homing: Skip final retract on physical endstops

docs/Config_Changes.md

@@ -8,6 +8,11 @@ All dates in this document are approximate.
 
 ## Changes
 
+20261002: Homing with a physical endstop no longer backs off by
+`homing_retract_dist` after the final touch; the axis stays on the
+endstop, as in Klipper. The final back-off now only applies to
+sensorless homing.
+
 20260914: The firmware "USB product" string now follows the selected
 MCU unless "USB product from MCU name" is disabled in the low-level
 "USB ids" menu of `make menuconfig`. A custom USB product set in an

docs/Config_Reference.md

@@ -320,7 +320,8 @@ position_max:
 #   Distance to backoff (in mm) before homing a second time during
 #   homing. If `use_sensorless_homing` is false, this setting can be set
 #   to zero to disable the second home. If `use_sensorless_homing` is
-#   true, this setting can be > 0 to backoff after homing. The default
+#   true, this setting can be > 0 to backoff after homing (physical
+#   endstops stay on the endstop after the final touch). The default
 #   is 5mm.
 #homing_retract_speed:
 #   Speed to use on the retract move after homing in case this should

klippy/extras/homing.py

@@ -380,7 +380,7 @@ def home_rails(self, rails, forcepos, movepos):
                     self._set_homing_accel(hi.accel, pre_homing=False)
                     self._set_homing_current(homing_axes, pre_homing=False)
 
-                if hi.retract_dist:
+                if hi.use_sensorless_homing and hi.retract_dist:
                     # Retract (again)
                     startpos = self._fill_coord(forcepos)
                     homepos = self._fill_coord(movepos)