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diff --git a/Marlin/src/gcode/probe/G38.cpp b/Marlin/src/gcode/probe/G38.cpp
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+++ b/Marlin/src/gcode/probe/G38.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(G38_PROBE_TARGET)
+
+#include "../gcode.h"
+
+#include "../../module/endstops.h"
+#include "../../module/motion.h"
+#include "../../module/stepper.h"
+#include "../../module/probe.h"
+
+inline void G38_single_probe(const uint8_t move_value) {
+  endstops.enable(true);
+  G38_move = move_value;
+  prepare_line_to_destination();
+  planner.synchronize();
+  G38_move = 0;
+  endstops.hit_on_purpose();
+  set_current_from_steppers_for_axis(ALL_AXES);
+  sync_plan_position();
+}
+
+inline bool G38_run_probe() {
+
+  bool G38_pass_fail = false;
+
+  #if MULTIPLE_PROBING > 1
+    // Get direction of move and retract
+    xyz_float_t retract_mm;
+    LOOP_XYZ(i) {
+      const float dist = destination[i] - current_position[i];
+      retract_mm[i] = ABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
+    }
+  #endif
+
+  planner.synchronize();  // wait until the machine is idle
+
+  // Move flag value
+  #if ENABLED(G38_PROBE_AWAY)
+    const uint8_t move_value = parser.subcode;
+  #else
+    constexpr uint8_t move_value = 1;
+  #endif
+
+  G38_did_trigger = false;
+
+  // Move until destination reached or target hit
+  G38_single_probe(move_value);
+
+  if (G38_did_trigger) {
+
+    G38_pass_fail = true;
+
+    #if MULTIPLE_PROBING > 1
+      // Move away by the retract distance
+      destination = current_position + retract_mm;
+      endstops.enable(false);
+      prepare_line_to_destination();
+      planner.synchronize();
+
+      REMEMBER(fr, feedrate_mm_s, feedrate_mm_s * 0.25);
+
+      // Bump the target more slowly
+      destination -= retract_mm * 2;
+
+      G38_single_probe(move_value);
+    #endif
+  }
+
+  endstops.not_homing();
+  return G38_pass_fail;
+}
+
+/**
+ * G38 Probe Target
+ *
+ *  G38.2 - Probe toward workpiece, stop on contact, signal error if failure
+ *  G38.3 - Probe toward workpiece, stop on contact
+ *
+ * With G38_PROBE_AWAY:
+ *
+ *  G38.4 - Probe away from workpiece, stop on contact break, signal error if failure
+ *  G38.5 - Probe away from workpiece, stop on contact break
+ */
+void GcodeSuite::G38(const int8_t subcode) {
+  // Get X Y Z E F
+  get_destination_from_command();
+
+  remember_feedrate_scaling_off();
+
+  const bool error_on_fail =
+    #if ENABLED(G38_PROBE_AWAY)
+      !TEST(subcode, 0)
+    #else
+      (subcode == 2)
+    #endif
+  ;
+
+  // If any axis has enough movement, do the move
+  LOOP_XYZ(i)
+    if (ABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
+      if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
+      // If G38.2 fails throw an error
+      if (!G38_run_probe() && error_on_fail) SERIAL_ERROR_MSG("Failed to reach target");
+      break;
+    }
+
+  restore_feedrate_and_scaling();
+}
+
+#endif // G38_PROBE_TARGET