diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 0f562e18..198a28be 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -1273,6 +1273,12 @@ void setup()
 		  lcd_show_fullscreen_message_and_wait_P(MSG_FOLLOW_CALIBRATION_FLOW);
 	  }
   }
+
+  if (force_selftest_if_fw_version() && calibration_status() < CALIBRATION_STATUS_ASSEMBLED ) {
+	  lcd_show_fullscreen_message_and_wait_P(MSG_FORCE_SELFTEST);
+	  update_current_firmware_version_to_eeprom();
+	  lcd_selftest();
+  }
   KEEPALIVE_STATE(IN_PROCESS);
 #endif //DEBUG_DISABLE_STARTMSGS
   lcd_update_enable(true);
diff --git a/Firmware/language_all.cpp b/Firmware/language_all.cpp
index ac9b84a5..7f5e4eb7 100644
--- a/Firmware/language_all.cpp
+++ b/Firmware/language_all.cpp
@@ -779,6 +779,13 @@ const char * const MSG_FOLLOW_CALIBRATION_FLOW_LANG_TABLE[LANG_NUM] PROGMEM = {
 	MSG_FOLLOW_CALIBRATION_FLOW_CZ
 };
 
+const char MSG_FORCE_SELFTEST_EN[] PROGMEM = "Selftest will be run to calibrate accurate sensorless rehoming.";
+const char MSG_FORCE_SELFTEST_CZ[] PROGMEM = "Pro kalibraci presneho rehomovani bude nyni spusten selftest.";
+const char * const MSG_FORCE_SELFTEST_LANG_TABLE[LANG_NUM] PROGMEM = {
+	MSG_FORCE_SELFTEST_EN,
+	MSG_FORCE_SELFTEST_CZ
+};
+
 const char MSG_FREE_MEMORY_EN[] PROGMEM = " Free Memory: ";
 const char * const MSG_FREE_MEMORY_LANG_TABLE[1] PROGMEM = {
 	MSG_FREE_MEMORY_EN
diff --git a/Firmware/language_all.h b/Firmware/language_all.h
index 895b9fbe..b8da5464 100644
--- a/Firmware/language_all.h
+++ b/Firmware/language_all.h
@@ -270,6 +270,8 @@ extern const char* const MSG_FLOW2_LANG_TABLE[1];
 #define MSG_FLOW2 LANG_TABLE_SELECT_EXPLICIT(MSG_FLOW2_LANG_TABLE, 0)
 extern const char* const MSG_FOLLOW_CALIBRATION_FLOW_LANG_TABLE[LANG_NUM];
 #define MSG_FOLLOW_CALIBRATION_FLOW LANG_TABLE_SELECT(MSG_FOLLOW_CALIBRATION_FLOW_LANG_TABLE)
+extern const char* const MSG_FORCE_SELFTEST_LANG_TABLE[LANG_NUM];
+#define MSG_FORCE_SELFTEST LANG_TABLE_SELECT(MSG_FORCE_SELFTEST_LANG_TABLE)
 extern const char* const MSG_FREE_MEMORY_LANG_TABLE[1];
 #define MSG_FREE_MEMORY LANG_TABLE_SELECT_EXPLICIT(MSG_FREE_MEMORY_LANG_TABLE, 0)
 extern const char* const MSG_FSENSOR_NA_LANG_TABLE[LANG_NUM];
diff --git a/Firmware/language_cz.h b/Firmware/language_cz.h
index a570b34e..aaf9e160 100644
--- a/Firmware/language_cz.h
+++ b/Firmware/language_cz.h
@@ -406,3 +406,4 @@
 #define MSG_FW_VERSION_ALPHA		 "Pouzivate alpha verzi firmwaru. Jedna se o vyvojovou verzi. Pouzivani teto verze firmware neni doporuceno a muze zpusobit poskozeni tiskarny." 
 #define MSG_FW_VERSION_BETA			 "Pouzivate beta verzi firmwaru. Jedna se o vyvojovou verzi. Pouzivani teto verze firmware neni doporuceno a muze zpusobit poskozeni tiskarny."
 #define MSG_FW_VERSION_RC			 "Tato verze firmware je release candidate. Nektere z funkci nemusi pracovat spolehlive."
+#define MSG_FORCE_SELFTEST			 "Pro kalibraci presneho rehomovani bude nyni spusten selftest."
diff --git a/Firmware/language_en.h b/Firmware/language_en.h
index fd8c9310..a3ab5fb3 100644
--- a/Firmware/language_en.h
+++ b/Firmware/language_en.h
@@ -412,3 +412,4 @@
 #define(length=20, lines=8) MSG_FW_VERSION_ALPHA		 "You are using firmware alpha version. This is development version. Using this version is not recommended and may cause printer damage." 
 #define(length=20, lines=8) MSG_FW_VERSION_BETA			 "You are using firmware beta version. This is development version. Using this version is not recommended and may cause printer damage."
 #define(length=20, lines=8) MSG_FW_VERSION_RC			 "This firmware version is release candidate. Some of the features may not work properly."
+#define(length=20, lines=8) MSG_FORCE_SELFTEST			 "Selftest will be run to calibrate accurate sensorless rehoming."
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 8de9e2eb..9cd4a932 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -5842,7 +5842,7 @@ static void lcd_selftest_v()
 	(void)lcd_selftest();
 }
 
-static bool lcd_selftest()
+bool lcd_selftest()
 {
 	int _progress = 0;
 	bool _result = true;
diff --git a/Firmware/ultralcd.h b/Firmware/ultralcd.h
index 0940a9d8..53ced8a1 100644
--- a/Firmware/ultralcd.h
+++ b/Firmware/ultralcd.h
@@ -35,7 +35,7 @@ void lcd_mylang();
   bool lcd_detected(void);
 
   static void lcd_selftest_v();
-  static bool lcd_selftest();
+  extern bool lcd_selftest();
   static bool lcd_selfcheck_endstops();
 
 #ifdef TMC2130
diff --git a/Firmware/util.cpp b/Firmware/util.cpp
index 23acbee3..8aea54ab 100644
--- a/Firmware/util.cpp
+++ b/Firmware/util.cpp
@@ -239,6 +239,30 @@ inline int8_t is_provided_version_newer(const char *version_string)
     return 0;
 }
 
+bool force_selftest_if_fw_version()
+{
+	//if fw version used before flashing new firmware (fw version currently stored in eeprom) is lower then 3.1.2-RC2, function returns true to force selftest
+
+	uint16_t ver_eeprom[4];
+	uint16_t ver_with_calibration[4] = {3, 1, 2, 4}; //hardcoded 3.1.2-RC2 version
+	bool force_selftest = false;
+
+	ver_eeprom[0] = eeprom_read_word((uint16_t*)EEPROM_FIRMWARE_VERSION_MAJOR);
+	ver_eeprom[1] = eeprom_read_word((uint16_t*)EEPROM_FIRMWARE_VERSION_MINOR);
+	ver_eeprom[2] = eeprom_read_word((uint16_t*)EEPROM_FIRMWARE_VERSION_REVISION);
+	ver_eeprom[3] = eeprom_read_word((uint16_t*)EEPROM_FIRMWARE_VERSION_FLAVOR);
+
+	for (uint8_t i = 0; i < 4; ++i) {
+		if (ver_with_calibration[i] > ver_eeprom[i]) {
+			force_selftest = true;
+			break;
+		}
+		else if (ver_with_calibration[i] < ver_eeprom[i])
+			break;
+	}
+	return force_selftest;
+}
+
 bool show_upgrade_dialog_if_version_newer(const char *version_string)
 {
     uint16_t ver_gcode[4], ver_current[4];
diff --git a/Firmware/util.h b/Firmware/util.h
index 52e4b6bc..7cbcb027 100644
--- a/Firmware/util.h
+++ b/Firmware/util.h
@@ -18,6 +18,7 @@ enum FirmwareRevisionFlavorType
 };
 
 extern bool show_upgrade_dialog_if_version_newer(const char *version_string);
+extern bool force_selftest_if_fw_version();
 
 extern void update_current_firmware_version_to_eeprom();