diff --git a/server/cluster/unsafe_recovery_controller.go b/server/cluster/unsafe_recovery_controller.go
index 01021069179..e640c9a2eb6 100644
--- a/server/cluster/unsafe_recovery_controller.go
+++ b/server/cluster/unsafe_recovery_controller.go
@@ -706,9 +706,6 @@ func (u *unsafeRecoveryController) getFailedPeers(region *metapb.Region) []*meta
 
 	var failedPeers []*metapb.Peer
 	for _, peer := range region.Peers {
-		if peer.Role == metapb.PeerRole_Learner || peer.Role == metapb.PeerRole_DemotingVoter {
-			continue
-		}
 		if u.isFailed(peer) {
 			failedPeers = append(failedPeers, peer)
 		}
diff --git a/server/cluster/unsafe_recovery_controller_test.go b/server/cluster/unsafe_recovery_controller_test.go
index 1209b5cd0c4..aa9d84384d8 100644
--- a/server/cluster/unsafe_recovery_controller_test.go
+++ b/server/cluster/unsafe_recovery_controller_test.go
@@ -606,6 +606,48 @@ func TestAutoDetectMode(t *testing.T) {
 	}
 }
 
+// Failed learner replica/ store should be considered by auto-recover.
+func TestAutoDetectModeWithOneLearner(t *testing.T) {
+	re := require.New(t)
+	ctx, cancel := context.WithCancel(context.Background())
+	defer cancel()
+
+	_, opt, _ := newTestScheduleConfig()
+	cluster := newTestRaftCluster(ctx, mockid.NewIDAllocator(), opt, storage.NewStorageWithMemoryBackend(), core.NewBasicCluster())
+	cluster.coordinator = newCoordinator(ctx, cluster, hbstream.NewTestHeartbeatStreams(ctx, cluster.meta.GetId(), cluster, true))
+	cluster.coordinator.run()
+	for _, store := range newTestStores(1, "6.0.0") {
+		re.NoError(cluster.PutStore(store.GetMeta()))
+	}
+	recoveryController := newUnsafeRecoveryController(cluster)
+	re.NoError(recoveryController.RemoveFailedStores(nil, 60, true))
+
+	storeReport := pdpb.StoreReport{
+		PeerReports: []*pdpb.PeerReport{
+			{
+				RaftState: &raft_serverpb.RaftLocalState{LastIndex: 10, HardState: &eraftpb.HardState{Term: 1, Commit: 10}},
+				RegionState: &raft_serverpb.RegionLocalState{
+					Region: &metapb.Region{
+						Id:          1001,
+						RegionEpoch: &metapb.RegionEpoch{ConfVer: 7, Version: 10},
+						Peers: []*metapb.Peer{
+							{Id: 11, StoreId: 1}, {Id: 12, StoreId: 2}, {Id: 13, StoreId: 3, Role: metapb.PeerRole_Learner}}}}},
+		},
+	}
+	req := newStoreHeartbeat(1, &storeReport)
+	req.StoreReport.Step = 1
+	resp := &pdpb.StoreHeartbeatResponse{}
+	recoveryController.HandleStoreHeartbeat(req, resp)
+	hasStore3AsFailedStore := false
+	for _, failedStore := range resp.RecoveryPlan.ForceLeader.FailedStores {
+		if failedStore == 3 {
+			hasStore3AsFailedStore = true
+			break
+		}
+	}
+	re.True(hasStore3AsFailedStore)
+}
+
 func TestOneLearner(t *testing.T) {
 	re := require.New(t)
 	ctx, cancel := context.WithCancel(context.Background())
diff --git a/server/election/leadership.go b/server/election/leadership.go
index c9215318c64..0489a6c7e4e 100644
--- a/server/election/leadership.go
+++ b/server/election/leadership.go
@@ -16,6 +16,7 @@ package election
 
 import (
 	"context"
+	"sync"
 	"sync/atomic"
 
 	"github.com/pingcap/failpoint"
@@ -54,8 +55,9 @@ type Leadership struct {
 	leaderKey   string
 	leaderValue string
 
-	keepAliveCtx        context.Context
-	keepAliveCancelFunc context.CancelFunc
+	keepAliveCtx            context.Context
+	keepAliveCancelFunc     context.CancelFunc
+	keepAliveCancelFuncLock sync.Mutex
 }
 
 // NewLeadership creates a new Leadership.
@@ -137,7 +139,9 @@ func (ls *Leadership) Keep(ctx context.Context) {
 	if ls == nil {
 		return
 	}
+	ls.keepAliveCancelFuncLock.Lock()
 	ls.keepAliveCtx, ls.keepAliveCancelFunc = context.WithCancel(ctx)
+	ls.keepAliveCancelFuncLock.Unlock()
 	go ls.getLease().KeepAlive(ls.keepAliveCtx)
 }
 
@@ -230,8 +234,10 @@ func (ls *Leadership) Reset() {
 	if ls == nil || ls.getLease() == nil {
 		return
 	}
+	ls.keepAliveCancelFuncLock.Lock()
 	if ls.keepAliveCancelFunc != nil {
 		ls.keepAliveCancelFunc()
 	}
+	ls.keepAliveCancelFuncLock.Unlock()
 	ls.getLease().Close()
 }