diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index dabb53b47b..fe0a3a792e 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -377,7 +377,7 @@ void GcodeSuite::G28() {
         float z_homing_height = seenR ? parser.value_linear_units() : Z_CLEARANCE_FOR_HOMING;
 
         // Check for any lateral motion that might require clearance
-        const bool may_skate = seenR && NUM_AXIS_ANY(doX, doY, TERN0(Z_SAFE_HOMING, doZ), doI, doJ, doK, doU, doV, doW);
+        const bool may_skate = seenR || NUM_AXIS_ANY(doX, doY, TERN0(Z_SAFE_HOMING, doZ), doI, doJ, doK, doU, doV, doW);
 
         if (seenR && z_homing_height == 0) {
           if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("R0 = No Z raise");