diff --git a/docs/CANBUS_Troubleshooting.md b/docs/CANBUS_Troubleshooting.md
index de0deaf74..6b7973bae 100644
--- a/docs/CANBUS_Troubleshooting.md
+++ b/docs/CANBUS_Troubleshooting.md
@@ -37,20 +37,36 @@ hours or more frequently) then it is an indication of a severe
 problem.
 
 Incrementing `bytes_invalid` on a CAN bus connection is a symptom of
-reordered messages on the CAN bus. There are two known causes of
-reordered messages:
-1. Old versions of the popular candlight_firmware for USB CAN adapters
-   had a bug that could cause reordered messages. If using a USB CAN
-   adapter running this firmware then make sure to update to the
-   latest firmware if incrementing `bytes_invalid` is observed.
-2. Some Linux kernel builds for embedded devices have been known to
-   reorder CAN bus messages. It may be necessary to use an alternative
-   Linux kernel or to use alternative hardware that supports
-   mainstream Linux kernels that do not exhibit this problem.
+reordered messages on the CAN bus. If seen, make sure to:
+* Use a Linux kernel version 6.6.0 or later.
+* If using a USB-to-CANBUS adapter running candlelight firmware, use
+  v2.0 or later of candleLight_fw.
+* If using Klipper's USB-to-CANBUS bridge mode, make sure the bridge
+  node is flashed with Klipper v0.12.0 or later.
 
 Reordered messages is a severe problem that must be fixed. It will
 result in unstable behavior and can lead to confusing errors at any
-part of a print.
+part of a print. An incrementing `bytes_invalid` is not caused by
+wiring or similar hardware issues and can only be fixed by identifying
+and updating the faulty software.
+
+Older versions of the Linux kernel had a bug in the gs_usb canbus
+driver code that could cause reordered canbus packets.  The issue is
+thought to be fixed in
+[Linux commit 24bc41b4](https://github.com/torvalds/linux/commit/24bc41b4558347672a3db61009c339b1f5692169)
+which was released in v6.6.0. In some cases, older Linux versions may
+not show the problem (due to how hardware interrupts are configured),
+however if problems are seen the recommended solution is to upgrade to
+a newer kernel.
+
+Older versions of candlelight firmware could reorder canbus packets,
+and the issue is thought to be fixed in
+[candlelight_fw commit 8b3a7b45](https://github.com/candle-usb/candleLight_fw/commit/8b3a7b4565a3c9521b762b154c94c72c5acb2bcf).
+
+Older versions of Klipper's USB-to-CANBUS bridge code could
+incorrectly drop canbus messages. This is not as severe as reordering
+messages, but it should still be fixed. It is thought to be fixed with
+[Klipper PR #6175](https://github.com/Klipper3d/klipper/pull/6175).
 
 ## Use an appropriate txqueuelen setting
 
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index e8f3353fd..35b108ec5 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -3456,8 +3456,9 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. The default is 0, which disables
-#   "stealthChop" mode.
+#   velocity is below this value. Note that the "sensorless homing"
+#   code may temporarily override this setting during homing
+#   operations. The default is 0, which disables "stealthChop" mode.
 #coolstep_threshold:
 #   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
 #   threshold to. If set, the coolstep feature will be enabled when
@@ -3569,8 +3570,9 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. The default is 0, which disables
-#   "stealthChop" mode.
+#   velocity is below this value. Note that the "sensorless homing"
+#   code may temporarily override this setting during homing
+#   operations. The default is 0, which disables "stealthChop" mode.
 #driver_MULTISTEP_FILT: True
 #driver_IHOLDDELAY: 8
 #driver_TPOWERDOWN: 20
@@ -3772,8 +3774,9 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. The default is 0, which disables
-#   "stealthChop" mode.
+#   velocity is below this value. Note that the "sensorless homing"
+#   code may temporarily override this setting during homing
+#   operations. The default is 0, which disables "stealthChop" mode.
 #coolstep_threshold:
 #   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
 #   threshold to. If set, the coolstep feature will be enabled when
@@ -3906,8 +3909,9 @@ run_current:
 #stealthchop_threshold: 0
 #   The velocity (in mm/s) to set the "stealthChop" threshold to. When
 #   set, "stealthChop" mode will be enabled if the stepper motor
-#   velocity is below this value. The default is 0, which disables
-#   "stealthChop" mode.
+#   velocity is below this value. Note that the "sensorless homing"
+#   code may temporarily override this setting during homing
+#   operations. The default is 0, which disables "stealthChop" mode.
 #coolstep_threshold:
 #   The velocity (in mm/s) to set the TMC driver internal "CoolStep"
 #   threshold to. If set, the coolstep feature will be enabled when
@@ -5076,7 +5080,7 @@ Octoprint as they will conflict, and 1 will fail to initialize
 properly likely aborting your print.
 
 If you use Octoprint and stream gcode over the serial port instead of
-printing from virtual_sd, then remo **M1** and **M0** from *Pausing commands*
+printing from virtual_sd, then remove **M1** and **M0** from *Pausing commands*
 in *Settings > Serial Connection > Firmware & protocol* will prevent
 the need to start print on the Palette 2 and unpausing in Octoprint
 for your print to begin.
diff --git a/docs/TMC_Drivers.md b/docs/TMC_Drivers.md
index d2a7eaa33..6326e339d 100644
--- a/docs/TMC_Drivers.md
+++ b/docs/TMC_Drivers.md
@@ -83,6 +83,10 @@ setting `stealthchop_threshold` to 999999). Unfortunately, the drivers
 often produce poor and confusing results if the mode changes while the
 motor is at a non-zero velocity.
 
+Note that the `stealthchop_threshold` config option does not impact
+sensorless homing as Klipper automatically switches the TMC driver to
+an appropriate mode during sensorless homing operations.
+
 ## TMC interpolate setting introduces small position deviation
 
 The TMC driver `interpolate` setting may reduce the audible noise of
diff --git a/scripts/spi_flash/board_defs.py b/scripts/spi_flash/board_defs.py
index 9924fefcd..bc0c3d577 100644
--- a/scripts/spi_flash/board_defs.py
+++ b/scripts/spi_flash/board_defs.py
@@ -130,6 +130,13 @@ BOARD_DEFS = {
         "cs_pin": "PA4",
         "current_firmware_path": "OLD.BIN"
     },
+    'btt-octopus-max-ez': {
+        'mcu': "stm32h723xx",
+        'spi_bus': "swspi",
+        'spi_pins': "PE13,PE14,PE12",
+        'cs_pin': "PB12",
+        'skip_verify': True
+    },
     'btt-skrat': {
         'mcu': "stm32g0b1xx",
         'spi_bus': "spi1",
diff --git a/src/generic/usb_cdc.c b/src/generic/usb_cdc.c
index 143c213f0..961c6330c 100644
--- a/src/generic/usb_cdc.c
+++ b/src/generic/usb_cdc.c
@@ -44,11 +44,13 @@ usb_bulk_in_task(void)
 {
     if (!sched_check_wake(&usb_bulk_in_wake))
         return;
-    uint_fast8_t tpos = transmit_pos;
+    uint_fast8_t tpos = transmit_pos, max_tpos = tpos;
     if (!tpos)
         return;
-    uint_fast8_t max_tpos = (tpos > USB_CDC_EP_BULK_IN_SIZE
-                             ? USB_CDC_EP_BULK_IN_SIZE : tpos);
+    if (max_tpos > USB_CDC_EP_BULK_IN_SIZE)
+        max_tpos = USB_CDC_EP_BULK_IN_SIZE;
+    else if (max_tpos == USB_CDC_EP_BULK_IN_SIZE)
+        max_tpos = USB_CDC_EP_BULK_IN_SIZE-1; // Avoid zero-length-packets
     int_fast8_t ret = usb_send_bulk_in(transmit_buf, max_tpos);
     if (ret <= 0)
         return;
diff --git a/src/generic/usb_cdc.h b/src/generic/usb_cdc.h
index 3c92ef13f..2149c2782 100644
--- a/src/generic/usb_cdc.h
+++ b/src/generic/usb_cdc.h
@@ -3,14 +3,6 @@
 
 #include <stdint.h> // uint_fast8_t
 
-// endpoint sizes
-enum {
-    USB_CDC_EP0_SIZE = 16,
-    USB_CDC_EP_ACM_SIZE = 8,
-    USB_CDC_EP_BULK_OUT_SIZE = 64,
-    USB_CDC_EP_BULK_IN_SIZE = 64,
-};
-
 // callbacks provided by board specific code
 int_fast8_t usb_read_bulk_out(void *data, uint_fast8_t max_len);
 int_fast8_t usb_send_bulk_in(void *data, uint_fast8_t len);
diff --git a/src/generic/usb_cdc_ep.h b/src/generic/usb_cdc_ep.h
index f75215802..3b0e6beb1 100644
--- a/src/generic/usb_cdc_ep.h
+++ b/src/generic/usb_cdc_ep.h
@@ -8,4 +8,12 @@ enum {
     USB_CDC_EP_ACM = 3,
 };
 
+// Default endpoint sizes
+enum {
+    USB_CDC_EP0_SIZE = 16,
+    USB_CDC_EP_ACM_SIZE = 8,
+    USB_CDC_EP_BULK_OUT_SIZE = 64,
+    USB_CDC_EP_BULK_IN_SIZE = 64,
+};
+
 #endif // usb_cdc_ep.h
diff --git a/src/lpc176x/usb_cdc_ep.h b/src/lpc176x/usb_cdc_ep.h
index d657f3c27..ef9649ed7 100644
--- a/src/lpc176x/usb_cdc_ep.h
+++ b/src/lpc176x/usb_cdc_ep.h
@@ -7,4 +7,11 @@ enum {
     USB_CDC_EP_BULK_IN = 5,
 };
 
+enum {
+    USB_CDC_EP0_SIZE = 16,
+    USB_CDC_EP_ACM_SIZE = 8,
+    USB_CDC_EP_BULK_OUT_SIZE = 64,
+    USB_CDC_EP_BULK_IN_SIZE = 64,
+};
+
 #endif // usb_cdc_ep.h
diff --git a/src/stm32/Kconfig b/src/stm32/Kconfig
index 4112e8334..6e1daa543 100644
--- a/src/stm32/Kconfig
+++ b/src/stm32/Kconfig
@@ -15,7 +15,7 @@ config STM32_SELECT
     select HAVE_CHIPID
     select HAVE_STEPPER_BOTH_EDGE
     select HAVE_BOOTLOADER_REQUEST
-    select HAVE_LIMITED_CODE_SIZE if MACH_STM32F031 || MACH_STM32F042
+    select HAVE_LIMITED_CODE_SIZE if FLASH_SIZE < 0x10000
 
 config BOARD_DIRECTORY
     string
@@ -117,6 +117,10 @@ config MACH_STM32F103x6
     depends on LOW_LEVEL_OPTIONS && MACH_STM32F103
     bool "Only 10KiB of RAM (for rare stm32f103x6 variant)"
 
+config MACH_STM32F070x6
+    depends on LOW_LEVEL_OPTIONS && MACH_STM32F070
+    bool "Only 6KiB of RAM (for rare stm32f070x6 variant)"
+
 config MACH_STM32F0
     bool
 config MACH_STM32F1
@@ -211,8 +215,8 @@ config CLOCK_FREQ
 
 config FLASH_SIZE
     hex
-    default 0x8000 if MACH_STM32F031 || MACH_STM32F042
-    default 0x20000 if MACH_STM32F070 || MACH_STM32F072
+    default 0x8000 if MACH_STM32F031 || MACH_STM32F042 || MACH_STM32F070x6
+    default 0x20000 if (MACH_STM32F070 || MACH_STM32F072) && !MACH_STM32F070x6
     default 0x10000 if MACH_STM32F103 || MACH_STM32L412 # Flash size of stm32f103x8 (64KiB)
     default 0x40000 if MACH_STM32F2 || MACH_STM32F401 || MACH_STM32H723
     default 0x80000 if MACH_STM32F4x5 || MACH_STM32F446
@@ -234,7 +238,8 @@ config RAM_SIZE
     hex
     default 0x1000 if MACH_STM32F031
     default 0x1800 if MACH_STM32F042
-    default 0x4000 if MACH_STM32F070 || MACH_STM32F072
+    default 0x1800 if MACH_STM32F070x6
+    default 0x4000 if (MACH_STM32F070 || MACH_STM32F072) && !MACH_STM32F070x6
     default 0x2800 if MACH_STM32F103x6
     default 0x5000 if MACH_STM32F103 && !MACH_STM32F103x6 # Ram size of stm32f103x8
     default 0x8000 if MACH_STM32G431
@@ -384,7 +389,8 @@ choice
         bool "USB (on PA11/PA12)" if HAVE_STM32_USBFS || HAVE_STM32_USBOTG
         select USBSERIAL
     config STM32_USB_PA11_PA12_REMAP
-        bool "USB (on PA9/PA10)" if LOW_LEVEL_OPTIONS && MACH_STM32F042
+        bool "USB (on PA9/PA10)"
+        depends on MACH_STM32F042 || MACH_STM32F070x6
         select USBSERIAL
     config STM32_USB_PB14_PB15
         bool "USB (on PB14/PB15)"
@@ -434,7 +440,7 @@ choice
         select CANSERIAL
     config STM32_CANBUS_PA11_PA12_REMAP
         bool "CAN bus (on PA9/PA10)" if LOW_LEVEL_OPTIONS
-        depends on HAVE_STM32_CANBUS && MACH_STM32F042
+        depends on HAVE_STM32_CANBUS && (MACH_STM32F042 || MACH_STM32F070x6)
         select CANSERIAL
     config STM32_CANBUS_PA11_PB9
         bool "CAN bus (on PA11/PB9)"
diff --git a/src/stm32/stm32f0.c b/src/stm32/stm32f0.c
index 72fc1645e..d7af831e3 100644
--- a/src/stm32/stm32f0.c
+++ b/src/stm32/stm32f0.c
@@ -186,10 +186,8 @@ armcm_main(void)
     hsi14_setup();
 
     // Support pin remapping USB/CAN pins on low pinout stm32f042
-#ifdef SYSCFG_CFGR1_PA11_PA12_RMP
     if (CONFIG_STM32_USB_PA11_PA12_REMAP || CONFIG_STM32_CANBUS_PA11_PA12_REMAP)
-        SYSCFG->CFGR1 |= SYSCFG_CFGR1_PA11_PA12_RMP;
-#endif
+        SYSCFG->CFGR1 |= 1<<4; // SYSCFG_CFGR1_PA11_PA12_RMP
 
     sched_main();
 }