diff --git a/src/Mod/Path/PathScripts/PathSurface.py b/src/Mod/Path/PathScripts/PathSurface.py
index 9c6f2d3c0c..00b5de01c0 100644
--- a/src/Mod/Path/PathScripts/PathSurface.py
+++ b/src/Mod/Path/PathScripts/PathSurface.py
@@ -1451,48 +1451,56 @@ class ObjectSurface(PathOp.ObjectOp):
         PNTS.pop()  # Remove temp end point
 
         return output
-
-    def _stepTransitionCmds(self, obj, lstPnt, first, minSTH, tolrnc):
-        cmds = list()
-        rtpd = False
-        horizGC = 'G0'
-        hSpeed = self.horizRapid
-        height = obj.SafeHeight.Value
-
-        if obj.CutPattern in ['Line', 'Circular']:
-            if obj.OptimizeStepOverTransitions is True:
-                height = minSTH + 2.0
-            # if obj.LayerMode == 'Multi-pass':
-            #    rtpd = minSTH
-        elif obj.CutPattern in ['ZigZag', 'CircularZigZag']:
-            if obj.OptimizeStepOverTransitions is True:
-                zChng = first.z - lstPnt.z
-                # PathLog.debug('first.z: {}'.format(first.z))
-                # PathLog.debug('lstPnt.z: {}'.format(lstPnt.z))
-                # PathLog.debug('zChng: {}'.format(zChng))
-                # PathLog.debug('minSTH: {}'.format(minSTH))
-                if abs(zChng) < tolrnc:  # transitions to same Z height
-                    PathLog.debug('abs(zChng) < tolrnc')
-                    if (minSTH - first.z) > tolrnc:
-                        PathLog.debug('(minSTH - first.z) > tolrnc')
-                        height = minSTH + 2.0
-                    else:
-                        PathLog.debug('ELSE (minSTH - first.z) > tolrnc')
-                        horizGC = 'G1'
-                        height = first.z
-                elif (minSTH + (2.0 * tolrnc)) >= max(first.z, lstPnt.z):
-                        height = False  # allow end of Zig to cut to beginning of Zag
-                    
-
-        # Create raise, shift, and optional lower commands
-        if height is not False:
-            cmds.append(Path.Command('G0', {'Z': height, 'F': self.vertRapid}))
-            cmds.append(Path.Command(horizGC, {'X': first.x, 'Y': first.y, 'F': hSpeed}))
-        if rtpd is not False:  # ReturnToPreviousDepth
-            cmds.append(Path.Command('G0', {'Z': rtpd, 'F': self.vertRapid}))
-
-        return cmds
-
+
+    def _stepTransitionCmds(self, obj, lstPnt, first, minSTH, tolrnc):
+        cmds = list()
+        rtpd = False
+        horizGC = 'G0'
+        hSpeed = self.horizRapid
+        height = obj.SafeHeight.Value
+        maxXYDistanceSqrd = (self.cutter.getDiameter() + tolrnc)**2
+
+        if obj.OptimizeStepOverTransitions is True:
+            # Short distance within step over
+            xyDistanceSqrd = (abs(first.x - lstPnt.x)**2 +
+                              abs(first.y - lstPnt.y)**2)
+            zChng = abs(first.z - lstPnt.z)
+            # Only optimize short distances <= cutter diameter. Staying at
+            # minSTH over long distances is not safe for multi layer paths,
+            # since minSTH is calculated from the model, and not based on
+            # stock cut so far.
+            if xyDistanceSqrd <= maxXYDistanceSqrd:
+                horizGC = "G1"
+                hSpeed = self.horizFeed
+                if (minSTH <= max(first.z, lstPnt.z) + tolrnc
+                        and zChng < tolrnc):
+                    # Allow direct transition without any lift over short
+                    # distances, and only when there is very little z change.
+                    height = False
+                else:
+                    # Avoid a full lift, but stay at least at minSTH along the
+                    # entire transition.
+                    # TODO: Consider using an actual scan path for the
+                    # transition.
+                    height = max(minSTH, first.z, lstPnt.z)
+            else:
+                # We conservatively lift to SafeHeight for lack of an accurate
+                # stock model, but then speed up the drop back down
+                # When using multi pass, only drop quickly to previous layer
+                # depth
+                stepDown = obj.StepDown.Value if hasattr(obj, "StepDown") else 0
+                rtpd = min(height,
+                           max(minSTH, first.z, lstPnt.z) + stepDown + 2)
+
+        # Create raise, shift, and optional lower commands
+        if height is not False:
+            cmds.append(Path.Command('G0', {'Z': height, 'F': self.vertRapid}))
+            cmds.append(Path.Command(horizGC, {'X': first.x, 'Y': first.y, 'F': hSpeed}))
+        if rtpd is not False:  # ReturnToPreviousDepth
+            cmds.append(Path.Command('G0', {'Z': rtpd, 'F': self.vertRapid}))
+
+        return cmds
+
     def _breakCmds(self, obj, lstPnt, first, minSTH, tolrnc):
         cmds = list()
         rtpd = False