diff --git a/esphome/components/const/__init__.py b/esphome/components/const/__init__.py
index 059bf3f26a9..f6da32569fe 100644
--- a/esphome/components/const/__init__.py
+++ b/esphome/components/const/__init__.py
@@ -3,6 +3,7 @@
 CODEOWNERS = ["@esphome/core"]
 
 CONF_BYTE_ORDER = "byte_order"
+CONF_CLIMATE_ID = "climate_id"
 BYTE_ORDER_LITTLE = "little_endian"
 BYTE_ORDER_BIG = "big_endian"
 
diff --git a/esphome/components/pid/sensor/__init__.py b/esphome/components/pid/sensor/__init__.py
index 4547f4d7082..d26e88e38ae 100644
--- a/esphome/components/pid/sensor/__init__.py
+++ b/esphome/components/pid/sensor/__init__.py
@@ -1,5 +1,6 @@
 import esphome.codegen as cg
 from esphome.components import sensor
+from esphome.components.const import CONF_CLIMATE_ID
 import esphome.config_validation as cv
 from esphome.const import CONF_TYPE, ICON_GAUGE, STATE_CLASS_MEASUREMENT, UNIT_PERCENT
 
@@ -21,7 +22,6 @@ PID_CLIMATE_SENSOR_TYPES = {
     "KD": PIDClimateSensorType.PID_SENSOR_TYPE_KD,
 }
 
-CONF_CLIMATE_ID = "climate_id"
 CONFIG_SCHEMA = (
     sensor.sensor_schema(
         PIDClimateSensor,
diff --git a/esphome/components/runtime_image/bmp_decoder.h b/esphome/components/runtime_image/bmp_decoder.h
index 73e54f54302..a52a5615849 100644
--- a/esphome/components/runtime_image/bmp_decoder.h
+++ b/esphome/components/runtime_image/bmp_decoder.h
@@ -26,6 +26,10 @@ class BmpDecoder : public ImageDecoder {
   int HOT decode(uint8_t *buffer, size_t size) override;
 
   bool is_finished() const override {
+    if (this->bits_per_pixel_ == 0) {
+      // header not yet received, so dimensions not yet determined
+      return false;
+    }
     // BMP is finished when we've decoded all pixel data
     return this->paint_index_ >= static_cast<size_t>(this->width_ * this->height_);
   }
diff --git a/esphome/components/wifi/wifi_component.cpp b/esphome/components/wifi/wifi_component.cpp
index 66898ecb5f9..f7a69312680 100644
--- a/esphome/components/wifi/wifi_component.cpp
+++ b/esphome/components/wifi/wifi_component.cpp
@@ -6,7 +6,7 @@
 #include <type_traits>
 
 #ifdef USE_ESP32
-#if (ESP_IDF_VERSION_MAJOR >= 5 && ESP_IDF_VERSION_MINOR >= 1)
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
 #include <esp_eap_client.h>
 #else
 #include <esp_wpa2.h>
diff --git a/esphome/components/wifi/wifi_component.h b/esphome/components/wifi/wifi_component.h
index 883cc1344b4..aeb32352a97 100644
--- a/esphome/components/wifi/wifi_component.h
+++ b/esphome/components/wifi/wifi_component.h
@@ -18,7 +18,7 @@
 #endif
 
 #if defined(USE_ESP32) && defined(USE_WIFI_WPA2_EAP)
-#if (ESP_IDF_VERSION_MAJOR >= 5) && (ESP_IDF_VERSION_MINOR >= 1)
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
 #include <esp_eap_client.h>
 #else
 #include <esp_wpa2.h>
diff --git a/esphome/components/wifi/wifi_component_esp_idf.cpp b/esphome/components/wifi/wifi_component_esp_idf.cpp
index 366854ed585..ae1d2160a67 100644
--- a/esphome/components/wifi/wifi_component_esp_idf.cpp
+++ b/esphome/components/wifi/wifi_component_esp_idf.cpp
@@ -17,7 +17,7 @@
 #include <memory>
 #include <utility>
 #ifdef USE_WIFI_WPA2_EAP
-#if (ESP_IDF_VERSION_MAJOR >= 5) && (ESP_IDF_VERSION_MINOR >= 1)
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
 #include <esp_eap_client.h>
 #else
 #include <esp_wpa2.h>
@@ -75,7 +75,11 @@ struct IDFWiFiEvent {
 #if USE_NETWORK_IPV6
     ip_event_got_ip6_t ip_got_ip6;
 #endif /* USE_NETWORK_IPV6 */
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+    ip_event_assigned_ip_to_client_t ip_assigned_ip_to_client;
+#else
     ip_event_ap_staipassigned_t ip_ap_staipassigned;
+#endif
   } data;
 };
 
@@ -116,8 +120,13 @@ void event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, voi
     memcpy(&event.data.ap_staconnected, event_data, sizeof(wifi_event_ap_staconnected_t));
   } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_AP_STADISCONNECTED) {
     memcpy(&event.data.ap_stadisconnected, event_data, sizeof(wifi_event_ap_stadisconnected_t));
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+  } else if (event_base == IP_EVENT && event_id == IP_EVENT_ASSIGNED_IP_TO_CLIENT) {
+    memcpy(&event.data.ip_assigned_ip_to_client, event_data, sizeof(ip_event_assigned_ip_to_client_t));
+#else
   } else if (event_base == IP_EVENT && event_id == IP_EVENT_AP_STAIPASSIGNED) {
     memcpy(&event.data.ip_ap_staipassigned, event_data, sizeof(ip_event_ap_staipassigned_t));
+#endif
   } else {
     // did not match any event, don't send anything
     return;
@@ -407,7 +416,7 @@ bool WiFiComponent::wifi_sta_connect_(const WiFiAP &ap) {
   if (eap_opt.has_value()) {
     // note: all certificates and keys have to be null terminated. Lengths are appended by +1 to include \0.
     EAPAuth eap = *eap_opt;
-#if (ESP_IDF_VERSION_MAJOR >= 5) && (ESP_IDF_VERSION_MINOR >= 1)
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
     err = esp_eap_client_set_identity((uint8_t *) eap.identity.c_str(), eap.identity.length());
 #else
     err = esp_wifi_sta_wpa2_ent_set_identity((uint8_t *) eap.identity.c_str(), eap.identity.length());
@@ -419,7 +428,7 @@ bool WiFiComponent::wifi_sta_connect_(const WiFiAP &ap) {
     int client_cert_len = strlen(eap.client_cert);
     int client_key_len = strlen(eap.client_key);
     if (ca_cert_len) {
-#if (ESP_IDF_VERSION_MAJOR >= 5) && (ESP_IDF_VERSION_MINOR >= 1)
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
       err = esp_eap_client_set_ca_cert((uint8_t *) eap.ca_cert, ca_cert_len + 1);
 #else
       err = esp_wifi_sta_wpa2_ent_set_ca_cert((uint8_t *) eap.ca_cert, ca_cert_len + 1);
@@ -432,7 +441,7 @@ bool WiFiComponent::wifi_sta_connect_(const WiFiAP &ap) {
     // validation is not required as the config tool has already validated it
     if (client_cert_len && client_key_len) {
       // if we have certs, this must be EAP-TLS
-#if (ESP_IDF_VERSION_MAJOR >= 5) && (ESP_IDF_VERSION_MINOR >= 1)
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
       err = esp_eap_client_set_certificate_and_key((uint8_t *) eap.client_cert, client_cert_len + 1,
                                                    (uint8_t *) eap.client_key, client_key_len + 1,
                                                    (uint8_t *) eap.password.c_str(), eap.password.length());
@@ -446,7 +455,7 @@ bool WiFiComponent::wifi_sta_connect_(const WiFiAP &ap) {
       }
     } else {
       // in the absence of certs, assume this is username/password based
-#if (ESP_IDF_VERSION_MAJOR >= 5) && (ESP_IDF_VERSION_MINOR >= 1)
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
       err = esp_eap_client_set_username((uint8_t *) eap.username.c_str(), eap.username.length());
 #else
       err = esp_wifi_sta_wpa2_ent_set_username((uint8_t *) eap.username.c_str(), eap.username.length());
@@ -454,7 +463,7 @@ bool WiFiComponent::wifi_sta_connect_(const WiFiAP &ap) {
       if (err != ESP_OK) {
         ESP_LOGV(TAG, "set_username failed %d", err);
       }
-#if (ESP_IDF_VERSION_MAJOR >= 5) && (ESP_IDF_VERSION_MINOR >= 1)
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
       err = esp_eap_client_set_password((uint8_t *) eap.password.c_str(), eap.password.length());
 #else
       err = esp_wifi_sta_wpa2_ent_set_password((uint8_t *) eap.password.c_str(), eap.password.length());
@@ -463,7 +472,7 @@ bool WiFiComponent::wifi_sta_connect_(const WiFiAP &ap) {
         ESP_LOGV(TAG, "set_password failed %d", err);
       }
       // set TTLS Phase 2, defaults to MSCHAPV2
-#if (ESP_IDF_VERSION_MAJOR >= 5) && (ESP_IDF_VERSION_MINOR >= 1)
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
       err = esp_eap_client_set_ttls_phase2_method(eap.ttls_phase_2);
 #else
       err = esp_wifi_sta_wpa2_ent_set_ttls_phase2_method(eap.ttls_phase_2);
@@ -472,7 +481,7 @@ bool WiFiComponent::wifi_sta_connect_(const WiFiAP &ap) {
         ESP_LOGV(TAG, "set_ttls_phase2_method failed %d", err);
       }
     }
-#if (ESP_IDF_VERSION_MAJOR >= 5) && (ESP_IDF_VERSION_MINOR >= 1)
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 1, 0)
     err = esp_wifi_sta_enterprise_enable();
 #else
     err = esp_wifi_sta_wpa2_ent_enable();
@@ -628,14 +637,26 @@ const char *get_disconnect_reason_str(uint8_t reason) {
       return "Auth Expired";
     case WIFI_REASON_AUTH_LEAVE:
       return "Auth Leave";
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+    case WIFI_REASON_DISASSOC_DUE_TO_INACTIVITY:
+      return "Disassociated Due to Inactivity";
+#else
     case WIFI_REASON_ASSOC_EXPIRE:
       return "Association Expired";
+#endif
     case WIFI_REASON_ASSOC_TOOMANY:
       return "Too Many Associations";
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+    case WIFI_REASON_CLASS2_FRAME_FROM_NONAUTH_STA:
+      return "Class 2 Frame from Non-Authenticated STA";
+    case WIFI_REASON_CLASS3_FRAME_FROM_NONASSOC_STA:
+      return "Class 3 Frame from Non-Associated STA";
+#else
     case WIFI_REASON_NOT_AUTHED:
       return "Not Authenticated";
     case WIFI_REASON_NOT_ASSOCED:
       return "Not Associated";
+#endif
     case WIFI_REASON_ASSOC_LEAVE:
       return "Association Leave";
     case WIFI_REASON_ASSOC_NOT_AUTHED:
@@ -688,7 +709,7 @@ const char *get_disconnect_reason_str(uint8_t reason) {
       return "Association comeback time too long";
     case WIFI_REASON_SA_QUERY_TIMEOUT:
       return "SA query timeout";
-#if (ESP_IDF_VERSION_MAJOR >= 5) && (ESP_IDF_VERSION_MINOR >= 2)
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 2, 0)
     case WIFI_REASON_NO_AP_FOUND_W_COMPATIBLE_SECURITY:
       return "No AP found with compatible security";
     case WIFI_REASON_NO_AP_FOUND_IN_AUTHMODE_THRESHOLD:
@@ -917,8 +938,13 @@ void WiFiComponent::wifi_process_event_(IDFWiFiEvent *data) {
     ESP_LOGV(TAG, "AP client disconnected MAC=%s", mac_buf);
 #endif
 
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0)
+  } else if (data->event_base == IP_EVENT && data->event_id == IP_EVENT_ASSIGNED_IP_TO_CLIENT) {
+    const auto &it = data->data.ip_assigned_ip_to_client;
+#else
   } else if (data->event_base == IP_EVENT && data->event_id == IP_EVENT_AP_STAIPASSIGNED) {
     const auto &it = data->data.ip_ap_staipassigned;
+#endif
     ESP_LOGV(TAG, "AP client assigned IP " IPSTR, IP2STR(&it.ip));
   }
 }
diff --git a/esphome/core/config.py b/esphome/core/config.py
index d4a839cb795..e112720f2b4 100644
--- a/esphome/core/config.py
+++ b/esphome/core/config.py
@@ -589,7 +589,10 @@ async def _add_looping_components() -> None:
 async def to_code(config: ConfigType) -> None:
     cg.add_global(cg.global_ns.namespace("esphome").using)
     # These can be used by user lambdas, put them to default scope
+    # picolibc (IDF 6.0+) declares isnan in global scope, conflicting with using std::isnan
+    cg.add_global(cg.RawStatement("#ifndef __PICOLIBC__"))
     cg.add_global(cg.RawExpression("using std::isnan"))
+    cg.add_global(cg.RawStatement("#endif"))
     cg.add_global(cg.RawExpression("using std::min"))
     cg.add_global(cg.RawExpression("using std::max"))
 
diff --git a/tests/integration/fixtures/online_image_bmp.yaml b/tests/integration/fixtures/online_image_bmp.yaml
new file mode 100644
index 00000000000..e36514e9ae2
--- /dev/null
+++ b/tests/integration/fixtures/online_image_bmp.yaml
@@ -0,0 +1,27 @@
+esphome:
+  name: online-image-bmp
+
+host:
+
+http_request:
+
+display:
+
+online_image:
+  - url: http://127.0.0.1:HTTP_PORT/foo.bmp
+    id: myimg
+    format: BMP
+    type: RGB
+    on_download_finished:
+      logger.log:
+        format: "download finished. cache hit: %u"
+        args: [cached]
+
+api:
+  actions:
+    - action: fetch_image
+      then:
+        - component.update: myimg
+
+logger:
+  level: DEBUG
diff --git a/tests/integration/test_online_image_bmp.py b/tests/integration/test_online_image_bmp.py
new file mode 100644
index 00000000000..7c32154fdd6
--- /dev/null
+++ b/tests/integration/test_online_image_bmp.py
@@ -0,0 +1,119 @@
+from __future__ import annotations
+
+import asyncio
+import re
+
+import pytest
+
+from .types import APIClientConnectedFactory, RunCompiledFunction
+
+# black 8x8 RGB BMP, generated with
+#   from PIL import Image
+#   from io import BytesIO
+#   b = BytesIO()
+#   img = Image.new("RGB", (8, 8))
+#   img.save(b, format="BMP")
+#   b.getvalue()
+BMP_IMAGE = b"BM\xf6\x00\x00\x00\x00\x00\x00\x006\x00\x00\x00(\x00\x00\x00\x08\x00\x00\x00\x08\x00\x00\x00\x01\x00\x18\x00\x00\x00\x00\x00\xc0\x00\x00\x00\xc4\x0e\x00\x00\xc4\x0e\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"
+LEN_BMP_IMAGE = len(BMP_IMAGE)
+
+
+def handle_http(http_request_future):
+    async def handler(reader, writer):
+        try:
+            async with asyncio.timeout(1.0):
+                data = await reader.readuntil(b"\r\n")
+
+            # ensure our request matches the expectation
+            expected_request = b"GET /foo.bmp HTTP/1.1\r\n"
+            assert data[: len(expected_request)] == expected_request
+
+            # consume rest of request
+            async with asyncio.timeout(1.0):
+                data = await reader.readuntil(b"\r\n\r\n")
+
+            http_request_future.set_result(True)
+
+            http_response = [
+                b"HTTP/1.1 200 OK",
+                b"Content-Length: %d" % LEN_BMP_IMAGE,
+                b"Content-Type: text/plain",
+                b"Connection: close",
+                b"",
+                b"",
+            ]
+            writer.write(b"\r\n".join(http_response))
+            await writer.drain()
+
+            writer.write(BMP_IMAGE)
+
+            await writer.drain()
+        except Exception as exc:
+            if not http_request_future.done():
+                http_request_future.set_exception(exc)
+            raise
+        finally:
+            writer.close()
+
+    return handler
+
+
+@pytest.mark.asyncio
+async def test_online_image_bmp(
+    yaml_config: str,
+    run_compiled: RunCompiledFunction,
+    api_client_connected: APIClientConnectedFactory,
+) -> None:
+    """Esphome shouldn't block the main loop when a http response is slow"""
+    loop = asyncio.get_running_loop()
+
+    # Track http request
+    http_request_future = loop.create_future()
+    download_finished_future = loop.create_future()
+    downloaded_bytes_future = loop.create_future()
+
+    def check_output(line: str) -> None:
+        """Check log output for expected messages."""
+
+        if match := re.search(r"Image fully downloaded, (\d+) bytes", line):
+            downloaded_bytes_future.set_result(int(match.group(1)))
+
+        if "download finished" in line:
+            download_finished_future.set_result(True)
+
+    server = await asyncio.start_server(
+        handle_http(http_request_future), "127.0.0.1", 0
+    )
+    http_server_port = server.sockets[0].getsockname()[1]
+
+    config = yaml_config.replace("HTTP_PORT", str(http_server_port))
+
+    # Run with log monitoring
+    async with (
+        server,
+        run_compiled(config, line_callback=check_output),
+        api_client_connected() as client,
+    ):
+        # Verify device info
+
+        device_info = await client.device_info()
+        assert device_info is not None
+        assert device_info.name == "online-image-bmp"
+
+        # List services to find our test service
+        _, services = await client.list_entities_services()
+
+        # Find test service
+        request_service = next((s for s in services if s.name == "fetch_image"), None)
+
+        assert request_service is not None, "fetch_image service not found"
+
+        await client.execute_service(request_service, {})
+
+        async with asyncio.timeout(0.1):
+            await http_request_future
+
+        async with asyncio.timeout(0.5):
+            numbytes = await downloaded_bytes_future
+            assert numbytes == LEN_BMP_IMAGE
+            await download_finished_future