diff --git a/tests/unit/logic/stubs/homing.cpp b/tests/unit/logic/stubs/homing.cpp
index 13488e6..244333e 100644
--- a/tests/unit/logic/stubs/homing.cpp
+++ b/tests/unit/logic/stubs/homing.cpp
@@ -185,33 +185,40 @@ bool SimulateFailedHomeSelectorPostfix(logic::CommandBase &cb) {
 }
 
 bool SimulateFailedHomeFirstTime(logic::CommandBase &cb) {
-    if (mi::idler.HomingValid())
-        return false;
-    if (ms::selector.HomingValid())
-        return false;
+    REQUIRE(!mi::idler.HomingValid());
+    REQUIRE(!ms::selector.HomingValid());
+
+    // Idler homing is successful
+    SimulateIdlerHoming(cb);
+    SimulateIdlerWaitForHomingValid(cb);
+
+    // Selector homes once the idler homing is valid.
+    REQUIRE(mi::idler.HomingValid());
+    REQUIRE(!ms::selector.HomingValid());
+
+    // The selector will only rehome once the idler homing is valid. At that moment
+    // the state will change to HomeForward.
+    REQUIRE(WhileCondition(
+        cb,
+        [&](uint32_t) { return ms::selector.State() != mm::MovableBase::HomeForward; },
+        5000));
 
     constexpr uint32_t selectorSteps = mm::unitToSteps<mm::S_pos_t>(config::selectorLimits.lenght) + 1;
     {
         // do 5 steps until we trigger the simulated StallGuard
-        constexpr uint32_t idlerStepsFwd = mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght - 5.0_deg);
-        static_assert(idlerStepsFwd < selectorSteps); // beware, we expect that the Idler homes faster than Selector (less steps)
-        for (uint32_t i = 0; i < idlerStepsFwd; ++i) {
+        for (uint32_t i = 0; i < selectorSteps; ++i) {
             main_loop();
             cb.Step();
         }
 
         mm::TriggerStallGuard(mm::Selector);
-        mm::TriggerStallGuard(mm::Idler);
         main_loop();
         cb.Step();
         mm::motion.StallGuardReset(mm::Selector);
-        mm::motion.StallGuardReset(mm::Idler);
     }
-    // now do a correct amount of steps of each axis towards the other end
-    constexpr uint32_t idlerSteps = mm::unitToSteps<mm::I_pos_t>(config::idlerLimits.lenght);
-    // now do LESS steps than expected to simulate something is blocking the selector
 
-    constexpr uint32_t selectorTriggerShort = std::min(idlerSteps, selectorSteps) / 2;
+    // now do LESS steps than expected to simulate something is blocking the selector
+    constexpr uint32_t selectorTriggerShort = selectorSteps / 2;
     constexpr uint32_t maxSteps = selectorTriggerShort + 1;
     {
         for (uint32_t i = 0; i < maxSteps; ++i) {
@@ -225,17 +232,6 @@ bool SimulateFailedHomeFirstTime(logic::CommandBase &cb) {
             }
         }
 
-        // make sure the Idler finishes its homing procedure (makes further checks much easier)
-        for (uint32_t i = maxSteps; i < idlerSteps + 1; ++i) {
-            main_loop();
-            cb.Step();
-            if (i == idlerSteps) {
-                mm::TriggerStallGuard(mm::Idler);
-            } else {
-                mm::motion.StallGuardReset(mm::Idler);
-            }
-        }
-
         while (!(ms::selector.State() & mm::MovableBase::OnHold)) {
             main_loop();
             cb.Step();