diff --git a/changelog.md b/changelog.md
index 0cf6dd9..df71c3f 100644
--- a/changelog.md
+++ b/changelog.md
@@ -1,5 +1,23 @@
 ## grblHAL changelog
 
+<a name="20250329">Build 20250329
+
+Core:
+
+* Fix for feedhold during G33 and G76 synchronized motion not beeing delayed until motion completed.
+
+* "Hardened" new optimized code to ensure initial motion is going in the correct direction.
+
+Drivers:
+
+* Most: harmonized handling of HAL stepper go idle call.
+
+Plugins:
+
+* Motors, odometer: updated for 20250328 core changes.
+
+---
+
 <a name="20250328">Build 20250328
 
 Core:
diff --git a/grbl.h b/grbl.h
index 89fde8c..94337cf 100644
--- a/grbl.h
+++ b/grbl.h
@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20250328
+#define GRBL_BUILD 20250329
 
 #define GRBL_URL "https://github.com/grblHAL"
 
diff --git a/motion_control.c b/motion_control.c
index 721b4ff..2ef64b6 100644
--- a/motion_control.c
+++ b/motion_control.c
@@ -742,6 +742,9 @@ void mc_thread (plan_line_data_t *pl_data, float *position, gc_thread_data *thre
                 return;
         }
 
+        if(!protocol_buffer_synchronize() && state_get() != STATE_IDLE) // Wait until any previous moves are finished.
+            return;
+
         pl_data->condition.rapid_motion = On;       // Set rapid motion condition flag and
         pl_data->spindle.state.synchronized = Off;  // disable spindle sync for retract & reposition
 
diff --git a/protocol.c b/protocol.c
index 0748e87..9952710 100644
--- a/protocol.c
+++ b/protocol.c
@@ -646,13 +646,6 @@ bool protocol_exec_rt_system (void)
 
         rt_exec &= ~(EXEC_STOP|EXEC_STATUS_REPORT|EXEC_GCODE_REPORT|EXEC_PID_REPORT|EXEC_TLO_REPORT|EXEC_RT_COMMAND); // clear requests already processed
 
-        if(sys.flags.feed_hold_pending) {
-            if(rt_exec & EXEC_CYCLE_START)
-                sys.flags.feed_hold_pending = Off;
-            else if(!sys.override.control.feed_hold_disable)
-                rt_exec |= EXEC_FEED_HOLD;
-        }
-
         // Let state machine handle any remaining requests
         if(rt_exec)
             state_update(rt_exec);
diff --git a/state_machine.c b/state_machine.c
index dcf465b..62ffcdf 100644
--- a/state_machine.c
+++ b/state_machine.c
@@ -245,6 +245,10 @@ void state_set (sys_state_t new_state)
                 sys_state = pending_state = new_state;
                 park.flags.value = 0;
                 stateHandler = state_idle;
+                if(sys.flags.feed_hold_pending) {
+                    pending_state = STATE_HOLD;
+                    system_set_exec_state_flag(EXEC_FEED_HOLD);
+                }
                 break;
 
             case STATE_CYCLE:
@@ -298,16 +302,16 @@ void state_set (sys_state_t new_state)
                 break;
 
             case STATE_HOLD:
-                if (sys.override.control.sync && sys.override.control.feed_hold_disable)
-                    sys.flags.feed_hold_pending = On;
-                if (!((sys_state & STATE_JOG) || sys.override.control.feed_hold_disable)) {
-                    if (!initiate_hold(new_state)) {
+                if(!((sys_state & STATE_JOG) || sys.override.control.feed_hold_disable) ||
+                      (pending_state == STATE_HOLD && sys.flags.feed_hold_pending)) {
+                    if(!initiate_hold(new_state)) {
                         sys.holding_state = Hold_Complete;
                         stateHandler = state_await_resume;
                     }
                     sys_state = new_state;
                     sys.flags.feed_hold_pending = Off;
-                }
+                } else if(sys.override.control.sync && sys.override.control.feed_hold_disable)
+                    sys.flags.feed_hold_pending = On;
                 break;
 
             case STATE_SAFETY_DOOR:
diff --git a/stepper.c b/stepper.c
index 93caa7f..09678ac 100644
--- a/stepper.c
+++ b/stepper.c
@@ -195,7 +195,10 @@ void st_wake_up (void)
     // cancel any pending steppers deenergize
     //st.exec_block = NULL;
     stepping = true;
+    st.dir_out.bits = 0;
     sys.steppers_deenergize = false;
+
+    hal.stepper.go_idle(true); // Reset step & dir outputs
     hal.stepper.wake_up();
 }
 
@@ -529,9 +532,7 @@ void st_reset (void)
     if(hal.probe.configure)
         hal.probe.configure(false, false);
 
-    // Initialize stepper driver idle state, clear step and direction port pins.
-    st_go_idle();
-   // hal.stepper.go_idle(true);
+    st_go_idle(); // Initialize stepper driver idle state.
 
     // NOTE: buffer indices starts from 1 for simpler driver coding!
 
@@ -556,13 +557,9 @@ void st_reset (void)
     pl_block = NULL;  // Planner block pointer used by segment buffer
     segment_buffer_tail = segment_buffer_head = &segment_buffer[0]; // empty = tail
 
-    axes_signals_t dir_out = st.dir_out;
-
     memset(&prep, 0, sizeof(st_prep_t));
     memset(&st, 0, sizeof(stepper_t));
 
-    st.dir_out = dir_out;
-
 #ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
     // TODO: move to driver?
     // AMASS_LEVEL0: Normal operation. No AMASS. No upper cutoff frequency. Starts at LEVEL1 cutoff frequency.