diff --git a/app/src/components/CalibratePipetteOffset/__tests__/useCalibratePipetteOffset.test.js b/app/src/components/CalibratePipetteOffset/__tests__/useCalibratePipetteOffset.test.js
index 03f99cc5128c..d91c3afd27ba 100644
--- a/app/src/components/CalibratePipetteOffset/__tests__/useCalibratePipetteOffset.test.js
+++ b/app/src/components/CalibratePipetteOffset/__tests__/useCalibratePipetteOffset.test.js
@@ -1,6 +1,5 @@
 // @flow
 import * as React from 'react'
-import { Provider } from 'react-redux'
 import uniqueId from 'lodash/uniqueId'
 import { mountWithStore } from '@opentrons/components/__utils__'
 import { act } from 'react-dom/test-utils'
@@ -10,7 +9,6 @@ import * as Sessions from '../../../sessions'
 import { mockPipetteOffsetCalibrationSessionAttributes } from '../../../sessions/__fixtures__'
 
 import { useCalibratePipetteOffset } from '../useCalibratePipetteOffset'
-import { mount } from 'enzyme'
 
 import type { State } from '../../../types'
 import type { SessionType } from '../../../sessions'
@@ -32,13 +30,20 @@ const mockGetRequestById: JestMockFn<
 describe('useCalibratePipetteOffset hook', () => {
   let startCalibration
   let CalWizardComponent
-  let store
   const robotName = 'robotName'
   const mountString = 'left'
+  const onComplete = jest.fn()
+
   const TestUseCalibratePipetteOffset = () => {
     const [_startCalibration, _CalWizardComponent] = useCalibratePipetteOffset(
       robotName,
-      mountString
+      {
+        mount: mountString,
+        shouldPerformTipLength: false,
+        hasCalibrationBlock: false,
+        tipRackDefinition: null,
+      },
+      onComplete
     )
     React.useEffect(() => {
       startCalibration = _startCalibration
@@ -69,7 +74,12 @@ describe('useCalibratePipetteOffset hook', () => {
       ...Sessions.ensureSession(
         robotName,
         Sessions.SESSION_TYPE_PIPETTE_OFFSET_CALIBRATION,
-        { mount: mountString }
+        {
+          mount: mountString,
+          shouldPerformTipLength: false,
+          hasCalibrationBlock: false,
+          tipRackDefinition: null,
+        }
       ),
       meta: { requestId: expect.any(String) },
     })
@@ -85,12 +95,9 @@ describe('useCalibratePipetteOffset hook', () => {
         currentStep: Sessions.PIP_OFFSET_STEP_CALIBRATION_COMPLETE,
       },
     }
-    const { store, wrapper } = mountWithStore(
-      <TestUseCalibratePipetteOffset />,
-      {
-        initialState: { robotApi: {} },
-      }
-    )
+    const { wrapper } = mountWithStore(<TestUseCalibratePipetteOffset />, {
+      initialState: { robotApi: {} },
+    })
     mockGetRobotSessionOfType.mockReturnValue(mockPipOffsetCalSession)
     mockGetRequestById.mockReturnValue({
       status: RobotApi.SUCCESS,
@@ -105,8 +112,11 @@ describe('useCalibratePipetteOffset hook', () => {
     wrapper.setProps({})
     expect(CalWizardComponent).not.toBe(null)
 
-    wrapper.find('button[children="exit"]').invoke('onClick')()
+    wrapper
+      .find('button[title="Return tip to tip rack and exit"]')
+      .invoke('onClick')()
     wrapper.setProps({})
     expect(CalWizardComponent).toBe(null)
+    expect(onComplete).toHaveBeenCalled()
   })
 })
diff --git a/app/src/components/CalibratePipetteOffset/useCalibratePipetteOffset.js b/app/src/components/CalibratePipetteOffset/useCalibratePipetteOffset.js
index 0083cd5093cc..4881b9244a15 100644
--- a/app/src/components/CalibratePipetteOffset/useCalibratePipetteOffset.js
+++ b/app/src/components/CalibratePipetteOffset/useCalibratePipetteOffset.js
@@ -1,7 +1,6 @@
 // @flow
 import * as React from 'react'
 import { useSelector } from 'react-redux'
-import { SecondaryBtn, SPACING_2 } from '@opentrons/components'
 
 import * as RobotApi from '../../robot-api'
 import * as Sessions from '../../sessions'
@@ -10,8 +9,8 @@ import type { State } from '../../types'
 import type {
   SessionCommandString,
   PipetteOffsetCalibrationSession,
+  PipetteOffsetCalibrationSessionParams,
 } from '../../sessions/types'
-import type { Mount } from '../../pipettes/types'
 import type { RequestState } from '../../robot-api/types'
 
 import { Portal } from '../portal'
@@ -24,7 +23,7 @@ const spinnerCommandBlockList: Array<SessionCommandString> = [
 
 export function useCalibratePipetteOffset(
   robotName: string,
-  mount: Mount,
+  sessionParams: $Shape<PipetteOffsetCalibrationSessionParams>,
   onComplete: (() => mixed) | null = null
 ): [() => void, React.Node | null] {
   const [showWizard, setShowWizard] = React.useState(false)
@@ -74,24 +73,47 @@ export function useCalibratePipetteOffset(
         : null
     )?.status === RobotApi.SUCCESS
 
+  const closeWizard = React.useCallback(() => {
+    setShowWizard(false)
+    onComplete && onComplete()
+  }, [onComplete])
+
   React.useEffect(() => {
     if (shouldOpen) {
       setShowWizard(true)
       createRequestId.current = null
     }
     if (shouldClose) {
-      setShowWizard(false)
-      onComplete && onComplete()
+      closeWizard()
       deleteRequestId.current = null
     }
-  }, [shouldOpen, shouldClose])
+  }, [shouldOpen, shouldClose, closeWizard])
 
+  const {
+    mount,
+    shouldPerformTipLength = false,
+    hasCalibrationBlock = false,
+    tipRackDefinition = null,
+  } = sessionParams
   const handleStartPipOffsetCalSession = () => {
+    console.log('HANDLE START')
+    console.table({
+      robotName,
+      mount,
+      shouldPerformTipLength,
+      hasCalibrationBlock,
+      tipRackDefinition,
+    })
     dispatchRequests(
       Sessions.ensureSession(
         robotName,
         Sessions.SESSION_TYPE_PIPETTE_OFFSET_CALIBRATION,
-        { mount }
+        {
+          mount,
+          shouldPerformTipLength,
+          hasCalibrationBlock,
+          tipRackDefinition,
+        }
       )
     )
   }
@@ -118,7 +140,7 @@ export function useCalibratePipetteOffset(
         <CalibratePipetteOffset
           session={pipOffsetCalSession}
           robotName={robotName}
-          closeWizard={() => setShowWizard(false)}
+          closeWizard={closeWizard}
           showSpinner={showSpinner}
           dispatchRequests={dispatchRequests}
         />
diff --git a/app/src/components/ChangePipette/ConfirmPipette.js b/app/src/components/ChangePipette/ConfirmPipette.js
index d3d3bc8262f7..01b7a3f16118 100644
--- a/app/src/components/ChangePipette/ConfirmPipette.js
+++ b/app/src/components/ChangePipette/ConfirmPipette.js
@@ -2,14 +2,7 @@
 import * as React from 'react'
 import cx from 'classnames'
 
-import {
-  Icon,
-  PrimaryBtn,
-  ModalPage,
-  SPACING_2,
-  SPACING_4,
-} from '@opentrons/components'
-import { PipetteOffsetCalibrationControl } from '../InstrumentSettings/PipetteOffsetCalibrationControl'
+import { Icon, PrimaryBtn, ModalPage, SPACING_2 } from '@opentrons/components'
 import { getDiagramsSrc } from './InstructionStep'
 import { CheckPipettesButton } from './CheckPipettesButton'
 import styles from './styles.css'
@@ -21,7 +14,6 @@ import type {
 } from '@opentrons/shared-data'
 import type { Mount } from '../../pipettes/types'
 import type { PipetteOffsetCalibration } from '../../calibration/types'
-import { CalibratePipetteOffset } from '../CalibratePipetteOffset'
 
 const EXIT_BUTTON_MESSAGE = 'exit pipette setup'
 const EXIT_BUTTON_MESSAGE_WRONG = 'keep pipette and exit setup'
@@ -54,9 +46,6 @@ export function ConfirmPipette(props: Props): React.Node {
     actualPipette,
     actualPipetteOffset,
     back,
-    robotName,
-    mount,
-    startPipetteOffsetCalibration,
   } = props
 
   return (
diff --git a/app/src/components/ChangePipette/index.js b/app/src/components/ChangePipette/index.js
index a7f70524e60c..add428ec0e88 100644
--- a/app/src/components/ChangePipette/index.js
+++ b/app/src/components/ChangePipette/index.js
@@ -1,10 +1,13 @@
 // @flow
 import * as React from 'react'
 import { useSelector, useDispatch } from 'react-redux'
-import last from 'lodash/last'
 import { getPipetteNameSpecs, shouldLevel } from '@opentrons/shared-data'
 
-import { useDispatchApiRequest, getRequestById, PENDING } from '../../robot-api'
+import {
+  useDispatchApiRequests,
+  getRequestById,
+  SUCCESS,
+} from '../../robot-api'
 import { getCalibrationForPipette } from '../../calibration'
 import { getAttachedPipettes } from '../../pipettes'
 import {
@@ -13,8 +16,10 @@ import {
   getMovementStatus,
   HOMING,
   MOVING,
+  ROBOT,
   PIPETTE,
   CHANGE_PIPETTE,
+  HOME,
 } from '../../robot-controls'
 
 import { useCalibratePipetteOffset } from '../CalibratePipetteOffset'
@@ -53,7 +58,16 @@ const MOUNT = 'mount'
 export function ChangePipette(props: Props): React.Node {
   const { robotName, mount, closeModal } = props
   const dispatch = useDispatch<Dispatch>()
-  const [dispatchApiRequest, requestIds] = useDispatchApiRequest()
+  const homePipRequestId = React.useRef<string | null>(null)
+  const [dispatchApiRequests] = useDispatchApiRequests(dispatchedAction => {
+    if (
+      dispatchedAction.type === HOME &&
+      dispatchedAction.payload.target === PIPETTE
+    ) {
+      // track final home pipette request, its success closes modal
+      homePipRequestId.current = dispatchedAction.meta.requestId
+    }
+  })
   const [wizardStep, setWizardStep] = React.useState<WizardStep>(CLEAR_DECK)
   const [wantedName, setWantedName] = React.useState<string | null>(null)
   const [confirmExit, setConfirmExit] = React.useState(false)
@@ -72,25 +86,28 @@ export function ChangePipette(props: Props): React.Node {
     return getMovementStatus(state, robotName)
   })
 
-  const homeRequest = useSelector((state: State) => {
-    return getRequestById(state, last(requestIds))
-  })?.status
+  const homePipSuccess =
+    useSelector((state: State) => {
+      return homePipRequestId.current
+        ? getRequestById(state, homePipRequestId.current)
+        : null
+    })?.status === SUCCESS
 
   React.useEffect(() => {
-    if (homeRequest && homeRequest !== PENDING) {
+    if (homePipSuccess) {
       closeModal()
     }
-  }, [homeRequest, closeModal])
+  }, [homePipSuccess, closeModal])
 
-  const homeAndExit = React.useCallback(
-    () => dispatchApiRequest(home(robotName, PIPETTE, mount)),
-    [dispatchApiRequest, robotName, mount]
+  const homePipAndExit = React.useCallback(
+    () => dispatchApiRequests(home(robotName, PIPETTE, mount)),
+    [dispatchApiRequests, robotName, mount]
   )
 
   const [
     startPipetteOffsetCalibration,
     PipetteOffsetCalibrationWizard,
-  ] = useCalibratePipetteOffset(robotName, mount, closeModal)
+  ] = useCalibratePipetteOffset(robotName, { mount }, closeModal)
 
   const baseProps = {
     title: PIPETTE_SETUP,
@@ -139,7 +156,7 @@ export function ChangePipette(props: Props): React.Node {
         {confirmExit && (
           <ExitAlertModal
             back={() => setConfirmExit(false)}
-            exit={homeAndExit}
+            exit={homePipAndExit}
           />
         )}
         <Instructions
@@ -164,6 +181,13 @@ export function ChangePipette(props: Props): React.Node {
 
     const attachedWrong = Boolean(!success && wantedPipette && actualPipette)
 
+    const launchPOC = () => {
+      // home before cal flow to account for skips when attaching pipette
+      setWizardStep(CALIBRATE_PIPETTE)
+      dispatchApiRequests(home(robotName, ROBOT))
+      startPipetteOffsetCalibration()
+    }
+
     if (success && wantedPipette && shouldLevel(wantedPipette)) {
       return (
         <LevelPipette
@@ -171,12 +195,9 @@ export function ChangePipette(props: Props): React.Node {
             pipetteModelName: actualPipette ? actualPipette.name : '',
             ...basePropsWithPipettes,
             back: () => setWizardStep(INSTRUCTIONS),
-            exit: homeAndExit,
+            exit: homePipAndExit,
             actualPipetteOffset: actualPipetteOffset,
-            startPipetteOffsetCalibration: () => {
-              startPipetteOffsetCalibration()
-              setWizardStep(CALIBRATE_PIPETTE)
-            },
+            startPipetteOffsetCalibration: launchPOC,
           }}
         />
       )
@@ -192,12 +213,9 @@ export function ChangePipette(props: Props): React.Node {
               setWizardStep(INSTRUCTIONS)
             },
             back: () => setWizardStep(INSTRUCTIONS),
-            exit: homeAndExit,
+            exit: homePipAndExit,
             actualPipetteOffset: actualPipetteOffset,
-            startPipetteOffsetCalibration: () => {
-              startPipetteOffsetCalibration()
-              setWizardStep(CALIBRATE_PIPETTE)
-            },
+            startPipetteOffsetCalibration: launchPOC,
           }}
         />
       )
diff --git a/app/src/components/InstrumentSettings/PipetteInfo.js b/app/src/components/InstrumentSettings/PipetteInfo.js
index 4f042c70c2bd..91f6d432a848 100644
--- a/app/src/components/InstrumentSettings/PipetteInfo.js
+++ b/app/src/components/InstrumentSettings/PipetteInfo.js
@@ -68,7 +68,7 @@ export function PipetteInfo(props: PipetteInfoProps): React.Node {
   const [
     startPipetteOffsetCalibration,
     PipetteOffsetCalibrationWizard,
-  ] = useCalibratePipetteOffset(robotName, mount)
+  ] = useCalibratePipetteOffset(robotName, { mount })
 
   const pipImage = (
     <Box
diff --git a/app/src/components/InstrumentSettings/PipetteOffsetCalibrationControl.js b/app/src/components/InstrumentSettings/PipetteOffsetCalibrationControl.js
deleted file mode 100644
index 6f753e019c55..000000000000
--- a/app/src/components/InstrumentSettings/PipetteOffsetCalibrationControl.js
+++ /dev/null
@@ -1,154 +0,0 @@
-// @flow
-import * as React from 'react'
-import { useSelector } from 'react-redux'
-import { SecondaryBtn, SPACING_2 } from '@opentrons/components'
-
-import * as RobotApi from '../../robot-api'
-import * as Sessions from '../../sessions'
-
-import type { State } from '../../types'
-import type {
-  SessionCommandString,
-  PipetteOffsetCalibrationSession,
-} from '../../sessions/types'
-import type { Mount } from '../../pipettes/types'
-import type { RequestState } from '../../robot-api/types'
-
-import { Portal } from '../portal'
-import { useCalibratePipetteOffset } from '../CalibratePipetteOffset'
-
-type Props = {|
-  robotName: string,
-  mount: Mount,
-|}
-
-// pipette calibration commands for which the full page spinner should not appear
-const spinnerCommandBlockList: Array<SessionCommandString> = [
-  Sessions.sharedCalCommands.JOG,
-]
-
-const BUTTON_TEXT = 'Calibrate offset'
-
-export function PipetteOffsetCalibrationControl(props: Props): React.Node {
-  const { robotName, mount } = props
-
-  const [showWizard, setShowWizard] = React.useState(false)
-
-  const trackedRequestId = React.useRef<string | null>(null)
-  const deleteRequestId = React.useRef<string | null>(null)
-  const createRequestId = React.useRef<string | null>(null)
-
-  const [dispatchRequests] = RobotApi.useDispatchApiRequests(
-    dispatchedAction => {
-      if (dispatchedAction.type === Sessions.ENSURE_SESSION) {
-        createRequestId.current = dispatchedAction.meta.requestId
-      } else if (
-        dispatchedAction.type === Sessions.DELETE_SESSION &&
-        pipOffsetCalSession?.id === dispatchedAction.payload.sessionId
-      ) {
-        deleteRequestId.current = dispatchedAction.meta.requestId
-      } else if (
-        dispatchedAction.type !== Sessions.CREATE_SESSION_COMMAND ||
-        !spinnerCommandBlockList.includes(
-          dispatchedAction.payload.command.command
-        )
-      ) {
-        trackedRequestId.current = dispatchedAction.meta.requestId
-      }
-    }
-  )
-
-  const showSpinner =
-    useSelector<State, RequestState | null>(state =>
-      trackedRequestId.current
-        ? RobotApi.getRequestById(state, trackedRequestId.current)
-        : null
-    )?.status === RobotApi.PENDING
-
-  const shouldClose =
-    useSelector<State, RequestState | null>(state =>
-      deleteRequestId.current
-        ? RobotApi.getRequestById(state, deleteRequestId.current)
-        : null
-    )?.status === RobotApi.SUCCESS
-
-  const shouldOpen =
-    useSelector((state: State) =>
-      createRequestId.current
-        ? RobotApi.getRequestById(state, createRequestId.current)
-        : null
-    )?.status === RobotApi.SUCCESS
-
-  React.useEffect(() => {
-    if (shouldOpen) {
-      setShowWizard(true)
-      createRequestId.current = null
-    }
-    if (shouldClose) {
-      setShowWizard(false)
-      deleteRequestId.current = null
-    }
-  }, [shouldOpen, shouldClose])
-
-  const hasCalibrationBlock = false
-  const shouldPerformTipLength = false
-  const tipRackDefinition = null
-  const handleStartPipOffsetCalSession = () => {
-    dispatchRequests(
-      Sessions.ensureSession(
-        robotName,
-        Sessions.SESSION_TYPE_PIPETTE_OFFSET_CALIBRATION,
-        {
-          mount,
-          shouldPerformTipLength,
-          hasCalibrationBlock,
-          tipRackDefinition,
-        }
-      )
-    )
-  }
-
-  const pipOffsetCalSession = useSelector<
-    State,
-    PipetteOffsetCalibrationSession | null
-  >((state: State) => {
-    const session: Sessions.Session | null = Sessions.getRobotSessionOfType(
-      state,
-      robotName,
-      Sessions.SESSION_TYPE_PIPETTE_OFFSET_CALIBRATION
-    )
-    return session &&
-      session.sessionType === Sessions.SESSION_TYPE_PIPETTE_OFFSET_CALIBRATION
-      ? session
-      : null
-  })
-
-  const [
-    startPipetteOffsetCalibration,
-    PipetteOffsetCalibrationWizard,
-  ] = useCalibratePipetteOffset()
-
-  return (
-    <>
-      <SecondaryBtn
-        width="11rem"
-        marginTop={SPACING_2}
-        padding={SPACING_2}
-        onClick={handleStartPipOffsetCalSession}
-      >
-        {BUTTON_TEXT}
-      </SecondaryBtn>
-      {showWizard && (
-        <Portal>
-          <CalibratePipetteOffset
-            session={pipOffsetCalSession}
-            robotName={robotName}
-            closeWizard={() => setShowWizard(false)}
-            showSpinner={showSpinner}
-            dispatchRequests={dispatchRequests}
-          />
-        </Portal>
-      )}
-    </>
-  )
-}