Choosing the appropriate management system is essential for sustainable agricultural practices. Yet, soil-specific properties at the subsurface are seldom considered when choosing the appropriate tillage system. This study assessed the effect of tillage depth on physical–hydraulic properties in three contrasting soil classes in the establishment of perennial crops. Tillage practices were evaluated in soils with natural dense layers (Inceptisols and Ultisols), and soils with very small and stable granular structure (Oxisols). From least to most aggressive, tested tillage systems included surface furrowing + plant holes (MT); plowing followed by two diskings + furrowing (CT); plowing followed by two diskings + subsoiling (SB); and plowing followed by two diskings + rotary hoeing (DM). Physical indicators with the greatest explanatory power were relative field capacity (RFC, 97%), aeration capacity (AC, 95%), macroporosity (Pmac, 95%), the S index (Sgi, 89%), and bulk density (Bd, 81%). DM caused the greatest modification in soil structure, especially at the surface. It increased values of AC, Pmac, and Sgi, and reduced Bd values. Only deep tillage systems (DM and SB) improved soil structure in deeper layers. Highest Bd values were observed for MT (1.47 g cm−3), and lowest for DM (1.21 g cm−3). Soil classes responded differently to soil tillage systems. DM was most effective in soils with densified layers (Inceptisol and Ultisol). Effects were less expressive in the studied Oxisol. Comparing MT and DM, Pmac increased by more than 100% in the studied Ultisol, but by less than 20% in the Oxisol. No tillage system affected the Oxisol’s soil structure in deeper layers, due to its small and stable granular structure. The choice of optimal tillage strategies should consider soil-specific properties, especially at greater depths, to guarantee more productive and sustainable crop systems.
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