diff --git a/pkg/expect/expect.go b/pkg/expect/expect.go
index 3c4018780733..95bc30823f29 100644
--- a/pkg/expect/expect.go
+++ b/pkg/expect/expect.go
@@ -203,3 +203,7 @@ func (ep *ExpectProcess) Lines() []string {
 	defer ep.mu.Unlock()
 	return ep.lines
 }
+
+func (ep *ExpectProcess) IsRunning() bool {
+	return ep.cmd != nil
+}
diff --git a/server/etcdserver/server.go b/server/etcdserver/server.go
index 5f62ddc26523..82576a5f87a1 100644
--- a/server/etcdserver/server.go
+++ b/server/etcdserver/server.go
@@ -2152,6 +2152,7 @@ func (s *EtcdServer) apply(
 			zap.Stringer("type", e.Type))
 		switch e.Type {
 		case raftpb.EntryNormal:
+			// gofail: var beforeApplyOneEntryNormal struct{}
 			s.applyEntryNormal(&e)
 			s.setAppliedIndex(e.Index)
 			s.setTerm(e.Term)
diff --git a/server/mvcc/backend/batch_tx.go b/server/mvcc/backend/batch_tx.go
index 9c025d79e1e7..84dbd8dc0e34 100644
--- a/server/mvcc/backend/batch_tx.go
+++ b/server/mvcc/backend/batch_tx.go
@@ -307,6 +307,7 @@ func newBatchTxBuffered(backend *backend) *batchTxBuffered {
 func (t *batchTxBuffered) Unlock() {
 	if t.pending != 0 {
 		t.backend.readTx.Lock() // blocks txReadBuffer for writing.
+		// gofail: var beforeWritebackBuf struct{}
 		t.buf.writeback(&t.backend.readTx.buf)
 		t.backend.readTx.Unlock()
 		if t.pending >= t.backend.batchLimit {
diff --git a/tests/e2e/etcdctl.go b/tests/e2e/etcdctl.go
index 1955d3f9aa11..ff6514aa3eab 100644
--- a/tests/e2e/etcdctl.go
+++ b/tests/e2e/etcdctl.go
@@ -55,6 +55,15 @@ func (ctl *Etcdctl) Put(key, value string) error {
 	return e2e.SpawnWithExpectWithEnv(args, ctl.env(), "OK")
 }
 
+func (ctl *Etcdctl) PutWithAuth(key, value, username, password string) error {
+	if ctl.v2 {
+		panic("Unsupported method for v2")
+	}
+	args := ctl.cmdArgs()
+	args = append(args, "--user", fmt.Sprintf("%s:%s", username, password), "put", key, value)
+	return e2e.SpawnWithExpectWithEnv(args, ctl.env(), "OK")
+}
+
 func (ctl *Etcdctl) Set(key, value string) error {
 	if !ctl.v2 {
 		panic("Unsupported method for v3")
@@ -72,6 +81,32 @@ func (ctl *Etcdctl) Set(key, value string) error {
 	return nil
 }
 
+func (ctl *Etcdctl) AuthEnable() error {
+	args := ctl.cmdArgs("auth", "enable")
+	return e2e.SpawnWithExpectWithEnv(args, ctl.env(), "Authentication Enabled")
+}
+
+func (ctl *Etcdctl) UserGrantRole(user string, role string) (*clientv3.AuthUserGrantRoleResponse, error) {
+	var resp clientv3.AuthUserGrantRoleResponse
+	err := ctl.spawnJsonCmd(&resp, "user", "grant-role", user, role)
+	return &resp, err
+}
+
+func (ctl *Etcdctl) UserAdd(name, password string) (*clientv3.AuthUserAddResponse, error) {
+	args := []string{"user", "add"}
+	if password == "" {
+		args = append(args, name)
+		args = append(args, "--no-password")
+	} else {
+		args = append(args, fmt.Sprintf("%s:%s", name, password))
+	}
+	args = append(args, "--interactive=false")
+
+	var resp clientv3.AuthUserAddResponse
+	err := ctl.spawnJsonCmd(&resp, args...)
+	return &resp, err
+}
+
 func (ctl *Etcdctl) AlarmList() (*clientv3.AlarmResponse, error) {
 	if ctl.v2 {
 		panic("Unsupported method for v2")
diff --git a/tests/e2e/http_health_check_test.go b/tests/e2e/http_health_check_test.go
new file mode 100644
index 000000000000..89c13d2b0449
--- /dev/null
+++ b/tests/e2e/http_health_check_test.go
@@ -0,0 +1,440 @@
+// Copyright 2023 The etcd Authors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+//go:build !cluster_proxy
+
+package e2e
+
+import (
+	"context"
+	"fmt"
+	"io"
+	"net/http"
+	"os"
+	"path"
+	"strings"
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+
+	"go.etcd.io/etcd/api/v3/etcdserverpb"
+	"go.etcd.io/etcd/server/v3/storage/mvcc/testutil"
+	"go.etcd.io/etcd/tests/v3/framework/e2e"
+)
+
+const (
+	healthCheckTimeout = 2 * time.Second
+	putCommandTimeout  = 200 * time.Millisecond
+)
+
+type healthCheckConfig struct {
+	url                    string
+	expectedStatusCode     int
+	expectedTimeoutError   bool
+	expectedRespSubStrings []string
+}
+
+type injectFailure func(ctx context.Context, t *testing.T, clus *e2e.EtcdProcessCluster, duration time.Duration)
+
+func TestHTTPHealthHandler(t *testing.T) {
+	e2e.BeforeTest(t)
+	client := &http.Client{}
+	tcs := []struct {
+		name          string
+		injectFailure injectFailure
+		clusterConfig e2e.EtcdProcessClusterConfig
+		healthChecks  []healthCheckConfig
+	}{
+		{
+			name:          "no failures", // happy case
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 1},
+			healthChecks: []healthCheckConfig{
+				{
+					url:                "/health",
+					expectedStatusCode: http.StatusOK,
+				},
+			},
+		},
+		{
+			name:          "activated no space alarm",
+			injectFailure: triggerNoSpaceAlarm,
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 1, QuotaBackendBytes: int64(13 * os.Getpagesize())},
+			healthChecks: []healthCheckConfig{
+				{
+					url:                "/health",
+					expectedStatusCode: http.StatusServiceUnavailable,
+				},
+				{
+					url:                "/health?exclude=NOSPACE",
+					expectedStatusCode: http.StatusOK,
+				},
+			},
+		},
+		{
+			name:          "overloaded server slow apply",
+			injectFailure: triggerSlowApply,
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 3, GoFailEnabled: true},
+			healthChecks: []healthCheckConfig{
+				{
+					url:                "/health?serializable=true",
+					expectedStatusCode: http.StatusOK,
+				},
+				{
+					url:                  "/health?serializable=false",
+					expectedTimeoutError: true,
+				},
+			},
+		},
+		{
+			name:          "network partitioned",
+			injectFailure: blackhole,
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 3, IsPeerTLS: true, PeerProxy: true},
+			healthChecks: []healthCheckConfig{
+				{
+					url:                "/health?serializable=true",
+					expectedStatusCode: http.StatusOK,
+				},
+				{
+					url:                  "/health?serializable=false",
+					expectedTimeoutError: true,
+					expectedStatusCode:   http.StatusServiceUnavailable,
+					// old leader may return "etcdserver: leader changed" error with 503 in ReadIndex leaderChangedNotifier
+				},
+			},
+		},
+		{
+			name:          "raft loop deadlock",
+			injectFailure: triggerRaftLoopDeadLock,
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 1, GoFailEnabled: true},
+			healthChecks: []healthCheckConfig{
+				{
+					// current kubeadm etcd liveness check failed to detect raft loop deadlock in steady state
+					// ref. https://github.com/kubernetes/kubernetes/blob/master/cmd/kubeadm/app/phases/etcd/local.go#L225-L226
+					// current liveness probe depends on the etcd /health check has a flaw that new /livez check should resolve.
+					url:                "/health?serializable=true",
+					expectedStatusCode: http.StatusOK,
+				},
+				{
+					url:                  "/health?serializable=false",
+					expectedTimeoutError: true,
+				},
+			},
+		},
+		// verify that auth enabled serializable read must go through mvcc
+		{
+			name:          "slow buffer write back with auth enabled",
+			injectFailure: triggerSlowBufferWriteBackWithAuth,
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 1, GoFailEnabled: true},
+			healthChecks: []healthCheckConfig{
+				{
+					url:                  "/health?serializable=true",
+					expectedTimeoutError: true,
+				},
+			},
+		},
+	}
+
+	for _, tc := range tcs {
+		t.Run(tc.name, func(t *testing.T) {
+			ctx, cancel := context.WithTimeout(context.Background(), 20*time.Second)
+			defer cancel()
+			clus, err := e2e.NewEtcdProcessCluster(t, &tc.clusterConfig)
+			require.NoError(t, err)
+			defer clus.Close()
+			e2e.ExecuteUntil(ctx, t, func() {
+				if tc.injectFailure != nil {
+					// guaranteed that failure point is active until all the health checks timeout.
+					duration := time.Duration(len(tc.healthChecks)+10) * healthCheckTimeout
+					tc.injectFailure(ctx, t, clus, duration)
+				}
+
+				for _, hc := range tc.healthChecks {
+					requestURL := clus.Procs[0].EndpointsHTTP()[0] + hc.url
+					t.Logf("health check URL is %s", requestURL)
+					doHealthCheckAndVerify(t, client, requestURL, hc.expectedTimeoutError, hc.expectedStatusCode, hc.expectedRespSubStrings)
+				}
+			})
+		})
+	}
+}
+
+var (
+	defaultHealthCheckConfigs = []healthCheckConfig{
+		{
+			url:                    "/livez",
+			expectedStatusCode:     http.StatusOK,
+			expectedRespSubStrings: []string{`ok`},
+		},
+		{
+			url:                    "/readyz",
+			expectedStatusCode:     http.StatusOK,
+			expectedRespSubStrings: []string{`ok`},
+		},
+		{
+			url:                    "/livez?verbose=true",
+			expectedStatusCode:     http.StatusOK,
+			expectedRespSubStrings: []string{`[+]serializable_read ok`},
+		},
+		{
+			url:                "/readyz?verbose=true",
+			expectedStatusCode: http.StatusOK,
+			expectedRespSubStrings: []string{
+				`[+]serializable_read ok`,
+				`[+]data_corruption ok`,
+			},
+		},
+	}
+)
+
+func TestHTTPLivezReadyzHandler(t *testing.T) {
+	e2e.BeforeTest(t)
+	client := &http.Client{}
+	tcs := []struct {
+		name          string
+		injectFailure injectFailure
+		clusterConfig e2e.EtcdProcessClusterConfig
+		healthChecks  []healthCheckConfig
+	}{
+		{
+			name:          "no failures", // happy case
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 1},
+			healthChecks:  defaultHealthCheckConfigs,
+		},
+		{
+			name:          "activated no space alarm",
+			injectFailure: triggerNoSpaceAlarm,
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 1, QuotaBackendBytes: int64(13 * os.Getpagesize())},
+			healthChecks:  defaultHealthCheckConfigs,
+		},
+		// Readiness is not an indicator of performance. Slow response is not covered by readiness.
+		// refer to https://tinyurl.com/livez-readyz-design-doc or https://github.com/etcd-io/etcd/issues/16007#issuecomment-1726541091 in case tinyurl is down.
+		{
+			name:          "overloaded server slow apply",
+			injectFailure: triggerSlowApply,
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 3, GoFailEnabled: true},
+			// TODO expected behavior of readyz check should be 200 after ReadIndex check is implemented to replace linearizable read.
+			healthChecks: []healthCheckConfig{
+				{
+					url:                "/livez",
+					expectedStatusCode: http.StatusOK,
+				},
+				{
+					url:                  "/readyz",
+					expectedTimeoutError: true,
+					expectedStatusCode:   http.StatusServiceUnavailable,
+				},
+			},
+		},
+		{
+			name:          "network partitioned",
+			injectFailure: blackhole,
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 3, IsPeerTLS: true, PeerProxy: true},
+			healthChecks: []healthCheckConfig{
+				{
+					url:                "/livez",
+					expectedStatusCode: http.StatusOK,
+				},
+				{
+					url:                  "/readyz",
+					expectedTimeoutError: true,
+					expectedStatusCode:   http.StatusServiceUnavailable,
+					expectedRespSubStrings: []string{
+						`[-]linearizable_read failed: etcdserver: leader changed`,
+					},
+				},
+			},
+		},
+		{
+			name:          "raft loop deadlock",
+			injectFailure: triggerRaftLoopDeadLock,
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 1, GoFailEnabled: true},
+			// TODO expected behavior of livez check should be 503 or timeout after RaftLoopDeadLock check is implemented.
+			healthChecks: []healthCheckConfig{
+				{
+					url:                "/livez",
+					expectedStatusCode: http.StatusOK,
+				},
+				{
+					url:                  "/readyz",
+					expectedTimeoutError: true,
+					expectedStatusCode:   http.StatusServiceUnavailable,
+				},
+			},
+		},
+		// verify that auth enabled serializable read must go through mvcc
+		{
+			name:          "slow buffer write back with auth enabled",
+			injectFailure: triggerSlowBufferWriteBackWithAuth,
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 1, GoFailEnabled: true},
+			healthChecks: []healthCheckConfig{
+				{
+					url:                  "/livez",
+					expectedTimeoutError: true,
+				},
+				{
+					url:                  "/readyz",
+					expectedTimeoutError: true,
+				},
+			},
+		},
+		{
+			name:          "corrupt",
+			injectFailure: triggerCorrupt,
+			clusterConfig: e2e.EtcdProcessClusterConfig{ClusterSize: 3, CorruptCheckTime: time.Second},
+			healthChecks: []healthCheckConfig{
+				{
+					url:                    "/livez?verbose=true",
+					expectedStatusCode:     http.StatusOK,
+					expectedRespSubStrings: []string{`[+]serializable_read ok`},
+				},
+				{
+					url:                "/readyz",
+					expectedStatusCode: http.StatusServiceUnavailable,
+					expectedRespSubStrings: []string{
+						`[+]serializable_read ok`,
+						`[-]data_corruption failed: alarm activated: CORRUPT`,
+					},
+				},
+			},
+		},
+	}
+
+	for _, tc := range tcs {
+		t.Run(tc.name, func(t *testing.T) {
+			ctx, cancel := context.WithTimeout(context.Background(), 20*time.Second)
+			defer cancel()
+			clus, err := e2e.NewEtcdProcessCluster(t, &tc.clusterConfig)
+			require.NoError(t, err)
+			defer clus.Close()
+			e2e.ExecuteUntil(ctx, t, func() {
+				if tc.injectFailure != nil {
+					// guaranteed that failure point is active until all the health checks timeout.
+					duration := time.Duration(len(tc.healthChecks)+10) * healthCheckTimeout
+					tc.injectFailure(ctx, t, clus, duration)
+				}
+
+				for _, hc := range tc.healthChecks {
+					requestURL := clus.Procs[0].EndpointsHTTP()[0] + hc.url
+					t.Logf("health check URL is %s", requestURL)
+					doHealthCheckAndVerify(t, client, requestURL, hc.expectedTimeoutError, hc.expectedStatusCode, hc.expectedRespSubStrings)
+				}
+			})
+		})
+	}
+}
+
+func doHealthCheckAndVerify(t *testing.T, client *http.Client, url string, expectTimeoutError bool, expectStatusCode int, expectRespSubStrings []string) {
+	ctx, cancel := context.WithTimeout(context.Background(), healthCheckTimeout)
+	req, err := http.NewRequestWithContext(ctx, "GET", url, nil)
+	require.NoErrorf(t, err, "failed to creat request %+v", err)
+	resp, herr := client.Do(req)
+	cancel()
+	if expectTimeoutError {
+		if herr != nil && strings.Contains(herr.Error(), context.DeadlineExceeded.Error()) {
+			return
+		}
+	}
+	require.NoErrorf(t, herr, "failed to get response %+v", err)
+	defer resp.Body.Close()
+
+	body, err := io.ReadAll(resp.Body)
+	resp.Body.Close()
+	require.NoErrorf(t, err, "failed to read response %+v", err)
+
+	t.Logf("health check response body is:\n%s", body)
+	require.Equal(t, expectStatusCode, resp.StatusCode)
+	for _, expectRespSubString := range expectRespSubStrings {
+		require.Contains(t, string(body), expectRespSubString)
+	}
+}
+
+func triggerNoSpaceAlarm(ctx context.Context, t *testing.T, clus *e2e.EtcdProcessCluster, _ time.Duration) {
+	buf := strings.Repeat("b", os.Getpagesize())
+	etcdctl := NewEtcdctl(clus.Procs[0].EndpointsV3(), e2e.ClientNonTLS, false, false)
+	for {
+		if err := etcdctl.Put("foo", buf); err != nil {
+			if !strings.Contains(err.Error(), "etcdserver: mvcc: database space exceeded") {
+				t.Fatal(err)
+			}
+			break
+		}
+	}
+}
+
+func triggerSlowApply(ctx context.Context, t *testing.T, clus *e2e.EtcdProcessCluster, duration time.Duration) {
+	// the following proposal will be blocked at applying stage
+	// because when apply index < committed index, linearizable read would time out.
+	require.NoError(t, clus.Procs[0].Failpoints().SetupHTTP(ctx, "beforeApplyOneEntryNormal", fmt.Sprintf(`sleep("%s")`, duration)))
+	etcdctl := NewEtcdctl(clus.Procs[1].EndpointsV3(), e2e.ClientNonTLS, false, false)
+	etcdctl.Put("foo", "bar")
+}
+
+func blackhole(_ context.Context, t *testing.T, clus *e2e.EtcdProcessCluster, _ time.Duration) {
+	member := clus.Procs[0]
+	proxy := member.PeerProxy()
+	t.Logf("Blackholing traffic from and to member %q", member.Config().Name)
+	proxy.BlackholeTx()
+	proxy.BlackholeRx()
+}
+
+func triggerRaftLoopDeadLock(ctx context.Context, t *testing.T, clus *e2e.EtcdProcessCluster, duration time.Duration) {
+	require.NoError(t, clus.Procs[0].Failpoints().SetupHTTP(ctx, "raftBeforeSaveWaitWalSync", fmt.Sprintf(`sleep("%s")`, duration)))
+	etcdctl := NewEtcdctl(clus.Procs[0].EndpointsV3(), e2e.ClientNonTLS, false, false)
+	etcdctl.Put("foo", "bar")
+}
+
+func triggerSlowBufferWriteBackWithAuth(ctx context.Context, t *testing.T, clus *e2e.EtcdProcessCluster, duration time.Duration) {
+	etcdctl := NewEtcdctl(clus.Procs[0].EndpointsV3(), e2e.ClientNonTLS, false, false)
+
+	_, err := etcdctl.UserAdd("root", "root")
+	require.NoError(t, err)
+	_, err = etcdctl.UserGrantRole("root", "root")
+	require.NoError(t, err)
+	require.NoError(t, etcdctl.AuthEnable())
+
+	require.NoError(t, clus.Procs[0].Failpoints().SetupHTTP(ctx, "beforeWritebackBuf", fmt.Sprintf(`sleep("%s")`, duration)))
+	etcdctl.PutWithAuth("foo", "bar", "root", "root")
+}
+
+func triggerCorrupt(ctx context.Context, t *testing.T, clus *e2e.EtcdProcessCluster, _ time.Duration) {
+	etcdctl := NewEtcdctl(clus.Procs[0].EndpointsV3(), e2e.ClientNonTLS, false, false)
+	for i := 0; i < 10; i++ {
+		require.NoError(t, etcdctl.Put("foo", "bar"))
+	}
+	err := clus.Procs[0].Stop()
+	require.NoError(t, err)
+	err = testutil.CorruptBBolt(path.Join(clus.Procs[0].Config().DataDirPath, "member", "snap", "db"))
+	require.NoError(t, err)
+	err = clus.Procs[0].Start()
+	for {
+		time.Sleep(time.Second)
+		select {
+		case <-ctx.Done():
+			require.NoError(t, err)
+		default:
+		}
+		response, err := etcdctl.AlarmList()
+		if err != nil {
+			continue
+		}
+		if len(response.Alarms) == 0 {
+			continue
+		}
+		require.Len(t, response.Alarms, 1)
+		if response.Alarms[0].Alarm == etcdserverpb.AlarmType_CORRUPT {
+			break
+		}
+	}
+}
diff --git a/tests/framework/e2e/cluster.go b/tests/framework/e2e/cluster.go
index f1cd942dd8c9..649c9f7051e1 100644
--- a/tests/framework/e2e/cluster.go
+++ b/tests/framework/e2e/cluster.go
@@ -23,6 +23,7 @@ import (
 	"testing"
 	"time"
 
+	"go.etcd.io/etcd/pkg/v3/proxy"
 	"go.etcd.io/etcd/server/v3/etcdserver"
 	"go.uber.org/zap"
 	"go.uber.org/zap/zaptest"
@@ -136,10 +137,12 @@ type EtcdProcessCluster struct {
 }
 
 type EtcdProcessClusterConfig struct {
-	ExecPath    string
-	DataDirPath string
-	KeepDataDir bool
-	EnvVars     map[string]string
+	ExecPath      string
+	DataDirPath   string
+	KeepDataDir   bool
+	GoFailEnabled bool
+	PeerProxy     bool
+	EnvVars       map[string]string
 
 	ClusterSize int
 
@@ -189,7 +192,7 @@ func NewEtcdProcessCluster(t testing.TB, cfg *EtcdProcessClusterConfig) (*EtcdPr
 		return nil, err
 	}
 
-	return StartEtcdProcessCluster(epc, cfg)
+	return StartEtcdProcessCluster(t, epc, cfg)
 }
 
 // InitEtcdProcessCluster initializes a new cluster based on the given config.
@@ -217,7 +220,7 @@ func InitEtcdProcessCluster(t testing.TB, cfg *EtcdProcessClusterConfig) (*EtcdP
 }
 
 // StartEtcdProcessCluster launches a new cluster from etcd processes.
-func StartEtcdProcessCluster(epc *EtcdProcessCluster, cfg *EtcdProcessClusterConfig) (*EtcdProcessCluster, error) {
+func StartEtcdProcessCluster(t testing.TB, epc *EtcdProcessCluster, cfg *EtcdProcessClusterConfig) (*EtcdProcessCluster, error) {
 	if cfg.RollingStart {
 		if err := epc.RollingStart(); err != nil {
 			return nil, fmt.Errorf("Cannot rolling-start: %v", err)
@@ -227,6 +230,13 @@ func StartEtcdProcessCluster(epc *EtcdProcessCluster, cfg *EtcdProcessClusterCon
 			return nil, fmt.Errorf("Cannot start: %v", err)
 		}
 	}
+
+	for _, proc := range epc.Procs {
+		if cfg.GoFailEnabled && !proc.Failpoints().Enabled() {
+			epc.Close()
+			t.Skip("please run 'make gofail-enable && make build' before running the test")
+		}
+	}
 	return epc, nil
 }
 
@@ -268,6 +278,8 @@ func (cfg *EtcdProcessClusterConfig) EtcdServerProcessConfigs(tb testing.TB) []*
 		var curl string
 		port := cfg.BasePort + 5*i
 		clientPort := port
+		peerPort := port + 1
+		peer2Port := port + 3
 		clientHttpPort := port + 4
 
 		if cfg.ClientTLS == ClientTLSAndNonTLS {
@@ -278,20 +290,34 @@ func (cfg *EtcdProcessClusterConfig) EtcdServerProcessConfigs(tb testing.TB) []*
 			curls = []string{curl}
 		}
 
-		purl := url.URL{Scheme: cfg.PeerScheme(), Host: fmt.Sprintf("localhost:%d", port+1)}
+		purl := url.URL{Scheme: cfg.PeerScheme(), Host: fmt.Sprintf("localhost:%d", peerPort)}
+		peerAdvertiseUrl := url.URL{Scheme: cfg.PeerScheme(), Host: fmt.Sprintf("localhost:%d", peerPort)}
+		var proxyCfg *proxy.ServerConfig
+		if cfg.PeerProxy {
+			if !cfg.IsPeerTLS {
+				panic("Can't use peer proxy without peer TLS as it can result in malformed packets")
+			}
+			peerAdvertiseUrl.Host = fmt.Sprintf("localhost:%d", peer2Port)
+			proxyCfg = &proxy.ServerConfig{
+				Logger: zap.NewNop(),
+				To:     purl,
+				From:   peerAdvertiseUrl,
+			}
+		}
+
 		name := fmt.Sprintf("test-%d", i)
 		dataDirPath := cfg.DataDirPath
 		if cfg.DataDirPath == "" {
 			dataDirPath = tb.TempDir()
 		}
-		initialCluster[i] = fmt.Sprintf("%s=%s", name, purl.String())
+		initialCluster[i] = fmt.Sprintf("%s=%s", name, peerAdvertiseUrl.String())
 
 		args := []string{
 			"--name", name,
 			"--listen-client-urls", strings.Join(curls, ","),
 			"--advertise-client-urls", strings.Join(curls, ","),
 			"--listen-peer-urls", purl.String(),
-			"--initial-advertise-peer-urls", purl.String(),
+			"--initial-advertise-peer-urls", peerAdvertiseUrl.String(),
 			"--initial-cluster-token", cfg.InitialToken,
 			"--data-dir", dataDirPath,
 			"--snapshot-count", fmt.Sprintf("%d", cfg.SnapshotCount),
@@ -362,20 +388,32 @@ func (cfg *EtcdProcessClusterConfig) EtcdServerProcessConfigs(tb testing.TB) []*
 			args = append(args, "--experimental-compaction-batch-limit", fmt.Sprintf("%d", cfg.CompactionBatchLimit))
 		}
 
+		envVars := map[string]string{}
+		for key, value := range cfg.EnvVars {
+			envVars[key] = value
+		}
+		var gofailPort int
+		if cfg.GoFailEnabled {
+			gofailPort = (i+1)*10000 + 2381
+			envVars["GOFAIL_HTTP"] = fmt.Sprintf("127.0.0.1:%d", gofailPort)
+		}
+
 		etcdCfgs[i] = &EtcdServerProcessConfig{
 			lg:            lg,
 			ExecPath:      cfg.ExecPath,
 			Args:          args,
-			EnvVars:       cfg.EnvVars,
+			EnvVars:       envVars,
 			TlsArgs:       cfg.TlsArgs(),
 			DataDirPath:   dataDirPath,
 			KeepDataDir:   cfg.KeepDataDir,
 			Name:          name,
-			Purl:          purl,
+			Purl:          peerAdvertiseUrl,
 			Acurl:         curl,
 			Murl:          murl,
 			InitialToken:  cfg.InitialToken,
 			ClientHttpUrl: clientHttpUrl,
+			GoFailPort:    gofailPort,
+			Proxy:         proxyCfg,
 		}
 	}
 
diff --git a/tests/framework/e2e/etcd_process.go b/tests/framework/e2e/etcd_process.go
index 959342d10db9..c3eaa188d6ab 100644
--- a/tests/framework/e2e/etcd_process.go
+++ b/tests/framework/e2e/etcd_process.go
@@ -15,12 +15,20 @@
 package e2e
 
 import (
+	"bytes"
+	"context"
+	"errors"
 	"fmt"
+	"io"
+	"net/http"
 	"net/url"
 	"os"
+	"strings"
+	"time"
 
 	"go.etcd.io/etcd/client/pkg/v3/fileutil"
 	"go.etcd.io/etcd/pkg/v3/expect"
+	"go.etcd.io/etcd/pkg/v3/proxy"
 	"go.uber.org/zap"
 )
 
@@ -46,6 +54,10 @@ type EtcdProcess interface {
 	WithStopSignal(sig os.Signal) os.Signal
 	Config() *EtcdServerProcessConfig
 	Logs() LogsExpect
+
+	PeerProxy() proxy.Server
+	Failpoints() *BinaryFailpoints
+	IsRunning() bool
 }
 
 type LogsExpect interface {
@@ -55,9 +67,11 @@ type LogsExpect interface {
 }
 
 type EtcdServerProcess struct {
-	cfg   *EtcdServerProcessConfig
-	proc  *expect.ExpectProcess
-	donec chan struct{} // closed when Interact() terminates
+	cfg        *EtcdServerProcessConfig
+	proc       *expect.ExpectProcess
+	proxy      proxy.Server
+	failpoints *BinaryFailpoints
+	donec      chan struct{} // closed when Interact() terminates
 }
 
 type EtcdServerProcessConfig struct {
@@ -80,6 +94,8 @@ type EtcdServerProcessConfig struct {
 
 	InitialToken   string
 	InitialCluster string
+	GoFailPort     int
+	Proxy          *proxy.ServerConfig
 }
 
 func NewEtcdServerProcess(cfg *EtcdServerProcessConfig) (*EtcdServerProcess, error) {
@@ -91,7 +107,11 @@ func NewEtcdServerProcess(cfg *EtcdServerProcessConfig) (*EtcdServerProcess, err
 			return nil, err
 		}
 	}
-	return &EtcdServerProcess{cfg: cfg, donec: make(chan struct{})}, nil
+	ep := &EtcdServerProcess{cfg: cfg, donec: make(chan struct{})}
+	if cfg.GoFailPort != 0 {
+		ep.failpoints = &BinaryFailpoints{member: ep}
+	}
+	return ep, nil
 }
 
 func (ep *EtcdServerProcess) EndpointsV2() []string   { return ep.EndpointsHTTP() }
@@ -109,6 +129,15 @@ func (ep *EtcdServerProcess) Start() error {
 	if ep.proc != nil {
 		panic("already started")
 	}
+	if ep.cfg.Proxy != nil && ep.proxy == nil {
+		ep.cfg.lg.Info("starting proxy...", zap.String("name", ep.cfg.Name), zap.String("from", ep.cfg.Proxy.From.String()), zap.String("to", ep.cfg.Proxy.To.String()))
+		ep.proxy = proxy.NewServer(*ep.cfg.Proxy)
+		select {
+		case <-ep.proxy.Ready():
+		case err := <-ep.proxy.Error():
+			return err
+		}
+	}
 	ep.cfg.lg.Info("starting server...", zap.String("name", ep.cfg.Name))
 	proc, err := SpawnCmdWithLogger(ep.cfg.lg, append([]string{ep.cfg.ExecPath}, ep.cfg.Args...), ep.cfg.EnvVars)
 	if err != nil {
@@ -154,6 +183,14 @@ func (ep *EtcdServerProcess) Stop() (err error) {
 		}
 	}
 	ep.cfg.lg.Info("stopped server.", zap.String("name", ep.cfg.Name))
+	if ep.proxy != nil {
+		ep.cfg.lg.Info("stopping proxy...", zap.String("name", ep.cfg.Name))
+		err = ep.proxy.Close()
+		ep.proxy = nil
+		if err != nil {
+			return err
+		}
+	}
 	return nil
 }
 
@@ -188,3 +225,154 @@ func (ep *EtcdServerProcess) Logs() LogsExpect {
 	}
 	return ep.proc
 }
+
+func (ep *EtcdServerProcess) PeerProxy() proxy.Server {
+	return ep.proxy
+}
+
+func (ep *EtcdServerProcess) Failpoints() *BinaryFailpoints {
+	return ep.failpoints
+}
+
+func (ep *EtcdServerProcess) IsRunning() bool {
+	if ep.proc == nil {
+		return false
+	}
+
+	if ep.proc.IsRunning() {
+		return true
+	}
+
+	ep.cfg.lg.Info("server exited",
+		zap.String("name", ep.cfg.Name))
+	ep.proc = nil
+	return false
+}
+
+type BinaryFailpoints struct {
+	member         EtcdProcess
+	availableCache map[string]string
+}
+
+func (f *BinaryFailpoints) SetupEnv(failpoint, payload string) error {
+	if f.member.IsRunning() {
+		return errors.New("cannot setup environment variable while process is running")
+	}
+	f.member.Config().EnvVars["GOFAIL_FAILPOINTS"] = fmt.Sprintf("%s=%s", failpoint, payload)
+	return nil
+}
+
+func (f *BinaryFailpoints) SetupHTTP(ctx context.Context, failpoint, payload string) error {
+	host := fmt.Sprintf("127.0.0.1:%d", f.member.Config().GoFailPort)
+	failpointUrl := url.URL{
+		Scheme: "http",
+		Host:   host,
+		Path:   failpoint,
+	}
+	r, err := http.NewRequestWithContext(ctx, "PUT", failpointUrl.String(), bytes.NewBuffer([]byte(payload)))
+	if err != nil {
+		return err
+	}
+	resp, err := httpClient.Do(r)
+	if err != nil {
+		return err
+	}
+	defer resp.Body.Close()
+	if resp.StatusCode != http.StatusNoContent {
+		return fmt.Errorf("bad status code: %d", resp.StatusCode)
+	}
+	return nil
+}
+
+func (f *BinaryFailpoints) DeactivateHTTP(ctx context.Context, failpoint string) error {
+	host := fmt.Sprintf("127.0.0.1:%d", f.member.Config().GoFailPort)
+	failpointUrl := url.URL{
+		Scheme: "http",
+		Host:   host,
+		Path:   failpoint,
+	}
+	r, err := http.NewRequestWithContext(ctx, "DELETE", failpointUrl.String(), nil)
+	if err != nil {
+		return err
+	}
+	resp, err := httpClient.Do(r)
+	if err != nil {
+		return err
+	}
+	defer resp.Body.Close()
+	if resp.StatusCode != http.StatusNoContent {
+		return fmt.Errorf("bad status code: %d", resp.StatusCode)
+	}
+	return nil
+}
+
+var httpClient = http.Client{
+	Timeout: 1 * time.Second,
+}
+
+func (f *BinaryFailpoints) Enabled() bool {
+	_, err := failpoints(f.member)
+	if err != nil {
+		return false
+	}
+	return true
+}
+
+func (f *BinaryFailpoints) Available(failpoint string) bool {
+	if f.availableCache == nil {
+		fs, err := failpoints(f.member)
+		if err != nil {
+			panic(err)
+		}
+		f.availableCache = fs
+	}
+	_, found := f.availableCache[failpoint]
+	return found
+}
+
+func failpoints(member EtcdProcess) (map[string]string, error) {
+	body, err := fetchFailpointsBody(member)
+	if err != nil {
+		return nil, err
+	}
+	defer body.Close()
+	return parseFailpointsBody(body)
+}
+
+func fetchFailpointsBody(member EtcdProcess) (io.ReadCloser, error) {
+	address := fmt.Sprintf("127.0.0.1:%d", member.Config().GoFailPort)
+	failpointUrl := url.URL{
+		Scheme: "http",
+		Host:   address,
+	}
+	resp, err := http.Get(failpointUrl.String())
+	if err != nil {
+		return nil, err
+	}
+	if resp.StatusCode != http.StatusOK {
+		resp.Body.Close()
+		return nil, fmt.Errorf("invalid status code, %d", resp.StatusCode)
+	}
+	return resp.Body, nil
+}
+
+func parseFailpointsBody(body io.Reader) (map[string]string, error) {
+	data, err := io.ReadAll(body)
+	if err != nil {
+		return nil, err
+	}
+	lines := strings.Split(string(data), "\n")
+	failpoints := map[string]string{}
+	for _, line := range lines {
+		// Format:
+		// failpoint=value
+		parts := strings.SplitN(line, "=", 2)
+		failpoint := parts[0]
+		var value string
+		if len(parts) == 2 {
+			value = parts[1]
+		}
+		failpoints[failpoint] = value
+	}
+	return failpoints, nil
+}
diff --git a/tests/framework/e2e/util.go b/tests/framework/e2e/util.go
index f62fda5fbf55..c9ffccbb2249 100644
--- a/tests/framework/e2e/util.go
+++ b/tests/framework/e2e/util.go
@@ -15,6 +15,7 @@
 package e2e
 
 import (
+	"context"
 	"encoding/json"
 	"fmt"
 	"math/rand"
@@ -126,3 +127,23 @@ func ToTLS(s string) string {
 func SkipInShortMode(t testing.TB) {
 	testutil.SkipTestIfShortMode(t, "e2e tests are not running in --short mode")
 }
+
+func ExecuteUntil(ctx context.Context, t *testing.T, f func()) {
+	deadline, deadlineSet := ctx.Deadline()
+	timeout := time.Until(deadline)
+	donec := make(chan struct{})
+	go func() {
+		defer close(donec)
+		f()
+	}()
+
+	select {
+	case <-ctx.Done():
+		msg := ctx.Err().Error()
+		if deadlineSet {
+			msg = fmt.Sprintf("test timed out after %v, err: %v", timeout, msg)
+		}
+		testutil.FatalStack(t, msg)
+	case <-donec:
+	}
+}