diff --git a/esphome/components/wifi/__init__.py b/esphome/components/wifi/__init__.py
index b8c6d774ac..1691dcc293 100644
--- a/esphome/components/wifi/__init__.py
+++ b/esphome/components/wifi/__init__.py
@@ -66,13 +66,14 @@ from esphome.const import (
 )
 from esphome.core import (
     CORE,
+    ID,
     CoroPriority,
     EsphomeError,
     HexInt,
     coroutine_with_priority,
 )
 import esphome.final_validate as fv
-from esphome.types import ConfigType
+from esphome.types import ConfigType, TemplateArgsType
 
 from . import wpa2_eap
 
@@ -208,6 +209,7 @@ WiFiEnabledCondition = wifi_ns.class_("WiFiEnabledCondition", Condition)
 WiFiAPActiveCondition = wifi_ns.class_("WiFiAPActiveCondition", Condition)
 WiFiEnableAction = wifi_ns.class_("WiFiEnableAction", automation.Action)
 WiFiDisableAction = wifi_ns.class_("WiFiDisableAction", automation.Action)
+WiFiRoamAction = wifi_ns.class_("WiFiRoamAction", automation.Action)
 WiFiConfigureAction = wifi_ns.class_(
     "WiFiConfigureAction", automation.Action, cg.Component
 )
@@ -820,6 +822,18 @@ async def wifi_disable_to_code(config, action_id, template_arg, args):
     return cg.new_Pvariable(action_id, template_arg)
 
 
+@automation.register_action(
+    "wifi.roam", WiFiRoamAction, cv.Schema({}), synchronous=True
+)
+async def wifi_roam_to_code(
+    config: ConfigType,
+    action_id: ID,
+    template_arg: cg.TemplateArguments,
+    args: TemplateArgsType,
+) -> cg.MockObj:
+    return cg.new_Pvariable(action_id, template_arg)
+
+
 KEEP_SCAN_RESULTS_KEY = "wifi_keep_scan_results"
 RUNTIME_POWER_SAVE_KEY = "wifi_runtime_power_save"
 RUNTIME_ROAMING_SUPPRESSION_KEY = "wifi_runtime_roaming_suppression"
diff --git a/esphome/components/wifi/automation.h b/esphome/components/wifi/automation.h
index e63faa18ab..c14341330f 100644
--- a/esphome/components/wifi/automation.h
+++ b/esphome/components/wifi/automation.h
@@ -31,6 +31,11 @@ template<typename... Ts> class WiFiDisableAction final : public Action<Ts...> {
   void play(const Ts &...x) override { global_wifi_component->disable(); }
 };
 
+template<typename... Ts> class WiFiRoamAction final : public Action<Ts...> {
+ public:
+  void play(const Ts &...x) override { global_wifi_component->force_roam_check(); }
+};
+
 template<typename... Ts> class WiFiConfigureAction final : public Action<Ts...>, public Component {
  public:
   TEMPLATABLE_VALUE(std::string, ssid)
diff --git a/esphome/components/wifi/wifi_component.cpp b/esphome/components/wifi/wifi_component.cpp
index 694e616476..f9e80995e1 100644
--- a/esphome/components/wifi/wifi_component.cpp
+++ b/esphome/components/wifi/wifi_component.cpp
@@ -846,17 +846,18 @@ void WiFiComponent::loop() {
           this->notify_connect_state_listeners_();
 #endif
 
-          // Post-connect roaming: check for better AP
-          if (this->post_connect_roaming_) {
-            if (this->is_roaming_scan_active()) {
-              if (this->scan_done_) {
-                this->process_roaming_scan_();
-              }
-              // else: scan in progress, wait
-            } else if (this->roaming_state_ == RoamingState::IDLE && this->roaming_attempts_ < ROAMING_MAX_ATTEMPTS &&
-                       now - this->roaming_last_check_ >= ROAMING_CHECK_INTERVAL && !this->roaming_suppressed_()) {
-              this->check_roaming_(now);
+          // Post-connect roaming: check for better AP. A scan may have been started by an
+          // explicit force_roam_check() even when post_connect_roaming_ is disabled, so the
+          // scan must always be consumed here to avoid leaving roaming_state_ stuck.
+          if (this->is_roaming_scan_active()) {
+            if (this->scan_done_) {
+              this->process_roaming_scan_();
             }
+            // else: scan in progress, wait
+          } else if (this->post_connect_roaming_ && this->roaming_state_ == RoamingState::IDLE &&
+                     this->roaming_attempts_ < ROAMING_MAX_ATTEMPTS &&
+                     now - this->roaming_last_check_ >= ROAMING_CHECK_INTERVAL && !this->roaming_suppressed_()) {
+            this->check_roaming_(now);
           }
         }
         break;
@@ -2463,6 +2464,17 @@ void WiFiComponent::notify_scan_results_listeners_() {
 }
 #endif  // USE_WIFI_SCAN_RESULTS_LISTENERS
 
+void WiFiComponent::force_roam_check() {
+  if (!this->is_connected() || this->roaming_state_ != RoamingState::IDLE || this->roaming_suppressed_()) {
+    ESP_LOGD(TAG, "Roam check requested, but not able to check now");
+    return;
+  }
+  // Reset the attempt counter so a prior run of failed roams doesn't block this explicit request
+  // Note that this re-arms automatic roaming if enabled.
+  this->roaming_attempts_ = 0;
+  this->check_roaming_(millis());
+}
+
 void WiFiComponent::check_roaming_(uint32_t now) {
   // Guard: not for hidden networks (may not appear in scan)
   const WiFiAP *selected = this->get_selected_sta_();
@@ -2484,7 +2496,11 @@ void WiFiComponent::check_roaming_(uint32_t now) {
 
   ESP_LOGD(TAG, "Roam scan (%d dBm, attempt %u/%u)", rssi, this->roaming_attempts_, ROAMING_MAX_ATTEMPTS);
   this->roaming_state_ = RoamingState::SCANNING;
-  this->wifi_scan_start_(this->passive_scan_);
+  if (!this->wifi_scan_start_(this->passive_scan_)) {
+    // Scan failed to start (e.g. busy) - don't get stuck in SCANNING forever
+    ESP_LOGD(TAG, "Roam scan failed to start");
+    this->roaming_state_ = RoamingState::IDLE;
+  }
 }
 
 void WiFiComponent::process_roaming_scan_() {
diff --git a/esphome/components/wifi/wifi_component.h b/esphome/components/wifi/wifi_component.h
index 63df9fbfa5..94fdd9bc14 100644
--- a/esphome/components/wifi/wifi_component.h
+++ b/esphome/components/wifi/wifi_component.h
@@ -565,6 +565,12 @@ class WiFiComponent final : public Component {
   void set_keep_scan_results(bool keep_scan_results) { this->keep_scan_results_ = keep_scan_results; }
   void set_post_connect_roaming(bool enabled) { this->post_connect_roaming_ = enabled; }
 
+  /** Force an immediate post-connect roaming check, bypassing the periodic interval and the
+   * per-connection attempt limit. Does nothing (besides a debug log) if not connected, if a
+   * roam scan or connect is already in progress, or if roaming is currently suppressed.
+   */
+  void force_roam_check();
+
 #ifdef USE_WIFI_CONNECT_TRIGGER
   Trigger<> *get_connect_trigger() { return &this->connect_trigger_; }
 #endif
diff --git a/tests/components/wifi/common.yaml b/tests/components/wifi/common.yaml
index 10b68347eb..10a8a61c66 100644
--- a/tests/components/wifi/common.yaml
+++ b/tests/components/wifi/common.yaml
@@ -14,6 +14,7 @@ esphome:
           condition: wifi.ap_active
           then:
             - logger.log: "WiFi AP is active!"
+      - wifi.roam
 
 wifi:
   networks: