diff --git a/raft.go b/raft.go
index d1048294..170d4902 100644
--- a/raft.go
+++ b/raft.go
@@ -1405,7 +1405,15 @@ func stepLeader(r *raft, m pb.Message) error {
 			}
 		} else {
 			oldPaused := pr.IsPaused()
-			if pr.MaybeUpdate(m.Index) {
+			// We want to update our tracking if the response updates our
+			// matched index or if the response can move a probing peer back
+			// into StateReplicate (see heartbeat_rep_recovers_from_probing.txt
+			// for an example of the latter case).
+			// NB: the same does not make sense for StateSnapshot - if `m.Index`
+			// equals pr.Match we know we don't m.Index+1 in our log, so moving
+			// back to replicating state is not useful; besides pr.PendingSnapshot
+			// would prevent it.
+			if pr.MaybeUpdate(m.Index) || (pr.Match == m.Index && pr.State == tracker.StateProbe) {
 				switch {
 				case pr.State == tracker.StateProbe:
 					pr.BecomeReplicate()
@@ -1460,7 +1468,16 @@ func stepLeader(r *raft, m pb.Message) error {
 		// empty append, allowing it to recover from situations in which all the
 		// messages that filled up Inflights in the first place were dropped. Note
 		// also that the outgoing heartbeat already communicated the commit index.
-		if pr.Match < r.raftLog.lastIndex() {
+		//
+		// If the follower is fully caught up but also in StateProbe (as can happen
+		// if ReportUnreachable was called), we also want to send an append (it will
+		// be empty) to allow the follower to transition back to StateReplicate once
+		// it responds.
+		//
+		// Note that StateSnapshot typically satisfies pr.Match < lastIndex, but
+		// `pr.Paused()` is always true for StateSnapshot, so sendAppend is a
+		// no-op.
+		if pr.Match < r.raftLog.lastIndex() || pr.State == tracker.StateProbe {
 			r.sendAppend(m.From)
 		}
 
diff --git a/raft_test.go b/raft_test.go
index 5637c4a4..9f8f4a45 100644
--- a/raft_test.go
+++ b/raft_test.go
@@ -2608,43 +2608,55 @@ func TestLeaderAppResp(t *testing.T) {
 		{3, true, 0, 3, 0, 0, 0},  // stale resp; no replies
 		{2, true, 0, 2, 1, 1, 0},  // denied resp; leader does not commit; decrease next and send probing msg
 		{2, false, 2, 4, 2, 2, 2}, // accept resp; leader commits; broadcast with commit index
-		{0, false, 0, 3, 0, 0, 0}, // ignore heartbeat replies
+		// Follower is StateProbing at 0, it sends MsgAppResp for 0 (which
+		// matches the pr.Match) so it is moved to StateReplicate and as many
+		// entries as possible are sent to it (1, 2, and 3). Correspondingly the
+		// Next is then 4 (an Entry at 4 does not exist, indicating the follower
+		// will be up to date should it process the emitted MsgApp).
+		{0, false, 0, 4, 1, 0, 0},
 	}
 
-	for i, tt := range tests {
-		// sm term is 1 after it becomes the leader.
-		// thus the last log term must be 1 to be committed.
-		sm := newTestRaft(1, 10, 1, newTestMemoryStorage(withPeers(1, 2, 3)))
-		sm.raftLog = &raftLog{
-			storage:  &MemoryStorage{ents: []pb.Entry{{}, {Index: 1, Term: 1}, {Index: 2, Term: 1}}},
-			unstable: unstable{offset: 3},
-		}
-		sm.becomeCandidate()
-		sm.becomeLeader()
-		sm.readMessages()
-		sm.Step(pb.Message{From: 2, Type: pb.MsgAppResp, Index: tt.index, Term: sm.Term, Reject: tt.reject, RejectHint: tt.index})
+	for _, tt := range tests {
+		t.Run("", func(t *testing.T) {
+			// sm term is 1 after it becomes the leader.
+			// thus the last log term must be 1 to be committed.
+			sm := newTestRaft(1, 10, 1, newTestMemoryStorage(withPeers(1, 2, 3)))
+			sm.raftLog = &raftLog{
+				storage:  &MemoryStorage{ents: []pb.Entry{{}, {Index: 1, Term: 1}, {Index: 2, Term: 1}}},
+				unstable: unstable{offset: 3},
+			}
+			sm.becomeCandidate()
+			sm.becomeLeader()
+			sm.readMessages()
+			require.NoError(t, sm.Step(
+				pb.Message{
+					From:       2,
+					Type:       pb.MsgAppResp,
+					Index:      tt.index,
+					Term:       sm.Term,
+					Reject:     tt.reject,
+					RejectHint: tt.index,
+				},
+			))
 
-		p := sm.prs.Progress[2]
-		if p.Match != tt.wmatch {
-			t.Errorf("#%d match = %d, want %d", i, p.Match, tt.wmatch)
-		}
-		if p.Next != tt.wnext {
-			t.Errorf("#%d next = %d, want %d", i, p.Next, tt.wnext)
-		}
+			p := sm.prs.Progress[2]
+			require.EqualValues(t, tt.wmatch, p.Match)
+			require.EqualValues(t, tt.wnext, p.Next)
 
-		msgs := sm.readMessages()
+			msgs := sm.readMessages()
 
-		if len(msgs) != tt.wmsgNum {
-			t.Errorf("#%d msgNum = %d, want %d", i, len(msgs), tt.wmsgNum)
-		}
-		for j, msg := range msgs {
-			if msg.Index != tt.windex {
-				t.Errorf("#%d.%d index = %d, want %d", i, j, msg.Index, tt.windex)
+			if len(msgs) != tt.wmsgNum {
+				require.Equal(t, len(msgs), tt.wmsgNum)
 			}
-			if msg.Commit != tt.wcommitted {
-				t.Errorf("#%d.%d commit = %d, want %d", i, j, msg.Commit, tt.wcommitted)
+			for _, msg := range msgs {
+				if msg.Index != tt.windex {
+					require.EqualValues(t, tt.windex, msg.Index, "%v", DescribeMessage(msg, nil))
+				}
+				if msg.Commit != tt.wcommitted {
+					require.EqualValues(t, tt.wcommitted, msg.Commit, "%v", DescribeMessage(msg, nil))
+				}
 			}
-		}
+		})
 	}
 }
 
diff --git a/rafttest/interaction_env_handler.go b/rafttest/interaction_env_handler.go
index 9f95bc12..74845fd1 100644
--- a/rafttest/interaction_env_handler.go
+++ b/rafttest/interaction_env_handler.go
@@ -157,6 +157,12 @@ func (env *InteractionEnv) Handle(t *testing.T, d datadriven.TestData) string {
 		// propose-conf-change 2 v1=true
 		// v5
 		err = env.handleProposeConfChange(t, d)
+	case "report-unreachable":
+		// Calls <1st>.ReportUnreachable(<2nd>).
+		//
+		// Example:
+		// report-unreachable 1 2
+		err = env.handleReportUnreachable(t, d)
 	default:
 		err = fmt.Errorf("unknown command")
 	}
diff --git a/rafttest/interaction_env_handler_report_unreachable.go b/rafttest/interaction_env_handler_report_unreachable.go
new file mode 100644
index 00000000..dce46ba2
--- /dev/null
+++ b/rafttest/interaction_env_handler_report_unreachable.go
@@ -0,0 +1,30 @@
+// 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.
+package rafttest
+
+import (
+	"errors"
+	"testing"
+
+	"github.com/cockroachdb/datadriven"
+)
+
+func (env *InteractionEnv) handleReportUnreachable(t *testing.T, d datadriven.TestData) error {
+	sl := nodeIdxs(t, d)
+	if len(sl) != 2 {
+		return errors.New("must specify exactly two node indexes: node on which to report, and reported node")
+	}
+	env.Nodes[sl[0]].ReportUnreachable(env.Nodes[sl[1]].Config.ID)
+	return nil
+}
diff --git a/testdata/heartbeat_resp_recovers_from_probing.txt b/testdata/heartbeat_resp_recovers_from_probing.txt
new file mode 100644
index 00000000..690f563a
--- /dev/null
+++ b/testdata/heartbeat_resp_recovers_from_probing.txt
@@ -0,0 +1,90 @@
+# This test checks that if a fully caught-up follower transitions
+# into StateProbe (for example due to a call to ReportUnreachable), the
+# leader will react to a subsequent heartbeat response from the probing
+# follower by sending an empty MsgApp, the response of which restores
+# StateReplicate for the follower. In other words, we don't end up in
+# a stable state with a fully caught up follower in StateProbe.
+
+# Turn off output during the setup of the test.
+log-level none
+----
+ok
+
+add-nodes 3 voters=(1,2,3) index=10
+----
+ok
+
+campaign 1
+----
+ok
+
+stabilize
+----
+ok (quiet)
+
+log-level debug
+----
+ok
+
+status 1
+----
+1: StateReplicate match=11 next=12
+2: StateReplicate match=11 next=12
+3: StateReplicate match=11 next=12
+
+# On the first replica, report the second one as not reachable.
+report-unreachable 1 2
+----
+DEBUG 1 failed to send message to 2 because it is unreachable [StateProbe match=11 next=12]
+
+status 1
+----
+1: StateReplicate match=11 next=12
+2: StateProbe match=11 next=12
+3: StateReplicate match=11 next=12
+
+tick-heartbeat 1
+----
+ok
+
+# Heartbeat -> HeartbeatResp -> MsgApp -> MsgAppResp -> StateReplicate.
+stabilize
+----
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgHeartbeat Term:1 Log:0/0 Commit:11
+  1->3 MsgHeartbeat Term:1 Log:0/0 Commit:11
+> 2 receiving messages
+  1->2 MsgHeartbeat Term:1 Log:0/0 Commit:11
+> 3 receiving messages
+  1->3 MsgHeartbeat Term:1 Log:0/0 Commit:11
+> 2 handling Ready
+  Ready MustSync=false:
+  Messages:
+  2->1 MsgHeartbeatResp Term:1 Log:0/0
+> 3 handling Ready
+  Ready MustSync=false:
+  Messages:
+  3->1 MsgHeartbeatResp Term:1 Log:0/0
+> 1 receiving messages
+  2->1 MsgHeartbeatResp Term:1 Log:0/0
+  3->1 MsgHeartbeatResp Term:1 Log:0/0
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgApp Term:1 Log:1/11 Commit:11
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/11 Commit:11
+> 2 handling Ready
+  Ready MustSync=false:
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/11
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/11
+
+status 1
+----
+1: StateReplicate match=11 next=12
+2: StateReplicate match=11 next=12
+3: StateReplicate match=11 next=12
diff --git a/testdata/slow_follower_after_compaction.txt b/testdata/slow_follower_after_compaction.txt
index e0d7e2fa..0b169b78 100644
--- a/testdata/slow_follower_after_compaction.txt
+++ b/testdata/slow_follower_after_compaction.txt
@@ -118,4 +118,4 @@ status 1
 ----
 1: StateReplicate match=18 next=19
 2: StateReplicate match=18 next=19
-3: StateReplicate match=18 next=19
\ No newline at end of file
+3: StateReplicate match=18 next=19