diff --git a/klippy/mcu.py b/klippy/mcu.py
index febc69b7..a0bfc14f 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -146,7 +146,8 @@ class MCU_endstop:
         self._oid = self._home_cmd = self._query_cmd = None
         self._mcu.register_config_callback(self._build_config)
         self._homing = False
-        self._min_query_time = self._next_query_time = 0.
+        self._min_query_time = 0.
+        self._next_query_print_time = 0.
         self._last_state = {}
     def get_mcu(self):
         return self._mcu
@@ -185,7 +186,7 @@ class MCU_endstop:
         rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
         self._homing = True
         self._min_query_time = self._mcu.monotonic()
-        self._next_query_time = self._min_query_time + self.RETRY_QUERY
+        self._next_query_print_time = print_time + self.RETRY_QUERY
         self._home_cmd.send(
             [self._oid, clock, self._mcu.seconds_to_clock(sample_time),
              sample_count, rest_ticks, 1 ^ self._invert], reqclock=clock)
@@ -222,13 +223,15 @@ class MCU_endstop:
                 raise self.TimeoutError("Timeout during endstop homing")
         if self._mcu.is_shutdown():
             raise error("MCU is shutdown")
-        if eventtime >= self._next_query_time:
-            self._next_query_time = eventtime + self.RETRY_QUERY
+        est_print_time = self._mcu.estimated_print_time(eventtime)
+        if est_print_time >= self._next_query_print_time:
+            self._next_query_print_time = est_print_time + self.RETRY_QUERY
             self._query_cmd.send([self._oid])
         return True
     def query_endstop(self, print_time):
         self._homing = False
-        self._min_query_time = self._next_query_time = self._mcu.monotonic()
+        self._min_query_time = self._mcu.monotonic()
+        self._next_query_print_time = print_time
     def query_endstop_wait(self):
         eventtime = self._mcu.monotonic()
         while self._check_busy(eventtime):