diff --git a/src/logic/tool_change.cpp b/src/logic/tool_change.cpp
index a599b8e..079117f 100644
--- a/src/logic/tool_change.cpp
+++ b/src/logic/tool_change.cpp
@@ -126,6 +126,14 @@ bool ToolChange::StepInner() {
             // However - if we run into "FSensor didn't trigger", the situation is exactly opposite - it is beneficial
             // to unload the filament and try the whole sequence again
             // Therefore we only switch to FeedingToFinda if FINDA is not pressed (we suppose the filament is unloaded completely)
+            //
+            // MMU-191: if FSENSOR_DIDNT_SWITCH_ON was caused by misaligned Idler,
+            // rehoming it may fix the issue when auto retrying -> no user intervention
+            // So first invalidate homing flags as the user may have moved the Idler or Selector accidentally.
+            //
+            // Beware: we may run into issues when FINDA or FSensor do not work correctly. Selector may rely on the presumed filament position and actually cut it accidentally when trying to rehome.
+            // It is yet to be seen if something like this can actually happen.
+            InvalidateHoming();
             if (mf::finda.Pressed()) {
                 Reset(mg::globals.ActiveSlot());
             } else {
@@ -201,7 +209,7 @@ ProgressCode ToolChange::State() const {
         case FeedToBondtech::DisengagingIdler:
             return ProgressCode::DisengagingIdler;
         }
-        // [[fallthrough]] // everything else is reported as FeedingToBondtech
+        [[fallthrough]]; // everything else is reported as is
     default:
         return state;
     }
diff --git a/tests/unit/logic/tool_change/test_tool_change.cpp b/tests/unit/logic/tool_change/test_tool_change.cpp
index 66212a1..fc8d4a4 100644
--- a/tests/unit/logic/tool_change/test_tool_change.cpp
+++ b/tests/unit/logic/tool_change/test_tool_change.cpp
@@ -230,23 +230,19 @@ void ToolChangeFailLoadToFindaMiddleBtn(logic::ToolChange &tc, uint8_t toSlot) {
     REQUIRE_FALSE(mui::userInput.AnyEvent());
     PressButtonAndDebounce(tc, mb::Middle, true);
 
-    REQUIRE(WhileCondition(
-        tc,
-        [&](uint32_t step) -> bool {
-        if(step == 2000){ // on 2000th step make FINDA trigger
-            hal::gpio::WritePin(FINDA_PIN, hal::gpio::Level::low);
-        }
-        return tc.TopLevelState() == ProgressCode::UnloadingFilament; },
-        200000UL));
+    REQUIRE_FALSE(mi::idler.HomingValid());
+    REQUIRE_FALSE(ms::selector.HomingValid());
+    SimulateIdlerAndSelectorHoming(tc); // failed load to FINDA = nothing blocking the selector - it can rehome
+
     REQUIRE(VerifyState(tc, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), toSlot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
 
     ClearButtons(tc);
 
     // retry the whole operation
     // beware - the FeedToFinda state machine will leverage the already engaged Idler,
-    // so the necessary number of steps to reach the FINDA is quite low (~200 was lowest once tested)
+    // so the necessary number of steps to reach the FINDA is quite low (~250 was lowest once tested)
     // without running short of max distance of Pulley to travel
-    FeedingToFinda(tc, toSlot, 200);
+    FeedingToFinda(tc, toSlot, 250);
 
     FeedingToBondtech(tc, toSlot);