diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 74fa897eb7ced..fb3e1e75e7db8 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -916,24 +916,13 @@ void Endstops::update() {
     // For G38 moves check the probe's pin for ALL movement
     if (G38_move && TEST_ENDSTOP(_ENDSTOP(Z, TERN(USES_Z_MIN_PROBE_PIN, MIN_PROBE, MIN))) == TERN1(G38_PROBE_AWAY, (G38_move < 4))) {
       G38_did_trigger = true;
-      #if HAS_X_AXIS
-        const bool xmoving = stepper.axis_is_moving(X_AXIS);
-      #endif
-      #if HAS_Y_AXIS
-        const bool ymoving = stepper.axis_is_moving(Y_AXIS);
-      #endif
-      #if HAS_Z_AXIS
-        const bool zmoving = stepper.axis_is_moving(Z_AXIS);
-      #endif
-      #if HAS_X_AXIS
-        if (xmoving) { _ENDSTOP_HIT(X, ENDSTOP); planner.endstop_triggered(X_AXIS); }
-      #endif
-      #if HAS_Y_AXIS
-        if (ymoving) { _ENDSTOP_HIT(Y, ENDSTOP); planner.endstop_triggered(Y_AXIS); }
-      #endif
-      #if HAS_Z_AXIS
-        if (zmoving) { _ENDSTOP_HIT(Z, ENDSTOP); planner.endstop_triggered(Z_AXIS); }
-      #endif
+      const axis_bits_t moving = NUM_AXIS_ARRAY(
+        stepper.axis_is_moving(X_AXIS), stepper.axis_is_moving(Y_AXIS), stepper.axis_is_moving(Z_AXIS),
+        stepper.axis_is_moving(I_AXIS), stepper.axis_is_moving(J_AXIS), stepper.axis_is_moving(K_AXIS),
+        stepper.axis_is_moving(U_AXIS), stepper.axis_is_moving(V_AXIS), stepper.axis_is_moving(W_AXIS)
+      );
+      #define _G38_RESP(Q) if (moving[_AXIS(Q)]) { _ENDSTOP_HIT(Q, ENDSTOP); planner.endstop_triggered(_AXIS(Q)); }
+      MAIN_AXIS_MAP(_G38_RESP);
     }
   #endif