Soil moisture measurement plays a key role in irrigation and environmental management. Yet it remains unreliable due to heterogeneous soils, limited sensing volumes, temperature drift, and parasitic inter-channel coupling. This work presents a compact multi-depth capacitive probe that extends a parallel-plate geometry from previous work with differential activation to suppress stray capacitances and improve accuracy. An equivalent-circuit model quantifies parasitic effects, and optically coupled transistor bridges isolate each sensing layer. Raw capacitance is converted to volumetric water content and plant-available water using established calibration models. Laboratory results show a fourfold reduction in temperature sensitivity, strong confinement of the sensing volume, and improved repeatability in heterogeneous soils. Field validation against reference sensors demonstrates high accuracy and precision comparable to widely used instruments, enabling a practical and scalable solution for agricultural and urban soil-moisture monitoring.