diff --git a/pkg/kv/kvserver/apply/task.go b/pkg/kv/kvserver/apply/task.go
index 989258346681..76560969c0a9 100644
--- a/pkg/kv/kvserver/apply/task.go
+++ b/pkg/kv/kvserver/apply/task.go
@@ -248,15 +248,30 @@ func (t *Task) ApplyCommittedEntries(ctx context.Context) error {
 
 	iter := t.dec.NewCommandIter()
 	for iter.Valid() {
-		if err := t.applyOneBatch(ctx, iter); err != nil {
-			// If the batch threw an error, reject all remaining commands in the
-			// iterator to avoid leaking resources or leaving a proposer hanging.
-			//
-			// NOTE: forEachCmdIter closes iter.
-			if rejectErr := forEachCmdIter(ctx, iter, func(cmd Command, ctx context.Context) error {
-				return cmd.AckErrAndFinish(ctx, err)
-			}); rejectErr != nil {
-				return rejectErr
+		err := t.applyOneBatch(ctx, iter)
+		if err != nil {
+			if errors.Is(err, ErrRemoved) {
+				// On ErrRemoved, we know that the replica has been destroyed and in
+				// particular, the Replica's proposals map has already been cleared out.
+				// But there may be unfinished proposals that are only known to the
+				// current Task (because we remove proposals we're about to apply from the
+				// map). To avoid leaking resources and/or leaving proposers hanging,
+				// finish them here. Note that it is important that we know that the
+				// proposals map is (and always will be, due to replicaGC setting the
+				// destroy status) empty at this point, since there is an invariant
+				// that all proposals in the map are unfinished, and the Task has only
+				// removed a subset[^1] of the proposals that might be finished below.
+				// But since it's empty, we can finish them all without having to
+				// check which ones are no longer in the map.
+				//
+				// NOTE: forEachCmdIter closes iter.
+				//
+				// [^1]: (*replicaDecoder).retrieveLocalProposals
+				if rejectErr := forEachCmdIter(ctx, iter, func(cmd Command, ctx context.Context) error {
+					return cmd.AckErrAndFinish(ctx, err)
+				}); rejectErr != nil {
+					return rejectErr
+				}
 			}
 			return err
 		}
diff --git a/pkg/kv/kvserver/replica_proposal_buf.go b/pkg/kv/kvserver/replica_proposal_buf.go
index de57abf3085a..13272a7e3cf8 100644
--- a/pkg/kv/kvserver/replica_proposal_buf.go
+++ b/pkg/kv/kvserver/replica_proposal_buf.go
@@ -21,6 +21,7 @@ import (
 	"github.com/cockroachdb/cockroach/pkg/kv/kvserver/raftutil"
 	"github.com/cockroachdb/cockroach/pkg/roachpb"
 	"github.com/cockroachdb/cockroach/pkg/settings/cluster"
+	"github.com/cockroachdb/cockroach/pkg/util/buildutil"
 	"github.com/cockroachdb/cockroach/pkg/util/errorutil"
 	"github.com/cockroachdb/cockroach/pkg/util/hlc"
 	"github.com/cockroachdb/cockroach/pkg/util/log"
@@ -1187,6 +1188,9 @@ func (rp *replicaProposer) registerProposalLocked(p *ProposalData) {
 	if p.createdAtTicks == 0 {
 		p.createdAtTicks = rp.mu.ticks
 	}
+	if buildutil.CrdbTestBuild && (p.ec.repl == nil || p.ec.g == nil) {
+		log.Fatalf(rp.store.AnnotateCtx(context.Background()), "finished proposal inserted into map: %+v", p)
+	}
 	rp.mu.proposals[p.idKey] = p
 }
 
diff --git a/pkg/kv/kvserver/replica_raft.go b/pkg/kv/kvserver/replica_raft.go
index 06185131b49c..a29a7ca4015f 100644
--- a/pkg/kv/kvserver/replica_raft.go
+++ b/pkg/kv/kvserver/replica_raft.go
@@ -742,6 +742,24 @@ func (r *Replica) handleRaftReadyRaftMuLocked(
 	err := r.withRaftGroupLocked(true, func(raftGroup *raft.RawNode) (bool, error) {
 		r.deliverLocalRaftMsgsRaftMuLockedReplicaMuLocked(ctx, raftGroup)
 
+		// NB: we need to have flushed the proposals before each application cycle
+		// because due to reproposals it is possible to have a proposal that
+		//
+		// - is going to be applied in this raft cycle, and
+		// - is not in the proposals map, and
+		// - is in the proposals buffer.
+		//
+		// The current structure of the code makes sure that by the time we apply the
+		// entry, the in-mem proposal has moved from the proposal buffer to the proposals
+		// map. Without this property, we could have the following interleaving:
+		//
+		// - proposal is in map (initial state)
+		// - refreshProposalsLocked adds it to the proposal buffer again
+		// - proposal applies with an error: removes it from map, finishes proposal
+		// - proposal buffer flushes, inserts proposal into map
+		// - we now have a finished proposal in the proposal map, an invariant violation.
+		//
+		// See Replica.mu.proposals.
 		numFlushed, err := r.mu.proposalBuf.FlushLockedWithRaftGroup(ctx, raftGroup)
 		if err != nil {
 			return false, err
diff --git a/pkg/kv/kvserver/replica_test.go b/pkg/kv/kvserver/replica_test.go
index 02daab501997..8b7aac60d1c7 100644
--- a/pkg/kv/kvserver/replica_test.go
+++ b/pkg/kv/kvserver/replica_test.go
@@ -7990,6 +7990,24 @@ func TestReplicaRefreshPendingCommandsTicks(t *testing.T) {
 			t.Fatal(pErr)
 		}
 
+		g, _, pErr := r.concMgr.SequenceReq(ctx, nil /* guard */, concurrency.Request{
+			Txn:             ba.Txn,
+			Timestamp:       ba.Timestamp,
+			NonTxnPriority:  ba.UserPriority,
+			ReadConsistency: ba.ReadConsistency,
+			WaitPolicy:      ba.WaitPolicy,
+			LockTimeout:     ba.LockTimeout,
+			Requests:        ba.Requests,
+			LatchSpans:      spanset.New(),
+			LockSpans:       spanset.New(),
+		}, concurrency.PessimisticEval)
+		require.NoError(t, pErr.GoError())
+
+		cmd.ec = endCmds{
+			repl: r,
+			g:    g,
+		}
+
 		dropProposals.Lock()
 		dropProposals.m[cmd] = struct{}{} // silently drop proposals
 		dropProposals.Unlock()
@@ -8105,6 +8123,19 @@ func TestReplicaRefreshMultiple(t *testing.T) {
 	ba.Add(inc)
 	ba.Timestamp = tc.Clock().Now()
 
+	g, _, pErr := repl.concMgr.SequenceReq(ctx, nil /* guard */, concurrency.Request{
+		Txn:             ba.Txn,
+		Timestamp:       ba.Timestamp,
+		NonTxnPriority:  ba.UserPriority,
+		ReadConsistency: ba.ReadConsistency,
+		WaitPolicy:      ba.WaitPolicy,
+		LockTimeout:     ba.LockTimeout,
+		Requests:        ba.Requests,
+		LatchSpans:      spanset.New(),
+		LockSpans:       spanset.New(),
+	}, concurrency.PessimisticEval)
+	require.NoError(t, pErr.GoError())
+
 	st := repl.CurrentLeaseStatus(ctx)
 	proposal, pErr := repl.requestToProposal(ctx, incCmdID, ba, allSpansGuard(), &st, uncertainty.Interval{})
 	if pErr != nil {
@@ -8113,6 +8144,11 @@ func TestReplicaRefreshMultiple(t *testing.T) {
 	// Save this channel; it may get reset to nil before we read from it.
 	proposalDoneCh := proposal.doneCh
 
+	proposal.ec = endCmds{
+		repl: repl,
+		g:    g,
+	}
+
 	repl.mu.Lock()
 	ai := repl.mu.state.LeaseAppliedIndex
 	if ai <= 1 {