diff --git a/src/modules/idler.cpp b/src/modules/idler.cpp
index 4eee6f9..55f254c 100644
--- a/src/modules/idler.cpp
+++ b/src/modules/idler.cpp
@@ -83,7 +83,7 @@ Idler::OperationResult Idler::Disengage() {
     }
 
     // disengaging
-    return InitMovement();
+    return InitMovementNoReinitAxis();
 }
 
 Idler::OperationResult Idler::PartiallyDisengage(uint8_t slot) {
@@ -122,7 +122,7 @@ Idler::OperationResult Idler::PlanMoveInner(uint8_t slot, Operation plannedOp) {
         return OperationResult::Accepted;
     }
 
-    return InitMovement();
+    return InitMovementNoReinitAxis();
 }
 
 bool Idler::Step() {
diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index 420e2c6..de2fb96 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -26,15 +26,19 @@ void MovableBase::PlanHome() {
 MovableBase::OperationResult MovableBase::InitMovement() {
     mm::motion.PlanStallGuardThreshold(axis, mg::globals.StallGuardThreshold(axis));
     if (motion.InitAxis(axis)) {
-        PrepareMoveToPlannedSlot();
-        state = Moving;
-        return OperationResult::Accepted;
+        return InitMovementNoReinitAxis();
     } else {
         state = TMCFailed;
         return OperationResult::Failed;
     }
 }
 
+MovableBase::OperationResult MovableBase::InitMovementNoReinitAxis() {
+    PrepareMoveToPlannedSlot();
+    state = Moving;
+    return OperationResult::Accepted;
+}
+
 void MovableBase::PerformMove() {
     if (mm::motion.QueueEmpty(axis)) {
         // move finished
diff --git a/src/modules/movable_base.h b/src/modules/movable_base.h
index e258b47..f67e5dc 100644
--- a/src/modules/movable_base.h
+++ b/src/modules/movable_base.h
@@ -95,8 +95,13 @@ protected:
     virtual bool FinishHomingAndPlanMoveToParkPos() = 0;
     virtual void FinishMove() = 0;
 
+    /// Initializes movement of a movable module.
+    /// Beware: this operation reinitializes the axis/TMC driver as well (may introduce axis creep as we have seen on the Idler)
     OperationResult InitMovement();
 
+    /// Initializes movement of a movable module without reinitializing the axis/TMC driver
+    OperationResult InitMovementNoReinitAxis();
+
     void PerformMove();
 
     void PerformHomeForward();
diff --git a/src/modules/selector.cpp b/src/modules/selector.cpp
index 747be18..77e89ab 100644
--- a/src/modules/selector.cpp
+++ b/src/modules/selector.cpp
@@ -86,7 +86,7 @@ Selector::OperationResult Selector::MoveToSlot(uint8_t slot) {
     }
 
     // do the move
-    return InitMovement();
+    return InitMovementNoReinitAxis();
 }
 
 bool Selector::Step() {