Well after much searching, I think I found what I was looking for.
"2) On the Settings screen, turn ON "Auto Limit OverRide". This allows you to reset the E-stop and move off of the limit switch with manual motion control (arrow keys). "
^^ I haven't physically tried it yet. If someone could confirm for me that this is what I want, great! Basically what I want is, if a limit switch is tripped because of over travel, I want to be able to take my handheld MPG and back off away from the limit switch. I don't wanna have to manually do it by turning the lead screw. That's a pain especially for my Y axis because it's dual drive. I then have to re-sync Y & A.
Thanks.