diff --git a/esphome/components/pn532/pn532.cpp b/esphome/components/pn532/pn532.cpp
index cc28d7078b..8088e6c022 100644
--- a/esphome/components/pn532/pn532.cpp
+++ b/esphome/components/pn532/pn532.cpp
@@ -127,8 +127,18 @@ void PN532::loop() {
   if (!this->requested_read_)
     return;
 
+  auto ready = this->read_ready_(false);
+  if (ready == WOULDBLOCK)
+    return;
+
+  bool success = false;
   std::vector<uint8_t> read;
-  bool success = this->read_response(PN532_COMMAND_INLISTPASSIVETARGET, read);
+
+  if (ready == READY) {
+    success = this->read_response(PN532_COMMAND_INLISTPASSIVETARGET, read);
+  } else {
+    this->send_ack_();  // abort still running InListPassiveTarget
+  }
 
   this->requested_read_ = false;
 
@@ -286,12 +296,58 @@ bool PN532::read_ack_() {
   return matches;
 }
 
+void PN532::send_ack_() {
+  ESP_LOGV(TAG, "Sending ACK for abort");
+  this->write_data({0x00, 0x00, 0xFF, 0x00, 0xFF, 0x00});
+  delay(10);
+}
 void PN532::send_nack_() {
   ESP_LOGV(TAG, "Sending NACK for retransmit");
   this->write_data({0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00});
   delay(10);
 }
 
+enum PN532ReadReady PN532::read_ready_(bool block) {
+  if (this->rd_ready_ == READY) {
+    if (block) {
+      this->rd_start_time_ = 0;
+      this->rd_ready_ = WOULDBLOCK;
+    }
+    return READY;
+  }
+
+  if (!this->rd_start_time_) {
+    this->rd_start_time_ = millis();
+  }
+
+  while (true) {
+    if (this->is_read_ready()) {
+      this->rd_ready_ = READY;
+      break;
+    }
+
+    if (millis() - this->rd_start_time_ > 100) {
+      ESP_LOGV(TAG, "Timed out waiting for readiness from PN532!");
+      this->rd_ready_ = TIMEOUT;
+      break;
+    }
+
+    if (!block) {
+      this->rd_ready_ = WOULDBLOCK;
+      break;
+    }
+
+    yield();
+  }
+
+  auto rdy = this->rd_ready_;
+  if (block || rdy == TIMEOUT) {
+    this->rd_start_time_ = 0;
+    this->rd_ready_ = WOULDBLOCK;
+  }
+  return rdy;
+}
+
 void PN532::turn_off_rf_() {
   ESP_LOGV(TAG, "Turning RF field OFF");
   this->write_command_({
diff --git a/esphome/components/pn532/pn532.h b/esphome/components/pn532/pn532.h
index 8ae215dfd9..8194d86477 100644
--- a/esphome/components/pn532/pn532.h
+++ b/esphome/components/pn532/pn532.h
@@ -20,6 +20,12 @@ static const uint8_t PN532_COMMAND_INDATAEXCHANGE = 0x40;
 static const uint8_t PN532_COMMAND_INLISTPASSIVETARGET = 0x4A;
 static const uint8_t PN532_COMMAND_POWERDOWN = 0x16;
 
+enum PN532ReadReady {
+  WOULDBLOCK = 0,
+  TIMEOUT,
+  READY,
+};
+
 class PN532BinarySensor;
 
 class PN532 : public PollingComponent {
@@ -54,8 +60,11 @@ class PN532 : public PollingComponent {
   void turn_off_rf_();
   bool write_command_(const std::vector<uint8_t> &data);
   bool read_ack_();
+  void send_ack_();
   void send_nack_();
 
+  enum PN532ReadReady read_ready_(bool block);
+  virtual bool is_read_ready() = 0;
   virtual bool write_data(const std::vector<uint8_t> &data) = 0;
   virtual bool read_data(std::vector<uint8_t> &data, uint8_t len) = 0;
   virtual bool read_response(uint8_t command, std::vector<uint8_t> &data) = 0;
@@ -91,6 +100,8 @@ class PN532 : public PollingComponent {
   std::vector<nfc::NfcOnTagTrigger *> triggers_ontagremoved_;
   std::vector<uint8_t> current_uid_;
   nfc::NdefMessage *next_task_message_to_write_;
+  uint32_t rd_start_time_{0};
+  enum PN532ReadReady rd_ready_ { WOULDBLOCK };
   enum NfcTask {
     READ = 0,
     CLEAN,
diff --git a/esphome/components/pn532_i2c/pn532_i2c.cpp b/esphome/components/pn532_i2c/pn532_i2c.cpp
index e7c99e94b0..b306222a21 100644
--- a/esphome/components/pn532_i2c/pn532_i2c.cpp
+++ b/esphome/components/pn532_i2c/pn532_i2c.cpp
@@ -12,6 +12,14 @@ namespace pn532_i2c {
 
 static const char *const TAG = "pn532_i2c";
 
+bool PN532I2C::is_read_ready() {
+  uint8_t ready;
+  if (!this->read_bytes_raw(&ready, 1)) {
+    return false;
+  }
+  return ready == 0x01;
+}
+
 bool PN532I2C::write_data(const std::vector<uint8_t> &data) {
   return this->write(data.data(), data.size()) == i2c::ERROR_OK;
 }
@@ -19,19 +27,8 @@ bool PN532I2C::write_data(const std::vector<uint8_t> &data) {
 bool PN532I2C::read_data(std::vector<uint8_t> &data, uint8_t len) {
   delay(1);
 
-  std::vector<uint8_t> ready;
-  ready.resize(1);
-  uint32_t start_time = millis();
-  while (true) {
-    if (this->read_bytes_raw(ready.data(), 1)) {
-      if (ready[0] == 0x01)
-        break;
-    }
-
-    if (millis() - start_time > 100) {
-      ESP_LOGV(TAG, "Timed out waiting for readiness from PN532!");
-      return false;
-    }
+  if (this->read_ready_(true) != pn532::PN532ReadReady::READY) {
+    return false;
   }
 
   data.resize(len + 1);
diff --git a/esphome/components/pn532_i2c/pn532_i2c.h b/esphome/components/pn532_i2c/pn532_i2c.h
index 95cf8eeb36..00c0df206d 100644
--- a/esphome/components/pn532_i2c/pn532_i2c.h
+++ b/esphome/components/pn532_i2c/pn532_i2c.h
@@ -14,6 +14,7 @@ class PN532I2C : public pn532::PN532, public i2c::I2CDevice {
   void dump_config() override;
 
  protected:
+  bool is_read_ready() override;
   bool write_data(const std::vector<uint8_t> &data) override;
   bool read_data(std::vector<uint8_t> &data, uint8_t len) override;
   bool read_response(uint8_t command, std::vector<uint8_t> &data) override;
diff --git a/esphome/components/pn532_spi/pn532_spi.cpp b/esphome/components/pn532_spi/pn532_spi.cpp
index be58f265b9..d55d8161d8 100644
--- a/esphome/components/pn532_spi/pn532_spi.cpp
+++ b/esphome/components/pn532_spi/pn532_spi.cpp
@@ -21,6 +21,14 @@ void PN532Spi::setup() {
   PN532::setup();
 }
 
+bool PN532Spi::is_read_ready() {
+  this->enable();
+  this->write_byte(0x02);
+  bool ready = this->read_byte() == 0x01;
+  this->disable();
+  return ready;
+}
+
 bool PN532Spi::write_data(const std::vector<uint8_t> &data) {
   this->enable();
   delay(2);
@@ -34,24 +42,8 @@ bool PN532Spi::write_data(const std::vector<uint8_t> &data) {
 }
 
 bool PN532Spi::read_data(std::vector<uint8_t> &data, uint8_t len) {
-  ESP_LOGV(TAG, "Waiting for ready byte...");
-
-  uint32_t start_time = millis();
-  while (true) {
-    this->enable();
-    // First byte, communication mode: Read state
-    this->write_byte(0x02);
-    bool ready = this->read_byte() == 0x01;
-    this->disable();
-    if (ready)
-      break;
-    ESP_LOGV(TAG, "Not ready yet...");
-
-    if (millis() - start_time > 100) {
-      ESP_LOGV(TAG, "Timed out waiting for readiness from PN532!");
-      return false;
-    }
-    yield();
+  if (this->read_ready_(true) != pn532::PN532ReadReady::READY) {
+    return false;
   }
 
   // Read data (transmission from the PN532 to the host)
@@ -72,22 +64,8 @@ bool PN532Spi::read_data(std::vector<uint8_t> &data, uint8_t len) {
 bool PN532Spi::read_response(uint8_t command, std::vector<uint8_t> &data) {
   ESP_LOGV(TAG, "Reading response");
 
-  uint32_t start_time = millis();
-  while (true) {
-    this->enable();
-    // First byte, communication mode: Read state
-    this->write_byte(0x02);
-    bool ready = this->read_byte() == 0x01;
-    this->disable();
-    if (ready)
-      break;
-    ESP_LOGV(TAG, "Not ready yet...");
-
-    if (millis() - start_time > 100) {
-      ESP_LOGV(TAG, "Timed out waiting for readiness from PN532!");
-      return false;
-    }
-    yield();
+  if (this->read_ready_(true) != pn532::PN532ReadReady::READY) {
+    return false;
   }
 
   this->enable();
diff --git a/esphome/components/pn532_spi/pn532_spi.h b/esphome/components/pn532_spi/pn532_spi.h
index 2d8312813d..b7adca22e9 100644
--- a/esphome/components/pn532_spi/pn532_spi.h
+++ b/esphome/components/pn532_spi/pn532_spi.h
@@ -18,6 +18,7 @@ class PN532Spi : public pn532::PN532,
   void dump_config() override;
 
  protected:
+  bool is_read_ready() override;
   bool write_data(const std::vector<uint8_t> &data) override;
   bool read_data(std::vector<uint8_t> &data, uint8_t len) override;
   bool read_response(uint8_t command, std::vector<uint8_t> &data) override;