diff --git a/homeassistant/components/mqtt/client.py b/homeassistant/components/mqtt/client.py
index 6c7e0934a4e..5eb85b1679c 100644
--- a/homeassistant/components/mqtt/client.py
+++ b/homeassistant/components/mqtt/client.py
@@ -405,8 +405,7 @@ class MQTT:
         self._cleanup_on_unload: list[Callable[[], None]] = []
 
         self._connection_lock = asyncio.Lock()
-        self._pending_operations: dict[int, asyncio.Event] = {}
-        self._pending_operations_condition = asyncio.Condition()
+        self._pending_operations: dict[int, asyncio.Future[None]] = {}
         self._subscribe_debouncer = EnsureJobAfterCooldown(
             INITIAL_SUBSCRIBE_COOLDOWN, self._async_perform_subscriptions
         )
@@ -679,10 +678,6 @@ class MQTT:
     async def async_disconnect(self) -> None:
         """Stop the MQTT client."""
 
-        def no_more_acks() -> bool:
-            """Return False if there are unprocessed ACKs."""
-            return not any(not op.is_set() for op in self._pending_operations.values())
-
         # stop waiting for any pending subscriptions
         await self._subscribe_debouncer.async_cleanup()
         # reset timeout to initial subscribe cooldown
@@ -693,8 +688,8 @@ class MQTT:
         await self._async_perform_unsubscribes()
 
         # wait for ACKs to be processed
-        async with self._pending_operations_condition:
-            await self._pending_operations_condition.wait_for(no_more_acks)
+        if pending := self._pending_operations.values():
+            await asyncio.wait(pending)
 
         # stop the MQTT loop
         async with self._connection_lock:
@@ -1050,24 +1045,21 @@ class MQTT:
         """Publish / Subscribe / Unsubscribe callback."""
         # The callback signature for on_unsubscribe is different from on_subscribe
         # see https://github.com/eclipse/paho.mqtt.python/issues/687
-        # properties and reasoncodes are not used in Home Assistant
-        self.config_entry.async_create_task(
-            self.hass, self._mqtt_handle_mid(mid), name=f"mqtt handle mid {mid}"
-        )
+        # properties and reason codes are not used in Home Assistant
+        future = self._async_get_mid_future(mid)
+        if future.done():
+            _LOGGER.warning("Received duplicate mid: %s", mid)
+            return
+        future.set_result(None)
 
-    async def _mqtt_handle_mid(self, mid: int) -> None:
-        # Create the mid event if not created, either _mqtt_handle_mid or _wait_for_mid
-        # may be executed first.
-        async with self._pending_operations_condition:
-            if mid not in self._pending_operations:
-                self._pending_operations[mid] = asyncio.Event()
-            self._pending_operations[mid].set()
-
-    async def _register_mid(self, mid: int) -> None:
-        """Create Event for an expected ACK."""
-        async with self._pending_operations_condition:
-            if mid not in self._pending_operations:
-                self._pending_operations[mid] = asyncio.Event()
+    @callback
+    def _async_get_mid_future(self, mid: int) -> asyncio.Future[None]:
+        """Get the future for a mid."""
+        if future := self._pending_operations.get(mid):
+            return future
+        future = self.hass.loop.create_future()
+        self._pending_operations[mid] = future
+        return future
 
     @callback
     def _async_mqtt_on_disconnect(
@@ -1098,23 +1090,28 @@ class MQTT:
             result_code,
         )
 
+    @callback
+    def _async_timeout_mid(self, future: asyncio.Future[None]) -> None:
+        """Timeout waiting for a mid."""
+        if not future.done():
+            future.set_exception(asyncio.TimeoutError)
+
     async def _wait_for_mid(self, mid: int) -> None:
         """Wait for ACK from broker."""
         # Create the mid event if not created, either _mqtt_handle_mid or _wait_for_mid
         # may be executed first.
-        await self._register_mid(mid)
+        future = self._async_get_mid_future(mid)
+        loop = self.hass.loop
+        timer_handle = loop.call_later(TIMEOUT_ACK, self._async_timeout_mid, future)
         try:
-            async with asyncio.timeout(TIMEOUT_ACK):
-                await self._pending_operations[mid].wait()
+            await future
         except TimeoutError:
             _LOGGER.warning(
                 "No ACK from MQTT server in %s seconds (mid: %s)", TIMEOUT_ACK, mid
             )
         finally:
-            async with self._pending_operations_condition:
-                # Cleanup ACK sync buffer
-                del self._pending_operations[mid]
-                self._pending_operations_condition.notify_all()
+            timer_handle.cancel()
+            del self._pending_operations[mid]
 
     async def _discovery_cooldown(self) -> None:
         """Wait until all discovery and subscriptions are processed."""