diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index d52294e2..2ff7b7bf 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -311,6 +311,16 @@ result in excessive pressure between extruder and hot end. Do proper
 calibration with filament before use. If 'DISTANCE' value is not
 included command will return current rotation distance.
 
+#### SYNC_EXTRUDER_MOTION
+`SYNC_EXTRUDER_MOTION EXTRUDER=<name> MOTION_QUEUE=<name>`: This
+command will cause the stepper specified by EXTRUDER (as defined in an
+[extruder](Config_Reference#extruder) or
+[extruder_stepper](Config_Reference#extruder_stepper) config section)
+to become synchronized to the movement of an extruder specified by
+MOTION_QUEUE (as defined in an [extruder](Config_Reference#extruder)
+config section). If MOTION_QUEUE is an empty string then the stepper
+will be desynchronized from all extruder movement.
+
 #### SET_EXTRUDER_STEP_DISTANCE
 `SET_EXTRUDER_STEP_DISTANCE EXTRUDER=<config_name>
 [DISTANCE=<distance>]`: Set a new value for the provided extruder's
@@ -322,7 +332,7 @@ calibration with filament before use. If 'DISTANCE' value is not
 included command will return current step distance.
 
 #### SYNC_STEPPER_TO_EXTRUDER
-`SYNC_STEPPER_TO_EXTRUDER STEPPER=<name> [EXTRUDER=<name>]`: This
+`SYNC_STEPPER_TO_EXTRUDER STEPPER=<name> EXTRUDER=<name>`: This
 command will cause the given extruder STEPPER (as specified in an
 [extruder](Config_Reference#extruder) or
 [extruder stepper](Config_Reference#extruder_stepper) config section)
diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py
index 2749f63c..9b98eaf8 100644
--- a/klippy/kinematics/extruder.py
+++ b/klippy/kinematics/extruder.py
@@ -31,6 +31,9 @@ class ExtruderStepper:
         gcode.register_mux_command("SET_EXTRUDER_ROTATION_DISTANCE", "EXTRUDER",
                                    self.name, self.cmd_SET_E_ROTATION_DISTANCE,
                                    desc=self.cmd_SET_E_ROTATION_DISTANCE_help)
+        gcode.register_mux_command("SYNC_EXTRUDER_MOTION", "EXTRUDER",
+                                   self.name, self.cmd_SYNC_EXTRUDER_MOTION,
+                                   desc=self.cmd_SYNC_EXTRUDER_MOTION_help)
         gcode.register_mux_command("SET_EXTRUDER_STEP_DISTANCE", "EXTRUDER",
                                    self.name, self.cmd_SET_E_STEP_DISTANCE,
                                    desc=self.cmd_SET_E_STEP_DISTANCE_help)
@@ -111,6 +114,11 @@ class ExtruderStepper:
             rotation_dist = -rotation_dist
         gcmd.respond_info("Extruder '%s' rotation distance set to %0.6f"
                           % (self.name, rotation_dist))
+    cmd_SYNC_EXTRUDER_MOTION_help = "Set extruder stepper motion queue"
+    def cmd_SYNC_EXTRUDER_MOTION(self, gcmd):
+        ename = gcmd.get('MOTION_QUEUE')
+        self.sync_to_extruder(ename)
+        gcmd.respond_info("Extruder stepper now syncing with '%s'" % (ename,))
     cmd_SET_E_STEP_DISTANCE_help = "Set extruder step distance"
     def cmd_SET_E_STEP_DISTANCE(self, gcmd):
         step_dist = gcmd.get_float('DISTANCE', None, above=0.)
diff --git a/test/klippy/extruders.test b/test/klippy/extruders.test
index 889d5e34..a48d2dca 100644
--- a/test/klippy/extruders.test
+++ b/test/klippy/extruders.test
@@ -21,20 +21,20 @@ SET_EXTRUDER_ROTATION_DISTANCE EXTRUDER=extruder DISTANCE=-33.1
 G1 X30 Y30 E8.2
 
 # Disable extruder stepper motor
-SYNC_STEPPER_TO_EXTRUDER STEPPER=extruder EXTRUDER=
+SYNC_EXTRUDER_MOTION EXTRUDER=extruder MOTION_QUEUE=
 G1 X35 Y35 E8.5
 
 # Disable my_extra_stepper stepper motor
-SYNC_STEPPER_TO_EXTRUDER STEPPER=my_extra_stepper EXTRUDER=
+SYNC_EXTRUDER_MOTION EXTRUDER=my_extra_stepper MOTION_QUEUE=
 G1 X40 Y40 E9.0
 
 # Enable extruder stepper motor
-SYNC_STEPPER_TO_EXTRUDER STEPPER=extruder EXTRUDER=extruder
+SYNC_EXTRUDER_MOTION EXTRUDER=extruder MOTION_QUEUE=extruder
 G1 X45 Y45 E9.5
 
 # Switch to just my_extra_stepper stepper motor
-SYNC_STEPPER_TO_EXTRUDER STEPPER=extruder EXTRUDER=
-SYNC_STEPPER_TO_EXTRUDER STEPPER=my_extra_stepper EXTRUDER=extruder
+SYNC_EXTRUDER_MOTION EXTRUDER=extruder MOTION_QUEUE=
+SYNC_EXTRUDER_MOTION EXTRUDER=my_extra_stepper MOTION_QUEUE=extruder
 G1 X50 Y50 E10.0
 
 # Test pressure advance move