diff --git a/src/config/config.h b/src/config/config.h
index 67905e3..63cd7e9 100644
--- a/src/config/config.h
+++ b/src/config/config.h
@@ -77,6 +77,7 @@ static constexpr U_mm minimumBowdenLength = 341.0_mm; /// ~341.0_mm /// Minimum
 static constexpr U_mm maximumBowdenLength = 792.0_mm; /// ~792.0_mm /// Maximum bowden length. @TODO Should be stored in EEPROM.
 static constexpr U_mm feedToFinda = cuttingEdgeToFindaMidpoint + filamentMinLoadedToMMU;
 static constexpr U_mm cutLength = 8.0_mm;
+static constexpr U_mm fsensorToNozzle = 20.0_mm; /// ~20mm from MK4's filament sensor through extruder gears into nozzle
 
 /// Begin: Pulley axis configuration
 static constexpr AxisConfig pulley = {
@@ -96,6 +97,7 @@ static constexpr PulleyLimits pulleyLimits = {
     .accel = 800.0_mm_s2,
 };
 static constexpr U_mm_s pulleyFeedrate = 40._mm_s;
+static constexpr U_mm_s pulleySlowFeedrate = 1._mm_s;
 /// End: Pulley axis configuration
 
 /// Begin: Selector configuration
diff --git a/src/logic/feed_to_bondtech.cpp b/src/logic/feed_to_bondtech.cpp
index 081c6b4..473e5e0 100644
--- a/src/logic/feed_to_bondtech.cpp
+++ b/src/logic/feed_to_bondtech.cpp
@@ -24,19 +24,21 @@ bool FeedToBondtech::Step() {
         if (mi::idler.Engaged()) {
             dbg_logic_P(PSTR("Feed to Bondtech --> Idler engaged"));
             dbg_logic_sprintf_P(PSTR("Pulley start steps %u"), mm::motion.CurPosition(mm::Pulley));
-            state = PushingFilament;
+            state = PushingFilamentToFSensor;
             mm::motion.InitAxis(mm::Pulley);
             mm::motion.PlanMove<mm::Pulley>(config::defaultBowdenLength, config::pulleyFeedrate); //@@TODO constants - there was some strange acceleration sequence in the original FW,
             // we can probably hand over some array of constants for hand-tuned acceleration + leverage some smoothing in the stepper as well
         }
         return false;
-    case PushingFilament:
+    case PushingFilamentToFSensor:
         //dbg_logic_P(PSTR("Feed to Bondtech --> Pushing"));
         if (mfs::fsensor.Pressed()) {
             mm::motion.AbortPlannedMoves(); // stop pushing filament
-            mi::idler.Disengage();
-            mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
-            state = DisengagingIdler;
+            mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InFSensor);
+            // plan a slow move to help push filament into the nozzle
+            //@@TODO the speed in mm/s must correspond to printer's feeding speed!
+            mm::motion.PlanMove<mm::Pulley>(config::fsensorToNozzle, config::pulleySlowFeedrate);
+            state = PushingFilamentIntoNozzle;
         } else if (mm::motion.StallGuard(mm::Pulley)) {
             // stall guard occurred during movement - the filament got stuck
             state = Failed; // @@TODO may be even report why it failed
@@ -44,6 +46,13 @@ bool FeedToBondtech::Step() {
             state = Failed;
         }
         return false;
+    case PushingFilamentIntoNozzle:
+        if (mm::motion.QueueEmpty()) {
+            mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InNozzle);
+            mi::idler.Disengage();
+            state = DisengagingIdler;
+        }
+        return false;
     case DisengagingIdler:
         if (!mi::idler.Engaged()) {
             dbg_logic_P(PSTR("Feed to Bondtech --> Idler disengaged"));
diff --git a/src/logic/feed_to_bondtech.h b/src/logic/feed_to_bondtech.h
index 8ebc59f..9fdcf96 100644
--- a/src/logic/feed_to_bondtech.h
+++ b/src/logic/feed_to_bondtech.h
@@ -6,14 +6,15 @@ namespace logic {
 /// @brief Feed filament to Bondtech gears of the printer
 ///
 /// Continuously feed filament until the printer detects the filament in its filament sensor.
+/// Then it feeds a bit more very gently to push the filament into the nozzle
 /// Disengages the Idler after finishing the feed.
 /// Disables the Pulley axis after disengaging the idler.
 struct FeedToBondtech {
     /// internal states of the state machine
     enum {
         EngagingIdler,
-        PushingFilament,
-        UnloadBackToPTFE,
+        PushingFilamentToFSensor,
+        PushingFilamentIntoNozzle,
         DisengagingIdler,
         OK,
         Failed
diff --git a/src/logic/load_filament.cpp b/src/logic/load_filament.cpp
index 72fd653..a7d9de2 100644
--- a/src/logic/load_filament.cpp
+++ b/src/logic/load_filament.cpp
@@ -48,12 +48,12 @@ bool LoadFilament::StepInner() {
             if (retract.State() == RetractFromFinda::Failed) {
                 state = ProgressCode::ERRDisengagingIdler;
                 error = ErrorCode::FINDA_DIDNT_SWITCH_OFF;
-                mi::idler.Disengage();
                 ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
                 ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
             } else {
                 state = ProgressCode::DisengagingIdler;
             }
+            mi::idler.Disengage(); // disengage in both cases
         }
         break;
     case ProgressCode::DisengagingIdler:
diff --git a/src/logic/progress_codes.h b/src/logic/progress_codes.h
index d7f9357..e4f8070 100644
--- a/src/logic/progress_codes.h
+++ b/src/logic/progress_codes.h
@@ -14,24 +14,25 @@ enum class ProgressCode : uint_fast8_t {
     UnloadingToPulley, //P4
     FeedingToFinda, // P5
     FeedingToBondtech, // P6
-    AvoidingGrind, // P7
-    FinishingMoves, // P8
+    FeedingToNozzle, // P7
+    AvoidingGrind, // P8
+    FinishingMoves, // P9
 
-    ERRDisengagingIdler, // P9
-    ERREngagingIdler, // P10
-    ERRWaitingForUser, // P11
-    ERRInternal, // P12
-    ERRHelpingFilament, // P13
-    ERRTMCFailed, // P14
+    ERRDisengagingIdler, // P10
+    ERREngagingIdler, // P11
+    ERRWaitingForUser, // P12
+    ERRInternal, // P13
+    ERRHelpingFilament, // P14
+    ERRTMCFailed, // P15
 
-    UnloadingFilament, // P15
-    LoadingFilament, // P16
-    SelectingFilamentSlot, // P17
-    PreparingBlade, // P18
-    PushingFilament, // P19
-    PerformingCut, // P20
-    ReturningSelector, // P21
-    ParkingSelector, // P22
-    EjectingFilament, // P23
-    RetractingFromFinda, // P24
+    UnloadingFilament, // P16
+    LoadingFilament, // P17
+    SelectingFilamentSlot, // P18
+    PreparingBlade, // P19
+    PushingFilament, // P20
+    PerformingCut, // P21
+    ReturningSelector, // P22
+    ParkingSelector, // P23
+    EjectingFilament, // P24
+    RetractingFromFinda, // P25
 };
diff --git a/src/logic/retract_from_finda.cpp b/src/logic/retract_from_finda.cpp
index b9246e0..dc84129 100644
--- a/src/logic/retract_from_finda.cpp
+++ b/src/logic/retract_from_finda.cpp
@@ -30,18 +30,14 @@ bool RetractFromFinda::Step() {
             if (!mf::finda.Pressed()) { // FINDA switched off correctly while the move was performed
                 state = OK;
                 mg::globals.SetFilamentLoaded(mg::FilamentLoadState::AtPulley);
-                mi::idler.Disengage();
+                dbg_logic_sprintf_P(PSTR("Pulley end steps %u"), mm::motion.CurPosition(mm::Pulley));
+                ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
             } else { // FINDA didn't switch off
                 state = Failed;
                 ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
                 ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0);
             }
         }
-        if (!mi::idler.Engaged()) {
-            dbg_logic_P(PSTR("Retract from FINDA --> Ider disengaged"));
-            dbg_logic_sprintf_P(PSTR("Pulley end steps %u"), mm::motion.CurPosition(mm::Pulley));
-            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
-        }
         return false;
     case OK:
         dbg_logic_P(PSTR("Retract from FINDA OK"));
diff --git a/src/logic/retract_from_finda.h b/src/logic/retract_from_finda.h
index a577946..391f741 100644
--- a/src/logic/retract_from_finda.h
+++ b/src/logic/retract_from_finda.h
@@ -5,7 +5,11 @@ namespace logic {
 
 /// @brief Retract filament from FINDA to PTFE
 ///
-/// Continuously pull filament by a fixed length (originally 600 steps) + verify FINDA is switched OFF
+/// Continuously pulls filament by a fixed length (originally 600 steps) + verifies FINDA is switched OFF while performing the move
+/// Steps:
+/// - engages idler (or makes sure the idler is engaged)
+/// - pulls filament
+/// - leaves idler engaged for chaining operations
 struct RetractFromFinda {
     /// internal states of the state machine
     enum {
diff --git a/src/logic/tool_change.cpp b/src/logic/tool_change.cpp
index 744c15b..ea15608 100644
--- a/src/logic/tool_change.cpp
+++ b/src/logic/tool_change.cpp
@@ -19,8 +19,8 @@ void ToolChange::Reset(uint8_t param) {
         return;
     }
 
-    if (param == mg::globals.ActiveSlot() && (mg::globals.FilamentLoaded() >= mg::FilamentLoadState::InSelector)) {
-        // we are already at the correct slot and the filament is loaded - nothing to do
+    if (param == mg::globals.ActiveSlot() && (mg::globals.FilamentLoaded() == mg::FilamentLoadState::InNozzle)) {
+        // we are already at the correct slot and the filament is loaded in the nozzle - nothing to do
         dbg_logic_P(PSTR("we are already at the correct slot and the filament is loaded - nothing to do\n"));
         return;
     }
@@ -78,7 +78,6 @@ bool ToolChange::StepInner() {
                 ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
                 ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
             } else {
-                mg::globals.SetFilamentLoaded(mg::FilamentLoadState::InFSensor);
                 state = ProgressCode::OK;
                 error = ErrorCode::OK;
             }
diff --git a/src/logic/unload_filament.cpp b/src/logic/unload_filament.cpp
index 1db3f4a..86e186e 100644
--- a/src/logic/unload_filament.cpp
+++ b/src/logic/unload_filament.cpp
@@ -45,16 +45,16 @@ bool UnloadFilament::StepInner() {
             if (retract.State() == RetractFromFinda::Failed) {
                 state = ProgressCode::ERRDisengagingIdler;
                 error = ErrorCode::FINDA_DIDNT_SWITCH_OFF;
-                mi::idler.Disengage();
                 ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::off);
                 ml::leds.SetMode(mg::globals.ActiveSlot(), ml::red, ml::blink0); // signal loading error
             } else {
-                state = ProgressCode::FinishingMoves;
+                state = ProgressCode::DisengagingIdler;
             }
+            mi::idler.Disengage();
         }
         return false;
-    case ProgressCode::FinishingMoves:
-        if (mm::motion.QueueEmpty()) {
+    case ProgressCode::DisengagingIdler:
+        if (!mi::idler.Engaged()) {
             state = ProgressCode::OK;
             error = ErrorCode::OK;
             mm::motion.Disable(mm::Pulley);
diff --git a/tests/unit/logic/cut_filament/CMakeLists.txt b/tests/unit/logic/cut_filament/CMakeLists.txt
index b3b46d7..eda20ee 100644
--- a/tests/unit/logic/cut_filament/CMakeLists.txt
+++ b/tests/unit/logic/cut_filament/CMakeLists.txt
@@ -4,6 +4,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/cut_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
diff --git a/tests/unit/logic/eject_filament/CMakeLists.txt b/tests/unit/logic/eject_filament/CMakeLists.txt
index c105a92..5113b18 100644
--- a/tests/unit/logic/eject_filament/CMakeLists.txt
+++ b/tests/unit/logic/eject_filament/CMakeLists.txt
@@ -4,6 +4,7 @@ add_executable(
   ${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/eject_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
diff --git a/tests/unit/logic/failing_tmc/CMakeLists.txt b/tests/unit/logic/failing_tmc/CMakeLists.txt
index 8967899..0c7fa64 100644
--- a/tests/unit/logic/failing_tmc/CMakeLists.txt
+++ b/tests/unit/logic/failing_tmc/CMakeLists.txt
@@ -3,6 +3,7 @@ add_executable(
   failing_tmc_tests
   ${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
diff --git a/tests/unit/logic/feed_to_bondtech/test_feed_to_bondtech.cpp b/tests/unit/logic/feed_to_bondtech/test_feed_to_bondtech.cpp
index f33eba2..16ee255 100644
--- a/tests/unit/logic/feed_to_bondtech/test_feed_to_bondtech.cpp
+++ b/tests/unit/logic/feed_to_bondtech/test_feed_to_bondtech.cpp
@@ -51,7 +51,7 @@ TEST_CASE("feed_to_bondtech::feed_phase_unlimited", "[feed_to_bondtech]") {
     CHECK(mm::axes[mm::Pulley].enabled);
 
     // idler engaged, selector in position, we'll start pushing filament
-    REQUIRE(fb.State() == FeedToBondtech::PushingFilament);
+    REQUIRE(fb.State() == FeedToBondtech::PushingFilamentToFSensor);
     // at least at the beginning the LED should shine green (it should be blinking, but this mode has been already verified in the LED's unit test)
     REQUIRE(ml::leds.LedOn(mg::globals.ActiveSlot(), ml::green));
 
@@ -61,11 +61,18 @@ TEST_CASE("feed_to_bondtech::feed_phase_unlimited", "[feed_to_bondtech]") {
         if( step == 1000 ){
             mfs::fsensor.ProcessMessage(true);
         }
-        return fb.State() == FeedToBondtech::PushingFilament; },
+        return fb.State() == FeedToBondtech::PushingFilamentToFSensor; },
         1500));
 
     REQUIRE(mfs::fsensor.Pressed());
 
+    // pushing filament from fsensor into the nozzle
+    REQUIRE(fb.State() == FeedToBondtech::PushingFilamentIntoNozzle);
+    REQUIRE(WhileCondition(
+        fb,
+        [&](int) { return fb.State() == FeedToBondtech::PushingFilamentIntoNozzle; },
+        5000));
+
     // disengaging idler
     REQUIRE(fb.State() == FeedToBondtech::DisengagingIdler);
     REQUIRE(WhileCondition(
diff --git a/tests/unit/logic/load_filament/test_load_filament.cpp b/tests/unit/logic/load_filament/test_load_filament.cpp
index 5160e0d..d9632c5 100644
--- a/tests/unit/logic/load_filament/test_load_filament.cpp
+++ b/tests/unit/logic/load_filament/test_load_filament.cpp
@@ -39,11 +39,7 @@ void LoadFilamentCommonSetup(uint8_t slot, logic::LoadFilament &lf) {
     // no change in selector's position
     // FINDA off
     // green LED should blink, red off
-    REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::EngagingIdler));
-
-    // Stage 1 - engaging idler
-    REQUIRE(WhileTopState(lf, ProgressCode::EngagingIdler, idlerEngageDisengageMaxSteps));
-    REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, slot, slot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
+    REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::FeedingToFinda));
 }
 
 void LoadFilamentSuccessful(uint8_t slot, logic::LoadFilament &lf) {
@@ -69,7 +65,7 @@ void LoadFilamentSuccessful(uint8_t slot, logic::LoadFilament &lf) {
         }
         return lf.TopLevelState() == ProgressCode::RetractingFromFinda; },
         5000));
-    REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, slot, slot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
+    REQUIRE(VerifyState(lf, mg::FilamentLoadState::AtPulley, slot, slot, false, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
 
     // Stage 4 - disengaging idler
     REQUIRE(WhileTopState(lf, ProgressCode::DisengagingIdler, idlerEngageDisengageMaxSteps));
diff --git a/tests/unit/logic/unload_filament/CMakeLists.txt b/tests/unit/logic/unload_filament/CMakeLists.txt
index 7f4b1da..b7fa33f 100644
--- a/tests/unit/logic/unload_filament/CMakeLists.txt
+++ b/tests/unit/logic/unload_filament/CMakeLists.txt
@@ -3,6 +3,7 @@ add_executable(
   unload_filament_tests
   ${CMAKE_SOURCE_DIR}/src/logic/command_base.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/retract_from_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
   ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
   ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
diff --git a/tests/unit/logic/unload_filament/test_unload_filament.cpp b/tests/unit/logic/unload_filament/test_unload_filament.cpp
index e93b16d..e94a4e7 100644
--- a/tests/unit/logic/unload_filament/test_unload_filament.cpp
+++ b/tests/unit/logic/unload_filament/test_unload_filament.cpp
@@ -66,36 +66,19 @@ void RegularUnloadFromSlot04(uint8_t slot, logic::UnloadFilament &uf) {
     // no change in selector's position
     // FINDA triggered off
     // green LED should be off
-    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, slot, slot, false, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::DisengagingIdler));
+    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, slot, slot, false, true, ml::blink0, ml::off, ErrorCode::RUNNING, ProgressCode::RetractingFromFinda));
 
-    // Stage 2 - idler was engaged, disengage it
+    // Stage 2 - retracting from FINDA
+    REQUIRE(WhileTopState(uf, ProgressCode::RetractingFromFinda, idlerEngageDisengageMaxSteps));
+
+    // Stage 3 - idler was engaged, disengage it
     REQUIRE(WhileTopState(uf, ProgressCode::DisengagingIdler, idlerEngageDisengageMaxSteps));
 
-    // we still think we have filament loaded at this stage
-    // idler should have been disengaged
-    // no change in selector's position
-    // FINDA still triggered off
-    // green LED should be off
-    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::AvoidingGrind));
-
-    // Stage 3 - avoiding grind (whatever is that @@TODO)
-    REQUIRE(WhileTopState(uf, ProgressCode::AvoidingGrind, 5000));
-
-    // we still think we have filament loaded at this stage
-    // idler should have been disengaged
-    // no change in selector's position
-    // FINDA still triggered off
-    // green LED should be off
-    REQUIRE(VerifyState(uf, mg::FilamentLoadState::InSelector, mi::Idler::IdleSlotIndex(), slot, false, true, ml::off, ml::off, ErrorCode::RUNNING, ProgressCode::FinishingMoves));
-
-    // Stage 4 - finishing moves and setting global state correctly
-    REQUIRE(WhileTopState(uf, ProgressCode::FinishingMoves, 5000));
-
     // filament unloaded
     // idler should have been disengaged
     // no change in selector's position
     // FINDA still triggered off
-    // green LED should be OFF
+    // green LED should be off
     REQUIRE(VerifyState(uf, mg::FilamentLoadState::AtPulley, mi::Idler::IdleSlotIndex(), slot, false, false, ml::off, ml::off, ErrorCode::OK, ProgressCode::OK));
 
     // Stage 5 - repeated calls to TopLevelState should return "OK"