diff --git a/Marlin/src/feature/bedlevel/bdl/bdl.cpp b/Marlin/src/feature/bedlevel/bdl/bdl.cpp
index 14989a07d3..5345bb78c5 100644
--- a/Marlin/src/feature/bedlevel/bdl/bdl.cpp
+++ b/Marlin/src/feature/bedlevel/bdl/bdl.cpp
@@ -78,8 +78,8 @@ bool BDS_Leveling::check(const uint16_t data, const bool raw_data/*=false*/, con
     return true; // error
   }
   if (raw_data == true) {
-    if (hicheck && (data & 0x3FF) > 550)
-      SERIAL_ECHOLNPGM("BD Sensor mounted too high!");
+    if (hicheck && (data & 0x3FF) > 400)
+      SERIAL_ECHOLNPGM("Bad BD Sensor height! Recommended distance 0.5-2.0mm");
     else if (!good_data(data))
       SERIAL_ECHOLNPGM("Invalid data, please calibrate.");
     else
@@ -109,7 +109,8 @@ void BDS_Leveling::process() {
   static float zpos = 0.0f;
   const millis_t ms = millis();
   if (ELAPSED(ms, next_check_ms)) { // timed out (or first run)
-    next_check_ms = ms + (config_state < BDS_IDLE ? 200 : 50);   // check at 5Hz or 20Hz
+    // Check at 1KHz, 5Hz, or 20Hz
+    next_check_ms = ms + (config_state == BDS_HOMING_Z ? 1 : (config_state < BDS_IDLE ? 200 : 50));
 
     uint16_t tmp = 0;
     const float cur_z = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset;
@@ -127,16 +128,14 @@ void BDS_Leveling::process() {
             babystep.set_mm(Z_AXIS, cur_z - z_sensor);
             DEBUG_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z);
           }
-          else {
-            babystep.set_mm(Z_AXIS, 0);   //if (old_cur_z <= cur_z) Z_DIR_WRITE(HIGH);
-            //stepper.apply_directions();   // TODO: Remove this line as probably not needed
-          }
+          else
+            babystep.set_mm(Z_AXIS, 0);
         }
       #endif
 
       old_cur_z = cur_z;
       old_buf_z = current_position.z;
-      endstops.bdp_state_update(z_sensor <= 0.01f);
+      endstops.bdp_state_update(z_sensor <= BD_SENSOR_HOME_Z_POSITION);
 
       #if HAS_STATUS_MESSAGE
         static float old_z_sensor = 0;
@@ -149,8 +148,10 @@ void BDS_Leveling::process() {
         }
       #endif
     }
-    else
-      stepper.apply_directions();
+    else if (config_state == BDS_HOMING_Z) {
+      SERIAL_ECHOLNPGM("Read:", tmp);
+      kill(F("BDsensor connect Err!"));
+    }
 
     DEBUG_ECHOLNPGM("BD:", tmp & 0x3FF, " Z:", cur_z, "|", current_position.z);
     if (TERN0(DEBUG_OUT_BD, BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0)) DEBUG_ECHOLNPGM("CRC error");
@@ -233,11 +234,13 @@ void BDS_Leveling::process() {
           sprintf_P(tmp_1, PSTR("G1Z%d.%d"), int(zpos), int(zpos * 10) % 10);
           gcode.process_subcommands_now(tmp_1);
           SERIAL_ECHO(tmp_1); SERIAL_ECHOLNPGM(", Z:", current_position.z);
-          for (float tmp_k = 0; abs(zpos - tmp_k) > 0.004f;) {
+          uint16_t failcount = 300;
+          for (float tmp_k = 0; abs(zpos - tmp_k) > 0.006f && failcount--;) {
             tmp_k = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset;
             safe_delay(10);
+            if (!failcount--) break;
           }
-          safe_delay(zpos <= 0.4f ? 600 : 100);
+          safe_delay(600);
           tmp = uint16_t((zpos + 0.00001f) * 10);
           BD_I2C_SENSOR.BD_i2c_write(tmp);
           SERIAL_ECHOLNPGM("w:", tmp, ", Z:", zpos);
diff --git a/Marlin/src/feature/bedlevel/bdl/bdl.h b/Marlin/src/feature/bedlevel/bdl/bdl.h
index b3037bc1c2..ed91d7081b 100644
--- a/Marlin/src/feature/bedlevel/bdl/bdl.h
+++ b/Marlin/src/feature/bedlevel/bdl/bdl.h
@@ -23,6 +23,10 @@
 
 #include <stdint.h>
 
+#ifndef BD_SENSOR_HOME_Z_POSITION
+  #define BD_SENSOR_HOME_Z_POSITION 0.5
+#endif
+
 enum BDS_State : int8_t {
   BDS_IDLE,
   BDS_VERSION         = -1,
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index 5ecb6af66c..d6d648c125 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -748,6 +748,7 @@ G29_TYPE GcodeSuite::G29() {
             }
             //if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM_P(axis == Y_AXIS ? PSTR("Y=") : PSTR("X=", pos);
 
+            safe_delay(4);
             abl.measured_z = current_position.z - bdl.read();
             if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("x_cur ", planner.get_axis_position_mm(X_AXIS), " z ", abl.measured_z);
 
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 80729df759..272b16c9ac 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -2479,7 +2479,12 @@ void set_axis_is_at_home(const AxisEnum axis) {
   #if HAS_BED_PROBE && Z_HOME_TO_MIN
     if (axis == Z_AXIS) {
       #if HOMING_Z_WITH_PROBE
-        current_position.z -= probe.offset.z;
+        #if ENABLED(BD_SENSOR)
+          safe_delay(100);
+          current_position.z = bdl.read();
+        #else
+          current_position.z -= probe.offset.z;
+        #endif
         if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("*** Z homed with PROBE" TERN_(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, " (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)") " ***\n> (M851 Z", probe.offset.z, ")");
       #else
         if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("*** Z homed to ENDSTOP ***");
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index 68fcfd00e0..989965d6d8 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -980,6 +980,7 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
 
   #if ENABLED(BD_SENSOR)
 
+    safe_delay(4);
     return current_position.z - bdl.read(); // Difference between Z-home-relative Z and sensor reading
 
   #else // !BD_SENSOR