Rehome? You HAVE to rehome if you disabled your steppers and I meant a mm or two from a “cold” start on a print, the variance isn’t on the order of mm’s.
Most people don’t pause for long enough for the steppers to disable. If you do, you already screwed up because of that very thing. The only way you’re getting around that is positional encoders.
Z 20mm/s… What happened to “>5mm/s” = slop, from your multi-mcu homing post?