diff --git a/.clang-tidy.hash b/.clang-tidy.hash
index 30cf982649..a6de2366bc 100644
--- a/.clang-tidy.hash
+++ b/.clang-tidy.hash
@@ -1 +1 @@
-6af8b429b94191fe8e239fcb3b73f7982d0266cb5b05ffbc81edaeac1bc8c273
+0440e35cf89a49e8a35fd3690ed453a72b7b6f61b9d346ced6140e1c0d39dff6
diff --git a/esphome/components/esp32_ble_client/ble_client_base.cpp b/esphome/components/esp32_ble_client/ble_client_base.cpp
index a6414d9002..b7d6f445a2 100644
--- a/esphome/components/esp32_ble_client/ble_client_base.cpp
+++ b/esphome/components/esp32_ble_client/ble_client_base.cpp
@@ -284,11 +284,22 @@ bool BLEClientBase::gattc_event_handler(esp_gattc_cb_event_t event, esp_gatt_if_
       this->log_gattc_event_("OPEN");
       // conn_id was already set in ESP_GATTC_CONNECT_EVT
       this->service_count_ = 0;
+
+      // ESP-IDF's BLE stack may send ESP_GATTC_OPEN_EVT after esp_ble_gattc_open() returns an
+      // error, if the error occurred at the BTA/GATT layer. This can result in the event
+      // arriving after we've already transitioned to IDLE state.
+      if (this->state_ == espbt::ClientState::IDLE) {
+        ESP_LOGD(TAG, "[%d] [%s] ESP_GATTC_OPEN_EVT in IDLE state (status=%d), ignoring", this->connection_index_,
+                 this->address_str_.c_str(), param->open.status);
+        break;
+      }
+
       if (this->state_ != espbt::ClientState::CONNECTING) {
         // This should not happen but lets log it in case it does
         // because it means we have a bad assumption about how the
         // ESP BT stack works.
-        this->log_error_("ESP_GATTC_OPEN_EVT wrong state status", param->open.status);
+        ESP_LOGE(TAG, "[%d] [%s] Got ESP_GATTC_OPEN_EVT in %s state (status=%d)", this->connection_index_,
+                 this->address_str_.c_str(), espbt::client_state_to_string(this->state_), param->open.status);
       }
       if (param->open.status != ESP_GATT_OK && param->open.status != ESP_GATT_ALREADY_OPEN) {
         this->log_gattc_warning_("Connection open", param->open.status);
diff --git a/platformio.ini b/platformio.ini
index d9f2f879ec..47fc5205bc 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -357,6 +357,19 @@ build_flags =
     ${common:esp32-idf.build_flags}
     ${flags:runtime.build_flags}
     -DUSE_ESP32_VARIANT_ESP32C6
+build_unflags =
+    ${common.build_unflags}
+
+[env:esp32c6-idf-tidy]
+extends = common:esp32-idf
+board = esp32-c6-devkitc-1
+board_build.esp-idf.sdkconfig_path = .temp/sdkconfig-esp32c6-idf-tidy
+build_flags =
+    ${common:esp32-idf.build_flags}
+    ${flags:clangtidy.build_flags}
+    -DUSE_ESP32_VARIANT_ESP32C6
+build_unflags =
+    ${common.build_unflags}
 
 ;;;;;;;; ESP32-S2 ;;;;;;;;
 
diff --git a/tests/components/homeassistant/test-tag-scanned.esp32-idf.yaml b/tests/components/homeassistant/test-tag-scanned.esp32-idf.yaml
new file mode 100644
index 0000000000..ef148174d7
--- /dev/null
+++ b/tests/components/homeassistant/test-tag-scanned.esp32-idf.yaml
@@ -0,0 +1,14 @@
+wifi:
+  ssid: MySSID
+  password: password1
+
+api:
+
+esphome:
+  on_boot:
+    then:
+      - homeassistant.tag_scanned: 'test_tag_123'
+      - homeassistant.tag_scanned:
+          tag: 'another_tag'
+      - homeassistant.tag_scanned:
+          tag: !lambda 'return "dynamic_tag";'