diff --git a/esphome/components/nfc/ndef_message.cpp b/esphome/components/nfc/ndef_message.cpp
index d33f3f7b5c..d9135cbdba 100644
--- a/esphome/components/nfc/ndef_message.cpp
+++ b/esphome/components/nfc/ndef_message.cpp
@@ -5,7 +5,7 @@ namespace esphome::nfc {
 
 static const char *const TAG = "nfc.ndef_message";
 
-NdefMessage::NdefMessage(std::vector<uint8_t> &data) {
+NdefMessage::NdefMessage(const std::span<const uint8_t> data) {
   ESP_LOGV(TAG, "Building NdefMessage with %zu bytes", data.size());
   size_t index = 0;
   while (index < data.size()) {
diff --git a/esphome/components/nfc/ndef_message.h b/esphome/components/nfc/ndef_message.h
index 7d431b2296..0d7699e9d7 100644
--- a/esphome/components/nfc/ndef_message.h
+++ b/esphome/components/nfc/ndef_message.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <memory>
+#include <span>
 #include <vector>
 
 #include "esphome/core/helpers.h"
@@ -16,7 +17,8 @@ static constexpr uint8_t MAX_NDEF_RECORDS = 4;
 class NdefMessage {
  public:
   NdefMessage() = default;
-  NdefMessage(std::vector<uint8_t> &data);
+  NdefMessage(std::span<const uint8_t> data);
+  NdefMessage(std::vector<uint8_t> &data) : NdefMessage(std::span<const uint8_t>(data)) {}
   NdefMessage(const NdefMessage &msg) {
     records_.reserve(msg.records_.size());
     for (const auto &r : msg.records_) {
diff --git a/esphome/components/nfc/nfc.cpp b/esphome/components/nfc/nfc.cpp
index 64f3228b3c..a9fc1c2b8c 100644
--- a/esphome/components/nfc/nfc.cpp
+++ b/esphome/components/nfc/nfc.cpp
@@ -23,7 +23,7 @@ uint8_t guess_tag_type(uint8_t uid_length) {
   }
 }
 
-int8_t get_mifare_classic_ndef_start_index(std::vector<uint8_t> &data) {
+int8_t get_mifare_classic_ndef_start_index(const std::span<const uint8_t> data) {
   for (uint8_t i = 0; i < MIFARE_CLASSIC_BLOCK_SIZE; i++) {
     if (data[i] == 0x00) {
       // Do nothing, skip
@@ -36,7 +36,8 @@ int8_t get_mifare_classic_ndef_start_index(std::vector<uint8_t> &data) {
   return -1;
 }
 
-bool decode_mifare_classic_tlv(std::vector<uint8_t> &data, uint32_t &message_length, uint8_t &message_start_index) {
+bool decode_mifare_classic_tlv(const std::span<const uint8_t> data, uint32_t &message_length,
+                               uint8_t &message_start_index) {
   if (data.size() < MIFARE_CLASSIC_BLOCK_SIZE) {
     ESP_LOGE(TAG, "Error, data too short for NDEF detection.");
     return false;
@@ -68,6 +69,25 @@ uint32_t get_mifare_ultralight_buffer_size(uint32_t message_length) {
   return buffer_size;
 }
 
+void fill_ndef_tlv(const std::span<const uint8_t> message, const uint32_t buffer_length, FixedVector<uint8_t> &buffer) {
+  buffer.init(buffer_length);
+  buffer.push_back(0x03);
+  if (message.size() < 255) {
+    buffer.push_back(message.size());
+  } else {
+    buffer.push_back(0xFF);
+    buffer.push_back((message.size() >> 8) & 0xFF);
+    buffer.push_back(message.size() & 0xFF);
+  }
+  for (const uint8_t byte : message) {
+    buffer.push_back(byte);
+  }
+  buffer.push_back(0xFE);
+  while (buffer.size() < buffer_length) {
+    buffer.push_back(0x00);
+  }
+}
+
 uint32_t get_mifare_classic_buffer_size(uint32_t message_length) {
   uint32_t buffer_size = message_length;
   if (message_length < 255) {
diff --git a/esphome/components/nfc/nfc.h b/esphome/components/nfc/nfc.h
index 36b27ce5f6..603cb8d314 100644
--- a/esphome/components/nfc/nfc.h
+++ b/esphome/components/nfc/nfc.h
@@ -64,9 +64,11 @@ static constexpr size_t FORMAT_BYTES_BUFFER_SIZE = 192;
 char *format_bytes_to(char *buffer, std::span<const uint8_t> bytes);
 
 uint8_t guess_tag_type(uint8_t uid_length);
-int8_t get_mifare_classic_ndef_start_index(std::vector<uint8_t> &data);
-bool decode_mifare_classic_tlv(std::vector<uint8_t> &data, uint32_t &message_length, uint8_t &message_start_index);
+int8_t get_mifare_classic_ndef_start_index(std::span<const uint8_t> data);
+bool decode_mifare_classic_tlv(std::span<const uint8_t> data, uint32_t &message_length, uint8_t &message_start_index);
 uint32_t get_mifare_classic_buffer_size(uint32_t message_length);
+/// Fills `buffer` with the NDEF TLV (type, length, message, terminator) padded with zeros to `buffer_length`
+void fill_ndef_tlv(std::span<const uint8_t> message, uint32_t buffer_length, FixedVector<uint8_t> &buffer);
 
 bool mifare_classic_is_first_block(uint8_t block_num);
 bool mifare_classic_is_trailer_block(uint8_t block_num);
diff --git a/esphome/components/pn532/__init__.py b/esphome/components/pn532/__init__.py
index b23c4e845a..f4f16a8b89 100644
--- a/esphome/components/pn532/__init__.py
+++ b/esphome/components/pn532/__init__.py
@@ -46,6 +46,11 @@ def CONFIG_SCHEMA(conf: ConfigType) -> None:
         )
 
 
+_request_ontag_trigger_slot = cg.slot_counter("PN532_ON_TAG_TRIGGER_COUNT")
+_request_ontagremoved_trigger_slot = cg.slot_counter(
+    "PN532_ON_TAG_REMOVED_TRIGGER_COUNT"
+)
+
 _CALLBACK_AUTOMATIONS = (
     automation.CallbackAutomation(
         CONF_ON_FINISHED_WRITE, "add_on_finished_write_callback"
@@ -58,6 +63,7 @@ async def setup_pn532(var: MockObj, config: ConfigType) -> None:
 
     for conf in config.get(CONF_ON_TAG, []):
         trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID])
+        _request_ontag_trigger_slot(str(var))
         cg.add(var.register_ontag_trigger(trigger))
         await automation.build_automation(
             trigger, [(cg.std_string, "x"), (nfc.NfcTag, "tag")], conf
@@ -65,6 +71,7 @@ async def setup_pn532(var: MockObj, config: ConfigType) -> None:
 
     for conf in config.get(CONF_ON_TAG_REMOVED, []):
         trigger = cg.new_Pvariable(conf[CONF_TRIGGER_ID])
+        _request_ontagremoved_trigger_slot(str(var))
         cg.add(var.register_ontagremoved_trigger(trigger))
         await automation.build_automation(
             trigger, [(cg.std_string, "x"), (nfc.NfcTag, "tag")], conf
diff --git a/esphome/components/pn532/binary_sensor.py b/esphome/components/pn532/binary_sensor.py
index 8f490ba7d0..b9cf9a1c27 100644
--- a/esphome/components/pn532/binary_sensor.py
+++ b/esphome/components/pn532/binary_sensor.py
@@ -34,6 +34,8 @@ def validate_uid(value: Any) -> str:
 
 PN532BinarySensor = pn532_ns.class_("PN532BinarySensor", binary_sensor.BinarySensor)
 
+_request_binary_sensor_slot = cg.slot_counter("PN532_BINARY_SENSOR_COUNT")
+
 CONFIG_SCHEMA = binary_sensor.binary_sensor_schema(PN532BinarySensor).extend(
     {
         cv.GenerateID(CONF_PN532_ID): cv.use_id(PN532),
@@ -46,6 +48,7 @@ async def to_code(config: ConfigType) -> None:
     var = await binary_sensor.new_binary_sensor(config)
 
     hub = await cg.get_variable(config[CONF_PN532_ID])
+    _request_binary_sensor_slot(str(hub))
     cg.add(hub.register_tag(var))
     addr = [HexInt(int(x, 16)) for x in config[CONF_UID].split("-")]
     cg.add(var.set_uid(addr))
diff --git a/esphome/components/pn532/pn532.cpp b/esphome/components/pn532/pn532.cpp
index 17ee11d7d9..91593484c8 100644
--- a/esphome/components/pn532/pn532.cpp
+++ b/esphome/components/pn532/pn532.cpp
@@ -1,5 +1,7 @@
 #include "pn532.h"
 
+#include <algorithm>
+#include <array>
 #include <memory>
 #include "esphome/core/application.h"
 #include "esphome/core/log.h"
@@ -25,7 +27,7 @@ void PN532::setup() {
     }
   }
 
-  std::vector<uint8_t> version_data;
+  PN532Frame version_data;
   // GetFirmwareVersion returns IC, Ver, Rev and Support
   if (!this->read_response(PN532_COMMAND_VERSION_DATA, version_data) || version_data.size() < 3) {
     ESP_LOGE(TAG, "Error getting version");
@@ -45,7 +47,7 @@ void PN532::setup() {
     return;
   }
 
-  std::vector<uint8_t> wakeup_result;
+  PN532Frame wakeup_result;
   if (!this->read_response(PN532_COMMAND_SAMCONFIGURATION, wakeup_result)) {
     this->error_code_ = WAKEUP_FAILED;
     this->mark_failed();
@@ -65,7 +67,7 @@ void PN532::setup() {
     return;
   }
 
-  std::vector<uint8_t> sam_result;
+  PN532Frame sam_result;
   if (!this->read_response(PN532_COMMAND_SAMCONFIGURATION, sam_result)) {
     ESP_LOGV(TAG, "Invalid SAM result: (%u)", sam_result.size());  // NOLINT
     for (uint8_t dat : sam_result) {
@@ -87,7 +89,7 @@ bool PN532::powerdown() {
     ESP_LOGE(TAG, "Error writing powerdown command to PN532");
     return false;
   }
-  std::vector<uint8_t> response;
+  PN532Frame response;
   if (!this->read_response(PN532_COMMAND_POWERDOWN, response)) {
     ESP_LOGE(TAG, "Error reading PN532 powerdown response");
     return false;
@@ -105,8 +107,10 @@ void PN532::update() {
   if (!updates_enabled_)
     return;
 
+#ifdef PN532_BINARY_SENSOR_COUNT
   for (auto *obj : this->binary_sensors_)
     obj->on_scan_end();
+#endif
 
   if (!this->write_command_({
           PN532_COMMAND_INLISTPASSIVETARGET,
@@ -130,7 +134,7 @@ void PN532::loop() {
     return;
 
   bool success = false;
-  std::vector<uint8_t> read;
+  PN532Frame read;
 
   if (ready == READY) {
     success = this->read_response(PN532_COMMAND_INLISTPASSIVETARGET, read);
@@ -142,11 +146,13 @@ void PN532::loop() {
 
   if (!success) {
     // Something failed
+#ifdef PN532_ON_TAG_REMOVED_TRIGGER_COUNT
     if (!this->current_uid_.empty()) {
       auto tag = make_unique<nfc::NfcTag>(this->current_uid_);
       for (auto *trigger : this->triggers_ontagremoved_)
         trigger->process(tag);
     }
+#endif
     this->current_uid_ = {};
     this->turn_off_rf_();
     return;
@@ -155,11 +161,13 @@ void PN532::loop() {
   uint8_t num_targets = read.empty() ? 0 : read[0];
   if (num_targets != 1) {
     // no tags found or too many
+#ifdef PN532_ON_TAG_REMOVED_TRIGGER_COUNT
     if (!this->current_uid_.empty()) {
       auto tag = make_unique<nfc::NfcTag>(this->current_uid_);
       for (auto *trigger : this->triggers_ontagremoved_)
         trigger->process(tag);
     }
+#endif
     this->current_uid_ = {};
     this->turn_off_rf_();
     return;
@@ -181,11 +189,13 @@ void PN532::loop() {
   const uint8_t tag_type = tag_type_from_sel_res(sel_res);
 
   bool report = true;
+#ifdef PN532_BINARY_SENSOR_COUNT
   for (auto *bin_sens : this->binary_sensors_) {
     if (bin_sens->process(nfcid)) {
       report = false;
     }
   }
+#endif
 
   if (nfcid.size() == this->current_uid_.size()) {
     bool same_uid = true;
@@ -199,8 +209,10 @@ void PN532::loop() {
 
   if (next_task_ == READ) {
     auto tag = this->read_tag_(nfcid, tag_type);
+#ifdef PN532_ON_TAG_TRIGGER_COUNT
     for (auto *trigger : this->triggers_ontag_)
       trigger->process(tag);
+#endif
 
     if (report) {
       char uid_buf[nfc::FORMAT_UID_BUFFER_SIZE];
@@ -249,39 +261,42 @@ void PN532::loop() {
   this->turn_off_rf_();
 }
 
-bool PN532::write_command_(const std::vector<uint8_t> &data) {
-  std::vector<uint8_t> write_data;
+bool PN532::write_command_(const std::span<const uint8_t> data) {
+  if (data.size() > PN532_FRAME_MAX_DATA_SIZE) {
+    return false;
+  }
+  PN532Frame frame;
   // Preamble
-  write_data.push_back(0x00);
+  frame.push_back(0x00);
 
   // Start code
-  write_data.push_back(0x00);
-  write_data.push_back(0xFF);
+  frame.push_back(0x00);
+  frame.push_back(0xFF);
 
   // Length of message, TFI + data bytes
   const uint8_t real_length = data.size() + 1;
   // LEN
-  write_data.push_back(real_length);
+  frame.push_back(real_length);
   // LCS (Length checksum)
-  write_data.push_back(~real_length + 1);
+  frame.push_back(~real_length + 1);
 
   // TFI (Frame Identifier, 0xD4 means to PN532, 0xD5 means from PN532)
-  write_data.push_back(0xD4);
+  frame.push_back(0xD4);
   // calculate checksum, TFI is part of checksum
   uint8_t checksum = 0xD4;
 
   // DATA
   for (uint8_t dat : data) {
-    write_data.push_back(dat);
+    frame.push_back(dat);
     checksum += dat;
   }
 
   // DCS (Data checksum)
-  write_data.push_back(~checksum + 1);
+  frame.push_back(~checksum + 1);
   // Postamble
-  write_data.push_back(0x00);
+  frame.push_back(0x00);
 
-  this->write_data(write_data);
+  this->write_data(frame);
 
   return this->read_ack_();
 }
@@ -289,8 +304,8 @@ bool PN532::write_command_(const std::vector<uint8_t> &data) {
 bool PN532::read_ack_() {
   ESP_LOGV(TAG, "Reading ACK");
 
-  std::vector<uint8_t> data;
-  if (!this->read_data(data, 6)) {
+  PN532Frame data;
+  if (!this->read_data(data, 6) || data.size() < 7) {
     return false;
   }
 
@@ -303,13 +318,15 @@ bool PN532::read_ack_() {
 }
 
 void PN532::send_ack_() {
+  static constexpr std::array<uint8_t, 6> ACK_FRAME = {0x00, 0x00, 0xFF, 0x00, 0xFF, 0x00};
   ESP_LOGV(TAG, "Sending ACK for abort");
-  this->write_data({0x00, 0x00, 0xFF, 0x00, 0xFF, 0x00});
+  this->write_data(ACK_FRAME);
   delay(10);
 }
 void PN532::send_nack_() {
+  static constexpr std::array<uint8_t, 6> NACK_FRAME = {0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00};
   ESP_LOGV(TAG, "Sending NACK for retransmit");
-  this->write_data({0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00});
+  this->write_data(NACK_FRAME);
   delay(10);
 }
 
@@ -425,7 +442,7 @@ bool PN532::write_tag_(nfc::NfcTagUid &uid, const uint8_t tag_type, nfc::NdefMes
   return false;
 }
 
-bool PN532::in_data_exchange_(const std::vector<uint8_t> &command, std::vector<uint8_t> &response) {
+bool PN532::in_data_exchange_(const std::span<const uint8_t> command, PN532Frame &response) {
   // formatting a tag takes seconds of back-to-back exchanges inside loop(), longer than the task watchdog allows
   App.feed_wdt();
   if (!this->write_command_(command)) {
@@ -439,7 +456,25 @@ bool PN532::in_data_exchange_(const std::vector<uint8_t> &command, std::vector<u
     ESP_LOGV(TAG, "InDataExchange failed, status 0x%02X", response[0]);
     return false;
   }
-  response.erase(response.begin());
+  std::copy(response.begin() + 1, response.end(), response.begin());
+  response.resize(response.size() - 1);
+  return true;
+}
+
+bool PN532::mifare_read_(uint8_t address, MifareReadData &data) {
+  PN532Frame response;
+  if (!this->in_data_exchange_(
+          {
+              PN532_COMMAND_INDATAEXCHANGE,
+              0x01,  // One card
+              nfc::MIFARE_CMD_READ,
+              address,
+          },
+          response) ||
+      response.size() != data.size()) {
+    return false;
+  }
+  std::copy(response.begin(), response.end(), data.begin());
   return true;
 }
 
@@ -458,9 +493,11 @@ void PN532::dump_config() {
 
   LOG_UPDATE_INTERVAL(this);
 
+#ifdef PN532_BINARY_SENSOR_COUNT
   for (auto *child : this->binary_sensors_) {
     LOG_BINARY_SENSOR("  ", "Tag", child);
   }
+#endif
 }
 
 bool PN532BinarySensor::process(const nfc::NfcTagUid &data) {
diff --git a/esphome/components/pn532/pn532.h b/esphome/components/pn532/pn532.h
index 96013f7d79..5502eac6ec 100644
--- a/esphome/components/pn532/pn532.h
+++ b/esphome/components/pn532/pn532.h
@@ -1,13 +1,16 @@
 #pragma once
 
 #include "esphome/core/component.h"
+#include "esphome/core/helpers.h"
 #include "esphome/components/binary_sensor/binary_sensor.h"
 #include "esphome/components/nfc/nfc_tag.h"
 #include "esphome/components/nfc/nfc.h"
 #include "esphome/components/nfc/automation.h"
 
+#include <array>
 #include <cinttypes>
-#include <vector>
+#include <initializer_list>
+#include <span>
 
 namespace esphome::pn532 {
 
@@ -40,6 +43,21 @@ inline uint8_t tag_type_from_sel_res(uint8_t sel_res) {
   return nfc::TAG_TYPE_UNKNOWN;
 }
 
+/// Most data bytes a normal information frame carries: LEN is one byte and counts the TFI byte plus the data
+static constexpr size_t PN532_FRAME_MAX_DATA_SIZE = 254;
+/// A received frame at its longest: the status byte the I2C bus prepends, preamble, start code (2), LEN, LCS, TFI,
+/// the data, DCS and postamble
+static constexpr size_t PN532_FRAME_MAX_SIZE = 1 + 6 + PN532_FRAME_MAX_DATA_SIZE + 2;
+/// Holds one frame in either direction so bus traffic never allocates
+using PN532Frame = StaticVector<uint8_t, PN532_FRAME_MAX_SIZE>;
+/// Holds pages 3 to 6 (16 bytes) plus an NDEF message of up to 255 bytes and its TLV header, rounded up to whole reads
+using UltralightReadBuffer = StaticVector<uint8_t, 272>;
+/// Longest NDEF message accepted from a MIFARE Classic tag (the capacity of a 4K tag)
+static constexpr uint32_t MIFARE_CLASSIC_MAX_NDEF_SIZE = 3440;
+/// A MIFARE READ answers with 16 bytes: one Classic block or four Ultralight pages
+static constexpr size_t MIFARE_READ_SIZE = 16;
+using MifareReadData = std::array<uint8_t, MIFARE_READ_SIZE>;
+
 class PN532BinarySensor;
 
 class PN532 : public PollingComponent {
@@ -53,9 +71,15 @@ class PN532 : public PollingComponent {
   void loop() override;
   void on_powerdown() override { powerdown(); }
 
+#ifdef PN532_BINARY_SENSOR_COUNT
   void register_tag(PN532BinarySensor *tag) { this->binary_sensors_.push_back(tag); }
+#endif
+#ifdef PN532_ON_TAG_TRIGGER_COUNT
   void register_ontag_trigger(nfc::NfcOnTagTrigger *trig) { this->triggers_ontag_.push_back(trig); }
+#endif
+#ifdef PN532_ON_TAG_REMOVED_TRIGGER_COUNT
   void register_ontagremoved_trigger(nfc::NfcOnTagTrigger *trig) { this->triggers_ontagremoved_.push_back(trig); }
+#endif
 
   template<typename F> void add_on_finished_write_callback(F &&callback) {
     this->on_finished_write_callback_.add(std::forward<F>(callback));
@@ -71,16 +95,21 @@ class PN532 : public PollingComponent {
 
  protected:
   void turn_off_rf_();
-  bool write_command_(const std::vector<uint8_t> &data);
+  bool write_command_(std::span<const uint8_t> data);
+  bool write_command_(std::initializer_list<uint8_t> data) {
+    return this->write_command_(std::span<const uint8_t>(data.begin(), data.size()));
+  }
   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;
+  virtual bool write_data(std::span<const uint8_t> data) = 0;
+  /// Reads `len` frame bytes into `data` behind a leading status byte, so every bus presents the I2C layout
+  virtual bool read_data(PN532Frame &data, size_t len) = 0;
+  /// Reads the response to `command`; on success `data` holds only the bytes that follow the response code
+  virtual bool read_response(uint8_t command, PN532Frame &data) = 0;
 
   std::unique_ptr<nfc::NfcTag> read_tag_(nfc::NfcTagUid &uid, uint8_t tag_type);
 
@@ -89,23 +118,28 @@ class PN532 : public PollingComponent {
   bool write_tag_(nfc::NfcTagUid &uid, uint8_t tag_type, nfc::NdefMessage *message);
   /// Sends an InDataExchange command and reads the response; returns false unless the status byte reports success.
   /// On success, `response` holds the data returned by the target, without the status byte.
-  bool in_data_exchange_(const std::vector<uint8_t> &command, std::vector<uint8_t> &response);
+  bool in_data_exchange_(std::span<const uint8_t> command, PN532Frame &response);
+  bool in_data_exchange_(std::initializer_list<uint8_t> command, PN532Frame &response) {
+    return this->in_data_exchange_(std::span<const uint8_t>(command.begin(), command.size()), response);
+  }
+  /// Sends MIFARE READ for `address` and returns the 16 bytes the tag answers with
+  bool mifare_read_(uint8_t address, MifareReadData &data);
 
   std::unique_ptr<nfc::NfcTag> read_mifare_classic_tag_(nfc::NfcTagUid &uid);
-  bool read_mifare_classic_block_(uint8_t block_num, std::vector<uint8_t> &data);
-  bool write_mifare_classic_block_(uint8_t block_num, const uint8_t *data, size_t len);
+  bool read_mifare_classic_block_(uint8_t block_num, MifareReadData &data);
+  bool write_mifare_classic_block_(uint8_t block_num, std::span<const uint8_t> data);
   bool auth_mifare_classic_block_(nfc::NfcTagUid &uid, uint8_t block_num, uint8_t key_num, const uint8_t *key);
   bool format_mifare_classic_mifare_(nfc::NfcTagUid &uid);
   bool format_mifare_classic_ndef_(nfc::NfcTagUid &uid);
   bool write_mifare_classic_tag_(nfc::NfcTagUid &uid, nfc::NdefMessage *message);
 
   std::unique_ptr<nfc::NfcTag> read_mifare_ultralight_tag_(nfc::NfcTagUid &uid);
-  bool read_mifare_ultralight_bytes_(uint8_t start_page, uint16_t num_bytes, std::vector<uint8_t> &data);
-  bool is_mifare_ultralight_formatted_(const std::vector<uint8_t> &page_3_to_6);
+  bool read_mifare_ultralight_bytes_(uint8_t start_page, uint16_t num_bytes, UltralightReadBuffer &data);
+  bool is_mifare_ultralight_formatted_(std::span<const uint8_t> page_3_to_6);
   uint16_t read_mifare_ultralight_capacity_();
-  bool find_mifare_ultralight_ndef_(const std::vector<uint8_t> &page_3_to_6, uint8_t &message_length,
+  bool find_mifare_ultralight_ndef_(std::span<const uint8_t> page_3_to_6, uint8_t &message_length,
                                     uint8_t &message_start_index);
-  bool write_mifare_ultralight_page_(uint8_t page_num, const uint8_t *write_data, size_t len);
+  bool write_mifare_ultralight_page_(uint8_t page_num, std::span<const uint8_t> write_data);
   bool write_mifare_ultralight_tag_(nfc::NfcTagUid &uid, nfc::NdefMessage *message);
   bool clean_mifare_ultralight_();
 
@@ -122,10 +156,16 @@ class PN532 : public PollingComponent {
   };
 
   // members are ordered by alignment, widest first, to minimize padding
-  CallbackManager<void()> on_finished_write_callback_;
-  std::vector<PN532BinarySensor *> binary_sensors_;
-  std::vector<nfc::NfcOnTagTrigger *> triggers_ontag_;
-  std::vector<nfc::NfcOnTagTrigger *> triggers_ontagremoved_;
+  LazyCallbackManager<void()> on_finished_write_callback_;
+#ifdef PN532_BINARY_SENSOR_COUNT
+  StaticVector<PN532BinarySensor *, PN532_BINARY_SENSOR_COUNT> binary_sensors_;
+#endif
+#ifdef PN532_ON_TAG_TRIGGER_COUNT
+  StaticVector<nfc::NfcOnTagTrigger *, PN532_ON_TAG_TRIGGER_COUNT> triggers_ontag_;
+#endif
+#ifdef PN532_ON_TAG_REMOVED_TRIGGER_COUNT
+  StaticVector<nfc::NfcOnTagTrigger *, PN532_ON_TAG_REMOVED_TRIGGER_COUNT> triggers_ontagremoved_;
+#endif
   std::unique_ptr<nfc::NdefMessage> next_task_message_to_write_;
   nfc::NfcTagUid current_uid_;
   uint32_t rd_start_time_{0};  // valid only while rd_started_ is set
diff --git a/esphome/components/pn532/pn532_mifare_classic.cpp b/esphome/components/pn532/pn532_mifare_classic.cpp
index 166f4ab776..9f937b3e28 100644
--- a/esphome/components/pn532/pn532_mifare_classic.cpp
+++ b/esphome/components/pn532/pn532_mifare_classic.cpp
@@ -1,4 +1,6 @@
+#include <algorithm>
 #include <array>
+#include <cinttypes>
 #include <memory>
 
 #include "pn532.h"
@@ -13,10 +15,10 @@ std::unique_ptr<nfc::NfcTag> PN532::read_mifare_classic_tag_(nfc::NfcTagUid &uid
   uint8_t message_start_index = 0;
   uint32_t message_length = 0;
 
+  MifareReadData block_data;
   if (this->auth_mifare_classic_block_(uid, current_block, nfc::MIFARE_CMD_AUTH_A, nfc::NDEF_KEY)) {
-    std::vector<uint8_t> data;
-    if (this->read_mifare_classic_block_(current_block, data)) {
-      if (!nfc::decode_mifare_classic_tlv(data, message_length, message_start_index)) {
+    if (this->read_mifare_classic_block_(current_block, block_data)) {
+      if (!nfc::decode_mifare_classic_tlv(block_data, message_length, message_start_index)) {
         return make_unique<nfc::NfcTag>(uid, nfc::ERROR);
       }
     } else {
@@ -27,52 +29,50 @@ std::unique_ptr<nfc::NfcTag> PN532::read_mifare_classic_tag_(nfc::NfcTagUid &uid
     ESP_LOGV(TAG, "Tag is not NDEF formatted");
     return make_unique<nfc::NfcTag>(uid, nfc::MIFARE_CLASSIC);
   }
+  if (message_length > MIFARE_CLASSIC_MAX_NDEF_SIZE) {
+    ESP_LOGE(TAG, "NDEF message too long: %" PRIu32 " bytes", message_length);
+    return make_unique<nfc::NfcTag>(uid, nfc::MIFARE_CLASSIC);
+  }
 
-  uint32_t index = 0;
-  uint32_t buffer_size = nfc::get_mifare_classic_buffer_size(message_length);
-  std::vector<uint8_t> buffer;
+  const uint32_t buffer_size = nfc::get_mifare_classic_buffer_size(message_length);
+  FixedVector<uint8_t> buffer;
+  if (!buffer.try_init(buffer_size)) {
+    ESP_LOGE(TAG, "Out of memory reading NDEF message of %" PRIu32 " bytes", buffer_size);
+    return make_unique<nfc::NfcTag>(uid, nfc::MIFARE_CLASSIC);
+  }
 
-  while (index < buffer_size) {
+  while (buffer.size() < buffer_size) {
     if (nfc::mifare_classic_is_first_block(current_block)) {
       if (!this->auth_mifare_classic_block_(uid, current_block, nfc::MIFARE_CMD_AUTH_A, nfc::NDEF_KEY)) {
         ESP_LOGE(TAG, "Error, Block authentication failed for %d", current_block);
         return make_unique<nfc::NfcTag>(uid, nfc::MIFARE_CLASSIC);
       }
     }
-    std::vector<uint8_t> block_data;
     if (!this->read_mifare_classic_block_(current_block, block_data)) {
       ESP_LOGE(TAG, "Error reading block %d", current_block);
       return make_unique<nfc::NfcTag>(uid, nfc::MIFARE_CLASSIC);
     }
-    buffer.insert(buffer.end(), block_data.begin(), block_data.end());
+    for (const uint8_t byte : block_data) {
+      buffer.push_back(byte);
+    }
 
-    index += nfc::MIFARE_CLASSIC_BLOCK_SIZE;
     current_block++;
-
     if (nfc::mifare_classic_is_trailer_block(current_block)) {
       current_block++;
     }
   }
 
-  if (buffer.begin() + message_start_index < buffer.end()) {
-    buffer.erase(buffer.begin(), buffer.begin() + message_start_index);
-  } else {
+  if (message_start_index >= buffer.size()) {
     return make_unique<nfc::NfcTag>(uid, nfc::MIFARE_CLASSIC);
   }
 
-  return make_unique<nfc::NfcTag>(uid, nfc::MIFARE_CLASSIC, buffer);
+  return make_unique<nfc::NfcTag>(
+      uid, nfc::MIFARE_CLASSIC,
+      make_unique<nfc::NdefMessage>(std::span<const uint8_t>(buffer).subspan(message_start_index)));
 }
 
-bool PN532::read_mifare_classic_block_(uint8_t block_num, std::vector<uint8_t> &data) {
-  if (!this->in_data_exchange_(
-          {
-              PN532_COMMAND_INDATAEXCHANGE,
-              0x01,  // One card
-              nfc::MIFARE_CMD_READ,
-              block_num,
-          },
-          data) ||
-      data.size() != nfc::MIFARE_CLASSIC_BLOCK_SIZE) {
+bool PN532::read_mifare_classic_block_(uint8_t block_num, MifareReadData &data) {
+  if (!this->mifare_read_(block_num, data)) {
     return false;
   }
 
@@ -82,20 +82,25 @@ bool PN532::read_mifare_classic_block_(uint8_t block_num, std::vector<uint8_t> &
 }
 
 bool PN532::auth_mifare_classic_block_(nfc::NfcTagUid &uid, uint8_t block_num, uint8_t key_num, const uint8_t *key) {
-  std::vector<uint8_t> data({
+  // InDataExchange, Tg, key slot, block, key (6), UID (4)
+  StaticVector<uint8_t, 14> data = {
       PN532_COMMAND_INDATAEXCHANGE,
       0x01,       // One card
       key_num,    // Mifare Key slot
       block_num,  // Block number
-  });
-  data.insert(data.end(), key, key + 6);
+  };
+  for (size_t i = 0; i < 6; i++) {
+    data.push_back(key[i]);
+  }
   // the command takes exactly 4 UID bytes (UM0701-02, 7.3.8); for 7-byte UIDs these are the last 4, as in libnfc
   if (uid.size() < 4) {
     return false;
   }
-  data.insert(data.end(), uid.end() - 4, uid.end());
+  for (size_t i = uid.size() - 4; i < uid.size(); i++) {
+    data.push_back(uid[i]);
+  }
 
-  std::vector<uint8_t> response;
+  PN532Frame response;
   if (!this->in_data_exchange_(data, response)) {
     ESP_LOGE(TAG, "Authentication failed - Block 0x%02x", block_num);
     return false;
@@ -117,20 +122,20 @@ bool PN532::format_mifare_classic_mifare_(nfc::NfcTagUid &uid) {
       continue;
     }
     if (block != 0) {
-      if (!this->write_mifare_classic_block_(block, BLANK_BUFFER.data(), BLANK_BUFFER.size())) {
+      if (!this->write_mifare_classic_block_(block, BLANK_BUFFER)) {
         ESP_LOGE(TAG, "Unable to write block %d", block);
         error = true;
       }
     }
-    if (!this->write_mifare_classic_block_(block + 1, BLANK_BUFFER.data(), BLANK_BUFFER.size())) {
+    if (!this->write_mifare_classic_block_(block + 1, BLANK_BUFFER)) {
       ESP_LOGE(TAG, "Unable to write block %d", block + 1);
       error = true;
     }
-    if (!this->write_mifare_classic_block_(block + 2, BLANK_BUFFER.data(), BLANK_BUFFER.size())) {
+    if (!this->write_mifare_classic_block_(block + 2, BLANK_BUFFER)) {
       ESP_LOGE(TAG, "Unable to write block %d", block + 2);
       error = true;
     }
-    if (!this->write_mifare_classic_block_(block + 3, TRAILER_BUFFER.data(), TRAILER_BUFFER.size())) {
+    if (!this->write_mifare_classic_block_(block + 3, TRAILER_BUFFER)) {
       ESP_LOGE(TAG, "Unable to write block %d", block + 3);
       error = true;
     }
@@ -157,11 +162,11 @@ bool PN532::format_mifare_classic_ndef_(nfc::NfcTagUid &uid) {
     ESP_LOGE(TAG, "Unable to authenticate block 0 for formatting!");
     return false;
   }
-  if (!this->write_mifare_classic_block_(1, BLOCK_1_DATA.data(), BLOCK_1_DATA.size()))
+  if (!this->write_mifare_classic_block_(1, BLOCK_1_DATA))
     return false;
-  if (!this->write_mifare_classic_block_(2, BLOCK_2_DATA.data(), BLOCK_2_DATA.size()))
+  if (!this->write_mifare_classic_block_(2, BLOCK_2_DATA))
     return false;
-  if (!this->write_mifare_classic_block_(3, BLOCK_3_TRAILER.data(), BLOCK_3_TRAILER.size()))
+  if (!this->write_mifare_classic_block_(3, BLOCK_3_TRAILER))
     return false;
 
   ESP_LOGD(TAG, "Sector 0 formatted to NDEF");
@@ -173,25 +178,25 @@ bool PN532::format_mifare_classic_ndef_(nfc::NfcTagUid &uid) {
       return false;
     }
     if (block == 4) {
-      if (!this->write_mifare_classic_block_(block, EMPTY_NDEF_MESSAGE.data(), EMPTY_NDEF_MESSAGE.size())) {
+      if (!this->write_mifare_classic_block_(block, EMPTY_NDEF_MESSAGE)) {
         ESP_LOGE(TAG, "Unable to write block %d", block);
         error = true;
       }
     } else {
-      if (!this->write_mifare_classic_block_(block, BLANK_BLOCK.data(), BLANK_BLOCK.size())) {
+      if (!this->write_mifare_classic_block_(block, BLANK_BLOCK)) {
         ESP_LOGE(TAG, "Unable to write block %d", block);
         error = true;
       }
     }
-    if (!this->write_mifare_classic_block_(block + 1, BLANK_BLOCK.data(), BLANK_BLOCK.size())) {
+    if (!this->write_mifare_classic_block_(block + 1, BLANK_BLOCK)) {
       ESP_LOGE(TAG, "Unable to write block %d", block + 1);
       error = true;
     }
-    if (!this->write_mifare_classic_block_(block + 2, BLANK_BLOCK.data(), BLANK_BLOCK.size())) {
+    if (!this->write_mifare_classic_block_(block + 2, BLANK_BLOCK)) {
       ESP_LOGE(TAG, "Unable to write block %d", block + 2);
       error = true;
     }
-    if (!this->write_mifare_classic_block_(block + 3, NDEF_TRAILER.data(), NDEF_TRAILER.size())) {
+    if (!this->write_mifare_classic_block_(block + 3, NDEF_TRAILER)) {
       ESP_LOGE(TAG, "Unable to write trailer block %d", block + 3);
       error = true;
     }
@@ -199,16 +204,18 @@ bool PN532::format_mifare_classic_ndef_(nfc::NfcTagUid &uid) {
   return !error;
 }
 
-bool PN532::write_mifare_classic_block_(uint8_t block_num, const uint8_t *data, size_t len) {
-  std::vector<uint8_t> cmd({
+bool PN532::write_mifare_classic_block_(uint8_t block_num, const std::span<const uint8_t> data) {
+  StaticVector<uint8_t, 4 + nfc::MIFARE_CLASSIC_BLOCK_SIZE> cmd = {
       PN532_COMMAND_INDATAEXCHANGE,
       0x01,  // One card
       nfc::MIFARE_CMD_WRITE,
       block_num,
-  });
-  cmd.insert(cmd.end(), data, data + len);
+  };
+  for (const uint8_t byte : data) {
+    cmd.push_back(byte);
+  }
 
-  std::vector<uint8_t> response;
+  PN532Frame response;
   if (!this->in_data_exchange_(cmd, response)) {
     ESP_LOGE(TAG, "Error writing block %d", block_num);
     return false;
@@ -218,22 +225,10 @@ bool PN532::write_mifare_classic_block_(uint8_t block_num, const uint8_t *data,
 }
 
 bool PN532::write_mifare_classic_tag_(nfc::NfcTagUid &uid, nfc::NdefMessage *message) {
-  auto encoded = message->encode();
-
-  uint32_t message_length = encoded.size();
-  uint32_t buffer_length = nfc::get_mifare_classic_buffer_size(message_length);
-
-  encoded.insert(encoded.begin(), 0x03);
-  if (message_length < 255) {
-    encoded.insert(encoded.begin() + 1, message_length);
-  } else {
-    encoded.insert(encoded.begin() + 1, 0xFF);
-    encoded.insert(encoded.begin() + 2, (message_length >> 8) & 0xFF);
-    encoded.insert(encoded.begin() + 3, message_length & 0xFF);
-  }
-  encoded.push_back(0xFE);
-
-  encoded.resize(buffer_length, 0);
+  const auto encoded = message->encode();
+  const uint32_t buffer_length = nfc::get_mifare_classic_buffer_size(encoded.size());
+  FixedVector<uint8_t> buffer;
+  nfc::fill_ndef_tlv(encoded, buffer_length, buffer);
 
   uint32_t index = 0;
   uint8_t current_block = 4;
@@ -245,7 +240,8 @@ bool PN532::write_mifare_classic_tag_(nfc::NfcTagUid &uid, nfc::NdefMessage *mes
       }
     }
 
-    if (!this->write_mifare_classic_block_(current_block, encoded.data() + index, nfc::MIFARE_CLASSIC_BLOCK_SIZE)) {
+    if (!this->write_mifare_classic_block_(current_block,
+                                           std::span<const uint8_t>(&buffer[index], nfc::MIFARE_CLASSIC_BLOCK_SIZE))) {
       return false;
     }
     index += nfc::MIFARE_CLASSIC_BLOCK_SIZE;
diff --git a/esphome/components/pn532/pn532_mifare_ultralight.cpp b/esphome/components/pn532/pn532_mifare_ultralight.cpp
index d918c9d52d..90c8523722 100644
--- a/esphome/components/pn532/pn532_mifare_ultralight.cpp
+++ b/esphome/components/pn532/pn532_mifare_ultralight.cpp
@@ -10,7 +10,7 @@ namespace esphome::pn532 {
 static const char *const TAG = "pn532.mifare_ultralight";
 
 std::unique_ptr<nfc::NfcTag> PN532::read_mifare_ultralight_tag_(nfc::NfcTagUid &uid) {
-  std::vector<uint8_t> data;
+  UltralightReadBuffer data;
   // pages 3 to 6 contain various info we are interested in -- do one read to grab it all
   if (!this->read_mifare_ultralight_bytes_(3, nfc::MIFARE_ULTRALIGHT_PAGE_SIZE * nfc::MIFARE_ULTRALIGHT_READ_SIZE,
                                            data)) {
@@ -41,31 +41,30 @@ std::unique_ptr<nfc::NfcTag> PN532::read_mifare_ultralight_tag_(nfc::NfcTagUid &
       return make_unique<nfc::NfcTag>(uid, nfc::NFC_FORUM_TYPE_2);
     }
   }
-  // we need to trim off page 3 as well as any bytes ahead of message_start_index
-  data.erase(data.begin(), data.begin() + message_start_index + nfc::MIFARE_ULTRALIGHT_PAGE_SIZE);
+  // skip page 3 as well as any bytes ahead of message_start_index
+  const size_t skip = message_start_index + nfc::MIFARE_ULTRALIGHT_PAGE_SIZE;
+  if (skip >= data.size()) {
+    return make_unique<nfc::NfcTag>(uid, nfc::NFC_FORUM_TYPE_2);
+  }
 
-  return make_unique<nfc::NfcTag>(uid, nfc::NFC_FORUM_TYPE_2, data);
+  return make_unique<nfc::NfcTag>(uid, nfc::NFC_FORUM_TYPE_2,
+                                  make_unique<nfc::NdefMessage>(std::span<const uint8_t>(data).subspan(skip)));
 }
 
-bool PN532::read_mifare_ultralight_bytes_(uint8_t start_page, uint16_t num_bytes, std::vector<uint8_t> &data) {
-  const uint8_t read_increment = nfc::MIFARE_ULTRALIGHT_READ_SIZE * nfc::MIFARE_ULTRALIGHT_PAGE_SIZE;
-  std::vector<uint8_t> response;
+bool PN532::read_mifare_ultralight_bytes_(uint8_t start_page, uint16_t num_bytes, UltralightReadBuffer &data) {
+  MifareReadData chunk;
 
-  for (uint8_t i = 0; i * read_increment < num_bytes; i++) {
+  for (uint8_t i = 0; i * MIFARE_READ_SIZE < num_bytes; i++) {
     // a READ returns 4 pages (16 bytes)
-    if (!this->in_data_exchange_(
-            {
-                PN532_COMMAND_INDATAEXCHANGE,
-                0x01,  // One card
-                nfc::MIFARE_CMD_READ,
-                uint8_t(i * nfc::MIFARE_ULTRALIGHT_READ_SIZE + start_page),
-            },
-            response) ||
-        response.size() != read_increment) {
+    if (!this->mifare_read_(uint8_t(i * nfc::MIFARE_ULTRALIGHT_READ_SIZE + start_page), chunk)) {
       return false;
     }
-    const uint16_t remaining = num_bytes - i * read_increment;
-    data.insert(data.end(), response.begin(), response.begin() + std::min<uint16_t>(read_increment, remaining));
+    // keep only the bytes still wanted from this read
+    const uint16_t remaining = num_bytes - i * MIFARE_READ_SIZE;
+    const size_t count = std::min<size_t>(MIFARE_READ_SIZE, remaining);
+    for (const uint8_t byte : std::span<const uint8_t>(chunk).subspan(0, count)) {
+      data.push_back(byte);
+    }
   }
 
   char data_buf[nfc::FORMAT_BYTES_BUFFER_SIZE];
@@ -74,7 +73,7 @@ bool PN532::read_mifare_ultralight_bytes_(uint8_t start_page, uint16_t num_bytes
   return true;
 }
 
-bool PN532::is_mifare_ultralight_formatted_(const std::vector<uint8_t> &page_3_to_6) {
+bool PN532::is_mifare_ultralight_formatted_(const std::span<const uint8_t> page_3_to_6) {
   const uint8_t p4_offset = nfc::MIFARE_ULTRALIGHT_PAGE_SIZE;  // page 4 will begin 4 bytes into the vector
 
   return (page_3_to_6.size() > p4_offset + 3) &&
@@ -83,7 +82,7 @@ bool PN532::is_mifare_ultralight_formatted_(const std::vector<uint8_t> &page_3_t
 }
 
 uint16_t PN532::read_mifare_ultralight_capacity_() {
-  std::vector<uint8_t> data;
+  UltralightReadBuffer data;
   if (this->read_mifare_ultralight_bytes_(3, nfc::MIFARE_ULTRALIGHT_PAGE_SIZE, data) && data.size() > 2) {
     ESP_LOGV(TAG, "Tag capacity is %u bytes", data[2] * 8U);
     return data[2] * 8U;
@@ -91,7 +90,7 @@ uint16_t PN532::read_mifare_ultralight_capacity_() {
   return 0;
 }
 
-bool PN532::find_mifare_ultralight_ndef_(const std::vector<uint8_t> &page_3_to_6, uint8_t &message_length,
+bool PN532::find_mifare_ultralight_ndef_(const std::span<const uint8_t> page_3_to_6, uint8_t &message_length,
                                          uint8_t &message_start_index) {
   const uint8_t p4_offset = nfc::MIFARE_ULTRALIGHT_PAGE_SIZE;  // page 4 will begin 4 bytes into the vector
 
@@ -114,33 +113,23 @@ bool PN532::find_mifare_ultralight_ndef_(const std::vector<uint8_t> &page_3_to_6
 bool PN532::write_mifare_ultralight_tag_(nfc::NfcTagUid &uid, nfc::NdefMessage *message) {
   uint32_t capacity = this->read_mifare_ultralight_capacity_();
 
-  auto encoded = message->encode();
-
-  uint32_t message_length = encoded.size();
-  uint32_t buffer_length = nfc::get_mifare_ultralight_buffer_size(message_length);
+  const auto encoded = message->encode();
+  const uint32_t buffer_length = nfc::get_mifare_ultralight_buffer_size(encoded.size());
 
   if (buffer_length > capacity) {
     ESP_LOGE(TAG, "Message length exceeds tag capacity %" PRIu32 " > %" PRIu32, buffer_length, capacity);
     return false;
   }
 
-  encoded.insert(encoded.begin(), 0x03);
-  if (message_length < 255) {
-    encoded.insert(encoded.begin() + 1, message_length);
-  } else {
-    encoded.insert(encoded.begin() + 1, 0xFF);
-    encoded.insert(encoded.begin() + 2, (message_length >> 8) & 0xFF);
-    encoded.insert(encoded.begin() + 3, message_length & 0xFF);
-  }
-  encoded.push_back(0xFE);
-
-  encoded.resize(buffer_length, 0);
+  FixedVector<uint8_t> buffer;
+  nfc::fill_ndef_tlv(encoded, buffer_length, buffer);
 
   uint32_t index = 0;
   uint8_t current_page = nfc::MIFARE_ULTRALIGHT_DATA_START_PAGE;
 
   while (index < buffer_length) {
-    if (!this->write_mifare_ultralight_page_(current_page, encoded.data() + index, nfc::MIFARE_ULTRALIGHT_PAGE_SIZE)) {
+    if (!this->write_mifare_ultralight_page_(
+            current_page, std::span<const uint8_t>(&buffer[index], nfc::MIFARE_ULTRALIGHT_PAGE_SIZE))) {
       return false;
     }
     index += nfc::MIFARE_ULTRALIGHT_PAGE_SIZE;
@@ -156,23 +145,25 @@ bool PN532::clean_mifare_ultralight_() {
   static constexpr std::array<uint8_t, nfc::MIFARE_ULTRALIGHT_PAGE_SIZE> BLANK_DATA = {0x00, 0x00, 0x00, 0x00};
 
   for (int i = nfc::MIFARE_ULTRALIGHT_DATA_START_PAGE; i < pages; i++) {
-    if (!this->write_mifare_ultralight_page_(i, BLANK_DATA.data(), BLANK_DATA.size())) {
+    if (!this->write_mifare_ultralight_page_(i, BLANK_DATA)) {
       return false;
     }
   }
   return true;
 }
 
-bool PN532::write_mifare_ultralight_page_(uint8_t page_num, const uint8_t *write_data, size_t len) {
-  std::vector<uint8_t> cmd({
+bool PN532::write_mifare_ultralight_page_(uint8_t page_num, const std::span<const uint8_t> write_data) {
+  StaticVector<uint8_t, 4 + nfc::MIFARE_ULTRALIGHT_PAGE_SIZE> cmd = {
       PN532_COMMAND_INDATAEXCHANGE,
       0x01,  // One card
       nfc::MIFARE_CMD_WRITE_ULTRALIGHT,
       page_num,
-  });
-  cmd.insert(cmd.end(), write_data, write_data + len);
+  };
+  for (const uint8_t byte : write_data) {
+    cmd.push_back(byte);
+  }
 
-  std::vector<uint8_t> response;
+  PN532Frame response;
   if (!this->in_data_exchange_(cmd, response)) {
     ESP_LOGE(TAG, "Error writing page %u", page_num);
     return false;
diff --git a/esphome/components/pn532_i2c/pn532_i2c.cpp b/esphome/components/pn532_i2c/pn532_i2c.cpp
index 4160076a7d..7f00e18d4c 100644
--- a/esphome/components/pn532_i2c/pn532_i2c.cpp
+++ b/esphome/components/pn532_i2c/pn532_i2c.cpp
@@ -2,6 +2,8 @@
 #include "esphome/core/log.h"
 #include "esphome/core/hal.h"
 
+#include <algorithm>
+
 // Based on:
 // - https://cdn-shop.adafruit.com/datasheets/PN532C106_Application+Note_v1.2.pdf
 // - https://www.nxp.com/docs/en/nxp/application-notes/AN133910.pdf
@@ -20,11 +22,14 @@ bool PN532I2C::is_read_ready() {
   return status & 0x01;
 }
 
-bool PN532I2C::write_data(const std::vector<uint8_t> &data) {
+bool PN532I2C::write_data(const std::span<const uint8_t> data) {
   return this->write(data.data(), data.size()) == i2c::ERROR_OK;
 }
 
-bool PN532I2C::read_data(std::vector<uint8_t> &data, uint8_t len) {
+bool PN532I2C::read_data(pn532::PN532Frame &data, size_t len) {
+  if (len + 1 > pn532::PN532_FRAME_MAX_SIZE) {
+    return false;
+  }
   delay(1);
 
   if (this->read_ready_(true) != pn532::PN532ReadReady::READY) {
@@ -36,7 +41,7 @@ bool PN532I2C::read_data(std::vector<uint8_t> &data, uint8_t len) {
   return this->read_bytes_raw(data.data(), len + 1);
 }
 
-bool PN532I2C::read_response(uint8_t command, std::vector<uint8_t> &data) {
+bool PN532I2C::read_response(uint8_t command, pn532::PN532Frame &data) {
   ESP_LOGV(TAG, "Reading response");
   uint8_t len = this->read_response_length_();
   if (len == 0) {
@@ -64,33 +69,33 @@ bool PN532I2C::read_response(uint8_t command, std::vector<uint8_t> &data) {
     return false;
   }
 
-  data.erase(data.begin(), data.begin() + 6);  // Remove headers
-
+  // frame: status, preamble, start code (2), LEN, LCS, TFI, command response code, data, DCS, postamble
+  constexpr size_t tfi_offset = 6;
   uint8_t checksum = 0;
-  for (int i = 0; i < len + 1; i++) {
-    uint8_t dat = data[i];
-    checksum += dat;
+  for (size_t i = 0; i < len + 1U; i++) {
+    checksum += data[tfi_offset + i];
   }
   checksum = ~checksum + 1;
 
-  if (data[len + 1] != checksum) {
-    ESP_LOGV(TAG, "read data invalid checksum! %02X != %02X", data[len + 1], checksum);
+  if (data[tfi_offset + len + 1] != checksum) {
+    ESP_LOGV(TAG, "read data invalid checksum! %02X != %02X", data[tfi_offset + len + 1], checksum);
     return false;
   }
 
-  if (data[len + 2] != 0x00) {
+  if (data[tfi_offset + len + 2] != 0x00) {
     ESP_LOGV(TAG, "read data invalid postamble!");
     return false;
   }
 
-  data.erase(data.begin(), data.begin() + 2);  // Remove TFI and command code
-  data.erase(data.end() - 2, data.end());      // Remove checksum and postamble
+  // keep only the data bytes that follow the command response code
+  std::copy(data.begin() + tfi_offset + 2, data.begin() + tfi_offset + len + 1, data.begin());
+  data.resize(len - 1);
 
   return true;
 }
 
 uint8_t PN532I2C::read_response_length_() {
-  std::vector<uint8_t> data;
+  pn532::PN532Frame data;
   if (!this->read_data(data, 6)) {
     return 0;
   }
diff --git a/esphome/components/pn532_i2c/pn532_i2c.h b/esphome/components/pn532_i2c/pn532_i2c.h
index 6495f17599..f148e196a0 100644
--- a/esphome/components/pn532_i2c/pn532_i2c.h
+++ b/esphome/components/pn532_i2c/pn532_i2c.h
@@ -4,7 +4,7 @@
 #include "esphome/components/pn532/pn532.h"
 #include "esphome/components/i2c/i2c.h"
 
-#include <vector>
+#include <span>
 
 namespace esphome::pn532_i2c {
 
@@ -14,9 +14,9 @@ class PN532I2C final : public pn532::PN532, public i2c::I2CDevice {
 
  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;
+  bool write_data(std::span<const uint8_t> data) override;
+  bool read_data(pn532::PN532Frame &data, size_t len) override;
+  bool read_response(uint8_t command, pn532::PN532Frame &data) override;
   uint8_t read_response_length_();
 };
 
diff --git a/esphome/components/pn532_spi/pn532_spi.cpp b/esphome/components/pn532_spi/pn532_spi.cpp
index 112adc4ecb..73d65e4330 100644
--- a/esphome/components/pn532_spi/pn532_spi.cpp
+++ b/esphome/components/pn532_spi/pn532_spi.cpp
@@ -2,6 +2,8 @@
 #include "esphome/core/helpers.h"
 #include "esphome/core/log.h"
 
+#include <array>
+
 // Based on:
 // - https://cdn-shop.adafruit.com/datasheets/PN532C106_Application+Note_v1.2.pdf
 // - https://www.nxp.com/docs/en/nxp/application-notes/AN133910.pdf
@@ -31,7 +33,7 @@ bool PN532Spi::is_read_ready() {
   return ready;
 }
 
-bool PN532Spi::write_data(const std::vector<uint8_t> &data) {
+bool PN532Spi::write_data(const std::span<const uint8_t> data) {
   this->enable();
   delay(2);
   // First byte, communication mode: Write data
@@ -46,8 +48,8 @@ bool PN532Spi::write_data(const std::vector<uint8_t> &data) {
   return true;
 }
 
-bool PN532Spi::read_data(std::vector<uint8_t> &data, uint8_t len) {
-  if (this->read_ready_(true) != pn532::PN532ReadReady::READY) {
+bool PN532Spi::read_data(pn532::PN532Frame &data, size_t len) {
+  if (len + 1 > pn532::PN532_FRAME_MAX_SIZE || this->read_ready_(true) != pn532::PN532ReadReady::READY) {
     return false;
   }
 
@@ -58,10 +60,11 @@ bool PN532Spi::read_data(std::vector<uint8_t> &data, uint8_t len) {
 
   ESP_LOGV(TAG, "Reading data");
 
-  data.resize(len);
-  this->read_array(data.data(), len);
+  // lead with a status byte so callers see the same layout as on the I2C bus
+  data.resize(len + 1);
+  data[0] = 0x01;
+  this->read_array(data.data() + 1, len);
   this->disable();
-  data.insert(data.begin(), 0x01);
 #if ESPHOME_LOG_LEVEL >= ESPHOME_LOG_LEVEL_VERBOSE
   char hex_buf[format_hex_pretty_size(PN532_MAX_LOG_BYTES)];
 #endif
@@ -69,7 +72,7 @@ bool PN532Spi::read_data(std::vector<uint8_t> &data, uint8_t len) {
   return true;
 }
 
-bool PN532Spi::read_response(uint8_t command, std::vector<uint8_t> &data) {
+bool PN532Spi::read_response(uint8_t command, pn532::PN532Frame &data) {
   ESP_LOGV(TAG, "Reading response");
 
   if (this->read_ready_(true) != pn532::PN532ReadReady::READY) {
@@ -80,8 +83,8 @@ bool PN532Spi::read_response(uint8_t command, std::vector<uint8_t> &data) {
   delay(2);
   this->write_byte(0x03);
 
-  std::vector<uint8_t> header(7);
-  this->read_array(header.data(), 7);
+  std::array<uint8_t, 7> header;
+  this->read_array(header.data(), header.size());
 
 #if ESPHOME_LOG_LEVEL >= ESPHOME_LOG_LEVEL_VERBOSE
   char hex_buf[format_hex_pretty_size(PN532_MAX_LOG_BYTES)];
@@ -141,7 +144,7 @@ bool PN532Spi::read_response(uint8_t command, std::vector<uint8_t> &data) {
     return false;
   }
 
-  data.erase(data.end() - 2, data.end());  // Remove checksum and postamble
+  data.resize(len - 1);  // Remove checksum and postamble
 
   return true;
 }
diff --git a/esphome/components/pn532_spi/pn532_spi.h b/esphome/components/pn532_spi/pn532_spi.h
index f29950c423..b051cd781e 100644
--- a/esphome/components/pn532_spi/pn532_spi.h
+++ b/esphome/components/pn532_spi/pn532_spi.h
@@ -4,7 +4,7 @@
 #include "esphome/components/pn532/pn532.h"
 #include "esphome/components/spi/spi.h"
 
-#include <vector>
+#include <span>
 
 namespace esphome::pn532_spi {
 
@@ -18,9 +18,9 @@ class PN532Spi final : public pn532::PN532,
 
  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;
+  bool write_data(std::span<const uint8_t> data) override;
+  bool read_data(pn532::PN532Frame &data, size_t len) override;
+  bool read_response(uint8_t command, pn532::PN532Frame &data) override;
 };
 
 }  // namespace esphome::pn532_spi
diff --git a/esphome/core/defines.h b/esphome/core/defines.h
index 19b3f475be..f768777c04 100644
--- a/esphome/core/defines.h
+++ b/esphome/core/defines.h
@@ -139,6 +139,9 @@
 #define MICRONOVA_LISTENER_COUNT 1
 #define USE_MICRONOVA_WRITER
 #define MK2PVROUTER_LISTENER_COUNT 1
+#define PN532_BINARY_SENSOR_COUNT 1
+#define PN532_ON_TAG_REMOVED_TRIGGER_COUNT 1
+#define PN532_ON_TAG_TRIGGER_COUNT 1
 #define REMOTE_BASE_DUMPER_COUNT 1
 #define REMOTE_BASE_LISTENER_COUNT 1
 #define USE_REMOTE_PROTOCOL_ABBWELCOME
diff --git a/esphome/core/helpers.h b/esphome/core/helpers.h
index 13ba0a9791..6d00e18799 100644
--- a/esphome/core/helpers.h
+++ b/esphome/core/helpers.h
@@ -276,6 +276,9 @@ template<typename T, size_t N> class StaticVector {
 
   // Clear all elements
   void clear() { count_ = 0; }
+  // Set the element count, capped at N. Elements are neither initialized when growing nor destroyed when
+  // shrinking; release owning elements before shrinking past them.
+  void resize(size_t n) { count_ = n < N ? n : N; }
 
   // Assign from iterator range
   template<typename InputIt> void assign(InputIt first, InputIt last) {
diff --git a/tests/components/pn532/pn532_test.cpp b/tests/components/pn532/pn532_test.cpp
index 38c369acbc..75f9cf6d08 100644
--- a/tests/components/pn532/pn532_test.cpp
+++ b/tests/components/pn532/pn532_test.cpp
@@ -1,6 +1,8 @@
 #include <gtest/gtest.h>
 
+#include <array>
 #include <deque>
+#include <span>
 
 #include "esphome/components/pn532/pn532.h"
 
@@ -14,6 +16,7 @@ class FakePN532 : public PN532 {
   using PN532::auth_mifare_classic_block_;
   using PN532::read_mifare_ultralight_bytes_;
   using PN532::read_mifare_classic_block_;
+  using PN532::write_command_;
   using PN532::write_mifare_classic_block_;
   using PN532::write_mifare_ultralight_page_;
 
@@ -22,24 +25,26 @@ class FakePN532 : public PN532 {
 
  protected:
   bool is_read_ready() override { return true; }
-  bool write_data(const std::vector<uint8_t> &data) override {
-    this->written.push_back(data);
+  bool write_data(std::span<const uint8_t> data) override {
+    this->written.emplace_back(data.begin(), data.end());
     return true;
   }
   // only used for ACK frames; index 0 is the I2C status byte
-  bool read_data(std::vector<uint8_t> &data, uint8_t len) override {
+  bool read_data(PN532Frame &data, size_t len) override {
     data = {0x01, 0x00, 0x00, 0xFF, 0x00, 0xFF, 0x00};
     return true;
   }
-  bool read_response(uint8_t command, std::vector<uint8_t> &data) override {
+  bool read_response(uint8_t command, PN532Frame &data) override {
     if (this->responses.empty())
       return false;
-    data = this->responses.front();
+    data.assign(this->responses.front().begin(), this->responses.front().end());
     this->responses.pop_front();
     return true;
   }
 };
 
+std::vector<uint8_t> bytes_of(std::span<const uint8_t> bytes) { return {bytes.begin(), bytes.end()}; }
+
 // Extracts the command bytes (after TFI) from a normal information frame
 std::vector<uint8_t> frame_data(const std::vector<uint8_t> &frame) {
   // preamble, start code (2), LEN, LCS, TFI, data..., DCS, postamble
@@ -58,40 +63,79 @@ TEST(PN532TagType, FromSelRes) {
   EXPECT_EQ(tag_type_from_sel_res(0x40), nfc::TAG_TYPE_UNKNOWN);
 }
 
+// The frame wraps the command in preamble, start code, LEN, LCS, TFI, DCS and postamble (UM0701-02, 6.2.1.1).
+TEST(PN532Frame, WrapsCommand) {
+  FakePN532 pn532;
+  ASSERT_TRUE(pn532.write_command_({0x4A, 0x01, 0x00}));
+  ASSERT_EQ(pn532.written.size(), 1u);
+  EXPECT_EQ(pn532.written[0], (std::vector<uint8_t>{0x00, 0x00, 0xFF, 0x04, 0xFC, 0xD4, 0x4A, 0x01, 0x00, 0xE1, 0x00}));
+}
+
+// A command that cannot fit a normal information frame is refused rather than truncated.
+TEST(PN532Frame, RejectsOversizedCommand) {
+  FakePN532 pn532;
+  std::array<uint8_t, PN532_FRAME_MAX_DATA_SIZE + 1> too_long{};
+  EXPECT_FALSE(pn532.write_command_(too_long));
+  EXPECT_TRUE(pn532.written.empty());
+  EXPECT_TRUE(pn532.write_command_(std::span<const uint8_t>(too_long).first(PN532_FRAME_MAX_DATA_SIZE)));
+  ASSERT_EQ(pn532.written.size(), 1u);
+  EXPECT_EQ(pn532.written[0].size(), PN532_FRAME_MAX_DATA_SIZE + 8);
+}
+
 // A failed write (status byte other than 0x00) must be reported as a failure.
 TEST(PN532Mifare, ClassicWriteChecksStatus) {
   FakePN532 pn532;
   const uint8_t block[16] = {};
   pn532.responses.push_back({0x14});  // authentication error
-  EXPECT_FALSE(pn532.write_mifare_classic_block_(4, block, sizeof(block)));
+  EXPECT_FALSE(pn532.write_mifare_classic_block_(4, block));
   pn532.responses.push_back({0x00});
-  EXPECT_TRUE(pn532.write_mifare_classic_block_(4, block, sizeof(block)));
+  EXPECT_TRUE(pn532.write_mifare_classic_block_(4, block));
 }
 
 TEST(PN532Mifare, UltralightWriteChecksStatus) {
   FakePN532 pn532;
   const uint8_t page[4] = {};
   pn532.responses.push_back({0x01});  // timeout
-  EXPECT_FALSE(pn532.write_mifare_ultralight_page_(4, page, sizeof(page)));
+  EXPECT_FALSE(pn532.write_mifare_ultralight_page_(4, page));
   pn532.responses.push_back({0x00});
-  EXPECT_TRUE(pn532.write_mifare_ultralight_page_(4, page, sizeof(page)));
+  EXPECT_TRUE(pn532.write_mifare_ultralight_page_(4, page));
 }
 
 TEST(PN532Mifare, ClassicReadRejectsBadResponses) {
   FakePN532 pn532;
-  std::vector<uint8_t> data;
+  MifareReadData data{};
   pn532.responses.emplace_back();  // empty response
   EXPECT_FALSE(pn532.read_mifare_classic_block_(4, data));
-  data.clear();
   pn532.responses.push_back({0x00, 0x01, 0x02});  // short block
   EXPECT_FALSE(pn532.read_mifare_classic_block_(4, data));
 
   std::vector<uint8_t> good(17, 0xAB);
   good[0] = 0x00;
   pn532.responses.push_back(good);
-  data.clear();
   EXPECT_TRUE(pn532.read_mifare_classic_block_(4, data));
-  EXPECT_EQ(data, std::vector<uint8_t>(16, 0xAB));
+  EXPECT_EQ(bytes_of(data), std::vector<uint8_t>(16, 0xAB));
+}
+
+// The NDEF TLV is type 0x03, a one-byte length below 255 (three bytes otherwise), the message, terminator 0xFE,
+// then zero padding out to the requested length.
+TEST(PN532Ndef, FillsTlv) {
+  FixedVector<uint8_t> buffer;
+  const std::array<uint8_t, 3> message = {0xD1, 0x01, 0x02};
+  nfc::fill_ndef_tlv(message, 8, buffer);
+  EXPECT_EQ(bytes_of(std::span<const uint8_t>(buffer)),
+            (std::vector<uint8_t>{0x03, 0x03, 0xD1, 0x01, 0x02, 0xFE, 0x00, 0x00}));
+
+  std::vector<uint8_t> long_message(300, 0xAA);
+  nfc::fill_ndef_tlv(long_message, 320, buffer);
+  ASSERT_EQ(buffer.size(), 320u);
+  EXPECT_EQ(buffer[0], 0x03);
+  EXPECT_EQ(buffer[1], 0xFF);
+  EXPECT_EQ(buffer[2], 0x01);  // 300 = 0x012C
+  EXPECT_EQ(buffer[3], 0x2C);
+  EXPECT_EQ(buffer[4], 0xAA);
+  EXPECT_EQ(buffer[303], 0xAA);
+  EXPECT_EQ(buffer[304], 0xFE);
+  EXPECT_EQ(buffer[319], 0x00);
 }
 
 // Authentication carries exactly 4 UID bytes: the last 4 of a 7-byte UID.
@@ -119,7 +163,7 @@ TEST(PN532Mifare, UltralightReadTrimsLastChunk) {
   pn532.responses.push_back(first);
   pn532.responses.push_back(second);
 
-  std::vector<uint8_t> data;
+  UltralightReadBuffer data;
   ASSERT_TRUE(pn532.read_mifare_ultralight_bytes_(4, 20, data));
   ASSERT_EQ(data.size(), 20u);
   EXPECT_EQ(data[15], 15);
@@ -133,7 +177,7 @@ TEST(PN532Mifare, UltralightReadTrimsLastChunk) {
 
 TEST(PN532Mifare, UltralightReadRejectsBadResponses) {
   FakePN532 pn532;
-  std::vector<uint8_t> data;
+  UltralightReadBuffer data;
   pn532.responses.push_back({0x00, 0x01, 0x02});  // short response
   EXPECT_FALSE(pn532.read_mifare_ultralight_bytes_(4, 16, data));