_MOVES)
+  #if ENABLED(SEGMENT_LEVELED_MOVES) && DISABLED(AUTO_BED_LEVELING_UBL)
 
     /**
      * Prepare a segmented move on a CARTESIAN setup.
@@ -1138,7 +1136,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
       planner.buffer_line(destination, fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration));
     }
 
-  #endif // SEGMENT_LEVELED_MOVES
+  #endif // SEGMENT_LEVELED_MOVES && !AUTO_BED_LEVELING_UBL
 
   /**
    * Prepare a linear move in a Cartesian setup.
@@ -1153,8 +1151,12 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
     #if HAS_MESH
       if (planner.leveling_active && planner.leveling_active_at_z(destination.z)) {
         #if ENABLED(AUTO_BED_LEVELING_UBL)
-          bedlevel.line_to_destination_cartesian(scaled_fr_mm_s, active_extruder); // UBL's motion routine needs to know about
-          return true;                                                        // all moves, including Z-only moves.
+          #if UBL_SEGMENTED
+            return bedlevel.line_to_destination_segmented(scaled_fr_mm_s);
+          #else
+            bedlevel.line_to_destination_cartesian(scaled_fr_mm_s, active_extruder); // UBL's motion routine needs to know about
+            return true;                                                             // all moves, including Z-only moves.
+          #endif
         #elif ENABLED(SEGMENT_LEVELED_MOVES)
           segmented_line_to_destination(scaled_fr_mm_s);
           return false; // caller will update current_position
@@ -1180,7 +1182,6 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
   }
 
 #endif // !IS_KINEMATIC
-#endif // !UBL_SEGMENTED
 
 #if HAS_DUPLICATION_MODE
   bool extruder_duplication_enabled;