diff --git a/esphome/components/nfc/ndef_message.cpp b/esphome/components/nfc/ndef_message.cpp
index d9135cbdba..e597b9192d 100644
--- a/esphome/components/nfc/ndef_message.cpp
+++ b/esphome/components/nfc/ndef_message.cpp
@@ -97,7 +97,7 @@ bool NdefMessage::add_record(std::unique_ptr<NdefRecord> record) {
     ESP_LOGE(TAG, "Too many records. Max: %d", MAX_NDEF_RECORDS);
     return false;
   }
-  this->records_.emplace_back(std::move(record));
+  this->records_.emplace_next() = std::move(record);
   return true;
 }
 
diff --git a/esphome/components/nfc/ndef_message.h b/esphome/components/nfc/ndef_message.h
index 0d7699e9d7..25ec7c00c7 100644
--- a/esphome/components/nfc/ndef_message.h
+++ b/esphome/components/nfc/ndef_message.h
@@ -13,6 +13,8 @@
 namespace esphome::nfc {
 
 static constexpr uint8_t MAX_NDEF_RECORDS = 4;
+/// The records of one message, owned in place so parsing a message allocates only the records themselves
+using NdefRecords = StaticVector<std::unique_ptr<NdefRecord>, MAX_NDEF_RECORDS>;
 
 class NdefMessage {
  public:
@@ -20,13 +22,12 @@ class NdefMessage {
   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_) {
-      records_.emplace_back(r->clone());
+      records_.emplace_next() = r->clone();
     }
   }
 
-  const std::vector<std::shared_ptr<NdefRecord>> &get_records() { return this->records_; };
+  const NdefRecords &get_records() const { return this->records_; };
 
   bool add_record(std::unique_ptr<NdefRecord> record);
   bool add_text_record(const std::string &text);
@@ -36,7 +37,7 @@ class NdefMessage {
   std::vector<uint8_t> encode();
 
  protected:
-  std::vector<std::shared_ptr<NdefRecord>> records_;
+  NdefRecords records_;
 };
 
 }  // namespace esphome::nfc
diff --git a/esphome/components/pn532/pn532.cpp b/esphome/components/pn532/pn532.cpp
index 91593484c8..89392105a2 100644
--- a/esphome/components/pn532/pn532.cpp
+++ b/esphome/components/pn532/pn532.cpp
@@ -339,8 +339,9 @@ enum PN532ReadReady PN532::read_ready_(bool block) {
     return READY;
   }
 
+  // the non-blocking call comes from loop(), where the tick's timestamp is already cached
   if (!this->rd_started_) {
-    this->rd_start_time_ = millis();
+    this->rd_start_time_ = block ? millis() : App.get_loop_component_start_time();
     this->rd_started_ = true;
   }
   const uint32_t rd_start_time = this->rd_start_time_;
@@ -351,7 +352,8 @@ enum PN532ReadReady PN532::read_ready_(bool block) {
       break;
     }
 
-    if (millis() - rd_start_time > 100) {
+    const uint32_t now = block ? millis() : App.get_loop_component_start_time();
+    if (now - rd_start_time > 100) {
       ESP_LOGV(TAG, "Timed out waiting for readiness from PN532!");
       this->rd_ready_ = TIMEOUT;
       break;