diff --git a/esphome/components/i2s_audio/microphone/i2s_audio_microphone.cpp b/esphome/components/i2s_audio/microphone/i2s_audio_microphone.cpp
index 602d537bcb..1475df0975 100644
--- a/esphome/components/i2s_audio/microphone/i2s_audio_microphone.cpp
+++ b/esphome/components/i2s_audio/microphone/i2s_audio_microphone.cpp
@@ -61,28 +61,57 @@ void I2SAudioMicrophone::start_() {
       .bits_per_chan = I2S_BITS_PER_CHAN_DEFAULT,
   };
 
+  esp_err_t err;
+
 #if SOC_I2S_SUPPORTS_ADC
   if (this->adc_) {
     config.mode = (i2s_mode_t) (config.mode | I2S_MODE_ADC_BUILT_IN);
-    i2s_driver_install(this->parent_->get_port(), &config, 0, nullptr);
+    err = i2s_driver_install(this->parent_->get_port(), &config, 0, nullptr);
+    if (err != ESP_OK) {
+      ESP_LOGW(TAG, "Error installing I2S driver: %s", esp_err_to_name(err));
+      this->status_set_error();
+      return;
+    }
+
+    err = i2s_set_adc_mode(ADC_UNIT_1, this->adc_channel_);
+    if (err != ESP_OK) {
+      ESP_LOGW(TAG, "Error setting ADC mode: %s", esp_err_to_name(err));
+      this->status_set_error();
+      return;
+    }
+    err = i2s_adc_enable(this->parent_->get_port());
+    if (err != ESP_OK) {
+      ESP_LOGW(TAG, "Error enabling ADC: %s", esp_err_to_name(err));
+      this->status_set_error();
+      return;
+    }
 
-    i2s_set_adc_mode(ADC_UNIT_1, this->adc_channel_);
-    i2s_adc_enable(this->parent_->get_port());
   } else
 #endif
   {
     if (this->pdm_)
       config.mode = (i2s_mode_t) (config.mode | I2S_MODE_PDM);
 
-    i2s_driver_install(this->parent_->get_port(), &config, 0, nullptr);
+    err = i2s_driver_install(this->parent_->get_port(), &config, 0, nullptr);
+    if (err != ESP_OK) {
+      ESP_LOGW(TAG, "Error installing I2S driver: %s", esp_err_to_name(err));
+      this->status_set_error();
+      return;
+    }
 
     i2s_pin_config_t pin_config = this->parent_->get_pin_config();
     pin_config.data_in_num = this->din_pin_;
 
-    i2s_set_pin(this->parent_->get_port(), &pin_config);
+    err = i2s_set_pin(this->parent_->get_port(), &pin_config);
+    if (err != ESP_OK) {
+      ESP_LOGW(TAG, "Error setting I2S pin: %s", esp_err_to_name(err));
+      this->status_set_error();
+      return;
+    }
   }
   this->state_ = microphone::STATE_RUNNING;
   this->high_freq_.start();
+  this->status_clear_error();
 }
 
 void I2SAudioMicrophone::stop() {
@@ -96,11 +125,33 @@ void I2SAudioMicrophone::stop() {
 }
 
 void I2SAudioMicrophone::stop_() {
-  i2s_stop(this->parent_->get_port());
-  i2s_driver_uninstall(this->parent_->get_port());
+  esp_err_t err;
+#if SOC_I2S_SUPPORTS_ADC
+  if (this->adc_) {
+    err = i2s_adc_disable(this->parent_->get_port());
+    if (err != ESP_OK) {
+      ESP_LOGW(TAG, "Error disabling ADC: %s", esp_err_to_name(err));
+      this->status_set_error();
+      return;
+    }
+  }
+#endif
+  err = i2s_stop(this->parent_->get_port());
+  if (err != ESP_OK) {
+    ESP_LOGW(TAG, "Error stopping I2S microphone: %s", esp_err_to_name(err));
+    this->status_set_error();
+    return;
+  }
+  err = i2s_driver_uninstall(this->parent_->get_port());
+  if (err != ESP_OK) {
+    ESP_LOGW(TAG, "Error uninstalling I2S driver: %s", esp_err_to_name(err));
+    this->status_set_error();
+    return;
+  }
   this->parent_->unlock();
   this->state_ = microphone::STATE_STOPPED;
   this->high_freq_.stop();
+  this->status_clear_error();
 }
 
 size_t I2SAudioMicrophone::read(int16_t *buf, size_t len) {
diff --git a/esphome/components/qmc5883l/qmc5883l.cpp b/esphome/components/qmc5883l/qmc5883l.cpp
index 4946ad1b77..8541b41ff7 100644
--- a/esphome/components/qmc5883l/qmc5883l.cpp
+++ b/esphome/components/qmc5883l/qmc5883l.cpp
@@ -77,8 +77,17 @@ void QMC5883LComponent::dump_config() {
 float QMC5883LComponent::get_setup_priority() const { return setup_priority::DATA; }
 void QMC5883LComponent::update() {
   uint8_t status = false;
-  if (ESPHOME_LOG_LEVEL >= ESPHOME_LOG_LEVEL_DEBUG)
-    this->read_byte(QMC5883L_REGISTER_STATUS, &status);
+  this->read_byte(QMC5883L_REGISTER_STATUS, &status);
+
+  // Always request X,Y,Z regardless if there are sensors for them
+  // to avoid https://github.com/esphome/issues/issues/5731
+  uint16_t raw_x, raw_y, raw_z;
+  if (!this->read_byte_16_(QMC5883L_REGISTER_DATA_X_LSB, &raw_x) ||
+      !this->read_byte_16_(QMC5883L_REGISTER_DATA_Y_LSB, &raw_y) ||
+      !this->read_byte_16_(QMC5883L_REGISTER_DATA_Z_LSB, &raw_z)) {
+    this->status_set_warning();
+    return;
+  }
 
   float mg_per_bit;
   switch (this->range_) {
@@ -93,36 +102,11 @@ void QMC5883LComponent::update() {
   }
 
   // in µT
-  float x = NAN, y = NAN, z = NAN;
-  if (this->x_sensor_ != nullptr || this->heading_sensor_ != nullptr) {
-    uint16_t raw_x;
-    if (!this->read_byte_16_(QMC5883L_REGISTER_DATA_X_LSB, &raw_x)) {
-      this->status_set_warning();
-      return;
-    }
-    x = int16_t(raw_x) * mg_per_bit * 0.1f;
-  }
-  if (this->y_sensor_ != nullptr || this->heading_sensor_ != nullptr) {
-    uint16_t raw_y;
-    if (!this->read_byte_16_(QMC5883L_REGISTER_DATA_Y_LSB, &raw_y)) {
-      this->status_set_warning();
-      return;
-    }
-    y = int16_t(raw_y) * mg_per_bit * 0.1f;
-  }
-  if (this->z_sensor_ != nullptr) {
-    uint16_t raw_z;
-    if (!this->read_byte_16_(QMC5883L_REGISTER_DATA_Z_LSB, &raw_z)) {
-      this->status_set_warning();
-      return;
-    }
-    z = int16_t(raw_z) * mg_per_bit * 0.1f;
-  }
+  const float x = int16_t(raw_x) * mg_per_bit * 0.1f;
+  const float y = int16_t(raw_y) * mg_per_bit * 0.1f;
+  const float z = int16_t(raw_z) * mg_per_bit * 0.1f;
 
-  float heading = NAN;
-  if (this->heading_sensor_ != nullptr) {
-    heading = atan2f(0.0f - x, y) * 180.0f / M_PI;
-  }
+  float heading = atan2f(0.0f - x, y) * 180.0f / M_PI;
 
   float temp = NAN;
   if (this->temperature_sensor_ != nullptr) {
diff --git a/esphome/components/sht3xd/sht3xd.cpp b/esphome/components/sht3xd/sht3xd.cpp
index 888e954c6b..ffaf5db322 100644
--- a/esphome/components/sht3xd/sht3xd.cpp
+++ b/esphome/components/sht3xd/sht3xd.cpp
@@ -6,9 +6,14 @@ namespace sht3xd {
 
 static const char *const TAG = "sht3xd";
 
-// use read serial number register with clock stretching disabled as per other SHT3XD_COMMAND registers
-// which provides support for SHT85 sensor
-// SHT85 does not support clock stretching and uses same registers as SHT3xd with clock stretching disabled
+// https://sensirion.com/media/documents/E5762713/63D103C2/Sensirion_electronic_identification_code_SHT3x.pdf
+// indicates two possible read serial number registers either with clock stretching enabled or disabled.
+// Other SHT3XD_COMMAND registers use the clock stretching disabled register.
+// To ensure compatibility, reading serial number using the register with clock stretching register enabled
+// (used originally in this component) is tried first and if that fails the alternate register address
+// with clock stretching disabled is read.
+
+static const uint16_t SHT3XD_COMMAND_READ_SERIAL_NUMBER_CLOCK_STRETCHING = 0x3780;
 static const uint16_t SHT3XD_COMMAND_READ_SERIAL_NUMBER = 0x3682;
 
 static const uint16_t SHT3XD_COMMAND_READ_STATUS = 0xF32D;
@@ -22,13 +27,19 @@ static const uint16_t SHT3XD_COMMAND_FETCH_DATA = 0xE000;
 void SHT3XDComponent::setup() {
   ESP_LOGCONFIG(TAG, "Setting up SHT3xD...");
   uint16_t raw_serial_number[2];
-  if (!this->get_register(SHT3XD_COMMAND_READ_SERIAL_NUMBER, raw_serial_number, 2)) {
-    this->mark_failed();
-    return;
+  if (!this->get_register(SHT3XD_COMMAND_READ_SERIAL_NUMBER_CLOCK_STRETCHING, raw_serial_number, 2)) {
+    this->error_code_ = READ_SERIAL_STRETCHED_FAILED;
+    if (!this->get_register(SHT3XD_COMMAND_READ_SERIAL_NUMBER, raw_serial_number, 2)) {
+      this->error_code_ = READ_SERIAL_FAILED;
+      this->mark_failed();
+      return;
+    }
   }
+
   this->serial_number_ = (uint32_t(raw_serial_number[0]) << 16) | uint32_t(raw_serial_number[1]);
 
   if (!this->write_command(heater_enabled_ ? SHT3XD_COMMAND_HEATER_ENABLE : SHT3XD_COMMAND_HEATER_DISABLE)) {
+    this->error_code_ = WRITE_HEATER_MODE_FAILED;
     this->mark_failed();
     return;
   }
@@ -36,10 +47,21 @@ void SHT3XDComponent::setup() {
 
 void SHT3XDComponent::dump_config() {
   ESP_LOGCONFIG(TAG, "SHT3xD:");
+  switch (this->error_code_) {
+    case READ_SERIAL_FAILED:
+      ESP_LOGD(TAG, "  Error reading serial number");
+      break;
+    case WRITE_HEATER_MODE_FAILED:
+      ESP_LOGD(TAG, "  Error writing heater mode");
+      break;
+    default:
+      break;
+  }
   if (this->is_failed()) {
     ESP_LOGE(TAG, "  Communication with SHT3xD failed!");
     return;
   }
+  ESP_LOGD(TAG, "  Setup successful");
   ESP_LOGD(TAG, "  Serial Number: 0x%08" PRIX32, this->serial_number_);
   ESP_LOGD(TAG, "  Heater Enabled: %s", this->heater_enabled_ ? "true" : "false");
 
diff --git a/esphome/components/sht3xd/sht3xd.h b/esphome/components/sht3xd/sht3xd.h
index d1a3360e69..74f155121b 100644
--- a/esphome/components/sht3xd/sht3xd.h
+++ b/esphome/components/sht3xd/sht3xd.h
@@ -22,6 +22,13 @@ class SHT3XDComponent : public PollingComponent, public sensirion_common::Sensir
   void set_heater_enabled(bool heater_enabled) { heater_enabled_ = heater_enabled; }
 
  protected:
+  enum ErrorCode {
+    NONE = 0,
+    READ_SERIAL_STRETCHED_FAILED,
+    READ_SERIAL_FAILED,
+    WRITE_HEATER_MODE_FAILED,
+  } error_code_{NONE};
+
   sensor::Sensor *temperature_sensor_{nullptr};
   sensor::Sensor *humidity_sensor_{nullptr};
   bool heater_enabled_{true};
diff --git a/esphome/const.py b/esphome/const.py
index 69949dc086..f11345527e 100644
--- a/esphome/const.py
+++ b/esphome/const.py
@@ -1,6 +1,6 @@
 """Constants used by esphome."""
 
-__version__ = "2024.4.1"
+__version__ = "2024.4.2"
 
 ALLOWED_NAME_CHARS = "abcdefghijklmnopqrstuvwxyz0123456789-_"
 VALID_SUBSTITUTIONS_CHARACTERS = (
diff --git a/esphome/yaml_util.py b/esphome/yaml_util.py
index c7aa78201f..06bfd8b217 100644
--- a/esphome/yaml_util.py
+++ b/esphome/yaml_util.py
@@ -321,8 +321,9 @@ class ESPHomeLoaderMixin:
             file, vars = node.value, None
 
         result = _load_yaml_internal(self._rel_path(file))
-        if vars:
-            result = substitute_vars(result, vars)
+        if not vars:
+            vars = {}
+        result = substitute_vars(result, vars)
         return result
 
     @_add_data_ref