The official @WalletConnect Pay docks already have a full guide to Tap to Pay via NFC.

The terminal gives an NDEF tag with a link. The phone picks it up and immediately opens the wallet on the payment intent. Without QR scanning.

On Android, it works via App Links and NDEF_DISCOVERED, on iOS via Universal Links and Background Tag Reading. There is even a separate translucent activity for this script and support foreground dispatch if the wallet is already open.

So far it's experimental, but the documentation is public and detailed. They have a Demo POS App for tests.

Almost no one understands this scenario, although it already exists $WCT