I have several older machines using fanuc, closest are 10M control's.
Depending on the parameter setup, I have never needed G53. However I understand it's importance. I refer you here... G28 Versus G53 : Modern Machine Shop
this simple macro works for me, again 10M fanuc with tweaked parameters.
%
O9001(TOOL CHANGE MACRO)
M09
M05
G0G94G40G90G80G28G49Z0
G91G30
M6
G0G90
M99
%
I know, each machine has it's quirks.