diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 25c6ffdb22..20e74127a7 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -412,6 +412,7 @@
 #define TEMP_SENSOR_4 0
 #define TEMP_SENSOR_5 0
 #define TEMP_SENSOR_BED 0
+#define TEMP_SENSOR_PROBE 0
 #define TEMP_SENSOR_CHAMBER 0
 
 // Dummy thermistor constant temperature readings, for use with 998 and 999
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index ccf9905866..de29640f47 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1529,6 +1529,38 @@
 
 #endif
 
+/**
+ * Thermal Probe Compensation
+ * Probe measurements are adjusted to compensate for temperature distortion.
+ * Use G76 to calibrate this feature. Use M871 to set values manually.
+ * For a more detailed explanation of the process see G76_M871.cpp.
+ */
+#if HAS_BED_PROBE && TEMP_SENSOR_PROBE && TEMP_SENSOR_BED
+  // Enable thermal first layer compensation using bed and probe temperatures
+  #define PROBE_TEMP_COMPENSATION
+
+  // Add additional compensation depending on hotend temperature
+  // Note: this values cannot be calibrated and have to be set manually
+  #ifdef PROBE_TEMP_COMPENSATION
+    // Max temperature that can be reached by heated bed.
+    // This is required only for the calibration process.
+    #define PTC_MAX_BED_TEMP 110
+
+    // Park position to wait for probe cooldown
+    #define PTC_PARK_POS_X 0.0F
+    #define PTC_PARK_POS_Y 0.0F
+    #define PTC_PARK_POS_Z 100.0F
+
+    // Probe position to probe and wait for probe to reach target temperature
+    #define PTC_PROBE_POS_X  90.0F
+    #define PTC_PROBE_POS_Y 100.0F
+
+    // Enable additional compensation using hotend temperature
+    // Note: this values cannot be calibrated automatically but have to be set manually
+    //#define USE_TEMP_EXT_COMPENSATION
+  #endif
+#endif
+
 // @section extras
 
 //
diff --git a/Marlin/src/feature/probe_temp_compensation.cpp b/Marlin/src/feature/probe_temp_compensation.cpp
new file mode 100644
index 0000000000..5d266e1d3c
--- /dev/null
+++ b/Marlin/src/feature/probe_temp_compensation.cpp
@@ -0,0 +1,223 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../inc/MarlinConfigPre.h"
+
+#if ENABLED(PROBE_TEMP_COMPENSATION)
+
+#include "probe_temp_compensation.h"
+#include <math.h>
+
+ProbeTempComp temp_comp;
+
+int16_t ProbeTempComp::z_offsets_probe[ProbeTempComp::cali_info_init[TSI_PROBE].measurements],  // = {0}
+        ProbeTempComp::z_offsets_bed[ProbeTempComp::cali_info_init[TSI_BED].measurements];      // = {0}
+
+#if ENABLED(USE_TEMP_EXT_COMPENSATION)
+  int16_t ProbeTempComp::z_offsets_ext[ProbeTempComp::cali_info_init[TSI_EXT].measurements];    // = {0}
+#endif
+
+int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = {
+  ProbeTempComp::z_offsets_probe, ProbeTempComp::z_offsets_bed
+  #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+    , ProbeTempComp::z_offsets_ext
+  #endif
+};
+
+const temp_calib_t ProbeTempComp::cali_info[TSI_COUNT] = {
+  ProbeTempComp::cali_info_init[TSI_PROBE], ProbeTempComp::cali_info_init[TSI_BED]
+  #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+    , ProbeTempComp::cali_info_init[TSI_EXT]
+  #endif
+};
+
+uint8_t ProbeTempComp::calib_idx; // = 0
+float ProbeTempComp::init_measurement; // = 0.0
+
+void ProbeTempComp::clear_offsets(const TempSensorID tsi) {
+  for (uint8_t i = 0; i < cali_info[tsi].measurements; ++i)
+    sensor_z_offsets[tsi][i] = 0;
+  calib_idx = 0;
+}
+
+bool ProbeTempComp::set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset) {
+  if (idx >= cali_info[tsi].measurements) return false;
+  sensor_z_offsets[tsi][idx] = offset;
+  return true;
+}
+
+void ProbeTempComp::print_offsets() {
+  for (uint8_t s = 0; s < TSI_COUNT; s++) {
+    float temp = cali_info[s].start_temp;
+    for (int16_t i = -1; i < cali_info[s].measurements; ++i) {
+      serialprintPGM(s == TSI_BED ? PSTR("Bed") :
+        #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+          s == TSI_EXT ? PSTR("Extruder") :
+        #endif
+        PSTR("Probe")
+      );
+      SERIAL_ECHOLNPAIR(
+        " temp: ", temp,
+        "C; Offset: ", i < 0 ? 0.0f : sensor_z_offsets[s][i], " um"
+      );
+      temp += cali_info[s].temp_res;
+    }
+  }
+}
+
+void ProbeTempComp::prepare_new_calibration(const float &init_meas_z) {
+  calib_idx = 0;
+  init_measurement = init_meas_z;
+}
+
+void ProbeTempComp::push_back_new_measurement(const TempSensorID tsi, const float &meas_z) {
+  switch (tsi) {
+    case TSI_PROBE:
+    case TSI_BED:
+    //case TSI_EXT:
+      if (calib_idx >= cali_info[tsi].measurements) return;
+      sensor_z_offsets[tsi][calib_idx++] = static_cast<int16_t>(meas_z * 1000.0f - init_measurement * 1000.0f);
+    default: break;
+  }
+}
+
+bool ProbeTempComp::finish_calibration(const TempSensorID tsi) {
+  if (tsi != TSI_PROBE && tsi != TSI_BED) return false;
+
+  if (calib_idx < 3) {
+    SERIAL_ECHOLNPGM("!Insufficient measurements (min. 3).");
+    clear_offsets(tsi);
+    return false;
+  }
+
+  const uint8_t measurements = cali_info[tsi].measurements;
+  const float start_temp = cali_info[tsi].start_temp,
+                res_temp = cali_info[tsi].temp_res;
+  int16_t * const data = sensor_z_offsets[tsi];
+
+  // Extrapolate
+  float k, d;
+  if (calib_idx < measurements) {
+    SERIAL_ECHOLNPAIR("Got ", calib_idx, " measurements. ");
+    if (linear_regression(tsi, k, d)) {
+      SERIAL_ECHOPGM("Applying linear extrapolation");
+      calib_idx--;
+      for (; calib_idx < measurements; ++calib_idx) {
+        const float temp = start_temp + float(calib_idx) * res_temp;
+        data[calib_idx] = static_cast<int16_t>(k * temp + d);
+      }
+    }
+    else {
+      // Simply use the last measured value for higher temperatures
+      SERIAL_ECHOPGM("Failed to extrapolate");
+      const int16_t last_val = data[calib_idx];
+      for (; calib_idx < measurements; ++calib_idx)
+        data[calib_idx] = last_val;
+    }
+    SERIAL_ECHOLNPGM(" for higher temperatures.");
+  }
+
+  // Sanity check
+  for (calib_idx = 0; calib_idx < measurements; ++calib_idx) {
+    // Restrict the max. offset
+    if (abs(data[calib_idx]) > 2000) {
+      SERIAL_ECHOLNPGM("!Invalid Z-offset detected (0-2).");
+      clear_offsets(tsi);
+      return false;
+    }
+    // Restrict the max. offset difference between two probings
+    if (calib_idx > 0 && abs(data[calib_idx - 1] - data[calib_idx]) > 800) {
+      SERIAL_ECHOLNPGM("!Invalid Z-offset between two probings detected (0-0.8).");
+      clear_offsets(TSI_PROBE);
+      return false;
+    }
+  }
+
+  return true;
+}
+
+void ProbeTempComp::compensate_measurement(const TempSensorID tsi, const float &temp, float &meas_z) {
+  if (WITHIN(temp, cali_info[tsi].start_temp, cali_info[tsi].end_temp))
+    meas_z -= get_offset_for_temperature(tsi, temp);
+}
+
+float ProbeTempComp::get_offset_for_temperature(const TempSensorID tsi, const float &temp) {
+
+  const uint8_t measurements = cali_info[tsi].measurements;
+  const float start_temp = cali_info[tsi].start_temp,
+                end_temp = cali_info[tsi].end_temp,
+                res_temp = cali_info[tsi].temp_res;
+  const int16_t * const data = sensor_z_offsets[tsi];
+
+  if (temp <= start_temp) return 0.0f;
+  if (temp >= end_temp) return static_cast<float>(data[measurements - 1]) / 1000.0f;
+
+  // Linear interpolation
+  int16_t val1 = 0, val2 = data[0];
+  uint8_t idx = 0;
+  float meas_temp = start_temp + res_temp;
+  while (meas_temp < temp) {
+    if (++idx >= measurements) return static_cast<float>(val2) / 1000.0f;
+    meas_temp += res_temp;
+    val1 = val2;
+    val2 = data[idx];
+  }
+  const float factor = (meas_temp - temp) / static_cast<float>(res_temp);
+  return (static_cast<float>(val2) - static_cast<float>(val2 - val1) * factor) / 1000.0f;
+}
+
+bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d) {
+  if (tsi != TSI_PROBE && tsi != TSI_BED) return false;
+
+  if (!WITHIN(calib_idx, 2, cali_info[tsi].measurements)) return false;
+
+  const float start_temp = cali_info[tsi].start_temp,
+                res_temp = cali_info[tsi].temp_res;
+  const int16_t * const data = sensor_z_offsets[tsi];
+
+  float sum_x = start_temp,
+        sum_x2 = sq(start_temp),
+        sum_xy = 0, sum_y = 0;
+
+  for (uint8_t i = 0; i < calib_idx; ++i) {
+    const float xi = start_temp + (i + 1) * res_temp,
+                yi = static_cast<float>(data[i]);
+    sum_x += xi;
+    sum_x2 += sq(xi);
+    sum_xy += xi * yi;
+    sum_y += yi;
+  }
+
+  const float denom = static_cast<float>(calib_idx + 1) * sum_x2 - sq(sum_x);
+  if (fabs(denom) <= 10e-5) {
+    // Singularity - unable to solve
+    k = d = 0.0;
+    return false;
+  }
+
+  k = (static_cast<float>(calib_idx + 1) * sum_xy - sum_x * sum_y) / denom;
+  d = (sum_y - k * sum_x) / static_cast<float>(calib_idx + 1);
+
+  return true;
+}
+
+#endif // PROBE_TEMP_COMPENSATION
diff --git a/Marlin/src/feature/probe_temp_compensation.h b/Marlin/src/feature/probe_temp_compensation.h
new file mode 100644
index 0000000000..64f8cc7a06
--- /dev/null
+++ b/Marlin/src/feature/probe_temp_compensation.h
@@ -0,0 +1,116 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../inc/MarlinConfig.h"
+
+enum TempSensorID : uint8_t {
+  TSI_PROBE,
+  TSI_BED,
+  #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+    TSI_EXT,
+  #endif
+  TSI_COUNT
+};
+
+typedef struct {
+  uint8_t measurements; // Max. number of measurements to be stored (35 - 80°C)
+  float   temp_res,     // Resolution in °C between measurements
+          start_temp,   // Base measurement; z-offset == 0
+          end_temp;
+} temp_calib_t;
+
+/**
+ * Probe temperature compensation implementation.
+ * Z-probes like the P.I.N.D.A V2 allow for compensation of
+ * measurement errors/shifts due to changed temperature.
+ */
+class ProbeTempComp {
+  public:
+
+    static constexpr temp_calib_t cali_info_init[TSI_COUNT] = {
+        {  30, 10,  5,  30 + 10 *  5 },       // Probe
+        {  60, 10,  5,  60 + 10 *  5 },       // Bed
+      #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+        { 180,  5, 20, 180 +  5 * 20 }        // Extruder
+      #endif
+    };
+    static const temp_calib_t cali_info[TSI_COUNT];
+
+    // Where to park nozzle to wait for probe cooldown
+    static constexpr xyz_pos_t park_point = { PTC_PARK_POS_X, PTC_PARK_POS_Y, PTC_PARK_POS_Z };
+
+    static constexpr int  max_bed_temp         = PTC_MAX_BED_TEMP,  // Max temperature to avoid heating errors
+
+                          // XY coordinates of nozzle for probing the bed
+                          measure_point_x      = PTC_PROBE_POS_X,   // X-coordinate to probe
+                          measure_point_y      = PTC_PROBE_POS_Y,   // Y-coordinate to probe
+                          //measure_point_x    = 12.0f,             // X-coordinate to probe on MK52 magnetic heatbed
+                          //measure_point_y    =  7.3f,             // Y-coordinate to probe on MK52 magnetic heatbed
+
+                          probe_calib_bed_temp = max_bed_temp,      // Bed temperature while calibrating probe
+                          bed_calib_probe_temp = 30;                // Probe temperature while calibrating bed
+
+    static int16_t *sensor_z_offsets[TSI_COUNT],
+                   z_offsets_probe[cali_info_init[TSI_PROBE].measurements], // (µm)
+                   z_offsets_bed[cali_info_init[TSI_BED].measurements];     // (µm)
+
+    #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+      static int16_t z_offsets_ext[cali_info_init[TSI_EXT].measurements];   // (µm)
+    #endif
+
+    static inline void reset_index() { calib_idx = 0; };
+    static inline uint8_t get_index() { return calib_idx; }
+    static void clear_offsets(const TempSensorID tsi);
+    static inline void clear_all_offsets() {
+      clear_offsets(TSI_BED);
+      clear_offsets(TSI_PROBE);
+      #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+        clear_offsets(TSI_EXT);
+      #endif
+    }
+    static bool set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset);
+    static void print_offsets();
+    static void prepare_new_calibration(const float &init_meas_z);
+    static void push_back_new_measurement(const TempSensorID tsi, const float &meas_z);
+    static bool finish_calibration(const TempSensorID tsi);
+    static void compensate_measurement(const TempSensorID tsi, const float &temp, float &meas_z);
+
+  private:
+    static uint8_t calib_idx;
+
+    /**
+     * Base value. Temperature compensation values will be deltas
+     * to this value, set at first probe.
+     */
+    static float init_measurement;
+
+    static float get_offset_for_temperature(const TempSensorID tsi, const float &temp);
+
+    /**
+     * Fit a linear function in measured temperature offsets
+     * to allow generating values of higher temperatures.
+     */
+    static bool linear_regression(const TempSensorID tsi, float &k, float &d);
+};
+
+extern ProbeTempComp temp_comp;
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index cf9cdf58e6..53c48a62b6 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -36,6 +36,11 @@
 #include "../../../module/probe.h"
 #include "../../queue.h"
 
+#if ENABLED(PROBE_TEMP_COMPENSATION)
+  #include "../../../feature/probe_temp_compensation.h"
+  #include "../../../module/temperature.h"
+#endif
+
 #if HAS_DISPLAY
   #include "../../../lcd/ultralcd.h"
 #endif
@@ -714,6 +719,14 @@ G29_TYPE GcodeSuite::G29() {
             break; // Breaks out of both loops
           }
 
+          #if ENABLED(PROBE_TEMP_COMPENSATION)
+            temp_comp.compensate_measurement(TSI_BED, thermalManager.degBed(), measured_z);
+            temp_comp.compensate_measurement(TSI_PROBE, thermalManager.degProbe(), measured_z);
+            #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+              temp_comp.compensate_measurement(TSI_EXT, thermalManager.degHotend(), measured_z);
+            #endif
+          #endif
+
           #if ENABLED(AUTO_BED_LEVELING_LINEAR)
 
             mean += measured_z;
diff --git a/Marlin/src/gcode/calibrate/G76_M871.cpp b/Marlin/src/gcode/calibrate/G76_M871.cpp
new file mode 100644
index 0000000000..0e0899fa7a
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/G76_M871.cpp
@@ -0,0 +1,407 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G76_M871.cpp - Temperature calibration/compensation for z-probing
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(PROBE_TEMP_COMPENSATION)
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+#include "../../module/planner.h"
+#include "../../module/probe.h"
+#include "../../feature/bedlevel/bedlevel.h"
+#include "../../module/temperature.h"
+#include "../../module/probe.h"
+#include "../../feature/probe_temp_compensation.h"
+
+/**
+ * G76: calibrate probe and/or bed temperature offsets
+ *  Notes:
+ *  - When calibrating probe, bed temperature is held constant.
+ *    Compensation values are deltas to first probe measurement at probe temp. = 30°C.
+ *  - When calibrating bed, probe temperature is held constant.
+ *    Compensation values are deltas to first probe measurement at bed temp. = 60°C.
+ *  - The hotend will not be heated at any time.
+ *  - On my Prusa MK3S clone I put a piece of paper between the probe and the hotend
+ *    so the hotend fan would not cool my probe constantly. Alternativly you could just
+ *    make sure the fan is not running while running the calibration process.
+ *
+ *  Probe calibration:
+ *  - Moves probe to cooldown point.
+ *  - Heats up bed to 100°C.
+ *  - Moves probe to probing point (1mm above heatbed).
+ *  - Waits until probe reaches target temperature (30°C).
+ *  - Does a z-probing (=base value) and increases target temperature by 5°C.
+ *  - Waits until probe reaches increased target temperature.
+ *  - Does a z-probing (delta to base value will be a compensation value) and increases target temperature by 5°C.
+ *  - Repeats last two steps until max. temperature reached or timeout (i.e. probe does not heat up any further).
+ *  - Compensation values of higher temperatures will be extrapolated (using linear regression first).
+ *    While this is not exact by any means it is still better than simply using the last compensation value.
+ *
+ *  Bed calibration:
+ *  - Moves probe to cooldown point.
+ *  - Heats up bed to 60°C.
+ *  - Moves probe to probing point (1mm above heatbed).
+ *  - Waits until probe reaches target temperature (30°C).
+ *  - Does a z-probing (=base value) and increases bed temperature by 5°C.
+ *  - Moves probe to cooldown point.
+ *  - Waits until probe is below 30°C and bed has reached target temperature.
+ *  - Moves probe to probing point and waits until it reaches target temperature (30°C).
+ *  - Does a z-probing (delta to base value will be a compensation value) and increases bed temperature by 5°C.
+ *  - Repeats last four points until max. bed temperature reached (110°C) or timeout.
+ *  - Compensation values of higher temperatures will be extrapolated (using linear regression first).
+ *    While this is not exact by any means it is still better than simply using the last compensation value.
+ *
+ *  G76 [B | P]
+ *  - no flag - Both calibration procedures will be run.
+ *  - `B` - Run bed temperature calibration.
+ *  - `P` - Run probe temperature calibration.
+ */
+void GcodeSuite::G76() {
+  // Check if heated bed is available and z-homing is done with probe
+  #if TEMP_SENSOR_BED == 0 || !(HOMING_Z_WITH_PROBE)
+    return;
+  #endif
+
+  #if ENABLED(BLTOUCH)
+    // Make sure any BLTouch error condition is cleared
+    bltouch_command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY);
+    set_bltouch_deployed(false);
+  #endif
+
+  bool do_bed_cal = parser.boolval('B'),
+       do_probe_cal = parser.boolval('P');
+  if (!do_bed_cal && !do_probe_cal)
+    do_bed_cal = do_probe_cal = true;
+
+  // Synchronize with planner
+  planner.synchronize();
+
+  // Report temperatures every second and handle heating timeouts
+  millis_t next_temp_report = millis() + 1000;
+
+  if (do_bed_cal || do_probe_cal) {
+    // Ensure park position is reachable
+    if (!position_is_reachable(ProbeTempComp::park_point.x, ProbeTempComp::park_point.y)
+      || !(WITHIN(ProbeTempComp::park_point.z, Z_MIN_POS - 0.001f, Z_MAX_POS + 0.001f))
+    ) {
+      SERIAL_ECHOLNPGM("!Park position unreachable - aborting.");
+      return;
+    }
+    // Ensure probe position is reachable
+    destination.set(
+      temp_comp.measure_point_x - probe_offset.x,
+      temp_comp.measure_point_y - probe_offset.y
+    );
+    if (!position_is_reachable_by_probe(destination)) {
+      SERIAL_ECHOLNPGM("!Probe position unreachable - aborting.");
+      return;
+    }
+
+    G28(true);
+  }
+
+  /******************************************
+   * Calibrate bed temperature offsets
+   ******************************************/
+
+  if (do_bed_cal) {
+
+    uint16_t target_bed = temp_comp.cali_info_init[TSI_BED].start_temp,
+             target_probe = temp_comp.bed_calib_probe_temp;
+
+    SERIAL_ECHOLNPGM("Waiting for printer to cool down.");
+    while (thermalManager.degBed() > target_bed
+      || thermalManager.degProbe() > target_probe
+    ) {
+      idle(
+        #if ENABLED(ADVANCED_PAUSE_FEATURE)
+          true
+        #endif
+      );
+      const millis_t ms = millis();
+      if (ELAPSED(ms, next_temp_report)) {
+        thermalManager.print_heater_states(active_extruder);
+        next_temp_report = ms + 1000;
+      }
+    }
+
+    // Disable leveling so it won't mess with us
+    #if HAS_LEVELING
+      set_bed_leveling_enabled(false);
+    #endif
+
+    bool timeout = false;
+    while (true) {
+      thermalManager.setTargetBed(target_bed);
+
+      SERIAL_ECHOLNPAIR("Target Bed: ", target_bed, "; Probe: ", target_probe);
+
+      // Park nozzle
+      do_blocking_move_to(ProbeTempComp::park_point.x, ProbeTempComp::park_point.y, ProbeTempComp::park_point.z);
+
+      // Wait for heatbed to reach target temp and probe to cool below target temp
+      SERIAL_ECHOLNPGM("Waiting for bed and probe to reach target temp.");
+      const millis_t probe_timeout_ms = millis() + 900UL * 1000UL;
+      while (fabs(thermalManager.degBed() - float(target_bed)) > 0.1 || thermalManager.degProbe() > target_probe) {
+        idle(
+          #if ENABLED(ADVANCED_PAUSE_FEATURE)
+            true
+          #endif
+        );
+        const millis_t ms = millis();
+        if (ELAPSED(ms, next_temp_report)) {
+          thermalManager.print_heater_states(active_extruder);
+          next_temp_report = ms + 1000;
+        }
+        if (ELAPSED(ms, probe_timeout_ms)) {
+          SERIAL_ECHOLNPGM("!Bed heating timeout.");
+          timeout = true;
+          break;
+        }
+      }
+
+      if (timeout) break;
+
+      // Move probe to probing point and wait for probe to reach target temp
+      destination.set(temp_comp.measure_point_x, temp_comp.measure_point_y, 0.5);
+      do_blocking_move_to(destination.x, destination.y, destination.z);
+      SERIAL_ECHOLNPGM("Waiting for probe heating.");
+      while (thermalManager.degProbe() < target_probe) {
+        idle(
+          #if ENABLED(ADVANCED_PAUSE_FEATURE)
+            true
+          #endif
+        );
+        const millis_t ms = millis();
+        if (ELAPSED(ms, next_temp_report)) {
+          thermalManager.print_heater_states(active_extruder);
+          next_temp_report = ms + 1000;
+        }
+      }
+
+      // Raise nozzle before probing
+      destination.z = 5.0;
+      do_blocking_move_to_z(destination.z);
+
+      // Do a single probe
+      remember_feedrate_scaling_off();
+      const float measured_z = probe_at_point(
+        destination.x + probe_offset.x,
+        destination.y + probe_offset.y,
+        PROBE_PT_NONE
+      );
+      restore_feedrate_and_scaling();
+
+      if (isnan(measured_z)) {
+        SERIAL_ECHOLNPGM("!Received NAN measurement - aborting.");
+        break;
+      }
+      else
+        SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
+
+      if (target_bed == temp_comp.cali_info_init[TSI_BED].start_temp)
+        temp_comp.prepare_new_calibration(measured_z);
+      else
+        temp_comp.push_back_new_measurement(TSI_BED, measured_z);
+
+      target_bed += temp_comp.cali_info_init[TSI_BED].temp_res;
+      if (target_bed > temp_comp.max_bed_temp) break;
+    }
+
+    SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
+    if (temp_comp.finish_calibration(TSI_BED))
+      SERIAL_ECHOLNPGM("Successfully calibrated bed.");
+    else
+      SERIAL_ECHOLNPGM("!Failed to calibrated bed - reset calibration values.");
+
+    // Cleanup
+    thermalManager.setTargetBed(0);
+    #if HAS_LEVELING
+      set_bed_leveling_enabled(true);
+    #endif
+  } // do_bed_cal
+
+  /********************************************
+   * Calibrate probe temperature offsets
+   ********************************************/
+
+  if (do_probe_cal) {
+
+    // Park nozzle
+    do_blocking_move_to(ProbeTempComp::park_point.x, ProbeTempComp::park_point.y, ProbeTempComp::park_point.z);
+
+    // Initialize temperatures
+    uint16_t target_bed = temp_comp.probe_calib_bed_temp,
+             target_probe = temp_comp.cali_info_init[TSI_BED].start_temp;
+    thermalManager.setTargetBed(target_bed);
+    SERIAL_ECHOLNPGM("Waiting for bed and probe temperature.");
+    while (fabs(thermalManager.degBed() - float(target_bed)) > 0.1f
+           || thermalManager.degProbe() > target_probe
+    ) {
+      idle(
+        #if ENABLED(ADVANCED_PAUSE_FEATURE)
+          true
+        #endif
+      );
+      const millis_t ms = millis();
+      if (ELAPSED(ms, next_temp_report)) {
+        thermalManager.print_heater_states(active_extruder);
+        next_temp_report = ms + 1000;
+      }
+    }
+
+    // Disable leveling so it won't mess with us
+    #if HAS_LEVELING
+      set_bed_leveling_enabled(false);
+    #endif
+
+    bool timeout = false;
+    while (true) {
+      // Move probe to probing point and wait for it to reach target temperature
+      destination.set(temp_comp.measure_point_x, temp_comp.measure_point_y, 0.5);
+      do_blocking_move_to(destination);
+
+      SERIAL_ECHOLNPAIR(
+        "Bed temp: ", target_bed,
+        "; Probe temp: ", target_probe,
+        "  Waiting for probe heating."
+      );
+
+      const millis_t probe_timeout_ms = millis() + 900UL * 1000UL;
+      while (thermalManager.degProbe() < target_probe) {
+        idle(
+          #if ENABLED(ADVANCED_PAUSE_FEATURE)
+            true
+          #endif
+        );
+        const millis_t ms = millis();
+        if (ELAPSED(ms, next_temp_report)) {
+          thermalManager.print_heater_states(active_extruder);
+          next_temp_report = ms + 1000;
+        }
+        if (ELAPSED(ms, probe_timeout_ms)) {
+          SERIAL_ECHOLNPGM("!Probe heating aborted due to timeout.");
+          timeout = true;
+          break;
+        }
+      }
+
+      if (timeout) break;
+
+      // Raise nozzle before probing
+      destination.z = 5.0;
+      do_blocking_move_to_z(destination.z);
+
+      // Do a single probe
+      remember_feedrate_scaling_off();
+      const float measured_z = probe_at_point(
+        destination.x + probe_offset.x,
+        destination.y + probe_offset.y,
+        PROBE_PT_NONE
+      );
+      restore_feedrate_and_scaling();
+
+      if (isnan(measured_z)) {
+        SERIAL_ECHOLNPGM("!Received NAN measurement - aborting.");
+        break;
+      }
+      else
+        SERIAL_ECHOLNPAIR_F("Measured: ", measured_z);
+
+      if (target_probe == temp_comp.cali_info_init[TSI_BED].start_temp)
+        temp_comp.prepare_new_calibration(measured_z);
+      else
+        temp_comp.push_back_new_measurement(TSI_PROBE, measured_z);
+
+      target_probe += temp_comp.cali_info_init[TSI_BED].temp_res;
+      if (target_probe > temp_comp.cali_info_init[TSI_BED].end_temp) break;
+    }
+
+    SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index());
+    if (temp_comp.finish_calibration(TSI_PROBE))
+      SERIAL_ECHOLNPGM("Successfully calibrated probe.");
+    else
+      SERIAL_ECHOLNPGM("!Failed to calibrated probe.");
+
+    // Cleanup
+    thermalManager.setTargetBed(0);
+    #if HAS_LEVELING
+      set_bed_leveling_enabled(true);
+    #endif
+
+    SERIAL_ECHOLNPGM("Final compensation values:");
+    temp_comp.print_offsets();
+  } // do_probe_cal
+}
+
+/**
+ * M871: Report / reset temperature compensation offsets.
+ *       Note: This does not affect values in EEPROM until M500.
+ *
+ *   M871 [ R | B | P | E ]
+ *
+ *    No Parameters - Print current offset values.
+ *
+ * Select only one of these flags:
+ *    R - Reset all offsets to zero (i.e., disable compensation).
+ *    B - Manually set offset for bed
+ *    P - Manually set offset for probe
+ *    E - Manually set offset for extruder
+ *
+ * With B, P, or E:
+ *    I[index] - Index in the array
+ *    V[value] - Adjustment in µm
+ */
+void GcodeSuite::M871() {
+
+  if (parser.seen('R')) {
+    // Reset z-probe offsets to factory defaults
+    temp_comp.clear_all_offsets();
+    SERIAL_ECHOLNPGM("Offsets reset to default.");
+  }
+  else if (parser.seen("BPE")) {
+    if (!parser.seenval('V')) return;
+    const int16_t val = parser.value_int();
+    if (!parser.seenval('I')) return;
+    const int16_t idx = parser.value_int();
+    const TempSensorID mod = (parser.seen('B') ? TSI_BED :
+                              #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+                                parser.seen('E') ? TSI_EXT :
+                              #endif
+                              TSI_PROBE
+                              );
+    if (idx > 0 && temp_comp.set_offset(mod, idx - 1, val))
+      SERIAL_ECHOLNPAIR("Set value: ", val);
+    else
+      SERIAL_ECHOLNPGM("!Invalid index. Failed to set value (note: value at index 0 is constant).");
+
+  }
+  else // Print current Z-probe adjustments. Note: Values in EEPROM might differ.
+    temp_comp.print_offsets();
+}
+
+#endif // PROBE_TEMP_COMPENSATION
diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
index 860e8c3552..5630146a52 100644
--- a/Marlin/src/gcode/gcode.cpp
+++ b/Marlin/src/gcode/gcode.cpp
@@ -323,6 +323,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 59: G59(); break;
       #endif
 
+      #if ENABLED(PROBE_TEMP_COMPENSATION)
+        case 76: G76(); break;                                    // G76: Calibrate first layer compensation values
+      #endif
+
       #if ENABLED(GCODE_MOTION_MODES)
         case 80: G80(); break;                                    // G80: Reset the current motion mode
       #endif
@@ -753,6 +757,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         M810_819(); break;                                        // M810-M819: Define/execute G-code macro
       #endif
 
+      #if ENABLED(PROBE_TEMP_COMPENSATION)
+        case 871: M871(); break;                                  // M871: Print/reset/clear first layer temperature offset values
+      #endif
+
       #if ENABLED(LIN_ADVANCE)
         case 900: M900(); break;                                  // M900: Set advance K factor.
       #endif
diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
index 468f44cbea..0fbfbfc404 100644
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@@ -67,6 +67,7 @@
  * G34  - Z Stepper automatic alignment using probe: I<iterations> T<accuracy> A<amplification> (Requires Z_STEPPER_AUTO_ALIGN)
  * G38  - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
  * G42  - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
+ * G76  - Calibrate first layer temperature offsets. (Requires PROBE_TEMP_COMPENSATION)
  * G80  - Cancel current motion mode (Requires GCODE_MOTION_MODES)
  * G90  - Use Absolute Coordinates
  * G91  - Use Relative Coordinates
@@ -243,6 +244,7 @@
  * M867 - Enable/disable or toggle error correction for position encoder modules.
  * M868 - Report or set position encoder module error correction threshold.
  * M869 - Report position encoder module error.
+ * M871 - Print/reset/clear first layer temperature offset values. (Requires PROBE_TEMP_COMPENSATION)
  * M876 - Handle Prompt Response. (Requires HOST_PROMPT_SUPPORT and not EMERGENCY_PARSER)
  * M900 - Get or Set Linear Advance K-factor. (Requires LIN_ADVANCE)
  * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470)
@@ -464,6 +466,10 @@ private:
     static void G59();
   #endif
 
+  #if ENABLED(PROBE_TEMP_COMPENSATION)
+    static void G76();
+  #endif
+
   #if ENABLED(GCODE_MOTION_MODES)
     static void G80();
   #endif
@@ -874,6 +880,10 @@ private:
     FORCE_INLINE static void M869() { I2CPEM.M869(); }
   #endif
 
+  #if ENABLED(PROBE_TEMP_COMPENSATION)
+    static void M871();
+  #endif
+
   #if ENABLED(LIN_ADVANCE)
     static void M900();
   #endif
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 4ad08ffa82..47de43cc46 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -341,7 +341,7 @@
  * Temp Sensor defines
  */
 
-#define ANY_TEMP_SENSOR_IS(n) (TEMP_SENSOR_0 == (n) || TEMP_SENSOR_1 == (n) || TEMP_SENSOR_2 == (n) || TEMP_SENSOR_3 == (n) || TEMP_SENSOR_4 == (n) || TEMP_SENSOR_5 == (n) || TEMP_SENSOR_BED == (n) || TEMP_SENSOR_CHAMBER == (n))
+#define ANY_TEMP_SENSOR_IS(n) (TEMP_SENSOR_0 == (n) || TEMP_SENSOR_1 == (n) || TEMP_SENSOR_2 == (n) || TEMP_SENSOR_3 == (n) || TEMP_SENSOR_4 == (n) || TEMP_SENSOR_5 == (n) || TEMP_SENSOR_BED == (n) || TEMP_SENSOR_PROBE == (n) || TEMP_SENSOR_CHAMBER == (n))
 
 #define HAS_USER_THERMISTORS ANY_TEMP_SENSOR_IS(1000)
 
@@ -521,7 +521,25 @@
   #undef CHAMBER_MAXTEMP
 #endif
 
-#define HOTEND_USES_THERMISTOR ANY(HEATER_0_USES_THERMISTOR, HEATER_1_USES_THERMISTOR, HEATER_2_USES_THERMISTOR, HEATER_3_USES_THERMISTOR, HEATER_4_USES_THERMISTOR)
+#if TEMP_SENSOR_PROBE == -4
+  #define HEATER_PROBE_USES_AD8495
+#elif TEMP_SENSOR_PROBE == -3
+  #error "MAX31855 Thermocouples (-3) not supported for TEMP_SENSOR_PROBE."
+#elif TEMP_SENSOR_PROBE == -2
+  #error "MAX6675 Thermocouples (-2) not supported for TEMP_SENSOR_PROBE."
+#elif TEMP_SENSOR_PROBE == -1
+  #define HEATER_PROBE_USES_AD595
+#elif TEMP_SENSOR_PROBE > 0
+  #define THERMISTORPROBE TEMP_SENSOR_PROBE
+  #define PROBE_USES_THERMISTOR
+  #if TEMP_SENSOR_PROBE == 1000
+    #define PROBE_USER_THERMISTOR
+  #endif
+#endif
+
+#define HOTEND_USES_THERMISTOR ANY( \
+  HEATER_0_USES_THERMISTOR, HEATER_1_USES_THERMISTOR, HEATER_2_USES_THERMISTOR, \
+  HEATER_3_USES_THERMISTOR, HEATER_4_USES_THERMISTOR, HEATER_5_USES_THERMISTOR)
 
 /**
  * Default hotend offsets, if not defined
@@ -1014,19 +1032,20 @@
 
 // ADC Temp Sensors (Thermistor or Thermocouple with amplifier ADC interface)
 #define HAS_ADC_TEST(P) (PIN_EXISTS(TEMP_##P) && TEMP_SENSOR_##P != 0 && DISABLED(HEATER_##P##_USES_MAX6675))
-#define HAS_TEMP_ADC_0 HAS_ADC_TEST(0)
-#define HAS_TEMP_ADC_1 HAS_ADC_TEST(1)
-#define HAS_TEMP_ADC_2 HAS_ADC_TEST(2)
-#define HAS_TEMP_ADC_3 HAS_ADC_TEST(3)
-#define HAS_TEMP_ADC_4 HAS_ADC_TEST(4)
-#define HAS_TEMP_ADC_5 HAS_ADC_TEST(5)
-#define HAS_TEMP_ADC_BED HAS_ADC_TEST(BED)
-#define HAS_TEMP_ADC_CHAMBER HAS_ADC_TEST(CHAMBER)
+#define HAS_TEMP_ADC_0        HAS_ADC_TEST(0)
+#define HAS_TEMP_ADC_1        HAS_ADC_TEST(1)
+#define HAS_TEMP_ADC_2        HAS_ADC_TEST(2)
+#define HAS_TEMP_ADC_3        HAS_ADC_TEST(3)
+#define HAS_TEMP_ADC_4        HAS_ADC_TEST(4)
+#define HAS_TEMP_ADC_5        HAS_ADC_TEST(5)
+#define HAS_TEMP_ADC_BED      HAS_ADC_TEST(BED)
+#define HAS_TEMP_ADC_PROBE    HAS_ADC_TEST(PROBE)
+#define HAS_TEMP_ADC_CHAMBER  HAS_ADC_TEST(CHAMBER)
 
-#define HAS_TEMP_HOTEND (HOTENDS > 0 && (HAS_TEMP_ADC_0 || ENABLED(HEATER_0_USES_MAX6675)))
-#define HAS_TEMP_BED HAS_TEMP_ADC_BED
-#define HAS_TEMP_CHAMBER HAS_TEMP_ADC_CHAMBER
-#define HAS_HEATED_CHAMBER (HAS_TEMP_CHAMBER && PIN_EXISTS(HEATER_CHAMBER))
+#define HAS_TEMP_HOTEND   ((HAS_TEMP_ADC_0 || ENABLED(HEATER_0_USES_MAX6675)) && HOTENDS)
+#define HAS_TEMP_BED        HAS_TEMP_ADC_BED
+#define HAS_TEMP_PROBE      HAS_TEMP_ADC_PROBE
+#define HAS_TEMP_CHAMBER    HAS_TEMP_ADC_CHAMBER
 
 #if ENABLED(JOYSTICK)
   #define HAS_JOY_ADC_X  PIN_EXISTS(JOY_X)
@@ -1036,22 +1055,19 @@
 #endif
 
 // Heaters
-#define HAS_HEATER_0 (PIN_EXISTS(HEATER_0))
-#define HAS_HEATER_1 (PIN_EXISTS(HEATER_1))
-#define HAS_HEATER_2 (PIN_EXISTS(HEATER_2))
-#define HAS_HEATER_3 (PIN_EXISTS(HEATER_3))
-#define HAS_HEATER_4 (PIN_EXISTS(HEATER_4))
-#define HAS_HEATER_5 (PIN_EXISTS(HEATER_5))
-#define HAS_HEATER_BED (PIN_EXISTS(HEATER_BED))
+#define HAS_HEATER_0    (PIN_EXISTS(HEATER_0))
+#define HAS_HEATER_1    (PIN_EXISTS(HEATER_1))
+#define HAS_HEATER_2    (PIN_EXISTS(HEATER_2))
+#define HAS_HEATER_3    (PIN_EXISTS(HEATER_3))
+#define HAS_HEATER_4    (PIN_EXISTS(HEATER_4))
+#define HAS_HEATER_5    (PIN_EXISTS(HEATER_5))
+#define HAS_HEATER_BED  (PIN_EXISTS(HEATER_BED))
 
 // Shorthand for common combinations
 #define HAS_HEATED_BED (HAS_TEMP_BED && HAS_HEATER_BED)
 #define BED_OR_CHAMBER (HAS_HEATED_BED || HAS_TEMP_CHAMBER)
-#define HAS_TEMP_SENSOR (HAS_TEMP_HOTEND || BED_OR_CHAMBER)
-
-#if !HAS_TEMP_SENSOR
-  #undef AUTO_REPORT_TEMPERATURES
-#endif
+#define HAS_TEMP_SENSOR (HAS_TEMP_HOTEND || BED_OR_CHAMBER || HAS_TEMP_PROBE)
+#define HAS_HEATED_CHAMBER (HAS_TEMP_CHAMBER && PIN_EXISTS(HEATER_CHAMBER))
 
 // PID heating
 #if !HAS_HEATED_BED
@@ -1081,6 +1097,10 @@
   #define AUTO_CHAMBER_IS_E (_FANOVERLAP(CHAMBER,0) || _FANOVERLAP(CHAMBER,1) || _FANOVERLAP(CHAMBER,2) || _FANOVERLAP(CHAMBER,3) || _FANOVERLAP(CHAMBER,4) || _FANOVERLAP(CHAMBER,5))
 #endif
 
+#if !HAS_TEMP_SENSOR
+  #undef AUTO_REPORT_TEMPERATURES
+#endif
+
 #if !HAS_AUTO_CHAMBER_FAN || AUTO_CHAMBER_IS_E
   #undef AUTO_POWER_CHAMBER_FAN
 #endif
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 48f92d9858..780dd81d84 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -1571,6 +1571,16 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
   #error "TEMP_SENSOR_5 shouldn't be set with only 1 HOTEND."
 #endif
 
+#if TEMP_SENSOR_PROBE
+  #if !PIN_EXISTS(TEMP_PROBE)
+    #error "TEMP_SENSOR_PROBE requires TEMP_PROBE_PIN."
+  #elif !HAS_TEMP_ADC_PROBE
+    #error "TEMP_PROBE_PIN must be an ADC pin."
+  #elif !ENABLED(FIX_MOUNTED_PROBE)
+    #error "TEMP_SENSOR_PROBE shouldn't be set without FIX_MOUNTED_PROBE."
+  #endif
+#endif
+
 #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) && TEMP_SENSOR_1 == 0
   #error "TEMP_SENSOR_1 is required with TEMP_SENSOR_1_AS_REDUNDANT."
 #endif
diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp
index d38cbbe674..b0a8a88aeb 100644
--- a/Marlin/src/module/configuration_store.cpp
+++ b/Marlin/src/module/configuration_store.cpp
@@ -114,6 +114,10 @@
   #include "../feature/tmc_util.h"
 #endif
 
+#if ENABLED(PROBE_TEMP_COMPENSATION)
+  #include "../feature/probe_temp_compensation.h"
+#endif
+
 #pragma pack(push, 1) // No padding between variables
 
 typedef struct { uint16_t X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5; } tmc_stepper_current_t;
@@ -212,6 +216,18 @@ typedef struct SettingsDataStruct {
   //
   uint16_t servo_angles[EEPROM_NUM_SERVOS][2];          // M281 P L U
 
+  //
+  // Temperature first layer compensation values
+  //
+  #if ENABLED(PROBE_TEMP_COMPENSATION)
+    int16_t z_offsets_probe[COUNT(temp_comp.z_offsets_probe)], // M871 P I V
+            z_offsets_bed[COUNT(temp_comp.z_offsets_bed)]      // M871 B I V
+            #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+              , z_offsets_ext[COUNT(temp_comp.z_offsets_ext)]  // M871 E I V
+            #endif
+          ;
+  #endif
+
   //
   // BLTOUCH
   //
@@ -699,6 +715,19 @@ void MarlinSettings::postprocess() {
       EEPROM_WRITE(servo_angles);
     }
 
+    //
+    // Thermal first layer compensation values
+    //
+    #if ENABLED(PROBE_TEMP_COMPENSATION)
+      EEPROM_WRITE(temp_comp.z_offsets_probe);
+      EEPROM_WRITE(temp_comp.z_offsets_bed);
+      #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+        EEPROM_WRITE(temp_comp.z_offsets_ext);
+      #endif
+    #else
+      // No placeholder data for this feature
+    #endif
+
     //
     // BLTOUCH
     //
@@ -1514,6 +1543,20 @@ void MarlinSettings::postprocess() {
         EEPROM_READ(servo_angles_arr);
       }
 
+      //
+      // Thermal first layer compensation values
+      //
+      #if ENABLED(PROBE_TEMP_COMPENSATION)
+        EEPROM_READ(temp_comp.z_offsets_probe);
+        EEPROM_READ(temp_comp.z_offsets_bed);
+        #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+          EEPROM_READ(temp_comp.z_offsets_ext);
+        #endif
+        temp_comp.reset_index();
+      #else
+        // No placeholder data for this feature
+      #endif
+
       //
       // BLTOUCH
       //
diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp
index b110afb85a..b0b57873ce 100644
--- a/Marlin/src/module/temperature.cpp
+++ b/Marlin/src/module/temperature.cpp
@@ -262,6 +262,10 @@ Temperature thermalManager;
   #endif // HAS_HEATED_CHAMBER
 #endif // HAS_TEMP_CHAMBER
 
+#if HAS_TEMP_PROBE
+  probe_info_t Temperature::temp_probe; // = { 0 }
+#endif
+
 // Initialized by settings.load()
 #if ENABLED(PIDTEMP)
   //hotend_pid_t Temperature::pid[HOTENDS];
@@ -654,11 +658,11 @@ int16_t Temperature::getHeaterPower(const heater_ind_t heater_id) {
       case H_CHAMBER: return temp_chamber.soft_pwm_amount;
     #endif
     default:
-      #if HOTENDS
-        return temp_hotend[heater_id].soft_pwm_amount;
-      #else
-        return 0;
-      #endif
+      return (0
+        #if HOTENDS
+          + temp_hotend[heater_id].soft_pwm_amount
+        #endif
+      );
   }
 }
 
@@ -1398,7 +1402,7 @@ void Temperature::manage_heater() {
         SERIAL_ECHO((int)e);
         SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER_NUM);
         kill();
-        return 0.0;
+        return 0;
       }
 
     switch (e) {
@@ -1498,6 +1502,7 @@ void Temperature::manage_heater() {
     #elif ENABLED(HEATER_BED_USES_AD8495)
       return TEMP_AD8495(raw);
     #else
+      UNUSED(raw);
       return 0;
     #endif
   }
@@ -1516,11 +1521,31 @@ void Temperature::manage_heater() {
     #elif ENABLED(HEATER_CHAMBER_USES_AD8495)
       return TEMP_AD8495(raw);
     #else
+      UNUSED(raw);
       return 0;
     #endif
   }
 #endif // HAS_TEMP_CHAMBER
 
+#if HAS_TEMP_PROBE
+  // Derived from RepRap FiveD extruder::getTemperature()
+  // For probe temperature measurement.
+  float Temperature::analog_to_celsius_probe(const int raw) {
+    #if ENABLED(PROBE_USER_THERMISTOR)
+      return user_thermistor_to_deg_c(CTI_PROBE, raw);
+    #elif ENABLED(PROBE_USES_THERMISTOR)
+      SCAN_THERMISTOR_TABLE(PROBE_TEMPTABLE, PROBE_TEMPTABLE_LEN);
+    #elif ENABLED(PROBE_USES_AD595)
+      return TEMP_AD595(raw);
+    #elif ENABLED(PROBE_USES_AD8495)
+      return TEMP_AD8495(raw);
+    #else
+      UNUSED(raw);
+      return 0;
+    #endif
+  }
+#endif // HAS_TEMP_PROBE
+
 /**
  * Get the raw values into the actual temperatures.
  * The raw values are created in interrupt context,
@@ -1543,6 +1568,9 @@ void Temperature::updateTemperaturesFromRawValues() {
   #if HAS_TEMP_CHAMBER
     temp_chamber.celsius = analog_to_celsius_chamber(temp_chamber.raw);
   #endif
+  #if HAS_TEMP_PROBE
+    temp_probe.celsius = analog_to_celsius_probe(temp_probe.raw);
+  #endif
   #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
     redundant_temperature = analog_to_celsius_hotend(redundant_temperature_raw, 1);
   #endif
@@ -1721,6 +1749,9 @@ void Temperature::init() {
   #if HAS_TEMP_CHAMBER
     HAL_ANALOG_SELECT(TEMP_CHAMBER_PIN);
   #endif
+  #if HAS_TEMP_PROBE
+    HAL_ANALOG_SELECT(TEMP_PROBE_PIN);
+  #endif
   #if ENABLED(FILAMENT_WIDTH_SENSOR)
     HAL_ANALOG_SELECT(FILWIDTH_PIN);
   #endif
@@ -2215,6 +2246,10 @@ void Temperature::set_current_temp_raw() {
     temp_chamber.update();
   #endif
 
+  #if HAS_TEMP_PROBE
+    temp_probe.update();
+  #endif
+
   #if HAS_JOY_ADC_X
     joystick.x.update();
   #endif
@@ -2253,6 +2288,10 @@ void Temperature::readings_ready() {
     temp_chamber.reset();
   #endif
 
+  #if HAS_TEMP_PROBE
+    temp_probe.reset();
+  #endif
+
   #if HAS_JOY_ADC_X
     joystick.x.reset();
   #endif
@@ -2661,6 +2700,11 @@ void Temperature::tick() {
       case MeasureTemp_CHAMBER: ACCUMULATE_ADC(temp_chamber); break;
     #endif
 
+    #if HAS_TEMP_PROBE
+      case PrepareTemp_PROBE: HAL_START_ADC(TEMP_PROBE_PIN); break;
+      case MeasureTemp_PROBE: ACCUMULATE_ADC(temp_probe); break;
+    #endif
+
     #if HAS_TEMP_ADC_1
       case PrepareTemp_1: HAL_START_ADC(TEMP_1_PIN); break;
       case MeasureTemp_1: ACCUMULATE_ADC(temp_hotend[1]); break;
@@ -2774,6 +2818,9 @@ void Temperature::tick() {
       #if HAS_TEMP_CHAMBER
         case H_CHAMBER: k = 'C'; break;
       #endif
+      #if HAS_TEMP_PROBE
+        case H_PROBE: k = 'P'; break;
+      #endif
       #if HAS_TEMP_HOTEND
         default: k = 'T'; break;
         #if HAS_HEATED_BED
@@ -2842,6 +2889,14 @@ void Temperature::tick() {
         , H_CHAMBER
       );
     #endif // HAS_TEMP_CHAMBER
+    #if HAS_TEMP_PROBE
+      print_heater_state(degProbe(), 0
+        #if ENABLED(SHOW_TEMP_ADC_VALUES)
+          , rawProbeTemp()
+        #endif
+        , H_PROBE
+      );
+    #endif // HAS_TEMP_PROBE
     #if HOTENDS > 1
       HOTEND_LOOP() print_heater_state(degHotend(e), degTargetHotend(e)
         #if ENABLED(SHOW_TEMP_ADC_VALUES)
diff --git a/Marlin/src/module/temperature.h b/Marlin/src/module/temperature.h
index 4eff4e4f62..1e814294a8 100644
--- a/Marlin/src/module/temperature.h
+++ b/Marlin/src/module/temperature.h
@@ -47,8 +47,8 @@
 
 // Identifiers for other heaters
 typedef enum : int8_t {
-  INDEX_NONE = -4,
-  H_REDUNDANT, H_CHAMBER, H_BED,
+  INDEX_NONE = -5,
+  H_PROBE, H_REDUNDANT, H_CHAMBER, H_BED,
   H_E0, H_E1, H_E2, H_E3, H_E4, H_E5
 } heater_ind_t;
 
@@ -114,6 +114,9 @@ enum ADCSensorState : char {
   #if HAS_TEMP_CHAMBER
     PrepareTemp_CHAMBER, MeasureTemp_CHAMBER,
   #endif
+  #if HAS_TEMP_PROBE
+    PrepareTemp_PROBE, MeasureTemp_PROBE,
+  #endif
   #if HAS_TEMP_ADC_1
     PrepareTemp_1, MeasureTemp_1,
   #endif
@@ -202,6 +205,9 @@ struct PIDHeaterInfo : public HeaterInfo {
     typedef heater_info_t bed_info_t;
   #endif
 #endif
+#if HAS_TEMP_PROBE
+  typedef temp_info_t probe_info_t;
+#endif
 #if HAS_HEATED_CHAMBER
   typedef heater_info_t chamber_info_t;
 #elif HAS_TEMP_CHAMBER
@@ -258,6 +264,9 @@ typedef struct { int16_t raw_min, raw_max, mintemp, maxtemp; } temp_range_t;
     #if ENABLED(HEATER_BED_USER_THERMISTOR)
       CTI_BED,
     #endif
+    #if ENABLED(HEATER_PROBE_USER_THERMISTOR)
+      CTI_PROBE,
+    #endif
     #if ENABLED(HEATER_CHAMBER_USER_THERMISTOR)
       CTI_CHAMBER,
     #endif
@@ -289,11 +298,12 @@ class Temperature {
       #endif
       static hotend_info_t temp_hotend[HOTEND_TEMPS];
     #endif
-
     #if HAS_HEATED_BED
       static bed_info_t temp_bed;
     #endif
-
+    #if HAS_TEMP_PROBE
+      static probe_info_t temp_probe;
+    #endif
     #if HAS_TEMP_CHAMBER
       static chamber_info_t temp_chamber;
     #endif
@@ -301,7 +311,6 @@ class Temperature {
     #if ENABLED(AUTO_POWER_E_FANS)
       static uint8_t autofan_speed[HOTENDS];
     #endif
-
     #if ENABLED(AUTO_POWER_CHAMBER_FAN)
       static uint8_t chamberfan_speed;
     #endif
@@ -467,6 +476,9 @@ class Temperature {
     #if HAS_HEATED_BED
       static float analog_to_celsius_bed(const int raw);
     #endif
+    #if HAS_TEMP_PROBE
+      static float analog_to_celsius_probe(const int raw);
+    #endif
     #if HAS_TEMP_CHAMBER
       static float analog_to_celsius_chamber(const int raw);
     #endif
@@ -662,6 +674,19 @@ class Temperature {
 
     #endif // HAS_HEATED_BED
 
+    #if HAS_TEMP_PROBE
+      #if ENABLED(SHOW_TEMP_ADC_VALUES)
+        FORCE_INLINE static int16_t rawProbeTemp()    { return temp_probe.raw; }
+      #endif
+      FORCE_INLINE static float degProbe()            { return temp_probe.celsius; }
+    #endif
+
+    #if WATCH_PROBE
+      static void start_watching_probe();
+    #else
+      static inline void start_watching_probe() {}
+    #endif
+
     #if HAS_TEMP_CHAMBER
       #if ENABLED(SHOW_TEMP_ADC_VALUES)
         FORCE_INLINE static int16_t rawChamberTemp()    { return temp_chamber.raw; }
diff --git a/Marlin/src/module/thermistor/thermistors.h b/Marlin/src/module/thermistor/thermistors.h
index 8dac7e2aee..55336c8da7 100644
--- a/Marlin/src/module/thermistor/thermistors.h
+++ b/Marlin/src/module/thermistor/thermistors.h
@@ -39,7 +39,7 @@
 
 #define OV(N) int16_t((N) * (OVERSAMPLENR) * (THERMISTOR_TABLE_SCALE))
 
-#define ANY_THERMISTOR_IS(n) (THERMISTOR_HEATER_0 == n || THERMISTOR_HEATER_1 == n || THERMISTOR_HEATER_2 == n || THERMISTOR_HEATER_3 == n || THERMISTOR_HEATER_4 == n || THERMISTOR_HEATER_5 == n || THERMISTORBED == n || THERMISTORCHAMBER == n)
+#define ANY_THERMISTOR_IS(n) (THERMISTOR_HEATER_0 == n || THERMISTOR_HEATER_1 == n || THERMISTOR_HEATER_2 == n || THERMISTOR_HEATER_3 == n || THERMISTOR_HEATER_4 == n || THERMISTOR_HEATER_5 == n || THERMISTORBED == n || THERMISTORCHAMBER == n || THERMISTORPROBE == n)
 
 // Pt1000 and Pt100 handling
 //
@@ -249,13 +249,20 @@
 #else
   #define CHAMBER_TEMPTABLE_LEN 0
 #endif
+#ifdef THERMISTORPROBE
+  #define PROBE_TEMPTABLE TT_NAME(THERMISTORPROBE)
+  #define PROBE_TEMPTABLE_LEN COUNT(PROBE_TEMPTABLE)
+#else
+  #define PROBE_TEMPTABLE_LEN 0
+#endif
 
 // The SCAN_THERMISTOR_TABLE macro needs alteration?
 static_assert(
      HEATER_0_TEMPTABLE_LEN < 256 && HEATER_1_TEMPTABLE_LEN < 256
   && HEATER_2_TEMPTABLE_LEN < 256 && HEATER_3_TEMPTABLE_LEN < 256
   && HEATER_4_TEMPTABLE_LEN < 256 && HEATER_5_TEMPTABLE_LEN < 256
-  &&      BED_TEMPTABLE_LEN < 256 &&  CHAMBER_TEMPTABLE_LEN < 256,
+  &&      BED_TEMPTABLE_LEN < 256 &&  CHAMBER_TEMPTABLE_LEN < 256
+  &&    PROBE_TEMPTABLE_LEN < 256,
   "Temperature conversion tables over 255 entries need special consideration."
 );
 
diff --git a/Marlin/src/pins/lpc1768/pins_BTT_SKR.h b/Marlin/src/pins/lpc1768/pins_BTT_SKR.h
index 7906e59724..516913c2d4 100644
--- a/Marlin/src/pins/lpc1768/pins_BTT_SKR.h
+++ b/Marlin/src/pins/lpc1768/pins_BTT_SKR.h
@@ -58,6 +58,9 @@
 #ifndef TEMP_BED_PIN
   #define TEMP_BED_PIN     P0_23_A0   // A0 (T0) - (67) - TEMP_BED_PIN
 #endif
+#if HOTENDS == 1 && TEMP_SENSOR_PROBE
+  #define TEMP_PROBE_PIN   P0_25_A2   // TEMP_1_PIN
+#endif
 
 //
 // Heaters / Fans
diff --git a/buildroot/share/tests/megaatmega2560-tests b/buildroot/share/tests/megaatmega2560-tests
index 20379c408e..1438523d90 100755
--- a/buildroot/share/tests/megaatmega2560-tests
+++ b/buildroot/share/tests/megaatmega2560-tests
@@ -23,6 +23,10 @@ opt_set EXTRUDERS 2
 opt_set TEMP_SENSOR_0 -2
 opt_set TEMP_SENSOR_1 1
 opt_set TEMP_SENSOR_BED 2
+opt_set TEMP_SENSOR_PROBE 1
+opt_add TEMP_PROBE_PIN 12
+opt_set TEMP_SENSOR_CHAMBER 3
+opt_add HEATER_CHAMBER_PIN 45
 opt_set GRID_MAX_POINTS_X 16
 opt_set FANMUX0_PIN 53
 opt_disable USE_WATCHDOG
@@ -42,8 +46,6 @@ opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER LCD_PROGRESS_BAR LCD_PROGRESS_BAR_TE
            PSU_CONTROL AUTO_POWER_CONTROL POWER_LOSS_RECOVERY POWER_LOSS_PIN POWER_LOSS_STATE \
            SLOW_PWM_HEATERS THERMAL_PROTECTION_CHAMBER LIN_ADVANCE \
            HOST_ACTION_COMMANDS HOST_PROMPT_SUPPORT PINS_DEBUGGING MAX7219_DEBUG M114_DETAIL
-opt_set TEMP_SENSOR_CHAMBER 3
-opt_set HEATER_CHAMBER_PIN 45
 exec_test $1 $2 "RAMPS | EXTRUDERS 2 | CHAR LCD + SD | FIX Probe | ABL-Linear | Advanced Pause | PLR | LEDs ..."
 
 #