diff --git a/esphome/components/seeed_mr24hpc1/seeed_mr24hpc1.cpp b/esphome/components/seeed_mr24hpc1/seeed_mr24hpc1.cpp
index a0dc7ae4cb..0d095b5384 100644
--- a/esphome/components/seeed_mr24hpc1/seeed_mr24hpc1.cpp
+++ b/esphome/components/seeed_mr24hpc1/seeed_mr24hpc1.cpp
@@ -9,6 +9,8 @@ namespace esphome::seeed_mr24hpc1 {
 
 static const char *const TAG = "seeed_mr24hpc1";
 
+static constexpr uint32_t STARTUP_DELAY_MS = 1000;
+
 // Prints the component's configuration data. dump_config() prints all of the component's configuration
 // items in an easy-to-read format, including the configuration key-value pairs.
 void MR24HPC1Component::dump_config() {
@@ -76,8 +78,7 @@ void MR24HPC1Component::setup() {
     this->custom_mode_end_text_sensor_->publish_state("Not in custom mode");
   }
 #endif
-  this->set_custom_end_mode();
-  this->poll_time_base_func_check_ = true;
+  this->poll_time_base_func_check_ = false;
   this->check_dev_inf_sign_ = true;
   this->sg_start_query_data_ = STANDARD_FUNCTION_QUERY_PRODUCT_MODE;
   this->sg_data_len_ = 0;
@@ -92,7 +93,13 @@ void MR24HPC1Component::setup() {
   memset(this->sg_frame_prase_buf_, 0, FRAME_BUF_MAX_SIZE);
   memset(this->sg_frame_buf_, 0, FRAME_BUF_MAX_SIZE);
 
-  this->set_interval(8000, [this]() { this->update_(); });
+  // The module locks up when queried during its own boot, so hold all TX for a second
+  this->set_timeout(STARTUP_DELAY_MS, [this]() {
+    this->module_ready_ = true;
+    this->set_custom_end_mode();
+    this->poll_time_base_func_check_ = true;
+    this->set_interval(8000, [this]() { this->update_(); });
+  });
 }
 
 // Timed polling of radar data
@@ -686,6 +693,8 @@ void MR24HPC1Component::r24_frame_parse_human_information_(uint8_t *data) {
 
 // Sending data frames
 void MR24HPC1Component::send_query_(const uint8_t *query, size_t string_length) {
+  if (!this->module_ready_)
+    return;
   this->write_array(query, string_length);
 }
 
diff --git a/esphome/components/seeed_mr24hpc1/seeed_mr24hpc1.h b/esphome/components/seeed_mr24hpc1/seeed_mr24hpc1.h
index b231bab33e..23cecfc986 100644
--- a/esphome/components/seeed_mr24hpc1/seeed_mr24hpc1.h
+++ b/esphome/components/seeed_mr24hpc1/seeed_mr24hpc1.h
@@ -153,6 +153,7 @@ class MR24HPC1Component final : public Component,
   int sg_start_query_data_;
   bool check_dev_inf_sign_;
   bool poll_time_base_func_check_;
+  bool module_ready_{false};
 
   void update_();
   void r24_split_data_frame_(uint8_t value);
diff --git a/tests/components/seeed_mr24hpc1/test.esp32-idf.yaml b/tests/components/seeed_mr24hpc1/test.esp32-idf.yaml
new file mode 100644
index 0000000000..3853bf3e8d
--- /dev/null
+++ b/tests/components/seeed_mr24hpc1/test.esp32-idf.yaml
@@ -0,0 +1,3 @@
+packages:
+  uart_115200: !include ../../test_build_components/common/uart_115200/esp32-idf.yaml
+  seeed_mr24hpc1: !include common.yaml