diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md
index 0d1573910..030b99c93 100644
--- a/docs/Config_Changes.md
+++ b/docs/Config_Changes.md
@@ -22,6 +22,11 @@ deprecated. It will be removed in the near future. Use
 instead. The `printer[fan object].speed` status will be replaced by
 `printer[fan object].value` and `printer[fan object].power`.
 
+20241223: The `CLEAR_RETRACTION` command does not reset parameters to
+default config values anymore, a [`RESET_RETRACTION`](./G-Codes.md#reset_retraction)
+command was added to achieve this. Automatic resetting behavior on
+events was removed.
+
 20240430: The `adc_ignore_limits` parameter in the `[danger_options]`
 config section has been renamed to `temp_ignore_limits` and it now
 covers all possible temperature sensors.
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index 06a6c6d99..b88b4cdd6 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -1926,7 +1926,12 @@ allowing per-filament settings and runtime tuning.
 #   The vertical height by which the nozzle is lifted from the print to
 #   prevent collisions with the print during travel moves when retracted.
 #   The minimum value is 0 mm, the default value is 0 mm, which disables
-#   zhop moves.
+#   zhop moves. The value will be reduced if the zhop move reaches
+#   maximum z.
+#clear_zhop_on_z_moves: False
+#   If True, when a change in Z is sent while toolhead is retracted,
+#   z_hop is cancelled until next retraction. Otherwise,
+#   `z_hop_height` is applied as an offset to all movements.
 ```
 
 ### [gcode_arcs]
diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index cd4c81f4c..bcded597d 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -633,6 +633,8 @@ the filament unretract move to reduce blobbing at seams (the minimum value is
 Z_HOP_HEIGHT determines the vertical height by which the nozzle is lifted from
 the print to prevent collisions with the print during travel moves (the
 minimum value is 0 mm, the standard value is 0 mm, which disables Z-Hop moves).
+If a parameter is set when retracted, the new value will be taken into
+account only after G11 or CLEAR_RETRACTION event.
 SET_RETRACTION is commonly set as part of slicer per-filament configuration, as
 different filaments require different parameter settings. The command can be
 issued at runtime.
@@ -640,29 +642,31 @@ issued at runtime.
 #### GET_RETRACTION
 `GET_RETRACTION`: Queries the current parameters used by the firmware retraction
 module as well as the retract state. RETRACT_LENGTH, RETRACT_SPEED,
-UNRETRACT_EXTRA_LENGTH, UNRETRACT_SPEED, Z_HOP_HEIGHT and RETRACTED (True, if
-retracted) are displayed on the terminal.
+UNRETRACT_EXTRA_LENGTH, UNRETRACT_SPEED, Z_HOP_HEIGHT, RETRACT_STATE (True, if
+retracted), ZHOP_STATE (True, if zhop offset currently applied) are displayed on
+the terminal.
 
 #### CLEAR_RETRACTION
 `CLEAR_RETRACTION`: Clears the current retract state without extruder or
 motion system movement. All flags related to the retract state are reset to
-False and all changes to retraction parameters made via previous SET_RETRACTION
-commands are reset to config values.
-NOTE: The Module contains a lot of redundancy for safety to prevent undesired
-behavior. When printing from virtual SD Card, the printer state is monitored and
-retraction state is cleared if a print is started, canceled or finished or if a
-virtual SD card file is reset. When printing via GCode streaming (e.g. using
-OctoPrint), the retract state is cleared when the steppers are disabled (M84,
+False.
+
+NOTE: The zhop state is also reset to False when the steppers are disabled (M84,
 typically part of end gcode and standard behavior of OctoPrint if a print is
 canceled) or the printer is homed (G28, typically part of start gcode). Hence,
 upon ending or canceling a print as well as starting a new print via GCode
-streaming or virtual SD card, the printer should always be in unretracted state.
+streaming or virtual SD card, the toolhead will not apply `z_hop_height` until
+next G11 if filament is retracted.
 Nevertheless, it is recommended to add `CLEAR_RETRACTION` to your start and end
-gcode to make sure the retract state is reset before and after each print. If a
-print is finished or canceled while retracted and the retract state is not
-cleared, either via `CLEAR_RETRACTION` without filament or motion system
-movement or G11, the nozzle will stay above the requested z coordinate by the
-set z_hop_height.
+gcode to make sure the retract state is reset before and after each print.
+
+#### RESET_RETRACTION
+`RESET_RETRACTION`: All changes to retraction parameters made via previous
+SET_RETRACTION commands are reset to config values.
+
+NOTE: It is recommended to add `RESET_RETRACTION` to your start and end gcode
+(with a possible override in your filament start gcode to set filament-specific
+overrides of firmware retraction defaults via `SET_RETRACTION`). 
 
 ### [force_move]
 
diff --git a/docs/Status_Reference.md b/docs/Status_Reference.md
index df0cff188..321b3334b 100644
--- a/docs/Status_Reference.md
+++ b/docs/Status_Reference.md
@@ -199,6 +199,7 @@ The following information is available in the
   config file if a `SET_RETRACTION` command altered them. Additional information
   available is as follows.
 - `retract_state`: Returns 'True' if filament is retracted.
+- `zhop_state`: Returns 'True' if a zhop is currently applied.
 
 ## gcode
 
diff --git a/klippy/extras/firmware_retraction.py b/klippy/extras/firmware_retraction.py
index ed6130133..4a6fae6ac 100644
--- a/klippy/extras/firmware_retraction.py
+++ b/klippy/extras/firmware_retraction.py
@@ -9,6 +9,7 @@
 
 # Constants
 ZHOP_MOVE_SPEED_FRACTION = 0.8
+MAX_Z_MARGIN = 0.1
 
 
 class FirmwareRetraction:
@@ -16,23 +17,22 @@ class FirmwareRetraction:
     def __init__(self, config):
         self.config_ref = config
         self.printer = config.get_printer()
-        # Get retraction params from config, used also in clear retraction
+
+        # Get retraction params from config, used also in RESET_RETRACTION
+        # and initiate params
         self._get_config_params()
-        # Initialize variables
-        self.unretract_length = (
-            self.retract_length + self.unretract_extra_length
-        )
-        self.currentPos = []
-        self.currentZ = 0.0
-        self.z_hop_Z = 0.0  # Z coordinate of zhop move
 
+        # Initialize variables
         self.is_retracted = False  # Retract state flag
-        self.vsdcard_paused = False  # VSDCard pause flag
-        self.G1_toggle_state = False  # G1 toggle state flag
+        self.do_zhop = False  # zhop state flag
+        self.current_z_hop_height = 0.0
+        self.last_position = [0.0, 0.0, 0.0, 0.0]
+        self.next_transform = None
 
-        # Get maximum printer move velocity for zhop moves
+        # Get maximum printer z move velocity for zhop moves
         printer_config = config.getsection("printer")
-        self.max_vel = printer_config.getfloat("max_velocity")
+        max_velocity = printer_config.getfloat("max_velocity")
+        self.max_z_vel = printer_config.getfloat("max_z_velocity", max_velocity)
 
         self.printer.register_event_handler("klippy:ready", self._handle_ready)
 
@@ -54,6 +54,11 @@ def __init__(self, config):
             self.cmd_CLEAR_RETRACTION,
             desc=self.cmd_CLEAR_RETRACTION_help,
         )
+        self.gcode.register_command(
+            "RESET_RETRACTION",
+            self.cmd_RESET_RETRACTION,
+            desc=self.cmd_RESET_RETRACTION_help,
+        )
 
         # Register new G-code commands for firmware retraction/unretraction
         self.gcode.register_command("G10", self.cmd_G10)
@@ -73,59 +78,44 @@ def _get_config_params(self):
         self.unretract_speed = self.config_ref.getfloat(
             "unretract_speed", 10.0, minval=1
         )
-        # Zero min. and stand. zhop valueto ensure compatibility with macros
         self.z_hop_height = self.config_ref.getfloat(
             "z_hop_height", 0.0, minval=0.0
         )
+        self.clear_zhop = self.config_ref.getboolean(
+            "clear_zhop_on_z_moves", False
+        )
+        self.unretract_length = (
+            self.retract_length + self.unretract_extra_length
+        )
 
     # Helper method to register commands and instantiate required objects
     def _handle_ready(self):
         self.gcode_move = self.printer.lookup_object("gcode_move")
-        self.toolhead = self.printer.lookup_object("toolhead")
+        self.exclude_objects = self.printer.lookup_object(
+            "exclude_object", None
+        )
+
+        # Register move transformation while printer ready
+        # important to track Z change request
+        self.next_transform = self.gcode_move.set_move_transform(
+            self, force=True
+        )
+
+        # Get maximum_z
+        toolhead = self.printer.lookup_object("toolhead")
+        kin = toolhead.get_kinematics()
+        self.maximum_z = kin.get_status(None)["axis_maximum"][2]
 
         # Register Events to clear retraction when a new print is started, an
         # ongoing print is canceled or a print is finished
         # GCode streaming mode (most commonly done via OctoPrint)
         self.printer.register_event_handler(
-            "homing:homing_move_begin", self._evaluate_retraction
+            "homing:homing_move_begin", self._execute_clear_z_hop
         )
         self.printer.register_event_handler(
-            "stepper_enable:motor_off", self._evaluate_retraction
+            "stepper_enable:motor_off", self._execute_clear_z_hop
         )
 
-        # Virtual SD card mode (Mainsail, Fluidd and DWC2-to-Klipper default)
-        # Only register events if Virtual SD Card enabled
-        if self.config_ref.has_section("virtual_sdcard"):
-            self.vsdcard = self.printer.lookup_object("virtual_sdcard")
-            self.printer.register_event_handler(
-                "virtual_sdcard:reset_file", self._reset_pause_flag
-            )
-            self.printer.register_event_handler(
-                "print_stats:start_printing", self._evaluate_retraction
-            )
-            self.printer.register_event_handler(
-                "print_stats:complete_printing", self._evaluate_retraction
-            )
-            self.printer.register_event_handler(
-                "print_stats:cancelled_printing",
-                self._reset_pause_flag,
-            )
-            self.printer.register_event_handler(
-                "print_stats:paused_printing", self._set_pause_flag
-            )
-
-    # Helper method to evaluate to clear retraction if certain events occur
-    # (must accept all arguments passed from event handlers)
-    def _evaluate_retraction(self, *args):
-        if self.is_retracted:  # Check if retracted
-            if self.vsdcard_paused:  # Check if VSDCard print paused
-                # Reset paused flag and hence do not clear retraction on
-                # resume command.
-                self.vsdcard_paused = False
-            else:
-                # If cancel command triggered pause event, clear retraction.
-                self._execute_clear_retraction()
-
     # Helper method to return the current retraction parameters
     def get_status(self, eventtime):
         return {
@@ -136,31 +126,13 @@ def get_status(self, eventtime):
             "z_hop_height": self.z_hop_height,
             "unretract_length": self.unretract_length,
             "retract_state": self.is_retracted,
+            "zhop_state": self.do_zhop,
         }
 
-    # Helper method to reset pause flags and force evaluate retraction
-    def _reset_pause_flag(self, *args):
-        self.vsdcard_paused = False
-        self._evaluate_retraction()
-
-    # Helper method to set pause flag
-    def _set_pause_flag(self, *args):
-        self.vsdcard_paused = True
-
     # Command to set the firmware retraction parameters
     cmd_SET_RETRACTION_help = "Set firmware retraction parameters"
 
     def cmd_SET_RETRACTION(self, gcmd):
-        if not self.is_retracted:  # Only execute command when unretracted
-            self._execute_set_retraction(gcmd)  # Execute command immediately
-        else:
-            self.gcode.respond_info(
-                "WARNING: Printer in retract state. SET_RETRACTION will not be\
-                    executed!"
-            )
-
-    # Helper to set retraction parameters if command is called
-    def _execute_set_retraction(self, gcmd):
         self.retract_length = gcmd.get_float(
             "RETRACT_LENGTH", self.retract_length, minval=0.0
         )
@@ -168,7 +140,9 @@ def _execute_set_retraction(self, gcmd):
             "RETRACT_SPEED", self.retract_speed, minval=1.0
         )
         self.unretract_extra_length = gcmd.get_float(
-            "UNRETRACT_EXTRA_LENGTH", self.unretract_extra_length, minval=-1.0
+            "UNRETRACT_EXTRA_LENGTH",
+            self.unretract_extra_length,
+            minval=-1.0,
         )
         self.unretract_speed = gcmd.get_float(
             "UNRETRACT_SPEED", self.unretract_speed, minval=1.0
@@ -181,14 +155,15 @@ def _execute_set_retraction(self, gcmd):
         )
 
     # Command to report the current firmware retraction parameters
-    cmd_GET_RETRACTION_help = "Report firmware retraction paramters"
+    cmd_GET_RETRACTION_help = "Report firmware retraction parameters and states"
 
     def cmd_GET_RETRACTION(self, gcmd):
         gcmd.respond_info(
             "RETRACT_LENGTH=%.5f RETRACT_SPEED=%.5f "
             "UNRETRACT_EXTRA_LENGTH=%.5f UNRETRACT_SPEED=%.5f "
             " Z_HOP_HEIGHT=%.5f "
-            " RETRACTED=%s "
+            " RETRACT_STATE=%s "
+            " ZHOP_STATE=%s"
             % (
                 self.retract_length,
                 self.retract_speed,
@@ -196,210 +171,155 @@ def cmd_GET_RETRACTION(self, gcmd):
                 self.unretract_speed,
                 self.z_hop_height,
                 self.is_retracted,
+                self.do_zhop,
             )
         )
 
     # Command to clear FW retraction (add to CANCEL macros at the beginning)
-    cmd_CLEAR_RETRACTION_help = "Clear retraction state without retract move \
-        or zhop, if enabled"
+    cmd_CLEAR_RETRACTION_help = (
+        "Clear retraction state without retract move if enabled"
+    )
 
     def cmd_CLEAR_RETRACTION(self, gcmd):
-        if self.is_retracted:
-            self._execute_clear_retraction()
-            gcmd.respond_info(
-                "Retraction was cleared and reset to config \
-                values. zhop is undone on next move."
-            )
-        else:
-            gcmd.respond_info(
-                "WARNING: Printer is not retracted. \
-                Command has been ignored!"
-            )
-
-    # Helper to clear retraction
-    def _execute_clear_retraction(self):
-        if self.z_hop_height > 0.0:
-            # Re-establish regular G1 command if zhop enabled.
-            # zhop will be reversed on next move with z coordinate
-            self._re_register_G1()
-            self.G1_toggle_state = False  # Prevent repeat re-register
+        self._execute_clear_z_hop()
         self.is_retracted = False  # Reset retract flag to enable G10 command
-        self._get_config_params()  # Reset retraction parameters to config values
-
-    # Gcode Command G10 to perform firmware retraction
-    def cmd_G10(self, gcmd):
-        retract_gcode = ""  # Reset retract string
-        zhop_gcode = ""  # Reset zhop move string
-
-        if self.retract_length == 0.0:  # Check if FW retraction enabled
-            gcmd.respond_info(
-                "Retraction length zero. Firmware retraction \
-                disabled. Command ignored!"
-            )
-        elif not self.is_retracted:  # If filament isn't retracted, build G-Code
-            # Incl move command if z_hop_height > 0
-            if self.z_hop_height > 0.0:
-                # Determine z coordinate for zhop move
-                self._set_zhop_move_params()
-                # Set zhop gcode move
-                zhop_gcode = ("G1 Z{:.5f} F{}\n").format(
-                    self.z_hop_Z,
-                    int(ZHOP_MOVE_SPEED_FRACTION * self.max_vel * 60),
-                )
+        gcmd.respond_info(
+            "Retraction was cleared. zhop is undone on next move."
+        )
 
-            retract_gcode = (
-                "SAVE_GCODE_STATE NAME=_retract_state\n"
-                "G91\n"
-                "G1 E-{:.5f} F{}\n"  # Retract filament at retract speed
-                "G90\n"  # Switch to absolute mode (just in case)
-                "{}"
-                "RESTORE_GCODE_STATE NAME=_retract_state"
-            ).format(
-                self.retract_length, int(self.retract_speed * 60), zhop_gcode
-            )
+    # Command to reset retraction parameters
+    cmd_RESET_RETRACTION_help = "Reset retraction parameters to default values"
 
-            self.gcode.run_script_from_command(retract_gcode)
-            self.is_retracted = True
+    def cmd_RESET_RETRACTION(self, gcmd):
+        self._get_config_params()  # Reset retraction parameters to config values
 
-            if self.z_hop_height > 0.0:
-                # Swap original G1 handlers if z_hop enabled to offset following
-                # moves in eiter absolute or relative mode
-                self._unregister_G1()
-                self.G1_toggle_state = (
-                    True  # Prevent repeat unregister with flag
-                )
+    # Helper to clear z_hop
+    def _execute_clear_z_hop(self, *args):
+        self.do_zhop = False
+        self.current_z_hop_height = 0.0  # prevent nozzle crash if G11 occurs
 
+    # Helper to skip command while in exclude object
+    def _test_in_excluded_region(self):
+        if self.exclude_objects is not None:
+            return self.exclude_objects._test_in_excluded_region()
         else:
-            gcmd.respond_info("Printer is already retracted. Command ignored!")
-
-    # Helper to determine zhop coordinate
-    def _set_zhop_move_params(self):
-        self.currentPos = self._get_gcode_pos()
-        self.currentZ = self.currentPos[2]
-        self.z_hop_Z = self.currentZ + self.z_hop_height
+            return False
 
-    # Helper to get current gcode position
-    def _get_gcode_pos(self):
-        # Get current gcode position for z_hop move if enabled
-        gcodestatus = self.gcode_move.get_status()
-        currentPos = gcodestatus["gcode_position"]
-        return currentPos
+    # Gcode Command G10 to perform firmware retraction
+    def cmd_G10(self, gcmd):
+        extrude_factor, speed_factor = self._get_factors()
+
+        if (
+            not self.is_retracted and not self._test_in_excluded_region()
+        ):  # If filament isn't retracted
+            # Check if FW retraction enabled
+            if self.retract_length == 0.0 and self.z_hop_height == 0.0:
+                gcmd.respond_info(
+                    "Retraction length and z_hop zero. Firmware retraction "
+                    "disabled. G10 Command ignored!"
+                )
+            else:
+                # Store retract parameters for moves when retracted until next G11
+                self.current_unretract_length = self.unretract_length
+                self.current_unretract_speed = self.unretract_speed
+                self._execute_clear_z_hop()
+                # get position (track of bed_mesh, z_thermal_adjust changes)
+                position = self.get_position()
+                # do retraction
+                if self.retract_length > 0.0:
+                    position[3] -= self.retract_length * extrude_factor
+                    self.move(position, self.retract_speed * speed_factor)
+                # do zhop
+                if self._limit_zhop(gcmd, position):
+                    self.do_zhop = True
+                    self.move(
+                        position,
+                        ZHOP_MOVE_SPEED_FRACTION
+                        * self.max_z_vel
+                        * speed_factor,
+                    )
+                # update toolhead position
+                self.gcode_move.reset_last_position()
+                self.is_retracted = True
 
     # GCode Command G11 to perform filament unretraction
     def cmd_G11(self, gcmd):
-        unretract_gcode = ""  # Reset unretract string
-        unzhop_gcode = ""  # Reset un-zhop move string
-
-        if self.retract_length == 0.0:  # Check if FW retraction enabled
-            gcmd.respond_info(
-                "Retraction length zero. Firmware retraction \
-                disabled. Command ignored!"
-            )
-        elif self.is_retracted:  # Check if the filament is retracted
-            if self.z_hop_height > 0.0:
-                self._re_register_G1()  # Restore G1 handlers if z_hop on
-                self.G1_toggle_state = False  # Prevent repeat re-register
-                # Set unzhop gcode move
-                unzhop_gcode = ("G1 Z-{:.5f} F{}\n").format(
-                    self.z_hop_height,
-                    int(ZHOP_MOVE_SPEED_FRACTION * self.max_vel * 60),
+        extrude_factor, speed_factor = self._get_factors()
+        if (
+            self.is_retracted and not self._test_in_excluded_region()
+        ):  # Check if the filament is retracted
+            if (
+                self.current_unretract_length == 0.0
+                and self.current_z_hop_height == 0.0
+            ):  # Check if FW retraction enabled
+                gcmd.respond_info(
+                    "Retraction length and z_hop zero. Firmware retraction "
+                    "disabled. G11 Command ignored!"
                 )
-
-            unretract_gcode = (
-                "SAVE_GCODE_STATE NAME=_unretract_state\n"
-                "G91\n"
-                "{}"
-                "G1 E{:.5f} F{}\n"  # Unretract filament
-                "RESTORE_GCODE_STATE NAME=_unretract_state"
-            ).format(
-                unzhop_gcode,
-                self.unretract_length,
-                int(self.unretract_speed * 60),
+            else:
+                # get position (track of bed_mesh, z_thermal_adjust changes)
+                position = self.get_position()
+                # undo zhop
+                self._execute_clear_z_hop()
+                self.move(
+                    position,
+                    ZHOP_MOVE_SPEED_FRACTION * self.max_z_vel * speed_factor,
+                )
+                # un-retract
+                if self.current_unretract_length > 0.0:
+                    position[3] += (
+                        self.current_unretract_length * extrude_factor
+                    )
+                    self.move(
+                        position, self.current_unretract_speed * speed_factor
+                    )
+                # update toolhead position
+                self.gcode_move.reset_last_position()
+            self.is_retracted = False
+
+    # gcode_move transform position helper
+    def get_position(self):
+        position = self.next_transform.get_position()
+        position[2] -= self.current_z_hop_height
+        self.last_position[:] = position
+        return position
+
+    # gcode_move transform move helper
+    def move(self, newpos, speed):
+        # cancel zhop on z moves
+        if (
+            self.do_zhop
+            and self.clear_zhop
+            and newpos[2] != self.last_position[2]
+        ):
+            self._execute_clear_z_hop()
+
+        adjusted_pos = [
+            newpos[0],
+            newpos[1],
+            newpos[2] + self.current_z_hop_height,
+            newpos[3],
+        ]
+        self.next_transform.move(adjusted_pos, speed)
+        self.last_position[:] = newpos
+
+    # Helper to limit z_hop while z_max is reached
+    def _limit_zhop(self, gcmd, pos):
+        z_margin = self.maximum_z - pos[2] - MAX_Z_MARGIN
+        if self.z_hop_height > z_margin:
+            self.current_z_hop_height = max(0, z_margin)
+            gcmd.respond_info(
+                "firmware_retraction : z_hop is limited to %.5f"
+                % self.current_z_hop_height
             )
-
-            self.gcode.run_script_from_command(unretract_gcode)
-            self.is_retracted = False  # Set the flag to filament unretracted
         else:
-            gcmd.respond_info("Printer is not retracted. Command ignored!")
-
-    # Register new G1 command handler
-    def _unregister_G1(self):
-        # Change handler only if G1 command has not been toggled before
-        if not self.G1_toggle_state:
-            self._toggle_gcode_comms(
-                "G1.20140114",
-                "G1",
-                self._G1_zhop,
-                "G1 command that accounts for z hop when retracted",
-                self.G1_toggle_state,
-            )
-            self._toggle_gcode_comms(
-                "G0.20140114",
-                "G0",
-                self._G1_zhop,
-                "G0 command that accounts for z hop when retracted",
-                self.G1_toggle_state,
-            )
+            self.current_z_hop_height = self.z_hop_height
+        return self.current_z_hop_height > 0.0
 
-    # Helper to toggle/untoggle command handlers and methods
-    def _toggle_gcode_comms(
-        self,
-        new_cmd_name,
-        old_cmd_name,
-        new_cmd_func,
-        new_cmd_desc,
-        toggle_state,
-    ):
-        # Unregister current method from current handler and store in prev_cmd
-        prev_cmd = self.gcode.register_command(old_cmd_name, None)
-        pdesc = 'Renamed builtin of "%s"' % old_cmd_name
-        if not toggle_state:
-            # Register prev method to toggled handler, indicate built-in command
-            self.gcode.register_command(new_cmd_name, prev_cmd, desc=pdesc)
-            self.gcode.register_command(
-                old_cmd_name, new_cmd_func, desc=new_cmd_desc
-            )  # Register toggled method to command handler
-        else:
-            # Unregister toggled command from the untoggled handler
-            self.gcode.register_command(new_cmd_name, new_cmd_func)
-            self.gcode.register_command(
-                new_cmd_name, prev_cmd, desc=new_cmd_desc
-            )  # Register untoggled method to untog handler
-
-    # G1 method that accounts for z-hop by altering the z-coordinates
-    # Offsets are not touched to prevent incompatibility issues with user macros
-    def _G1_zhop(self, gcmd):
-        params = gcmd.get_command_parameters()
-        is_relative = self._toolhead_is_relative()
-
-        if "Z" in params and not is_relative:
-            # In absolute, adjust Z param to account for Z-hop offset
-            params["Z"] = str(float(params["Z"]) + self.z_hop_height)
-            # In relative, don't adjust as Z-hop offset considered before
-
-        new_g1_command = "G1.20140114"
-        for key, value in params.items():
-            new_g1_command += " {0}{1}".format(key, value)
-
-        # Run originl G1 (renamed G1.20140114) with adjusted parameters
-        self.gcode.run_script_from_command(new_g1_command)
-
-    # Helper to get absolute/relative mode
-    def _toolhead_is_relative(self):
+    # Helper to get extrude_factor & speed_factor
+    def _get_factors(self):
         gcodestatus = self.gcode_move.get_status()
-        movemode = gcodestatus["absolute_coordinates"]
-        return not movemode
-
-    # Re-register old G1 command handler
-    def _re_register_G1(self):
-        # Change handler only if G1 command has been toggled before
-        if self.G1_toggle_state:
-            self._toggle_gcode_comms(
-                "G1", "G1.20140114", None, "cmd_G1_help", self.G1_toggle_state
-            )
-            self._toggle_gcode_comms(
-                "G0", "G0.20140114", None, "cmd_G1_help", self.G1_toggle_state
-            )
+        return [gcodestatus["extrude_factor"], gcodestatus["speed_factor"]]
 
 
 def load_config(config):
diff --git a/test/klippy/firmware_retraction_with_VSDCard.cfg b/test/klippy/firmware_retraction.cfg
similarity index 70%
rename from test/klippy/firmware_retraction_with_VSDCard.cfg
rename to test/klippy/firmware_retraction.cfg
index 6bd527fa5..834507b71 100644
--- a/test/klippy/firmware_retraction_with_VSDCard.cfg
+++ b/test/klippy/firmware_retraction.cfg
@@ -1,7 +1,4 @@
-# Config for firmware_retraction testing with Virtual SD Card module enabled
-[virtual_sdcard]
-path: test/klippy/sdcard_loop
-
+# Config for firmware_retraction testing while reset_on_clear is False
 [display_status]
 
 [respond]
@@ -13,6 +10,7 @@ retract_speed: 45.0
 unretract_extra_length: 0.0
 unretract_speed: 45.0
 z_hop_height: 0.4
+clear_zhop_on_z_moves: True
 
 [stepper_x]
 step_pin: PF0
@@ -111,6 +109,23 @@ gcode:
       {% endif %}
     {% endif %}
 
+[gcode_macro VERIFY_TOOLHEAD_POSITION]
+gcode:
+    {% set axis_name = params.AXIS %}
+    {% set expected_position = params.EXPECTED|float %}
+    {% set axisstate_verbose = False %}
+
+    {% set current_axis_position = printer.toolhead.position[axis_name] %}
+
+    {% if current_axis_position != expected_position %}
+        {action_raise_error("Wrong toolhead position for %s. Expected %f, got %f"
+        % (axis_name, expected_position, current_axis_position))}
+    {% else %}
+      {% if axisstate_verbose %}
+        M118 TOOLHEAD POSITION {axis_name} OK!
+      {% endif %}
+    {% endif %}
+
 [gcode_macro CHECK_RECTRACTION_CLEARED]
 gcode:
   {% set retract_state = False %}
@@ -118,3 +133,11 @@ gcode:
   {% if retract_state == True %}
     {action_raise_error("Retraction should be cleared!")}
   {% endif%}
+
+[gcode_macro CHECK_ZHOP_CLEARED]
+gcode:
+  {% set zhop_state = False %}
+  {% set zhop_state = printer.firmware_retraction.zhop_state %}
+  {% if zhop_state == True %}
+    {action_raise_error("ZHOP should be cleared!")}
+  {% endif%}
diff --git a/test/klippy/firmware_retraction.test b/test/klippy/firmware_retraction.test
new file mode 100644
index 000000000..9aea1bc36
--- /dev/null
+++ b/test/klippy/firmware_retraction.test
@@ -0,0 +1,98 @@
+# Tests Firmware retraction G10 and G11
+
+DICTIONARY atmega2560.dict
+CONFIG firmware_retraction.cfg
+
+CLEAR_RETRACTION
+G90
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
+G28
+
+####################################################### TESTING FIMWARE RETRACTION
+G1 X90.0 Y90.0 Z20.0
+
+SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=0 Z_HOP_HEIGHT=2.0
+# Test CLEAR_RETRACTION while unretracted
+CLEAR_RETRACTION
+CHECK_RECTRACTION_CLEARED
+
+# Test CLEAR_RETRACTION while retracted
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=22
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
+CLEAR_RETRACTION
+CHECK_RECTRACTION_CLEARED
+CHECK_ZHOP_CLEARED
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=22
+G1 X90.0 Y90.0
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=20
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
+
+# Unretract after clearing retraction
+G11
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=20
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
+
+# Test CLEAR_RETRACTION while retracted, 2nd go
+SET_RETRACTION Z_HOP_HEIGHT=3.0
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=23
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-5
+CLEAR_RETRACTION
+CHECK_RECTRACTION_CLEARED
+CHECK_ZHOP_CLEARED
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=23
+G1 X90.0 Y90.0
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=20
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-5.0
+
+# Test Clear_zhop on home 
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=23
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+G28
+CHECK_ZHOP_CLEARED
+G1 X90.0 Y90.0 Z20.0
+G11
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-5
+
+# Test Clear_zhop on z moves
+G10
+VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=23
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+G1 X100.0 
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=23
+G1 Z30.0
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=30
+CHECK_ZHOP_CLEARED
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+G11
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=30
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-5
+G1 Z20.0
+
+# Test RESET_RETRACTION
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=23
+RESET_RETRACTION
+G1 X90.0 Y90.0
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=23
+G11
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-5
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=20
+G10
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-8
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=20.4
+G11
+VERIFY_AXIS_POSITION AXIS=e EXPECTED=-5
+VERIFY_TOOLHEAD_POSITION AXIS=z EXPECTED=20
+M118 Test successful!
diff --git a/test/klippy/firmware_retraction_with_VSDCard.test b/test/klippy/firmware_retraction_with_VSDCard.test
deleted file mode 100644
index 45100cde4..000000000
--- a/test/klippy/firmware_retraction_with_VSDCard.test
+++ /dev/null
@@ -1,212 +0,0 @@
-# Tests Firmware retraction G10 and G11 with Virtual SD Card ENABLED
-
-DICTIONARY atmega2560.dict
-CONFIG firmware_retraction_with_VSDCard.cfg
-
-CLEAR_RETRACTION
-G90
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
-
-################################### CHECK DISABLED RETRACTION WITH ZHOP DISABLED
-G28
-SET_RETRACTION RETRACT_LENGTH=0.0 UNRETRACT_EXTRA_LENGTH=0.0 Z_HOP_HEIGHT=0.0
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
-G11
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
-
-############# CHECK RETRACTION CLEAR ON STEPPER DISABLE EVENT WITH ZHOP DISABLED
-SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
-M84
-CHECK_RECTRACTION_CLEARED
-
-###################### CHECK RETRACTION CLEAR ON HOMING EVENT WITH ZHOP DISABLED
-G28
-SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-5.0
-G28
-CHECK_RECTRACTION_CLEARED
-
-############## CHECK RETRACTION CLEAR ON STEPPER DISABLE EVENT WITH ZHOP ENABLED
-SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=2.0
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
-M84
-CHECK_RECTRACTION_CLEARED
-
-####################### CHECK RETRACTION CLEAR ON HOMING EVENT WITH ZHOP ENABLED
-G28
-SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=2.0
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-10.0
-G28
-CHECK_RECTRACTION_CLEARED
-
-############################################## SET PRINTER UP FOR MOVEMENT TESTS
-SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
-G1 X100.0 Y100.0 Z20.0
-G91
-G1 E10.0
-G90
-
-####################################################### TESTING FW WITHOUT Z_HOP
-
-# Unretract in unretract state
-G11
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
-
-# Retract in unretract state
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
-
-# Repeat Retract
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
-
-# Unretract in retract state
-G11
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-# Second round: Retract in unretract state
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Second round: Unretract in retract state
-G11
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=2.0
-# Compensate for second round
-G91
-G1 E-1.0
-G90
-
-###################################################### TESTING FW Z_HOP STANDARD
-
-SET_RETRACTION UNRETRACT_EXTRA_LENGTH=0.0
-SET_RETRACTION Z_HOP_HEIGHT=2.0
-
-# Retract with Standard zhop
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Repeat retract with Standard zhop
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Unretract with Standard zhop in retract state
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-# Second round: Retract with Standard zhop
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Second round: Unretract with Standard zhop in retract state
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-#################################### TESTING CHANGE Z_HOP_HEIGHT WHILE RETRACTED
-
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-SET_RETRACTION Z_HOP_HEIGHT=3.0
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-################ TESTING MOVE Z WHILE RETRACTED WITH SWITCH TO RELATIVE AND BACK
-
-SET_RETRACTION Z_HOP_HEIGHT=2.0
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Switch to relative mode while retracted
-G91
-G1 Z-10.0
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=12.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Switch back to absolute mode
-G90
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=10.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-################################################ TESTING MOVE XY WHILE RETRACTED
-
-# Test XY Move in Standard
-G1 Z20.0
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-G1 X90.0 Y90.0
-VERIFY_AXIS_POSITION AXIS=x EXPECTED=90.0
-VERIFY_AXIS_POSITION AXIS=y EXPECTED=90.0
-
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-G1 X100.0 Y100.0
-VERIFY_AXIS_POSITION AXIS=x EXPECTED=100.0
-VERIFY_AXIS_POSITION AXIS=y EXPECTED=100.0
-
-####################################################### TESTING CLEAR RETRACTION
-G1 X90.0 Y90.0 Z20.0
-
-# Test CLEAR_RETRACTION while unretracted
-CLEAR_RETRACTION
-
-# Test CLEAR_RETRACTION while retracted
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-CLEAR_RETRACTION
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Unretract after clearing retraction
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Test CLEAR_RETRACTION while retracted, 2nd go
-SET_RETRACTION Z_HOP_HEIGHT=2.0
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
-CLEAR_RETRACTION
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
-
-# Unretract after clearing retraction and retracting
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.4
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.4
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
-
-# Test first move with z coordinate after retraction was cleared
-G1 X100.0 Y100.0 Z28.0
-VERIFY_AXIS_POSITION AXIS=x EXPECTED=100.0
-VERIFY_AXIS_POSITION AXIS=y EXPECTED=100.0
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=28.4
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=28.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
-M118 Test successful!
diff --git a/test/klippy/firmware_retraction_without_VSDCard.cfg b/test/klippy/firmware_retraction_without_VSDCard.cfg
deleted file mode 100644
index 7364eec9b..000000000
--- a/test/klippy/firmware_retraction_without_VSDCard.cfg
+++ /dev/null
@@ -1,117 +0,0 @@
-# Config for firmware_retraction testing with Virtual SD Card module disabled
-[display_status]
-
-[respond]
-default_type: command
-
-[firmware_retraction]
-retract_length: 3.0
-retract_speed: 45.0
-unretract_extra_length: 0.0
-unretract_speed: 45.0
-z_hop_height: 0.4
-
-[stepper_x]
-step_pin: PF0
-dir_pin: PF1
-enable_pin: !PD7
-microsteps: 16
-rotation_distance: 40
-endstop_pin: ^PE5
-position_endstop: 0
-position_max: 224
-homing_speed: 50
-
-[stepper_y]
-step_pin: PF6
-dir_pin: !PF7
-enable_pin: !PF2
-microsteps: 16
-rotation_distance: 40
-endstop_pin: ^PJ1
-position_endstop: 0
-position_max: 220
-homing_speed: 50
-
-[stepper_z]
-step_pin: PL3
-dir_pin: PL1
-enable_pin: !PK0
-microsteps: 16
-rotation_distance: 8
-endstop_pin: ^PD3
-position_endstop: 0
-position_max: 200
-
-[extruder]
-step_pin: PA4
-dir_pin: PA6
-enable_pin: !PA2
-microsteps: 16
-rotation_distance: 33.5
-nozzle_diameter: 0.400
-filament_diameter: 1.750
-heater_pin: PB4
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PK5
-control: pid
-pid_Kp: 22.2
-pid_Ki: 1.08
-pid_Kd: 114
-min_temp: 0
-max_temp: 210
-min_extrude_temp: 0
-
-[heater_bed]
-heater_pin: PH5
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: PK6
-control: watermark
-min_temp: 0
-max_temp: 110
-
-[mcu]
-serial: /dev/ttyACM0
-
-[printer]
-kinematics: cartesian
-max_velocity: 300
-max_accel: 3000
-max_z_velocity: 5
-max_z_accel: 100
-
-[gcode_arcs]
-resolution: 0.1
-
-[homing_override]
-gcode:
-    G28 X0
-    G28 Y0
-    G1 X112 Y110
-    G28 Z0
-    G1 X112 Y110 Z8
-
-[gcode_macro VERIFY_AXIS_POSITION]
-gcode:
-    {% set axis_name = params.AXIS %}
-    {% set expected_position = params.EXPECTED|float %}
-    {% set axisstate_verbose = False %}
-
-    {% set current_axis_position = printer.gcode_move.position[axis_name] %}
-
-    {% if current_axis_position != expected_position %}
-        {action_raise_error("Wrong axis position for %s. Expected %f, got %f"
-        % (axis_name, expected_position, current_axis_position))}
-    {% else %}
-      {% if axisstate_verbose %}
-        M118 Axis {axis_name} OK!
-      {% endif %}
-    {% endif %}
-
-[gcode_macro CHECK_RECTRACTION_CLEARED]
-gcode:
-  {% set retract_state = False %}
-  {% set retract_state = printer.firmware_retraction.retract_state %}
-  {% if retract_state == True %}
-    {action_raise_error("Retraction should be cleared!")}
-  {% endif%}
diff --git a/test/klippy/firmware_retraction_without_VSDCard.test b/test/klippy/firmware_retraction_without_VSDCard.test
deleted file mode 100644
index bea144032..000000000
--- a/test/klippy/firmware_retraction_without_VSDCard.test
+++ /dev/null
@@ -1,212 +0,0 @@
-# Tests Firmware retraction G10 and G11 with Virtual SD Card DISABLED
-
-DICTIONARY atmega2560.dict
-CONFIG firmware_retraction_without_VSDCard.cfg
-
-CLEAR_RETRACTION
-G90
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
-
-################################### CHECK DISABLED RETRACTION WITH ZHOP DISABLED
-G28
-SET_RETRACTION RETRACT_LENGTH=0.0 UNRETRACT_EXTRA_LENGTH=0.0 Z_HOP_HEIGHT=0.0
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
-G11
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
-
-############# CHECK RETRACTION CLEAR ON STEPPER DISABLE EVENT WITH ZHOP DISABLED
-SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
-M84
-CHECK_RECTRACTION_CLEARED
-
-###################### CHECK RETRACTION CLEAR ON HOMING EVENT WITH ZHOP DISABLED
-G28
-SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-5.0
-G28
-CHECK_RECTRACTION_CLEARED
-
-############## CHECK RETRACTION CLEAR ON STEPPER DISABLE EVENT WITH ZHOP ENABLED
-SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=2.0
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
-M84
-CHECK_RECTRACTION_CLEARED
-
-####################### CHECK RETRACTION CLEAR ON HOMING EVENT WITH ZHOP ENABLED
-G28
-SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=2.0
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-10.0
-G28
-CHECK_RECTRACTION_CLEARED
-
-############################################## SET PRINTER UP FOR MOVEMENT TESTS
-SET_RETRACTION RETRACT_LENGTH=2.5 UNRETRACT_EXTRA_LENGTH=1.0 Z_HOP_HEIGHT=0.0
-G1 X100.0 Y100.0 Z20.0
-G91
-G1 E10.0
-G90
-
-####################################################### TESTING FW WITHOUT Z_HOP
-
-# Unretract in unretract state
-G11
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=0.0
-
-# Retract in unretract state
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
-
-# Repeat Retract
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-2.5
-
-# Unretract in retract state
-G11
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-# Second round: Retract in unretract state
-G10
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Second round: Unretract in retract state
-G11
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=2.0
-# Compensate for second round
-G91
-G1 E-1.0
-G90
-
-###################################################### TESTING FW Z_HOP STANDARD
-
-SET_RETRACTION UNRETRACT_EXTRA_LENGTH=0.0
-SET_RETRACTION Z_HOP_HEIGHT=2.0
-
-# Retract with Standard zhop
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Repeat retract with Standard zhop
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Unretract with Standard zhop in retract state
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-# Second round: Retract with Standard zhop
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Second round: Unretract with Standard zhop in retract state
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-#################################### TESTING CHANGE Z_HOP_HEIGHT WHILE RETRACTED
-
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-SET_RETRACTION Z_HOP_HEIGHT=3.0
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-################ TESTING MOVE Z WHILE RETRACTED WITH SWITCH TO RELATIVE AND BACK
-
-SET_RETRACTION Z_HOP_HEIGHT=2.0
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Switch to relative mode while retracted
-G91
-G1 Z-10.0
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=12.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Switch back to absolute mode
-G90
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=10.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-################################################ TESTING MOVE XY WHILE RETRACTED
-
-# Test XY Move in Standard
-G1 Z20.0
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-G1 X90.0 Y90.0
-VERIFY_AXIS_POSITION AXIS=x EXPECTED=90.0
-VERIFY_AXIS_POSITION AXIS=y EXPECTED=90.0
-
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=20.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=1.0
-
-G1 X100.0 Y100.0
-VERIFY_AXIS_POSITION AXIS=x EXPECTED=100.0
-VERIFY_AXIS_POSITION AXIS=y EXPECTED=100.0
-
-####################################################### TESTING CLEAR RETRACTION
-G1 X90.0 Y90.0 Z20.0
-
-# Test CLEAR_RETRACTION while unretracted
-CLEAR_RETRACTION
-
-# Test CLEAR_RETRACTION while retracted
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-CLEAR_RETRACTION
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Unretract after clearing retraction
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=22.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-1.5
-
-# Test CLEAR_RETRACTION while retracted, 2nd go
-SET_RETRACTION Z_HOP_HEIGHT=2.0
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
-CLEAR_RETRACTION
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
-
-# Unretract after clearing retraction and retracting
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.4
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
-G10
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=24.4
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
-
-# Test first move with z coordinate after retraction was cleared
-G1 X100.0 Y100.0 Z28.0
-VERIFY_AXIS_POSITION AXIS=x EXPECTED=100.0
-VERIFY_AXIS_POSITION AXIS=y EXPECTED=100.0
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=28.4
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-7.5
-G11
-VERIFY_AXIS_POSITION AXIS=z EXPECTED=28.0
-VERIFY_AXIS_POSITION AXIS=e EXPECTED=-4.5
-M118 Test successful!