We present a comprehensive analysis of the SU(3) octet and decuplet baryon masses and $\sigma$-terms using high-precision lattice QCD data and chiral SU(3) effective theory with finite range regularization. The effects of various systematic uncertainties, including from the scale setting of the lattice data and the regularization prescriptions, are quantified. We find the pion-nucleon and strange nucleon $\sigma$-terms to be $\sigma_{\pi N} = 44(3)(3)$ MeV and $\sigma_{N s} = 50(6)(1)$ MeV, respectively. The results provide constraints on the energy-momentum tensor mass decompositions of the SU(3) octet and decuplet baryons, where we find the trace anomaly and quark/gluon energies decrease for strange baryons due to their larger strange $\sigma$-terms.
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