diff --git a/esphome/components/zigbee/__init__.py b/esphome/components/zigbee/__init__.py
index 0bb5f95bb6..018dab7348 100644
--- a/esphome/components/zigbee/__init__.py
+++ b/esphome/components/zigbee/__init__.py
@@ -75,6 +75,13 @@ SENSOR_SCHEMA = cv.Schema({}).extend(zephyr_sensor)
 SWITCH_SCHEMA = cv.Schema({}).extend(zephyr_switch)
 NUMBER_SCHEMA = cv.Schema({}).extend(zephyr_number)
 
+
+def _validate_router_sleepy(config: ConfigType) -> ConfigType:
+    if config.get(CONF_ROUTER) and config.get(CONF_SLEEPY):
+        raise cv.Invalid("router and sleepy are mutually exclusive")
+    return config
+
+
 CONFIG_SCHEMA = cv.All(
     cv.Schema(
         {
@@ -82,10 +89,7 @@ CONFIG_SCHEMA = cv.All(
             cv.Optional(CONF_MODEL, default=CORE.name): cv.All(
                 cv.string, cv.Length(max=31)
             ),
-            cv.OnlyWith(CONF_ROUTER, "esp32", default=False): cv.All(
-                cv.requires_component("esp32"),
-                cv.boolean,
-            ),
+            cv.Optional(CONF_ROUTER, default=False): cv.boolean,
             cv.Optional(CONF_ON_JOIN): cv.All(
                 cv.requires_component("nrf52"),
                 automation.validate_automation(single=True),
@@ -113,6 +117,7 @@ CONFIG_SCHEMA = cv.All(
             ),
         }
     ).extend(cv.COMPONENT_SCHEMA),
+    _validate_router_sleepy,
     zigbee_require_vfs_select,
     zigbee_set_core_data,
     cv.Any(
diff --git a/esphome/components/zigbee/zigbee_zephyr.cpp b/esphome/components/zigbee/zigbee_zephyr.cpp
index 90bb66c91d..dfffd1c91f 100644
--- a/esphome/components/zigbee/zigbee_zephyr.cpp
+++ b/esphome/components/zigbee/zigbee_zephyr.cpp
@@ -190,7 +190,9 @@ void ZigbeeComponent::setup() {
     ESP_LOGE(TAG, "Cannot load settings, err: %d", err);
     return;
   }
+#ifdef CONFIG_ZIGBEE_ROLE_END_DEVICE
   zigbee_configure_sleepy_behavior(this->sleepy_);
+#endif
   zigbee_enable();
 }
 
diff --git a/esphome/components/zigbee/zigbee_zephyr.py b/esphome/components/zigbee/zigbee_zephyr.py
index 7d904b6081..b74074e50f 100644
--- a/esphome/components/zigbee/zigbee_zephyr.py
+++ b/esphome/components/zigbee/zigbee_zephyr.py
@@ -52,6 +52,7 @@ from esphome.types import ConfigType
 from .const import (
     CONF_ON_JOIN,
     CONF_POWER_SOURCE,
+    CONF_ROUTER,
     CONF_WIPE_ON_BOOT,
     KEY_ZIGBEE,
     POWER_SOURCE,
@@ -160,7 +161,10 @@ zephyr_number = cv.Schema(
 async def zephyr_to_code(config: ConfigType) -> None:
     zephyr_add_prj_conf("ZIGBEE", True)
     zephyr_add_prj_conf("ZIGBEE_APP_UTILS", True)
-    zephyr_add_prj_conf("ZIGBEE_ROLE_END_DEVICE", True)
+    if config[CONF_ROUTER]:
+        zephyr_add_prj_conf("ZIGBEE_ROLE_ROUTER", True)
+    else:
+        zephyr_add_prj_conf("ZIGBEE_ROLE_END_DEVICE", True)
 
     zephyr_add_prj_conf("ZIGBEE_CHANNEL_SELECTION_MODE_MULTI", True)
 
diff --git a/esphome/core/base_automation.h b/esphome/core/base_automation.h
index 17f937d10d..9418170b6d 100644
--- a/esphome/core/base_automation.h
+++ b/esphome/core/base_automation.h
@@ -273,18 +273,28 @@ template<typename... Ts> class WhileLoopContinuation : public Action<Ts...> {
   WhileAction<Ts...> *parent_;
 };
 
+// Wraps a ContinuationAction when Enabled, empty otherwise.
+// Lets IfAction elide the else continuation when HasElse is false.
+template<bool Enabled, typename... Ts> struct OptionalContinuation {
+  ContinuationAction<Ts...> action;
+  explicit OptionalContinuation(Action<Ts...> *parent) : action(parent) {}
+};
+template<typename... Ts> struct OptionalContinuation<false, Ts...> {
+  explicit OptionalContinuation(Action<Ts...> * /*parent*/) {}
+};
+
 template<bool HasElse, typename... Ts> class IfAction : public Action<Ts...> {
  public:
   explicit IfAction(Condition<Ts...> *condition) : condition_(condition) {}
 
   void add_then(const std::initializer_list<Action<Ts...> *> &actions) {
     this->then_.add_actions(actions);
-    this->then_.add_action(new ContinuationAction<Ts...>(this));
+    this->then_.add_action(&this->then_continuation_);
   }
 
   void add_else(const std::initializer_list<Action<Ts...> *> &actions) requires(HasElse) {
     this->else_.add_actions(actions);
-    this->else_.add_action(new ContinuationAction<Ts...>(this));
+    this->else_.add_action(&this->else_continuation_.action);
   }
 
   void play_complex(const Ts &...x) override {
@@ -316,8 +326,10 @@ template<bool HasElse, typename... Ts> class IfAction : public Action<Ts...> {
  protected:
   Condition<Ts...> *condition_;
   ActionList<Ts...> then_;
+  ContinuationAction<Ts...> then_continuation_{this};
   struct NoElse {};
   [[no_unique_address]] std::conditional_t<HasElse, ActionList<Ts...>, NoElse> else_;
+  [[no_unique_address]] OptionalContinuation<HasElse, Ts...> else_continuation_{this};
 };
 
 template<typename... Ts> class WhileAction : public Action<Ts...> {
@@ -326,7 +338,7 @@ template<typename... Ts> class WhileAction : public Action<Ts...> {
 
   void add_then(const std::initializer_list<Action<Ts...> *> &actions) {
     this->then_.add_actions(actions);
-    this->then_.add_action(new WhileLoopContinuation<Ts...>(this));
+    this->then_.add_action(&this->loop_continuation_);
   }
 
   friend class WhileLoopContinuation<Ts...>;
@@ -354,6 +366,7 @@ template<typename... Ts> class WhileAction : public Action<Ts...> {
  protected:
   Condition<Ts...> *condition_;
   ActionList<Ts...> then_;
+  WhileLoopContinuation<Ts...> loop_continuation_{this};
 };
 
 // Implementation of WhileLoopContinuation::play
@@ -388,7 +401,7 @@ template<typename... Ts> class RepeatAction : public Action<Ts...> {
 
   void add_then(const std::initializer_list<Action<uint32_t, Ts...> *> &actions) {
     this->then_.add_actions(actions);
-    this->then_.add_action(new RepeatLoopContinuation<Ts...>(this));
+    this->then_.add_action(&this->loop_continuation_);
   }
 
   friend class RepeatLoopContinuation<Ts...>;
@@ -409,6 +422,7 @@ template<typename... Ts> class RepeatAction : public Action<Ts...> {
 
  protected:
   ActionList<uint32_t, Ts...> then_;
+  RepeatLoopContinuation<Ts...> loop_continuation_{this};
 };
 
 // Implementation of RepeatLoopContinuation::play
diff --git a/tests/components/zigbee/test.nrf52-mcumgr.yaml b/tests/components/zigbee/test.nrf52-mcumgr.yaml
index bf3cb9cdd9..a81feea069 100644
--- a/tests/components/zigbee/test.nrf52-mcumgr.yaml
+++ b/tests/components/zigbee/test.nrf52-mcumgr.yaml
@@ -1 +1,4 @@
 <<: !include common_nrf52.yaml
+
+zigbee:
+  router: true