About those soft limits, here’s a great post from @neilferreri
EDIT: and I mention this because he educated me on the fact that soft limits WILL address this retract crash (I initially thought they wouldn’t)
The fundamentals are on the GRBL page here
As to why CM has its own internal soft limits instead of using GRBL’s ones… I…would need to go and read about that in old posts and…I’m in a tunnel, I’m losing you…brzzzz… 