diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripperZAxis.test.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripper.test.ts
similarity index 94%
rename from app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripperZAxis.test.ts
rename to app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripper.test.ts
index 32f5d939eb8..aefd00e5db2 100644
--- a/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripperZAxis.test.ts
+++ b/app/src/organisms/ErrorRecoveryFlows/hooks/__tests__/useHomeGripper.test.ts
@@ -94,7 +94,7 @@ describe('useHomeGripper', () => {
     ).toHaveBeenCalledTimes(1)
   })
 
-  it('should reset hasHomedOnce when step changes to non-manual gripper step and back', async () => {
+  it('should only reset hasHomedOnce when step changes to non-manual gripper step', async () => {
     const { rerender } = renderHook(
       ({ recoveryMap }) => {
         useHomeGripper({
@@ -123,6 +123,10 @@ describe('useHomeGripper', () => {
       await new Promise(resolve => setTimeout(resolve, 0))
     })
 
+    expect(
+      mockRecoveryCommands.updatePositionEstimatorsAndHomeGripper
+    ).toHaveBeenCalledTimes(1)
+
     rerender({ recoveryMap: mockRecoveryMap })
 
     await act(async () => {
diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripper.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripper.ts
index b165e59ebd4..38299761cfd 100644
--- a/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripper.ts
+++ b/app/src/organisms/ErrorRecoveryFlows/hooks/useHomeGripper.ts
@@ -29,14 +29,14 @@ export function useHomeGripper({
         } else {
           void handleMotionRouting(true)
             .then(() => updatePositionEstimatorsAndHomeGripper())
-            .then(() => {
+            .finally(() => {
+              handleMotionRouting(false)
               setHasHomedOnce(true)
             })
-            .finally(() => handleMotionRouting(false))
         }
       }
     } else {
-      if (!isManualGripperStep) {
+      if (!isManualGripperStep && hasHomedOnce) {
         setHasHomedOnce(false)
       }
     }