G Code: How to extrude AND retract in one rapid xy move?

Hi There, Basic G-code question with DUET Wifi. I am commissioning my first build, a large-scale concrete 3D printer. The extruder drive is a auger that mixes color into, and dispenses, concrete. I would like the extruder to retract AND THEN extrude WHILE the machine is rapid moving to next xy point, without stopping.

With my basic knowledge, the only way I know how to do that now is to program a "waypoint" that will require bringing the xy gantry to a dead stop. The gantry is 300kg so this will waste time and energy.

The only way I know how to program now:

(Starting from Origin with absolute xy moves and relative extruder moves)
G0 X50 Y0 E-50
G0 X100 Y0 E50

Thanks for your help!

The waypoint will not bring the gantry to a stop. It may slow down at the waypoint if it involves a change in direction that is too fast for the configured XY jerk, or if the change from extruder retraction to extrusion is too much for the configured extruder jerk.

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Large delta printer [miscsolutions.wordpress.com], E3D tool changer, Robotdigg SCARA printer, Crane Quad and Ormerod

Disclosure: I design Duet electronics and work on RepRapFirmware, [duet3d.com].