diff --git a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
index 9722104e25..82945dc771 100644
--- a/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
+++ b/esphome/components/esp32_ble_tracker/esp32_ble_tracker.cpp
@@ -100,7 +100,12 @@ void ESP32BLETracker::loop() {
           found = true;
           if (client->state() == ClientState::DISCOVERED) {
             esp_ble_gap_stop_scanning();
-            if (xSemaphoreTake(this->scan_end_lock_, 10L / portTICK_PERIOD_MS)) {
+#ifdef USE_ARDUINO
+            constexpr TickType_t block_time = 10L / portTICK_PERIOD_MS;
+#else
+            constexpr TickType_t block_time = 0L;  // PR #3594
+#endif
+            if (xSemaphoreTake(this->scan_end_lock_, block_time)) {
               xSemaphoreGive(this->scan_end_lock_);
             }
           }