diff --git a/server/etcdmain/config.go b/server/etcdmain/config.go
index e31d1c7cf8a..fa5d6d161a1 100644
--- a/server/etcdmain/config.go
+++ b/server/etcdmain/config.go
@@ -276,7 +276,7 @@ func newConfig() *config {
 	fs.IntVar(&cfg.ec.ExperimentalCompactionBatchLimit, "experimental-compaction-batch-limit", cfg.ec.ExperimentalCompactionBatchLimit, "Sets the maximum revisions deleted in each compaction batch.")
 	fs.DurationVar(&cfg.ec.ExperimentalCompactionSleepInterval, "experimental-compaction-sleep-interval", cfg.ec.ExperimentalCompactionSleepInterval, "Sets the sleep interval between each compaction batch.")
 	fs.DurationVar(&cfg.ec.ExperimentalWatchProgressNotifyInterval, "experimental-watch-progress-notify-interval", cfg.ec.ExperimentalWatchProgressNotifyInterval, "Duration of periodic watch progress notifications.")
-	fs.DurationVar(&cfg.ec.ExperimentalDowngradeCheckTime, "experimental-downgrade-check-time", cfg.ec.ExperimentalDowngradeCheckTime, "Duration of time between two downgrade status check.")
+	fs.DurationVar(&cfg.ec.ExperimentalDowngradeCheckTime, "experimental-downgrade-check-time", cfg.ec.ExperimentalDowngradeCheckTime, "Duration of time between two downgrade status checks.")
 	fs.DurationVar(&cfg.ec.ExperimentalWarningApplyDuration, "experimental-warning-apply-duration", cfg.ec.ExperimentalWarningApplyDuration, "Time duration after which a warning is generated if request takes more time.")
 	fs.DurationVar(&cfg.ec.WarningUnaryRequestDuration, "warning-unary-request-duration", cfg.ec.WarningUnaryRequestDuration, "Time duration after which a warning is generated if a unary request takes more time.")
 	fs.DurationVar(&cfg.ec.ExperimentalWarningUnaryRequestDuration, "experimental-warning-unary-request-duration", cfg.ec.ExperimentalWarningUnaryRequestDuration, "Time duration after which a warning is generated if a unary request takes more time. It's deprecated, and will be decommissioned in v3.7. Use --warning-unary-request-duration instead.")
diff --git a/server/etcdmain/config_test.go b/server/etcdmain/config_test.go
index 30239374eda..8332a892a97 100644
--- a/server/etcdmain/config_test.go
+++ b/server/etcdmain/config_test.go
@@ -15,6 +15,7 @@
 package etcdmain
 
 import (
+	"flag"
 	"fmt"
 	"net/url"
 	"os"
@@ -24,6 +25,7 @@ import (
 
 	"sigs.k8s.io/yaml"
 
+	"go.etcd.io/etcd/pkg/v3/flags"
 	"go.etcd.io/etcd/server/v3/embed"
 )
 
@@ -378,6 +380,21 @@ func TestConfigFileElectionTimeout(t *testing.T) {
 	}
 }
 
+func TestFlagsPresentInHelp(t *testing.T) {
+	cfg := newConfig()
+	cfg.cf.flagSet.VisitAll(func(f *flag.Flag) {
+		if _, ok := f.Value.(*flags.IgnoredFlag); ok {
+			// Ignored flags do not need to be in the help
+			return
+		}
+
+		flagText := fmt.Sprintf("--%s", f.Name)
+		if !strings.Contains(flagsline, flagText) && !strings.Contains(usageline, flagText) {
+			t.Errorf("Neither flagsline nor usageline in help.go contains flag named %s", flagText)
+		}
+	})
+}
+
 func mustCreateCfgFile(t *testing.T, b []byte) *os.File {
 	tmpfile, err := os.CreateTemp("", "servercfg")
 	if err != nil {
diff --git a/server/etcdmain/help.go b/server/etcdmain/help.go
index 49b7114e6cd..1f139680d3d 100644
--- a/server/etcdmain/help.go
+++ b/server/etcdmain/help.go
@@ -23,6 +23,7 @@ import (
 
 	cconfig "go.etcd.io/etcd/server/v3/config"
 	"go.etcd.io/etcd/server/v3/embed"
+	"go.etcd.io/etcd/server/v3/etcdserver/api/rafthttp"
 )
 
 var (
@@ -95,7 +96,13 @@ Member:
   --socket-reuse-port 'false'
     Enable to set socket option SO_REUSEPORT on listeners allowing rebinding of a port already in use.
   --socket-reuse-address 'false'
-	Enable to set socket option SO_REUSEADDR on listeners allowing binding to an address in TIME_WAIT state.
+    Enable to set socket option SO_REUSEADDR on listeners allowing binding to an address in TIME_WAIT state.
+  --enable-grpc-gateway
+    Enable GRPC gateway.
+  --raft-read-timeout '` + rafthttp.DefaultConnReadTimeout.String() + `'
+    Read timeout set on each rafthttp connection
+  --raft-write-timeout '` + rafthttp.DefaultConnWriteTimeout.String() + `'
+    Write timeout set on each rafthttp connection
 
 Clustering:
   --initial-advertise-peer-urls 'http://localhost:2380'
@@ -170,6 +177,10 @@ Security:
     Path to the client server TLS key file.
   --client-cert-auth 'false'
     Enable client cert authentication.
+  --client-cert-file ''
+    Path to an explicit peer client TLS cert file otherwise cert file will be used when client auth is required.
+  --client-key-file ''
+    Path to an explicit peer client TLS key file otherwise key file will be used when client auth is required.
   --client-crl-file ''
     Path to the client certificate revocation list file.
   --client-cert-allowed-hostname ''
@@ -184,6 +195,10 @@ Security:
     Path to the peer server TLS key file.
   --peer-client-cert-auth 'false'
     Enable peer client cert authentication.
+  --peer-client-cert-file ''
+    Path to an explicit peer client TLS cert file otherwise peer cert file will be used when client auth is required.
+  --peer-client-key-file ''
+    Path to an explicit peer client TLS key file otherwise peer key file will be used when client auth is required.
   --peer-trusted-ca-file ''
     Path to the peer server TLS trusted CA file.
   --peer-cert-allowed-cn ''
@@ -282,6 +297,16 @@ Experimental feature:
     Set the maximum time duration to wait for the cluster to be ready.
   --experimental-snapshot-catch-up-entries '5000'
     Number of entries for a slow follower to catch up after compacting the raft storage entries.
+  --experimental-compaction-sleep-interval
+    Sets the sleep interval between each compaction batch.
+  --experimental-downgrade-check-time
+    Duration of time between two downgrade status checks.
+  --experimental-enable-lease-checkpoint-persist 'false'
+    Enable persisting remainingTTL to prevent indefinite auto-renewal of long lived leases. Always enabled in v3.6. Should be used to ensure smooth upgrade from v3.5 clusters with this feature enabled. Requires experimental-enable-lease-checkpoint to be enabled.
+  --experimental-memory-mlock
+    Enable to enforce etcd pages (in particular bbolt) to stay in RAM.
+  --experimental-snapshot-catchup-entries
+    Number of entries for a slow follower to catch up after compacting the raft storage entries.
 
 Unsafe feature:
   --force-new-cluster 'false'