diff --git a/Marlin/src/module/endstops.h b/Marlin/src/module/endstops.h
index ab124c3536..4d7a444bc4 100644
--- a/Marlin/src/module/endstops.h
+++ b/Marlin/src/module/endstops.h
@@ -221,6 +221,11 @@ class Endstops {
       ;
     }
 
+    /**
+     * Get a particular endstop state
+     */
+    FORCE_INLINE static bool state(const EndstopEnum es) { return TEST(state(), es); }
+
     static bool probe_switch_activated() {
       return (true
         #if ENABLED(PROBE_ACTIVATION_SWITCH)
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 42d673db93..0a3a5a5f5e 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -2574,7 +2574,7 @@ void prepare_line_to_destination() {
           }
         #endif
 
-        if (TEST(endstops.state(), es)) {
+        if (endstops.state(es)) {
           SERIAL_ECHO_MSG("Bad ", C(AXIS_CHAR(axis)), " Endstop?");
           kill(GET_TEXT_F(MSG_KILL_HOMING_FAILED));
         }