diff --git a/esphome/components/dfrobot_sen0395/automation.h b/esphome/components/dfrobot_sen0395/automation.h
index c3632085310..58dbb9afb09 100644
--- a/esphome/components/dfrobot_sen0395/automation.h
+++ b/esphome/components/dfrobot_sen0395/automation.h
@@ -26,17 +26,22 @@ class DfrobotSen0395SettingsAction final : public Action<Ts...>, public Parented
   TEMPLATABLE_VALUE(float, det_min4)
   TEMPLATABLE_VALUE(float, det_max4)
 
-  void play(const Ts &...x) {
+  void play(const Ts &...x) override {
     this->parent_->enqueue(make_unique<PowerCommand>(0));
     if (this->factory_reset_.has_value() && this->factory_reset_.value(x...) == true) {
       this->parent_->enqueue(make_unique<FactoryResetCommand>());
     }
     if (this->det_min1_.has_value() && this->det_max1_.has_value()) {
-      if (this->det_min1_.value() >= 0 && this->det_max1_.value() >= 0) {
-        this->parent_->enqueue(make_unique<DetRangeCfgCommand>(
-            this->det_min1_.value_or(-1), this->det_max1_.value_or(-1), this->det_min2_.value_or(-1),
-            this->det_max2_.value_or(-1), this->det_min3_.value_or(-1), this->det_max3_.value_or(-1),
-            this->det_min4_.value_or(-1), this->det_max4_.value_or(-1)));
+      // Each segment is read once, so the guard and the command see the same values.
+      const float min1 = this->det_min1_.value(x...);
+      if (min1 >= 0) {
+        const float max1 = this->det_max1_.value(x...);
+        if (max1 >= 0) {
+          this->parent_->enqueue(make_unique<DetRangeCfgCommand>(
+              min1, max1, this->det_min2_.value_or(x..., -1), this->det_max2_.value_or(x..., -1),
+              this->det_min3_.value_or(x..., -1), this->det_max3_.value_or(x..., -1),
+              this->det_min4_.value_or(x..., -1), this->det_max4_.value_or(x..., -1)));
+        }
       }
     }
     if (this->delay_after_detect_.has_value() && this->delay_after_disappear_.has_value()) {
diff --git a/tests/components/dfrobot_sen0395/common.yaml b/tests/components/dfrobot_sen0395/common.yaml
index 7f980574ed9..48226193bc2 100644
--- a/tests/components/dfrobot_sen0395/common.yaml
+++ b/tests/components/dfrobot_sen0395/common.yaml
@@ -17,6 +17,21 @@ esphome:
 dfrobot_sen0395:
   - id: mmwave
 
+number:
+  - platform: template
+    id: mmwave_max_distance
+    name: mmwave max distance
+    min_value: 1
+    max_value: 9
+    step: 0.5
+    set_action:
+      - dfrobot_sen0395.settings:
+          id: mmwave
+          detection_segments:
+            - 0cm
+            - !lambda "return x;"
+          sensitivity: 5
+
 binary_sensor:
   - platform: dfrobot_sen0395
     id: mmwave_detected
diff --git a/tests/components/dfrobot_sen0395/settings_action.cpp b/tests/components/dfrobot_sen0395/settings_action.cpp
new file mode 100644
index 00000000000..92a75b81677
--- /dev/null
+++ b/tests/components/dfrobot_sen0395/settings_action.cpp
@@ -0,0 +1,145 @@
+#include <array>
+#include <gtest/gtest.h>
+#include "esphome/components/dfrobot_sen0395/automation.h"
+
+namespace esphome::dfrobot_sen0395::testing {
+namespace {
+struct CallRecord {
+  std::array<int, 8> segment_calls{};
+  std::array<float, 8> seen_float{};
+  std::array<int, 8> seen_int{};
+  int sensitivity_calls{0};
+  float sensitivity_argument{0};
+};
+
+// TemplatableFn stores only a function pointer, so the test lambdas cannot capture. They record into this
+// function-local static instead, which SetUp() clears before every test.
+CallRecord &call_record() {
+  static CallRecord record{};
+  return record;
+}
+
+float segment_value(size_t index, float x, int y = 0) {
+  CallRecord &record = call_record();
+  record.segment_calls[index]++;
+  record.seen_float[index] = x;
+  record.seen_int[index] = y;
+  return x + y + static_cast<float>(index);
+}
+}  // namespace
+
+// The component is final and its command queue protected, so these tests check the segment
+// reads and their arguments; the enqueued DetRangeCfgCommand itself is not inspected.
+class SettingsActionTest : public ::testing::Test {
+ protected:
+  void SetUp() override { call_record() = CallRecord{}; }
+
+  DfrobotSen0395Component radar_;
+};
+
+TEST_F(SettingsActionTest, EmptyTriggerPreservesSegmentCallableCounts) {
+  DfrobotSen0395SettingsAction<> action;
+  action.set_parent(&this->radar_);
+  action.set_det_min1([]() -> float { return segment_value(0, 0); });
+  action.set_det_max1([]() -> float { return segment_value(1, 0); });
+  action.set_det_min2([]() -> float { return segment_value(2, 0); });
+  action.set_det_max2([]() -> float { return segment_value(3, 0); });
+  action.set_det_min3([]() -> float { return segment_value(4, 0); });
+  action.set_det_max3([]() -> float { return segment_value(5, 0); });
+  action.set_det_min4([]() -> float { return segment_value(6, 0); });
+  action.set_det_max4([]() -> float { return segment_value(7, 0); });
+  action.play();
+  for (size_t i = 0; i < call_record().segment_calls.size(); i++) {
+    EXPECT_EQ(call_record().segment_calls[i], 1) << i;
+  }
+}
+
+TEST_F(SettingsActionTest, EmptyTriggerWithoutSegmentsIsValid) {
+  DfrobotSen0395SettingsAction<> action;
+  action.set_parent(&this->radar_);
+  action.play();
+  for (auto calls : call_record().segment_calls) {
+    EXPECT_EQ(calls, 0);
+  }
+}
+
+TEST_F(SettingsActionTest, EmptyTriggerNegativeMinKeepsShortCircuit) {
+  DfrobotSen0395SettingsAction<> action;
+  action.set_parent(&this->radar_);
+  action.set_det_min1([]() -> float { return segment_value(0, -1); });
+  action.set_det_max1([]() -> float { return segment_value(1, 0); });
+  action.play();
+  EXPECT_EQ(call_record().segment_calls[0], 1);
+  EXPECT_EQ(call_record().segment_calls[1], 0);
+}
+
+TEST_F(SettingsActionTest, FloatTriggerForwardsAllSegmentsAndPreservesCounts) {
+  DfrobotSen0395SettingsAction<float> action;
+  action.set_parent(&this->radar_);
+  action.set_det_min1([](float x) -> float { return segment_value(0, x); });
+  action.set_det_max1([](float x) -> float { return segment_value(1, x); });
+  action.set_det_min2([](float x) -> float { return segment_value(2, x); });
+  action.set_det_max2([](float x) -> float { return segment_value(3, x); });
+  action.set_det_min3([](float x) -> float { return segment_value(4, x); });
+  action.set_det_max3([](float x) -> float { return segment_value(5, x); });
+  action.set_det_min4([](float x) -> float { return segment_value(6, x); });
+  action.set_det_max4([](float x) -> float { return segment_value(7, x); });
+  action.play(2.5f);
+  for (size_t i = 0; i < call_record().segment_calls.size(); i++) {
+    EXPECT_EQ(call_record().segment_calls[i], 1) << i;
+    EXPECT_FLOAT_EQ(call_record().seen_float[i], 2.5f) << i;
+  }
+}
+
+TEST_F(SettingsActionTest, MultipleTriggerArgumentsReachConfiguredSegments) {
+  DfrobotSen0395SettingsAction<float, int> action;
+  action.set_parent(&this->radar_);
+  action.set_det_min1([](float x, int y) -> float { return segment_value(0, x, y); });
+  action.set_det_max1([](float x, int y) -> float { return segment_value(1, x, y); });
+  action.play(1.5f, 2);
+  for (size_t i = 0; i < 2; i++) {
+    EXPECT_EQ(call_record().segment_calls[i], 1) << i;
+    EXPECT_FLOAT_EQ(call_record().seen_float[i], 1.5f) << i;
+    EXPECT_EQ(call_record().seen_int[i], 2) << i;
+  }
+  for (size_t i = 2; i < call_record().segment_calls.size(); i++) {
+    EXPECT_EQ(call_record().segment_calls[i], 0) << i;
+  }
+}
+
+TEST_F(SettingsActionTest, FloatTriggerWithoutSegmentsStillEvaluatesSensitivity) {
+  DfrobotSen0395SettingsAction<float> action;
+  action.set_parent(&this->radar_);
+  action.set_sensitivity([](float x) -> int8_t {
+    call_record().sensitivity_calls++;
+    call_record().sensitivity_argument = x;
+    return 5;
+  });
+  action.play(3.25f);
+  EXPECT_EQ(call_record().sensitivity_calls, 1);
+  EXPECT_FLOAT_EQ(call_record().sensitivity_argument, 3.25f);
+  for (auto calls : call_record().segment_calls) {
+    EXPECT_EQ(calls, 0);
+  }
+}
+
+TEST_F(SettingsActionTest, FloatTriggerNegativeMinKeepsShortCircuit) {
+  DfrobotSen0395SettingsAction<float> action;
+  action.set_parent(&this->radar_);
+  action.set_det_min1([](float x) -> float { return segment_value(0, x); });
+  action.set_det_max1([](float x) -> float { return segment_value(1, x); });
+  action.play(-1.0f);
+  EXPECT_EQ(call_record().segment_calls[0], 1);
+  EXPECT_EQ(call_record().segment_calls[1], 0);
+  EXPECT_FLOAT_EQ(call_record().seen_float[0], -1.0f);
+}
+
+TEST_F(SettingsActionTest, FloatTriggerUnpairedSegmentIsNotEvaluated) {
+  DfrobotSen0395SettingsAction<float> action;
+  action.set_parent(&this->radar_);
+  action.set_det_min1([](float x) -> float { return segment_value(0, x); });
+  action.play(4.0f);
+  EXPECT_EQ(call_record().segment_calls[0], 0);
+}
+
+}  // namespace esphome::dfrobot_sen0395::testing