Just updated to a fresh install of 2.0.2, made all the updates and did not have any errors in Mainsail anymore.
I verified all end stops work and axis move correctly with "SET_CENTER_KINEMATIC_POSITION", the BL-Touch failed homing (my fault: triggered at a different height by me) and I tried rehoming all axis. But whenever I try to rehome all Axis I get the error "Must home axis first: 0.000 0.000 15.000 [0.000]". Happens also after a restart.
I also added my old printer.cfg which I migrated some settings from.
EDIT: When I send a "SET_CENTER_KINEMATIC_POSITION" command first, the homing works afterwards until I disable all motors or restart.