diff --git a/src/libslic3r/GCode/GCodeProcessor.cpp b/src/libslic3r/GCode/GCodeProcessor.cpp
index c045cbcc2..b2900a157 100644
--- a/src/libslic3r/GCode/GCodeProcessor.cpp
+++ b/src/libslic3r/GCode/GCodeProcessor.cpp
@@ -724,6 +724,9 @@ void GCodeProcessor::apply_config(const DynamicPrintConfig& config)
         m_time_processor.machines[i].acceleration = (max_acceleration > 0.0f) ? max_acceleration : DEFAULT_ACCELERATION;
     }
 
+    if (m_time_processor.machine_limits.machine_max_acceleration_x.values.size() > 1)
+        enable_stealth_time_estimator(true);
+
 #if ENABLE_VOLUMETRIC_EXTRUSION_PROCESSING
     const ConfigOptionBool* use_volumetric_e = config.option<ConfigOptionBool>("use_volumetric_e");
     if (use_volumetric_e != nullptr)
@@ -2140,32 +2143,29 @@ void GCodeProcessor::process_M135(const GCodeReader::GCodeLine& line)
 
 void GCodeProcessor::process_M201(const GCodeReader::GCodeLine& line)
 {
-    if (!m_time_processor.machine_envelope_processing_enabled)
-        return;
-
     // see http://reprap.org/wiki/G-code#M201:_Set_max_printing_acceleration
     float factor = ((m_flavor != gcfRepRapSprinter && m_flavor != gcfRepRapFirmware) && m_units == EUnits::Inches) ? INCHES_TO_MM : 1.0f;
 
     for (size_t i = 0; i < static_cast<size_t>(PrintEstimatedTimeStatistics::ETimeMode::Count); ++i) {
-        if (line.has_x())
-            set_option_value(m_time_processor.machine_limits.machine_max_acceleration_x, i, line.x() * factor);
+        if (static_cast<PrintEstimatedTimeStatistics::ETimeMode>(i) == PrintEstimatedTimeStatistics::ETimeMode::Normal ||
+            m_time_processor.machine_envelope_processing_enabled) {
+            if (line.has_x())
+                set_option_value(m_time_processor.machine_limits.machine_max_acceleration_x, i, line.x() * factor);
 
-        if (line.has_y())
-            set_option_value(m_time_processor.machine_limits.machine_max_acceleration_y, i, line.y() * factor);
+            if (line.has_y())
+                set_option_value(m_time_processor.machine_limits.machine_max_acceleration_y, i, line.y() * factor);
 
-        if (line.has_z())
-            set_option_value(m_time_processor.machine_limits.machine_max_acceleration_z, i, line.z() * factor);
+            if (line.has_z())
+                set_option_value(m_time_processor.machine_limits.machine_max_acceleration_z, i, line.z() * factor);
 
-        if (line.has_e())
-            set_option_value(m_time_processor.machine_limits.machine_max_acceleration_e, i, line.e() * factor);
+            if (line.has_e())
+                set_option_value(m_time_processor.machine_limits.machine_max_acceleration_e, i, line.e() * factor);
+        }
     }
 }
 
 void GCodeProcessor::process_M203(const GCodeReader::GCodeLine& line)
 {
-    if (!m_time_processor.machine_envelope_processing_enabled)
-        return;
-
     // see http://reprap.org/wiki/G-code#M203:_Set_maximum_feedrate
     if (m_flavor == gcfRepetier)
         return;
@@ -2175,45 +2175,48 @@ void GCodeProcessor::process_M203(const GCodeReader::GCodeLine& line)
     float factor = (m_flavor == gcfMarlin || m_flavor == gcfSmoothie) ? 1.0f : MMMIN_TO_MMSEC;
 
     for (size_t i = 0; i < static_cast<size_t>(PrintEstimatedTimeStatistics::ETimeMode::Count); ++i) {
-        if (line.has_x())
-            set_option_value(m_time_processor.machine_limits.machine_max_feedrate_x, i, line.x() * factor);
+        if (static_cast<PrintEstimatedTimeStatistics::ETimeMode>(i) == PrintEstimatedTimeStatistics::ETimeMode::Normal ||
+            m_time_processor.machine_envelope_processing_enabled) {
+            if (line.has_x())
+                set_option_value(m_time_processor.machine_limits.machine_max_feedrate_x, i, line.x() * factor);
 
-        if (line.has_y())
-            set_option_value(m_time_processor.machine_limits.machine_max_feedrate_y, i, line.y() * factor);
+            if (line.has_y())
+                set_option_value(m_time_processor.machine_limits.machine_max_feedrate_y, i, line.y() * factor);
 
-        if (line.has_z())
-            set_option_value(m_time_processor.machine_limits.machine_max_feedrate_z, i, line.z() * factor);
+            if (line.has_z())
+                set_option_value(m_time_processor.machine_limits.machine_max_feedrate_z, i, line.z() * factor);
 
-        if (line.has_e())
-            set_option_value(m_time_processor.machine_limits.machine_max_feedrate_e, i, line.e() * factor);
+            if (line.has_e())
+                set_option_value(m_time_processor.machine_limits.machine_max_feedrate_e, i, line.e() * factor);
+        }
     }
 }
 
 void GCodeProcessor::process_M204(const GCodeReader::GCodeLine& line)
 {
-    if (!m_time_processor.machine_envelope_processing_enabled)
-        return;
-
     float value;
     for (size_t i = 0; i < static_cast<size_t>(PrintEstimatedTimeStatistics::ETimeMode::Count); ++i) {
-        if (line.has_value('S', value)) {
-            // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
-            // and it is also generated by Slic3r to control acceleration per extrusion type
-            // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
-            set_acceleration(static_cast<PrintEstimatedTimeStatistics::ETimeMode>(i), value);
-            if (line.has_value('T', value))
-                set_option_value(m_time_processor.machine_limits.machine_max_acceleration_retracting, i, value);
-        }
-        else {
-            // New acceleration format, compatible with the upstream Marlin.
-            if (line.has_value('P', value))
+        if (static_cast<PrintEstimatedTimeStatistics::ETimeMode>(i) == PrintEstimatedTimeStatistics::ETimeMode::Normal ||
+            m_time_processor.machine_envelope_processing_enabled) {
+            if (line.has_value('S', value)) {
+                // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
+                // and it is also generated by Slic3r to control acceleration per extrusion type
+                // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
                 set_acceleration(static_cast<PrintEstimatedTimeStatistics::ETimeMode>(i), value);
-            if (line.has_value('R', value))
-                set_option_value(m_time_processor.machine_limits.machine_max_acceleration_retracting, i, value);
-            if (line.has_value('T', value)) {
-                // Interpret the T value as the travel acceleration in the new Marlin format.
-                //FIXME Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
-                // set_travel_acceleration(value);
+                if (line.has_value('T', value))
+                    set_option_value(m_time_processor.machine_limits.machine_max_acceleration_retracting, i, value);
+            }
+            else {
+                // New acceleration format, compatible with the upstream Marlin.
+                if (line.has_value('P', value))
+                    set_acceleration(static_cast<PrintEstimatedTimeStatistics::ETimeMode>(i), value);
+                if (line.has_value('R', value))
+                    set_option_value(m_time_processor.machine_limits.machine_max_acceleration_retracting, i, value);
+                if (line.has_value('T', value)) {
+                    // Interpret the T value as the travel acceleration in the new Marlin format.
+                    //FIXME Prusa3D firmware currently does not support travel acceleration value independent from the extruding acceleration value.
+                    // set_travel_acceleration(value);
+                }
             }
         }
     }
@@ -2221,31 +2224,31 @@ void GCodeProcessor::process_M204(const GCodeReader::GCodeLine& line)
 
 void GCodeProcessor::process_M205(const GCodeReader::GCodeLine& line)
 {
-    if (!m_time_processor.machine_envelope_processing_enabled)
-        return;
-
     for (size_t i = 0; i < static_cast<size_t>(PrintEstimatedTimeStatistics::ETimeMode::Count); ++i) {
-        if (line.has_x()) {
-            float max_jerk = line.x();
-            set_option_value(m_time_processor.machine_limits.machine_max_jerk_x, i, max_jerk);
-            set_option_value(m_time_processor.machine_limits.machine_max_jerk_y, i, max_jerk);
+        if (static_cast<PrintEstimatedTimeStatistics::ETimeMode>(i) == PrintEstimatedTimeStatistics::ETimeMode::Normal ||
+            m_time_processor.machine_envelope_processing_enabled) {
+            if (line.has_x()) {
+                float max_jerk = line.x();
+                set_option_value(m_time_processor.machine_limits.machine_max_jerk_x, i, max_jerk);
+                set_option_value(m_time_processor.machine_limits.machine_max_jerk_y, i, max_jerk);
+            }
+
+            if (line.has_y())
+                set_option_value(m_time_processor.machine_limits.machine_max_jerk_y, i, line.y());
+
+            if (line.has_z())
+                set_option_value(m_time_processor.machine_limits.machine_max_jerk_z, i, line.z());
+
+            if (line.has_e())
+                set_option_value(m_time_processor.machine_limits.machine_max_jerk_e, i, line.e());
+
+            float value;
+            if (line.has_value('S', value))
+                set_option_value(m_time_processor.machine_limits.machine_min_extruding_rate, i, value);
+
+            if (line.has_value('T', value))
+                set_option_value(m_time_processor.machine_limits.machine_min_travel_rate, i, value);
         }
-
-        if (line.has_y())
-            set_option_value(m_time_processor.machine_limits.machine_max_jerk_y, i, line.y());
-
-        if (line.has_z())
-            set_option_value(m_time_processor.machine_limits.machine_max_jerk_z, i, line.z());
-
-        if (line.has_e())
-            set_option_value(m_time_processor.machine_limits.machine_max_jerk_e, i, line.e());
-
-        float value;
-        if (line.has_value('S', value))
-            set_option_value(m_time_processor.machine_limits.machine_min_extruding_rate, i, value);
-
-        if (line.has_value('T', value))
-            set_option_value(m_time_processor.machine_limits.machine_min_travel_rate, i, value);
     }
 }
 
diff --git a/src/libslic3r/GCode/GCodeProcessor.hpp b/src/libslic3r/GCode/GCodeProcessor.hpp
index 4cb2092e8..5068d0fd6 100644
--- a/src/libslic3r/GCode/GCodeProcessor.hpp
+++ b/src/libslic3r/GCode/GCodeProcessor.hpp
@@ -242,7 +242,7 @@ namespace Slic3r {
             bool extruder_unloaded;
             // whether or not to export post-process the gcode to export lines M73 in it
             bool export_remaining_time_enabled;
-            // allow to skip the lines M201/M203/M204/M205 generated by GCode::print_machine_envelope()
+            // allow to skip the lines M201/M203/M204/M205 generated by GCode::print_machine_envelope() for non-Normal time estimate mode
             bool machine_envelope_processing_enabled;
             MachineEnvelopeConfig machine_limits;
             // Additional load / unload times for a filament exchange sequence.
diff --git a/src/slic3r/GUI/Plater.cpp b/src/slic3r/GUI/Plater.cpp
index fb7a81a4f..4526bc51d 100644
--- a/src/slic3r/GUI/Plater.cpp
+++ b/src/slic3r/GUI/Plater.cpp
@@ -4857,7 +4857,6 @@ void Plater::load_gcode(const wxString& filename)
     // process gcode
     GCodeProcessor processor;
     processor.enable_producers(true);
-    processor.enable_machine_envelope_processing(true);
     processor.process_file(filename.ToUTF8().data(), false);
     p->gcode_result = std::move(processor.extract_result());