If needed, home before G34 (#19713)

Marlin/src/gcode/calibrate/G34.cpp

 
 void GcodeSuite::G34() {
 
-  if (homing_needed()) return;
+  // Home before the alignment procedure
+  if (!all_axes_known()) home_all_axes();
 
   SET_SOFT_ENDSTOP_LOOSE(true);
   TEMPORARY_BED_LEVELING_STATE(false);