diff --git a/esphome/components/wifi/wifi_component.cpp b/esphome/components/wifi/wifi_component.cpp
index 765f750193..0182d27b15 100644
--- a/esphome/components/wifi/wifi_component.cpp
+++ b/esphome/components/wifi/wifi_component.cpp
@@ -578,11 +578,13 @@ void WiFiComponent::loop() {
           this->last_connected_ = now;
 
           // Post-connect roaming: check for better AP
-          if (this->roaming_scan_active_) {
-            this->process_roaming_scan_();
-          } else if (this->post_connect_roaming_ && this->roaming_attempts_ < ROAMING_MAX_ATTEMPTS &&
-                     now - this->roaming_last_check_ >= ROAMING_CHECK_INTERVAL) {
-            this->check_roaming_(now);
+          if (this->post_connect_roaming_) {
+            if (this->roaming_scan_active_ && this->scan_done_) {
+              this->process_roaming_scan_();
+            } else if (this->roaming_attempts_ < ROAMING_MAX_ATTEMPTS &&
+                       now - this->roaming_last_check_ >= ROAMING_CHECK_INTERVAL) {
+              this->check_roaming_(now);
+            }
           }
         }
         break;
@@ -1305,7 +1307,8 @@ void WiFiComponent::check_connecting_finished(uint32_t now) {
     }
     this->roaming_connect_active_ = false;
 
-    // Clear all priority penalties - successful connection forgives past failures
+    // Clear all priority penalties - the next reconnect will happen when an AP disconnects,
+    // which means the landscape has likely changed and previous tracked failures are stale
     this->clear_all_bssid_priorities_();
 
 #ifdef USE_WIFI_FAST_CONNECT
@@ -2023,10 +2026,6 @@ void WiFiComponent::check_roaming_(uint32_t now) {
 }
 
 void WiFiComponent::process_roaming_scan_() {
-  // Scan not done yet
-  if (!this->scan_done_)
-    return;
-
   this->scan_done_ = false;
   this->roaming_scan_active_ = false;
 
@@ -2064,20 +2063,14 @@ void WiFiComponent::process_roaming_scan_() {
   }
 
   // Check if best candidate meets minimum improvement threshold
+  const WiFiAP *selected = this->get_selected_sta_();
   int8_t improvement = (best == nullptr) ? 0 : best->get_rssi() - current_rssi;
-  if (improvement < ROAMING_MIN_IMPROVEMENT) {
+  if (selected == nullptr || improvement < ROAMING_MIN_IMPROVEMENT) {
     ESP_LOGV(TAG, "Roam best %+d dB (need +%d)", improvement, ROAMING_MIN_IMPROVEMENT);
     this->release_scan_results_();
     return;
   }
 
-  // Found better AP - initiate roam
-  const WiFiAP *selected = this->get_selected_sta_();
-  if (selected == nullptr) {
-    this->release_scan_results_();
-    return;  // Defensive: shouldn't happen since clear_sta() clears roaming_scan_active_
-  }
-
   format_mac_addr_upper(best->get_bssid().data(), bssid_buf);
   ESP_LOGI(TAG, "Roaming to %s (%+d dB)", bssid_buf, improvement);
 
diff --git a/esphome/components/wifi/wifi_component.h b/esphome/components/wifi/wifi_component.h
index 9b2bcf221f..178e27dfaa 100644
--- a/esphome/components/wifi/wifi_component.h
+++ b/esphome/components/wifi/wifi_component.h
@@ -501,7 +501,7 @@ class WiFiComponent : public Component {
   int8_t find_next_hidden_sta_(int8_t start_index);
   /// Log failed connection and decrease BSSID priority to avoid repeated attempts
   void log_and_adjust_priority_for_failed_connect_();
-  /// Clear all BSSID priority penalties (e.g., after successful connection)
+  /// Clear all BSSID priority penalties after successful connection (stale after disconnect)
   void clear_all_bssid_priorities_();
   /// Clear BSSID priority tracking if all priorities are at minimum (saves memory)
   void clear_priorities_if_all_min_();