Here’s the cheat sheet: Do not soak if you’re in a hurry or making a salad where you want firm lentils. Do soak if you want slightly softer lentils, easier digestion, or to shave off a few minutes of cooking time.
And here’s a pro tip: Rinse your lentils always, whether you soak or not. That little rinse washes away dust and debris. Skip it, and you’re basically eating dirt—not the fun, earthy kind.
How To Make Perfect Lentils | Uses For Lentils
If you’re making soup or stew, soaking is totally optional. Those lentils will soften up in the liquid regardless. It’s like giving them a warm bath they didn’t ask for, but they’ll be polite about it.