diff --git a/planner.c b/planner.c
index d554ba6..0a62267 100644
--- a/planner.c
+++ b/planner.c
@@ -417,6 +417,7 @@ bool plan_buffer_line (float *target, plan_line_data_t *pl_data)
     block->offset_id = pl_data->offset_id;
     block->output_commands = pl_data->output_commands;
     block->message = pl_data->message;
+    memcpy(block->target_mm, target, sizeof(float) * N_AXIS);
 
     // Copy position data based on type of motion being planned.
     memcpy(position_steps, block->condition.system_motion ? sys.position : pl.position, sizeof(position_steps));
diff --git a/planner.h b/planner.h
index 33864c3..ed06b8b 100644
--- a/planner.h
+++ b/planner.h
@@ -82,6 +82,7 @@ typedef struct plan_block {
     gc_override_flags_t overrides;  // Block bitfield variable for overrides
     planner_cond_t condition;       // Block bitfield variable defining block run conditions. Copied from pl_line_data.
     int32_t line_number;            // Block line number for real-time reporting. Copied from pl_line_data.
+    float target_mm[N_AXIS];        // Block target end location in mm for real-time reporting of distance to go.
 
     // Fields used by the motion planner to manage acceleration. Some of these values may be updated
     // by the stepper module during execution of special motion cases for replanning purposes.
diff --git a/report.c b/report.c
index 6974887..4e249ad 100644
--- a/report.c
+++ b/report.c
@@ -1154,7 +1154,7 @@ void report_realtime_status (stream_write_ptr stream_write)
     static bool probing = false;
 
     uint_fast8_t idx;
-    float print_position[N_AXIS], wco[N_AXIS];
+    float print_position[N_AXIS], wco[N_AXIS], dist_remaining[N_AXIS];
     report_tracking_flags_t report = system_get_rt_report_flags(), delayed_report = {};
     probe_state_t probe_state = {
         .connected = On,
@@ -1254,6 +1254,19 @@ void report_realtime_status (stream_write_ptr stream_write)
             stream_write(appendbuf(2, "|Ln:", uitoa((uint32_t)cur_block->line_number)));
     }
 
+    // Report distance remaining as difference between target (end of block) and current position
+    plan_block_t *cur_block = plan_get_current_block();
+    if (cur_block != NULL) {
+        system_convert_array_steps_to_mpos(dist_remaining, sys.position);
+
+        for(idx = 0; idx < N_AXIS; idx++) {
+            dist_remaining[idx] = cur_block->target_mm[idx] - dist_remaining[idx];
+        }
+        // Report distance to go
+        hal.stream.write_all("|DToGo:");
+        hal.stream.write_all(get_axis_values(dist_remaining));
+    }
+
     spindle_ptrs_t *spindle_0;
     spindle_state_t spindle_0_state;