Hi Ryan, I’d like to submit my idea regarding autosquaring without dual drive. What I did with my MPCNC is to connect the NC endstop switches for X (same applies to Y) axis in parallel, so that end position is detected only when both X switches are pressed. When X axis is out of square, one of X motor will lose steps until the other motor has pressed the second switch. This way I can autosquare even with an UNO controller and estlcam, and no changes in firmware. For this method to work, switch need to trigger when the roller is physically blocked at zero position. Obviously I assume the endstops positions are calibrated so that axis are squared when both sides have hit their endstops.