diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md
index 47fa4cce..3059eec5 100644
--- a/docs/Config_Changes.md
+++ b/docs/Config_Changes.md
@@ -8,6 +8,11 @@ All dates in this document are approximate.
 
 ## Changes
 
+20250418: The manual_stepper `STOP_ON_ENDSTOP` feature may now take
+less time to complete. Previously, the command would wait the entire
+time the move could possibly take even if the endstop triggered
+earlier. Now, the command finishes shortly after the endstop trigger.
+
 20250417: SPI devices using "software SPI" are now rate limited.
 Previously, the `spi_speed` in the config was ignored and the
 transmission speed was only limited by the processing speed of the
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py
index 9f21cc8d..1465590d 100644
--- a/klippy/extras/manual_stepper.py
+++ b/klippy/extras/manual_stepper.py
@@ -55,17 +55,20 @@ class ManualStepper:
         self.sync_print_time()
     def do_set_position(self, setpos):
         self.rail.set_position([setpos, 0., 0.])
-    def do_move(self, movepos, speed, accel, sync=True):
-        self.sync_print_time()
+    def _submit_move(self, movetime, movepos, speed, accel):
         cp = self.rail.get_commanded_position()
         dist = movepos - cp
         axis_r, accel_t, cruise_t, cruise_v = force_move.calc_move_time(
             dist, speed, accel)
-        self.trapq_append(self.trapq, self.next_cmd_time,
+        self.trapq_append(self.trapq, movetime,
                           accel_t, cruise_t, accel_t,
                           cp, 0., 0., axis_r, 0., 0.,
                           0., cruise_v, accel)
-        self.next_cmd_time = self.next_cmd_time + accel_t + cruise_t + accel_t
+        return movetime + accel_t + cruise_t + accel_t
+    def do_move(self, movepos, speed, accel, sync=True):
+        self.sync_print_time()
+        self.next_cmd_time = self._submit_move(self.next_cmd_time, movepos,
+                                               speed, accel)
         self.rail.generate_steps(self.next_cmd_time)
         self.trapq_finalize_moves(self.trapq, self.next_cmd_time + 99999.9,
                                   self.next_cmd_time + 99999.9)
@@ -117,7 +120,18 @@ class ManualStepper:
     def dwell(self, delay):
         self.next_cmd_time += max(0., delay)
     def drip_move(self, newpos, speed, drip_completion):
-        self.do_move(newpos[0], speed, self.homing_accel)
+        # Submit move to trapq
+        self.sync_print_time()
+        maxtime = self._submit_move(self.next_cmd_time, newpos[0],
+                                    speed, self.homing_accel)
+        # Drip updates to motors
+        toolhead = self.printer.lookup_object('toolhead')
+        toolhead.drip_update_time(maxtime, drip_completion, self.steppers)
+        # Clear trapq of any remaining parts of movement
+        reactor = self.printer.get_reactor()
+        self.trapq_finalize_moves(self.trapq, reactor.NEVER, 0)
+        self.rail.set_position([newpos[0], 0., 0.])
+        self.sync_print_time()
     def get_kinematics(self):
         return self
     def get_steppers(self):
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index f7d7ef7e..806da7bf 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -503,7 +503,7 @@ class ToolHead:
     def get_extruder(self):
         return self.extruder
     # Homing "drip move" handling
-    def drip_update_time(self, next_print_time, drip_completion):
+    def drip_update_time(self, next_print_time, drip_completion, addstepper=()):
         # Transition from "NeedPrime"/"Priming"/main state to "Drip" state
         self.special_queuing_state = "Drip"
         self.need_check_pause = self.reactor.NEVER
@@ -526,6 +526,8 @@ class ToolHead:
             npt = min(self.print_time + DRIP_SEGMENT_TIME, next_print_time)
             self.note_mcu_movequeue_activity(npt + self.kin_flush_delay,
                                              set_step_gen_time=True)
+            for stepper in addstepper:
+                stepper.generate_steps(npt)
             self._advance_move_time(npt)
         # Exit "Drip" state
         self.reactor.update_timer(self.flush_timer, self.reactor.NOW)