diff --git a/esphome/components/apds9960/__init__.py b/esphome/components/apds9960/__init__.py
index 37dc4c0b28..06b3c85aee 100644
--- a/esphome/components/apds9960/__init__.py
+++ b/esphome/components/apds9960/__init__.py
@@ -4,7 +4,6 @@ from esphome.components import i2c
 from esphome.const import CONF_ID
 
 DEPENDENCIES = ["i2c"]
-AUTO_LOAD = ["sensor", "binary_sensor"]
 MULTI_CONF = True
 
 CONF_APDS9960_ID = "apds9960_id"
diff --git a/esphome/components/apds9960/apds9960.cpp b/esphome/components/apds9960/apds9960.cpp
index 1c6ec5c14a..d91378afee 100644
--- a/esphome/components/apds9960/apds9960.cpp
+++ b/esphome/components/apds9960/apds9960.cpp
@@ -116,8 +116,12 @@ void APDS9960::setup() {
   APDS9960_WRITE_BYTE(0x80, val);
 }
 bool APDS9960::is_color_enabled_() const {
-  return this->red_channel_ != nullptr || this->green_channel_ != nullptr || this->blue_channel_ != nullptr ||
-         this->clear_channel_ != nullptr;
+#ifdef USE_SENSOR
+  return this->red_sensor_ != nullptr || this->green_sensor_ != nullptr || this->blue_sensor_ != nullptr ||
+         this->clear_sensor_ != nullptr;
+#else
+  return false;
+#endif
 }
 
 void APDS9960::dump_config() {
@@ -125,6 +129,15 @@ void APDS9960::dump_config() {
   LOG_I2C_DEVICE(this);
 
   LOG_UPDATE_INTERVAL(this);
+
+#ifdef USE_SENSOR
+  LOG_SENSOR("  ", "Red channel", this->red_sensor_);
+  LOG_SENSOR("  ", "Green channel", this->green_sensor_);
+  LOG_SENSOR("  ", "Blue channel", this->blue_sensor_);
+  LOG_SENSOR("  ", "Clear channel", this->clear_sensor_);
+  LOG_SENSOR("  ", "Proximity", this->proximity_sensor_);
+#endif
+
   if (this->is_failed()) {
     switch (this->error_code_) {
       case COMMUNICATION_FAILED:
@@ -181,17 +194,22 @@ void APDS9960::read_color_data_(uint8_t status) {
   float blue_perc = (uint_blue / float(UINT16_MAX)) * 100.0f;
 
   ESP_LOGD(TAG, "Got clear=%.1f%% red=%.1f%% green=%.1f%% blue=%.1f%%", clear_perc, red_perc, green_perc, blue_perc);
-  if (this->clear_channel_ != nullptr)
-    this->clear_channel_->publish_state(clear_perc);
-  if (this->red_channel_ != nullptr)
-    this->red_channel_->publish_state(red_perc);
-  if (this->green_channel_ != nullptr)
-    this->green_channel_->publish_state(green_perc);
-  if (this->blue_channel_ != nullptr)
-    this->blue_channel_->publish_state(blue_perc);
+#ifdef USE_SENSOR
+  if (this->clear_sensor_ != nullptr)
+    this->clear_sensor_->publish_state(clear_perc);
+  if (this->red_sensor_ != nullptr)
+    this->red_sensor_->publish_state(red_perc);
+  if (this->green_sensor_ != nullptr)
+    this->green_sensor_->publish_state(green_perc);
+  if (this->blue_sensor_ != nullptr)
+    this->blue_sensor_->publish_state(blue_perc);
+#endif
 }
 void APDS9960::read_proximity_data_(uint8_t status) {
-  if (this->proximity_ == nullptr)
+#ifndef USE_SENSOR
+  return;
+#else
+  if (this->proximity_sensor_ == nullptr)
     return;
 
   if ((status & 0b10) == 0x00) {
@@ -204,7 +222,8 @@ void APDS9960::read_proximity_data_(uint8_t status) {
 
   float prox_perc = (prox / float(UINT8_MAX)) * 100.0f;
   ESP_LOGD(TAG, "Got proximity=%.1f%%", prox_perc);
-  this->proximity_->publish_state(prox_perc);
+  this->proximity_sensor_->publish_state(prox_perc);
+#endif
 }
 void APDS9960::read_gesture_data_() {
   if (!this->is_gesture_enabled_())
@@ -256,28 +275,29 @@ void APDS9960::read_gesture_data_() {
   }
 }
 void APDS9960::report_gesture_(int gesture) {
+#ifdef USE_BINARY_SENSOR
   binary_sensor::BinarySensor *bin;
   switch (gesture) {
     case 1:
-      bin = this->up_direction_;
+      bin = this->up_direction_binary_sensor_;
       this->gesture_up_started_ = false;
       this->gesture_down_started_ = false;
       ESP_LOGD(TAG, "Got gesture UP");
       break;
     case 2:
-      bin = this->down_direction_;
+      bin = this->down_direction_binary_sensor_;
       this->gesture_up_started_ = false;
       this->gesture_down_started_ = false;
       ESP_LOGD(TAG, "Got gesture DOWN");
       break;
     case 3:
-      bin = this->left_direction_;
+      bin = this->left_direction_binary_sensor_;
       this->gesture_left_started_ = false;
       this->gesture_right_started_ = false;
       ESP_LOGD(TAG, "Got gesture LEFT");
       break;
     case 4:
-      bin = this->right_direction_;
+      bin = this->right_direction_binary_sensor_;
       this->gesture_left_started_ = false;
       this->gesture_right_started_ = false;
       ESP_LOGD(TAG, "Got gesture RIGHT");
@@ -290,6 +310,7 @@ void APDS9960::report_gesture_(int gesture) {
     bin->publish_state(true);
     bin->publish_state(false);
   }
+#endif
 }
 void APDS9960::process_dataset_(int up, int down, int left, int right) {
   /* Algorithm: (see Figure 11 in datasheet)
@@ -365,10 +386,22 @@ void APDS9960::process_dataset_(int up, int down, int left, int right) {
   }
 }
 float APDS9960::get_setup_priority() const { return setup_priority::DATA; }
-bool APDS9960::is_proximity_enabled_() const { return this->proximity_ != nullptr || this->is_gesture_enabled_(); }
+bool APDS9960::is_proximity_enabled_() const {
+  return
+#ifdef USE_SENSOR
+      this->proximity_sensor_ != nullptr
+#else
+      false
+#endif
+      || this->is_gesture_enabled_();
+}
 bool APDS9960::is_gesture_enabled_() const {
-  return this->up_direction_ != nullptr || this->left_direction_ != nullptr || this->down_direction_ != nullptr ||
-         this->right_direction_ != nullptr;
+#ifdef USE_BINARY_SENSOR
+  return this->up_direction_binary_sensor_ != nullptr || this->left_direction_binary_sensor_ != nullptr ||
+         this->down_direction_binary_sensor_ != nullptr || this->right_direction_binary_sensor_ != nullptr;
+#else
+  return false;
+#endif
 }
 
 }  // namespace apds9960
diff --git a/esphome/components/apds9960/apds9960.h b/esphome/components/apds9960/apds9960.h
index 23d9835640..2a0fbb5c19 100644
--- a/esphome/components/apds9960/apds9960.h
+++ b/esphome/components/apds9960/apds9960.h
@@ -1,14 +1,34 @@
 #pragma once
 
-#include "esphome/core/component.h"
 #include "esphome/components/i2c/i2c.h"
+#include "esphome/core/component.h"
+#include "esphome/core/defines.h"
+#ifdef USE_SENSOR
 #include "esphome/components/sensor/sensor.h"
+#endif
+#ifdef USE_BINARY_SENSOR
 #include "esphome/components/binary_sensor/binary_sensor.h"
+#endif
 
 namespace esphome {
 namespace apds9960 {
 
 class APDS9960 : public PollingComponent, public i2c::I2CDevice {
+#ifdef USE_SENSOR
+  SUB_SENSOR(red)
+  SUB_SENSOR(green)
+  SUB_SENSOR(blue)
+  SUB_SENSOR(clear)
+  SUB_SENSOR(proximity)
+#endif
+
+#ifdef USE_BINARY_SENSOR
+  SUB_BINARY_SENSOR(up_direction)
+  SUB_BINARY_SENSOR(right_direction)
+  SUB_BINARY_SENSOR(down_direction)
+  SUB_BINARY_SENSOR(left_direction)
+#endif
+
  public:
   void setup() override;
   void dump_config() override;
@@ -23,16 +43,6 @@ class APDS9960 : public PollingComponent, public i2c::I2CDevice {
   void set_gesture_gain(uint8_t gain) { this->gesture_gain_ = gain; }
   void set_gesture_wait_time(uint8_t wait_time) { this->gesture_wait_time_ = wait_time; }
 
-  void set_red_channel(sensor::Sensor *red_channel) { red_channel_ = red_channel; }
-  void set_green_channel(sensor::Sensor *green_channel) { green_channel_ = green_channel; }
-  void set_blue_channel(sensor::Sensor *blue_channel) { blue_channel_ = blue_channel; }
-  void set_clear_channel(sensor::Sensor *clear_channel) { clear_channel_ = clear_channel; }
-  void set_up_direction(binary_sensor::BinarySensor *up_direction) { up_direction_ = up_direction; }
-  void set_right_direction(binary_sensor::BinarySensor *right_direction) { right_direction_ = right_direction; }
-  void set_down_direction(binary_sensor::BinarySensor *down_direction) { down_direction_ = down_direction; }
-  void set_left_direction(binary_sensor::BinarySensor *left_direction) { left_direction_ = left_direction; }
-  void set_proximity(sensor::Sensor *proximity) { proximity_ = proximity; }
-
  protected:
   bool is_color_enabled_() const;
   bool is_proximity_enabled_() const;
@@ -50,15 +60,6 @@ class APDS9960 : public PollingComponent, public i2c::I2CDevice {
   uint8_t gesture_gain_;
   uint8_t gesture_wait_time_;
 
-  sensor::Sensor *red_channel_{nullptr};
-  sensor::Sensor *green_channel_{nullptr};
-  sensor::Sensor *blue_channel_{nullptr};
-  sensor::Sensor *clear_channel_{nullptr};
-  binary_sensor::BinarySensor *up_direction_{nullptr};
-  binary_sensor::BinarySensor *right_direction_{nullptr};
-  binary_sensor::BinarySensor *down_direction_{nullptr};
-  binary_sensor::BinarySensor *left_direction_{nullptr};
-  sensor::Sensor *proximity_{nullptr};
   enum ErrorCode {
     NONE = 0,
     COMMUNICATION_FAILED,
diff --git a/esphome/components/apds9960/binary_sensor.py b/esphome/components/apds9960/binary_sensor.py
index 04dc6f4d5d..46b08d8d69 100644
--- a/esphome/components/apds9960/binary_sensor.py
+++ b/esphome/components/apds9960/binary_sensor.py
@@ -6,19 +6,14 @@ from . import APDS9960, CONF_APDS9960_ID
 
 DEPENDENCIES = ["apds9960"]
 
-DIRECTIONS = {
-    "UP": "set_up_direction",
-    "DOWN": "set_down_direction",
-    "LEFT": "set_left_direction",
-    "RIGHT": "set_right_direction",
-}
+DIRECTIONS = ["up", "down", "left", "right"]
 
 CONFIG_SCHEMA = binary_sensor.binary_sensor_schema(
     device_class=DEVICE_CLASS_MOVING
 ).extend(
     {
         cv.GenerateID(CONF_APDS9960_ID): cv.use_id(APDS9960),
-        cv.Required(CONF_DIRECTION): cv.one_of(*DIRECTIONS, upper=True),
+        cv.Required(CONF_DIRECTION): cv.one_of(*DIRECTIONS, lower=True),
     }
 )
 
@@ -26,5 +21,5 @@ CONFIG_SCHEMA = binary_sensor.binary_sensor_schema(
 async def to_code(config):
     hub = await cg.get_variable(config[CONF_APDS9960_ID])
     var = await binary_sensor.new_binary_sensor(config)
-    func = getattr(hub, DIRECTIONS[config[CONF_DIRECTION]])
+    func = getattr(hub, f"set_{config[CONF_DIRECTION]}_direction_binary_sensor")
     cg.add(func(var))
diff --git a/esphome/components/apds9960/sensor.py b/esphome/components/apds9960/sensor.py
index e1990ec26e..c9865f8687 100644
--- a/esphome/components/apds9960/sensor.py
+++ b/esphome/components/apds9960/sensor.py
@@ -11,13 +11,7 @@ from . import APDS9960, CONF_APDS9960_ID
 
 DEPENDENCIES = ["apds9960"]
 
-TYPES = {
-    "CLEAR": "set_clear_channel",
-    "RED": "set_red_channel",
-    "GREEN": "set_green_channel",
-    "BLUE": "set_blue_channel",
-    "PROXIMITY": "set_proximity",
-}
+TYPES = ["clear", "red", "green", "blue", "proximity"]
 
 CONFIG_SCHEMA = sensor.sensor_schema(
     unit_of_measurement=UNIT_PERCENT,
@@ -26,7 +20,7 @@ CONFIG_SCHEMA = sensor.sensor_schema(
     state_class=STATE_CLASS_MEASUREMENT,
 ).extend(
     {
-        cv.Required(CONF_TYPE): cv.one_of(*TYPES, upper=True),
+        cv.Required(CONF_TYPE): cv.one_of(*TYPES, lower=True),
         cv.GenerateID(CONF_APDS9960_ID): cv.use_id(APDS9960),
     }
 )
@@ -35,5 +29,5 @@ CONFIG_SCHEMA = sensor.sensor_schema(
 async def to_code(config):
     hub = await cg.get_variable(config[CONF_APDS9960_ID])
     var = await sensor.new_sensor(config)
-    func = getattr(hub, TYPES[config[CONF_TYPE]])
+    func = getattr(hub, f"set_{config[CONF_TYPE]}_sensor")
     cg.add(func(var))
diff --git a/esphome/components/ble_presence/binary_sensor.py b/esphome/components/ble_presence/binary_sensor.py
index 67f2c3516f..d54b7678e1 100644
--- a/esphome/components/ble_presence/binary_sensor.py
+++ b/esphome/components/ble_presence/binary_sensor.py
@@ -7,6 +7,7 @@ from esphome.const import (
     CONF_IBEACON_MAJOR,
     CONF_IBEACON_MINOR,
     CONF_IBEACON_UUID,
+    CONF_MIN_RSSI,
 )
 
 DEPENDENCIES = ["esp32_ble_tracker"]
@@ -37,6 +38,9 @@ CONFIG_SCHEMA = cv.All(
             cv.Optional(CONF_IBEACON_MAJOR): cv.uint16_t,
             cv.Optional(CONF_IBEACON_MINOR): cv.uint16_t,
             cv.Optional(CONF_IBEACON_UUID): cv.uuid,
+            cv.Optional(CONF_MIN_RSSI): cv.All(
+                cv.decibel, cv.int_range(min=-90, max=-30)
+            ),
         }
     )
     .extend(esp32_ble_tracker.ESP_BLE_DEVICE_SCHEMA)
@@ -51,6 +55,9 @@ async def to_code(config):
     await cg.register_component(var, config)
     await esp32_ble_tracker.register_ble_device(var, config)
 
+    if CONF_MIN_RSSI in config:
+        cg.add(var.set_minimum_rssi(config[CONF_MIN_RSSI]))
+
     if CONF_MAC_ADDRESS in config:
         cg.add(var.set_address(config[CONF_MAC_ADDRESS].as_hex))
 
diff --git a/esphome/components/ble_presence/ble_presence_device.h b/esphome/components/ble_presence/ble_presence_device.h
index 1689c9ba3f..953ea460a8 100644
--- a/esphome/components/ble_presence/ble_presence_device.h
+++ b/esphome/components/ble_presence/ble_presence_device.h
@@ -41,12 +41,19 @@ class BLEPresenceDevice : public binary_sensor::BinarySensorInitiallyOff,
     this->check_ibeacon_minor_ = true;
     this->ibeacon_minor_ = minor;
   }
+  void set_minimum_rssi(int rssi) {
+    this->check_minimum_rssi_ = true;
+    this->minimum_rssi_ = rssi;
+  }
   void on_scan_end() override {
     if (!this->found_)
       this->publish_state(false);
     this->found_ = false;
   }
   bool parse_device(const esp32_ble_tracker::ESPBTDevice &device) override {
+    if (this->check_minimum_rssi_ && this->minimum_rssi_ <= device.get_rssi()) {
+      return false;
+    }
     switch (this->match_by_) {
       case MATCH_BY_MAC_ADDRESS:
         if (device.address_uint64() == this->address_) {
@@ -96,17 +103,21 @@ class BLEPresenceDevice : public binary_sensor::BinarySensorInitiallyOff,
   enum MatchType { MATCH_BY_MAC_ADDRESS, MATCH_BY_SERVICE_UUID, MATCH_BY_IBEACON_UUID };
   MatchType match_by_;
 
-  bool found_{false};
-
   uint64_t address_;
 
   esp32_ble_tracker::ESPBTUUID uuid_;
 
   esp32_ble_tracker::ESPBTUUID ibeacon_uuid_;
-  uint16_t ibeacon_major_;
-  bool check_ibeacon_major_;
-  uint16_t ibeacon_minor_;
-  bool check_ibeacon_minor_;
+  uint16_t ibeacon_major_{0};
+  uint16_t ibeacon_minor_{0};
+
+  int minimum_rssi_{0};
+
+  bool check_ibeacon_major_{false};
+  bool check_ibeacon_minor_{false};
+  bool check_minimum_rssi_{false};
+
+  bool found_{false};
 };
 
 }  // namespace ble_presence
diff --git a/esphome/components/ble_rssi/ble_rssi_sensor.h b/esphome/components/ble_rssi/ble_rssi_sensor.h
index 0cb511de3b..79aebce7d3 100644
--- a/esphome/components/ble_rssi/ble_rssi_sensor.h
+++ b/esphome/components/ble_rssi/ble_rssi_sensor.h
@@ -102,8 +102,9 @@ class BLERSSISensor : public sensor::Sensor, public esp32_ble_tracker::ESPBTDevi
 
   esp32_ble_tracker::ESPBTUUID ibeacon_uuid_;
   uint16_t ibeacon_major_;
-  bool check_ibeacon_major_;
   uint16_t ibeacon_minor_;
+
+  bool check_ibeacon_major_;
   bool check_ibeacon_minor_;
 };
 
diff --git a/esphome/components/sen5x/sen5x.cpp b/esphome/components/sen5x/sen5x.cpp
index 865fae373b..ddce568c97 100644
--- a/esphome/components/sen5x/sen5x.cpp
+++ b/esphome/components/sen5x/sen5x.cpp
@@ -252,7 +252,7 @@ void SEN5XComponent::dump_config() {
   ESP_LOGCONFIG(TAG, "  Firmware version: %d", this->firmware_version_);
   ESP_LOGCONFIG(TAG, "  Serial number %02d.%02d.%02d", serial_number_[0], serial_number_[1], serial_number_[2]);
   if (this->auto_cleaning_interval_.has_value()) {
-    ESP_LOGCONFIG(TAG, "  Auto auto cleaning interval %d seconds", auto_cleaning_interval_.value());
+    ESP_LOGCONFIG(TAG, "  Auto cleaning interval %d seconds", auto_cleaning_interval_.value());
   }
   if (this->acceleration_mode_.has_value()) {
     switch (this->acceleration_mode_.value()) {
diff --git a/esphome/components/sprinkler/__init__.py b/esphome/components/sprinkler/__init__.py
index 6aa76dcd2f..5097abc7e7 100644
--- a/esphome/components/sprinkler/__init__.py
+++ b/esphome/components/sprinkler/__init__.py
@@ -275,7 +275,7 @@ SPRINKLER_ACTION_SET_RUN_DURATION_SCHEMA = cv.Schema(
 SPRINKLER_ACTION_QUEUE_VALVE_SCHEMA = cv.Schema(
     {
         cv.Required(CONF_ID): cv.use_id(Sprinkler),
-        cv.Optional(CONF_RUN_DURATION, default=0): cv.templatable(
+        cv.Optional(CONF_RUN_DURATION, default="0s"): cv.templatable(
             cv.positive_time_period_seconds
         ),
         cv.Required(CONF_VALVE_NUMBER): cv.templatable(cv.positive_int),
diff --git a/esphome/components/wifi/wifi_component_esp_idf.cpp b/esphome/components/wifi/wifi_component_esp_idf.cpp
index 1c70f33040..e18d3cc043 100644
--- a/esphome/components/wifi/wifi_component_esp_idf.cpp
+++ b/esphome/components/wifi/wifi_component_esp_idf.cpp
@@ -767,11 +767,10 @@ bool WiFiComponent::wifi_ap_ip_config_(optional<ManualIP> manual_ip) {
     info.gw.addr = static_cast<uint32_t>(network::IPAddress(192, 168, 4, 1));
     info.netmask.addr = static_cast<uint32_t>(network::IPAddress(255, 255, 255, 0));
   }
-  esp_netif_dhcp_status_t dhcp_status;
-  esp_netif_dhcps_get_status(s_sta_netif, &dhcp_status);
-  err = esp_netif_dhcps_stop(s_sta_netif);
-  if (err != ESP_OK) {
-    ESP_LOGV(TAG, "esp_netif_dhcps_stop failed! %d", err);
+
+  err = esp_netif_dhcpc_stop(s_sta_netif);
+  if (err != ESP_OK && err != ESP_ERR_ESP_NETIF_DHCP_ALREADY_STOPPED) {
+    ESP_LOGV(TAG, "esp_netif_dhcpc_stop failed: %s", esp_err_to_name(err));
     return false;
   }
 
diff --git a/esphome/const.py b/esphome/const.py
index 46e5545078..b9d8ee81e8 100644
--- a/esphome/const.py
+++ b/esphome/const.py
@@ -1,6 +1,6 @@
 """Constants used by esphome."""
 
-__version__ = "2023.5.0-dev"
+__version__ = "2023.6.0-dev"
 
 ALLOWED_NAME_CHARS = "abcdefghijklmnopqrstuvwxyz0123456789-_"
 
@@ -408,6 +408,7 @@ CONF_MIN_LENGTH = "min_length"
 CONF_MIN_LEVEL = "min_level"
 CONF_MIN_POWER = "min_power"
 CONF_MIN_RANGE = "min_range"
+CONF_MIN_RSSI = "min_rssi"
 CONF_MIN_TEMPERATURE = "min_temperature"
 CONF_MIN_VALUE = "min_value"
 CONF_MIN_VERSION = "min_version"