diff --git a/esphome/components/wifi/wifi_component.cpp b/esphome/components/wifi/wifi_component.cpp
index 3d8f888d53..92bd2d98e4 100644
--- a/esphome/components/wifi/wifi_component.cpp
+++ b/esphome/components/wifi/wifi_component.cpp
@@ -1219,11 +1219,14 @@ void WiFiComponent::check_connecting_finished(uint32_t now) {
     this->state_ = WIFI_COMPONENT_STATE_STA_CONNECTED;
     this->num_retried_ = 0;
 
-    // Reset roaming timer on successful connection
+    // Reset roaming state on successful connection
     this->roaming_last_check_ = now;
+    this->roaming_connect_active_ = false;
 
-    // Clear priority tracking if all priorities are at minimum
-    this->clear_priorities_if_all_min_();
+    // Clear all priority penalties - successful connection forgives past failures
+    if (!this->sta_priorities_.empty()) {
+      decltype(this->sta_priorities_)().swap(this->sta_priorities_);
+    }
 
 #ifdef USE_WIFI_FAST_CONNECT
     this->save_fast_connect_settings_();
@@ -1501,8 +1504,7 @@ void WiFiComponent::clear_priorities_if_all_min_() {
 
   // All priorities are at minimum - clear the vector to save memory and reset
   ESP_LOGD(TAG, "Clearing BSSID priorities (all at minimum)");
-  this->sta_priorities_.clear();
-  this->sta_priorities_.shrink_to_fit();
+  decltype(this->sta_priorities_)().swap(this->sta_priorities_);
 }
 
 /// Log failed connection attempt and decrease BSSID priority to avoid repeated failures
@@ -1640,8 +1642,16 @@ void WiFiComponent::advance_to_next_target_or_increment_retry_() {
 }
 
 void WiFiComponent::retry_connect() {
-  // Reset roaming state when entering retry flow
-  this->clear_roaming_state_();
+  // If this was a roaming attempt, preserve roaming_attempts_ count
+  // (so we stop roaming after ROAMING_MAX_ATTEMPTS failures)
+  // Otherwise reset all roaming state
+  if (this->roaming_connect_active_) {
+    this->roaming_connect_active_ = false;
+    this->roaming_scan_active_ = false;
+    // Keep roaming_attempts_ - will prevent further roaming after max failures
+  } else {
+    this->clear_roaming_state_();
+  }
 
   this->log_and_adjust_priority_for_failed_connect_();
 
@@ -1889,6 +1899,7 @@ void WiFiComponent::clear_roaming_state_() {
   this->roaming_attempts_ = 0;
   this->roaming_last_check_ = 0;
   this->roaming_scan_active_ = false;
+  this->roaming_connect_active_ = false;
 }
 
 void WiFiComponent::check_roaming_(uint32_t now) {
@@ -1987,6 +1998,9 @@ void WiFiComponent::process_roaming_scan_(uint32_t now) {
   roam_params.set_bssid(best_bssid);
   roam_params.set_channel(best_channel);
 
+  // Mark as roaming attempt - affects retry behavior if connection fails
+  this->roaming_connect_active_ = true;
+
   // Connect directly - wifi_sta_connect_ handles disconnect internally
   this->error_from_callback_ = false;
   this->start_connecting(roam_params);
diff --git a/esphome/components/wifi/wifi_component.h b/esphome/components/wifi/wifi_component.h
index 93d72f601d..71b44960ee 100644
--- a/esphome/components/wifi/wifi_component.h
+++ b/esphome/components/wifi/wifi_component.h
@@ -578,8 +578,13 @@ class WiFiComponent : public Component {
   /// Free scan results memory unless a component needs them
   void release_scan_results_() {
     if (!this->keep_scan_results_) {
-      this->scan_result_.clear();
+#ifdef USE_RP2040
+      // std::vector - use swap trick since shrink_to_fit is non-binding
+      decltype(this->scan_result_)().swap(this->scan_result_);
+#else
+      // FixedVector::shrink_to_fit() actually frees all memory
       this->scan_result_.shrink_to_fit();
+#endif
     }
   }
 
@@ -675,6 +680,7 @@ class WiFiComponent : public Component {
   bool skip_cooldown_next_cycle_{false};
   bool post_connect_roaming_{true};  // Enabled by default
   bool roaming_scan_active_{false};
+  bool roaming_connect_active_{false};  // True during roaming connection attempt (skip priority decrease on fail)
 #if defined(USE_ESP32) && defined(USE_WIFI_RUNTIME_POWER_SAVE)
   WiFiPowerSaveMode configured_power_save_{WIFI_POWER_SAVE_NONE};
   bool is_high_performance_mode_{false};