diff --git a/cdc/capture/capture.go b/cdc/capture/capture.go
index a487fdac747..302137d3cbb 100644
--- a/cdc/capture/capture.go
+++ b/cdc/capture/capture.go
@@ -17,6 +17,7 @@ import (
 	"context"
 	"fmt"
 	"io"
+	"strings"
 	"sync"
 	"time"
 
@@ -114,6 +115,7 @@ func (c *Capture) reset(ctx context.Context) error {
 	if err != nil {
 		return errors.Trace(err)
 	}
+	log.Info("reset session successfully", zap.Any("session", sess))
 
 	c.captureMu.Lock()
 	defer c.captureMu.Unlock()
@@ -355,11 +357,12 @@ func (c *Capture) campaignOwner(ctx cdcContext.Context) error {
 		}
 		// Campaign to be an owner, it blocks until it becomes the owner
 		if err := c.campaign(ctx); err != nil {
-			switch errors.Cause(err) {
-			case context.Canceled:
+			rootErr := errors.Cause(err)
+			if rootErr == context.Canceled {
 				return nil
-			case mvcc.ErrCompacted:
-				// the revision we requested is compacted, just retry
+			} else if rootErr == mvcc.ErrCompacted || isErrCompacted(rootErr) {
+				log.Warn("campaign owner failed due to etcd revision "+
+					"has been compacted, retry later", zap.Error(err))
 				continue
 			}
 			log.Warn("campaign owner failed", zap.Error(err))
@@ -608,3 +611,7 @@ func (c *Capture) StatusProvider() owner.StatusProvider {
 	}
 	return owner.NewStatusProvider(c.owner)
 }
+
+func isErrCompacted(err error) bool {
+	return strings.Contains(err.Error(), "required revision has been compacted")
+}
diff --git a/cdc/owner/changefeed.go b/cdc/owner/changefeed.go
index 105ac263462..8908a67fb34 100644
--- a/cdc/owner/changefeed.go
+++ b/cdc/owner/changefeed.go
@@ -553,6 +553,9 @@ func (c *changefeed) releaseResources(ctx cdcContext.Context) {
 	changefeedBarrierTsGauge.DeleteLabelValues(c.id.Namespace, c.id.ID)
 	c.metricsChangefeedBarrierTsGauge = nil
 
+	if c.isRemoved {
+		changefeedStatusGauge.DeleteLabelValues(c.id.Namespace, c.id.ID)
+	}
 	c.isReleased = true
 	c.initialized = false
 }
diff --git a/cdc/processor/processor.go b/cdc/processor/processor.go
index 9202af1bef6..25c5b9d2420 100644
--- a/cdc/processor/processor.go
+++ b/cdc/processor/processor.go
@@ -900,6 +900,11 @@ func (p *processor) Close() error {
 	log.Info("processor closing ...",
 		zap.String("namespace", p.changefeedID.Namespace),
 		zap.String("changefeed", p.changefeedID.ID))
+
+	// clean up metrics first to avoid some metrics are not cleaned up
+	// when error occurs during closing the processor
+	p.cleanupMetrics()
+
 	for _, tbl := range p.tables {
 		tbl.Cancel()
 	}
@@ -941,6 +946,11 @@ func (p *processor) Close() error {
 	}
 	// mark tables share the same cdcContext with its original table, don't need to cancel
 	failpoint.Inject("processorStopDelay", nil)
+
+	return nil
+}
+
+func (p *processor) cleanupMetrics() {
 	resolvedTsGauge.DeleteLabelValues(p.changefeedID.Namespace, p.changefeedID.ID)
 	resolvedTsLagGauge.DeleteLabelValues(p.changefeedID.Namespace, p.changefeedID.ID)
 	checkpointTsGauge.DeleteLabelValues(p.changefeedID.Namespace, p.changefeedID.ID)
@@ -952,7 +962,6 @@ func (p *processor) Close() error {
 
 	pipeline.SorterBatchReadSize.DeleteLabelValues(p.changefeedID.Namespace, p.changefeedID.ID)
 	pipeline.SorterBatchReadDuration.DeleteLabelValues(p.changefeedID.Namespace, p.changefeedID.ID)
-	return nil
 }
 
 // WriteDebugInfo write the debug info to Writer
diff --git a/cdc/server.go b/cdc/server.go
index 9d7320bd949..865aeffd266 100644
--- a/cdc/server.go
+++ b/cdc/server.go
@@ -46,6 +46,7 @@ import (
 	"golang.org/x/sync/errgroup"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/backoff"
+	"google.golang.org/grpc/keepalive"
 )
 
 const (
@@ -124,12 +125,15 @@ func (s *Server) Run(ctx context.Context) error {
 	logConfig := logutil.DefaultZapLoggerConfig
 	logConfig.Level = zap.NewAtomicLevelAt(zapcore.ErrorLevel)
 
+	log.Info("create etcdCli", zap.Strings("endpoints", s.pdEndpoints))
+
 	etcdCli, err := clientv3.New(clientv3.Config{
-		Endpoints:   s.pdEndpoints,
-		TLS:         tlsConfig,
-		Context:     ctx,
-		LogConfig:   &logConfig,
-		DialTimeout: 5 * time.Second,
+		Endpoints:        s.pdEndpoints,
+		TLS:              tlsConfig,
+		Context:          ctx,
+		LogConfig:        &logConfig,
+		DialTimeout:      5 * time.Second,
+		AutoSyncInterval: 30 * time.Second,
 		DialOptions: []grpc.DialOption{
 			grpcTLSOption,
 			grpc.WithBlock(),
@@ -142,6 +146,10 @@ func (s *Server) Run(ctx context.Context) error {
 				},
 				MinConnectTimeout: 3 * time.Second,
 			}),
+			grpc.WithKeepaliveParams(keepalive.ClientParameters{
+				Time:    10 * time.Second,
+				Timeout: 20 * time.Second,
+			}),
 		},
 	})
 	if err != nil {
@@ -240,6 +248,13 @@ func (s *Server) etcdHealthChecker(ctx context.Context) error {
 				}
 				cancel()
 			}
+
+			ctx, cancel := context.WithTimeout(ctx, 5*time.Second)
+			_, err = s.etcdClient.Client.Unwrap().MemberList(ctx)
+			cancel()
+			if err != nil {
+				log.Warn("etcd health check error, fail to list etcd members", zap.Error(err))
+			}
 		}
 	}
 }
diff --git a/dm/pkg/etcdutil/etcdutil.go b/dm/pkg/etcdutil/etcdutil.go
index 6b23deb0a76..421a93549f8 100644
--- a/dm/pkg/etcdutil/etcdutil.go
+++ b/dm/pkg/etcdutil/etcdutil.go
@@ -61,9 +61,10 @@ var etcdDefaultTxnStrategy = retry.FiniteRetryStrategy{}
 // CreateClient creates an etcd client with some default config items.
 func CreateClient(endpoints []string, tlsCfg *tls.Config) (*clientv3.Client, error) {
 	return clientv3.New(clientv3.Config{
-		Endpoints:   endpoints,
-		DialTimeout: DefaultDialTimeout,
-		TLS:         tlsCfg,
+		Endpoints:        endpoints,
+		DialTimeout:      DefaultDialTimeout,
+		AutoSyncInterval: 30 * time.Second,
+		TLS:              tlsCfg,
 	})
 }
 
diff --git a/pkg/etcd/client.go b/pkg/etcd/client.go
index 4092444ccca..251e2e02ed6 100644
--- a/pkg/etcd/client.go
+++ b/pkg/etcd/client.go
@@ -66,7 +66,7 @@ var (
 )
 
 // set to var instead of const for mocking the value to speedup test
-var maxTries uint64 = 8
+var maxTries uint64 = 12
 
 // Client is a simple wrapper that adds retry to etcd RPC
 type Client struct {
diff --git a/pkg/version/check.go b/pkg/version/check.go
index ea24965942f..e4dafb599c4 100644
--- a/pkg/version/check.go
+++ b/pkg/version/check.go
@@ -20,6 +20,7 @@ import (
 	"io"
 	"regexp"
 	"strings"
+	"time"
 
 	"github.com/coreos/go-semver/semver"
 	"github.com/pingcap/errors"
@@ -28,6 +29,7 @@ import (
 	"github.com/pingcap/tidb/br/pkg/version"
 	cerror "github.com/pingcap/tiflow/pkg/errors"
 	"github.com/pingcap/tiflow/pkg/httputil"
+	"github.com/pingcap/tiflow/pkg/retry"
 	"github.com/pingcap/tiflow/pkg/security"
 	pd "github.com/tikv/pd/client"
 	"go.uber.org/zap"
@@ -70,6 +72,8 @@ func removeVAndHash(v string) string {
 	return strings.TrimPrefix(v, "v")
 }
 
+var checkClusterVersionRetryTimes = 10
+
 // CheckClusterVersion check TiKV and PD version.
 // need only one PD alive and match the cdc version.
 func CheckClusterVersion(
@@ -85,7 +89,14 @@ func CheckClusterVersion(
 	}
 
 	for _, pdAddr := range pdAddrs {
-		err = CheckPDVersion(ctx, pdAddr, credential)
+		// check pd version with retry, if the pdAddr is a service or lb address
+		// the http client may connect to an unhealthy PD that returns 503
+		err = retry.Do(ctx, func() error {
+			return CheckPDVersion(ctx, pdAddr, credential)
+		}, retry.WithBackoffBaseDelay(time.Millisecond.Milliseconds()*10),
+			retry.WithBackoffMaxDelay(time.Second.Milliseconds()),
+			retry.WithMaxTries(uint64(checkClusterVersionRetryTimes)),
+			retry.WithIsRetryableErr(cerror.IsRetryableError))
 		if err == nil {
 			break
 		}
@@ -106,6 +117,8 @@ func CheckPDVersion(ctx context.Context, pdAddr string, credential *security.Cre
 		return err
 	}
 
+	ctx, cancel := context.WithTimeout(ctx, 10*time.Second)
+	defer cancel()
 	resp, err := httpClient.Get(ctx, fmt.Sprintf("%s/pd/api/v1/version", pdAddr))
 	if err != nil {
 		return cerror.ErrCheckClusterVersionFromPD.GenWithStackByArgs(err)