diff --git a/turtle.lua b/turtle.lua
index e43698f..71b5789 100644
--- a/turtle.lua
+++ b/turtle.lua
@@ -438,63 +438,61 @@ function broadcastStatus()
     })
 end
 
--- Return to home with better navigation
+-- Return to home step (non-blocking)
+local returnHomeAttempts = 0
+local function returnHomeStep()
+    if not state.homePosition or not state.position then
+        print("No home or position set!")
+        state.mode = "idle"
+        broadcastStatus()
+        return true -- Done (failed)
+    end
+    
+    if getDistance(state.position, state.homePosition) <= 1 then
+        print("Arrived at home!")
+        state.mode = "idle"
+        state.stuckCounter = 0
+        broadcastStatus()
+        return true -- Done (success)
+    end
+    
+    if returnHomeAttempts >= 1000 then
+        print("Could not reach home - gave up after 1000 attempts")
+        state.mode = "idle"
+        broadcastStatus()
+        return true -- Done (failed)
+    end
+    
+    updateFuel()
+    if needsRefuel() then
+        print("Low fuel, trying to refuel...")
+        if not tryRefuel() then
+            print("WARNING: Out of fuel!")
+            state.mode = "idle"
+            broadcastStatus()
+            return true -- Done (failed)
+        end
+        print("Refueled!")
+    end
+    
+    navigateTowards(state.homePosition)
+    returnHomeAttempts = returnHomeAttempts + 1
+    
+    -- Update GPS position every few steps
+    if returnHomeAttempts % 10 == 0 then
+        updatePosition()
+        print("Distance to home: " .. getDistance(state.position, state.homePosition))
+    end
+    
+    return false -- Not done yet
+end
+
+-- Start return home (just initialize)
 local function returnHome()
     print("Returning home...")
     state.mode = "returning"
     state.stuckCounter = 0
-    broadcastStatus()
-    
-    local maxAttempts = 1000
-    local attempts = 0
-    
-    while state.homePosition and state.position and 
-          getDistance(state.position, state.homePosition) > 1 and
-          attempts < maxAttempts do
-        
-        -- Check for stop command
-        if state.mode ~= "returning" then
-            print("Return cancelled")
-            return
-        end
-        
-        updateFuel()
-        if needsRefuel() then
-            print("Low fuel, trying to refuel...")
-            if tryRefuel() then
-                print("Refueled!")
-            else
-                print("WARNING: Out of fuel!")
-                state.mode = "idle"
-                broadcastStatus()
-                return
-            end
-        end
-        
-        local arrived = navigateTowards(state.homePosition)
-        if arrived then
-            break
-        end
-        
-        attempts = attempts + 1
-        
-        -- Update GPS position every few steps
-        if attempts % 10 == 0 then
-            updatePosition()
-            print("Distance to home: " .. getDistance(state.position, state.homePosition))
-        end
-        
-        sleep(0.1)
-    end
-    
-    if attempts >= maxAttempts then
-        print("Could not reach home - gave up after " .. maxAttempts .. " attempts")
-    else
-        print("Arrived at home!")
-    end
-    
-    state.mode = "idle"
-    state.stuckCounter = 0
+    returnHomeAttempts = 0
     broadcastStatus()
 end
 
@@ -745,8 +743,7 @@ parallel.waitForAny(
                 -- Safety check: too far from home
                 if isTooFarFromHome() then
                     print("Too far from home! Returning...")
-                    state.mode = "returning"
-                    broadcastStatus()
+                    returnHome() -- Initialize return home
                 -- Check if we need to pause (chunk loading concern)
                 elseif shouldPauseOperations() then
                     print("Pausing operations (safety limit)")
@@ -755,15 +752,18 @@ parallel.waitForAny(
                 -- Check if we should stop
                 elseif needsRefuel() or inventoryFull() then
                     print("Need to return home")
-                    state.mode = "returning"
-                    broadcastStatus()
+                    returnHome() -- Initialize return home
                 else
                     exploreStep()
                     sleep(0.2)
                 end
                 
             elseif state.mode == "returning" then
-                returnHome()
+                -- Non-blocking return home step
+                local done = returnHomeStep()
+                if not done then
+                    sleep(0.1)
+                end
                 
             else
                 -- Idle or manual mode