diff --git a/esphome/components/esp32_touch/esp32_touch.h b/esphome/components/esp32_touch/esp32_touch.h
index fb1973e26f..812c746301 100644
--- a/esphome/components/esp32_touch/esp32_touch.h
+++ b/esphome/components/esp32_touch/esp32_touch.h
@@ -243,6 +243,16 @@ class ESP32TouchBinarySensor : public binary_sensor::BinarySensor {
 
   uint32_t get_wakeup_threshold() const { return this->wakeup_threshold_; }
 
+#if defined(USE_ESP32_VARIANT_ESP32S2) || defined(USE_ESP32_VARIANT_ESP32S3)
+  /// Ensure benchmark value is read (v2 touch hardware only).
+  /// Called from multiple places - kept as helper to document shared usage.
+  void ensure_benchmark_read() {
+    if (this->benchmark_ == 0) {
+      touch_pad_read_benchmark(this->touch_pad_, &this->benchmark_);
+    }
+  }
+#endif
+
  protected:
   friend ESP32TouchComponent;
 
diff --git a/esphome/components/esp32_touch/esp32_touch_common.cpp b/esphome/components/esp32_touch/esp32_touch_common.cpp
index a0b1df38c1..429b5173be 100644
--- a/esphome/components/esp32_touch/esp32_touch_common.cpp
+++ b/esphome/components/esp32_touch/esp32_touch_common.cpp
@@ -102,7 +102,16 @@ void ESP32TouchComponent::process_setup_mode_logging_(uint32_t now) {
       uint32_t value = this->read_touch_value(child->get_touch_pad());
       // Store the value for get_value() access in lambdas
       child->value_ = value;
-      ESP_LOGD(TAG, "Touch Pad '%s' (T%d): %d", child->get_name().c_str(), child->get_touch_pad(), value);
+      // Read benchmark if not already read
+      child->ensure_benchmark_read();
+      // Calculate difference to help user set threshold
+      // For ESP32-S2/S3 v2: touch detected when value > benchmark + threshold
+      // So threshold should be < (value - benchmark) when touched
+      int32_t difference = static_cast<int32_t>(value) - static_cast<int32_t>(child->benchmark_);
+      ESP_LOGD(TAG,
+               "Touch Pad '%s' (T%d): value=%d, benchmark=%" PRIu32 ", difference=%" PRId32 " (set threshold < %" PRId32
+               " to detect touch)",
+               child->get_name().c_str(), child->get_touch_pad(), value, child->benchmark_, difference, difference);
 #endif
     }
     this->setup_mode_last_log_print_ = now;
diff --git a/esphome/components/esp32_touch/esp32_touch_v2.cpp b/esphome/components/esp32_touch/esp32_touch_v2.cpp
index 9662b009f6..b34ca1abd3 100644
--- a/esphome/components/esp32_touch/esp32_touch_v2.cpp
+++ b/esphome/components/esp32_touch/esp32_touch_v2.cpp
@@ -105,8 +105,10 @@ void ESP32TouchComponent::setup() {
   touch_pad_set_charge_discharge_times(this->meas_cycle_);
   touch_pad_set_measurement_interval(this->sleep_cycle_);
 
-  // Configure timeout if needed
-  touch_pad_timeout_set(true, TOUCH_PAD_THRESHOLD_MAX);
+  // Disable hardware timeout - it causes continuous interrupts with high-capacitance
+  // setups (e.g., pressure sensors under cushions). The periodic release check in
+  // loop() handles state detection reliably without needing hardware timeout.
+  touch_pad_timeout_set(false, TOUCH_PAD_THRESHOLD_MAX);
 
   // Register ISR handler with interrupt mask
   esp_err_t err =
@@ -314,8 +316,7 @@ void ESP32TouchComponent::loop() {
 
   size_t pads_off = 0;
   for (auto *child : this->children_) {
-    if (child->benchmark_ == 0)
-      touch_pad_read_benchmark(child->touch_pad_, &child->benchmark_);
+    child->ensure_benchmark_read();
     // Handle initial state publication after startup
     this->publish_initial_state_if_needed_(child, now);
 
@@ -354,7 +355,7 @@ void ESP32TouchComponent::loop() {
 
 void ESP32TouchComponent::on_shutdown() {
   // Disable interrupts
-  touch_pad_intr_disable(static_cast<touch_pad_intr_mask_t>(TOUCH_PAD_INTR_MASK_ACTIVE | TOUCH_PAD_INTR_MASK_TIMEOUT));
+  touch_pad_intr_disable(TOUCH_PAD_INTR_MASK_ACTIVE);
   touch_pad_isr_deregister(touch_isr_handler, this);
   this->cleanup_touch_queue_();