diff --git a/pkg/core/region.go b/pkg/core/region.go
index 4f7af8cc333..244fef836f8 100644
--- a/pkg/core/region.go
+++ b/pkg/core/region.go
@@ -2264,13 +2264,3 @@ func NewTestRegionInfo(regionID, storeID uint64, start, end []byte, opts ...Regi
 	}
 	return NewRegionInfo(metaRegion, leader, opts...)
 }
-
-// TraverseRegions executes a function on all regions.
-// ONLY for simulator now and only for READ.
-func (r *RegionsInfo) TraverseRegions(lockedFunc func(*RegionInfo)) {
-	r.t.RLock()
-	defer r.t.RUnlock()
-	for _, item := range r.regions {
-		lockedFunc(item.RegionInfo)
-	}
-}
diff --git a/tools/pd-simulator/main.go b/tools/pd-simulator/main.go
index 63ba7f9134d..7fe1d3ecedd 100644
--- a/tools/pd-simulator/main.go
+++ b/tools/pd-simulator/main.go
@@ -148,6 +148,7 @@ func simStart(pdAddr, statusAddress string, simCase string, simConfig *sc.SimCon
 	}
 	tickInterval := simConfig.SimTickInterval.Duration
 
+	ctx, cancel := context.WithCancel(context.Background())
 	tick := time.NewTicker(tickInterval)
 	defer tick.Stop()
 	sc := make(chan os.Signal, 1)
@@ -161,6 +162,10 @@ func simStart(pdAddr, statusAddress string, simCase string, simConfig *sc.SimCon
 
 	simResult := "FAIL"
 
+	go driver.StoresHeartbeat(ctx)
+	go driver.RegionsHeartbeat(ctx)
+	go driver.StepRegions(ctx)
+
 EXIT:
 	for {
 		select {
@@ -175,6 +180,7 @@ EXIT:
 		}
 	}
 
+	cancel()
 	driver.Stop()
 	if len(clean) != 0 && clean[0] != nil {
 		clean[0]()
diff --git a/tools/pd-simulator/simulator/cases/cases.go b/tools/pd-simulator/simulator/cases/cases.go
index 0ddd66608b1..026e095342b 100644
--- a/tools/pd-simulator/simulator/cases/cases.go
+++ b/tools/pd-simulator/simulator/cases/cases.go
@@ -101,6 +101,7 @@ var CaseMap = map[string]func(*config.SimConfig) *Case{
 	"diagnose-label-not-match1": newLabelNotMatch1,
 	"diagnose-label-isolation1": newLabelIsolation1,
 	"diagnose-label-isolation2": newLabelIsolation2,
+	"stable":                    newStableEnv,
 }
 
 // NewCase creates a new case.
diff --git a/tools/pd-simulator/simulator/cases/stable_env.go b/tools/pd-simulator/simulator/cases/stable_env.go
new file mode 100644
index 00000000000..8a015c90ca8
--- /dev/null
+++ b/tools/pd-simulator/simulator/cases/stable_env.go
@@ -0,0 +1,66 @@
+// Copyright 2024 TiKV Project 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 cases
+
+import (
+	"github.com/docker/go-units"
+	"github.com/pingcap/kvproto/pkg/metapb"
+	"github.com/tikv/pd/pkg/core"
+	sc "github.com/tikv/pd/tools/pd-simulator/simulator/config"
+	"github.com/tikv/pd/tools/pd-simulator/simulator/info"
+	"github.com/tikv/pd/tools/pd-simulator/simulator/simutil"
+)
+
+// newStableEnv provides a stable environment for test.
+func newStableEnv(config *sc.SimConfig) *Case {
+	var simCase Case
+
+	totalStore := config.TotalStore
+	totalRegion := config.TotalRegion
+	allStores := make(map[uint64]struct{}, totalStore)
+	arrStoresID := make([]uint64, 0, totalStore)
+	replica := int(config.ServerConfig.Replication.MaxReplicas)
+	for i := 0; i < totalStore; i++ {
+		id := simutil.IDAllocator.NextID()
+		simCase.Stores = append(simCase.Stores, &Store{
+			ID:     id,
+			Status: metapb.StoreState_Up,
+		})
+		allStores[id] = struct{}{}
+		arrStoresID = append(arrStoresID, id)
+	}
+
+	for i := 0; i < totalRegion; i++ {
+		peers := make([]*metapb.Peer, 0, replica)
+		for j := 0; j < replica; j++ {
+			peers = append(peers, &metapb.Peer{
+				Id:      simutil.IDAllocator.NextID(),
+				StoreId: arrStoresID[(i+j)%totalStore],
+			})
+		}
+		simCase.Regions = append(simCase.Regions, Region{
+			ID:     simutil.IDAllocator.NextID(),
+			Peers:  peers,
+			Leader: peers[0],
+			Size:   96 * units.MiB,
+			Keys:   960000,
+		})
+	}
+
+	simCase.Checker = func(_ []*metapb.Store, _ *core.RegionsInfo, _ []info.StoreStats) bool {
+		return false
+	}
+	return &simCase
+}
diff --git a/tools/pd-simulator/simulator/config/config.go b/tools/pd-simulator/simulator/config/config.go
index 6598cf35c0f..030655bd3dc 100644
--- a/tools/pd-simulator/simulator/config/config.go
+++ b/tools/pd-simulator/simulator/config/config.go
@@ -36,6 +36,7 @@ const (
 	defaultTotalStore                  = 3
 	defaultTotalRegion                 = 1000
 	defaultEnableTransferRegionCounter = false
+	defaultHibernatePercent            = 0
 	// store
 	defaultStoreIOMBPerSecond = 40
 	defaultStoreHeartbeat     = 10 * time.Second
@@ -62,6 +63,7 @@ type SimConfig struct {
 	TotalRegion                 int               `toml:"total-region"`
 	EnableTransferRegionCounter bool              `toml:"enable-transfer-region-counter"`
 	SimTickInterval             typeutil.Duration `toml:"sim-tick-interval"`
+	HibernatePercent            int               `toml:"hibernate-percent"`
 	// store
 	StoreIOMBPerSecond int64       `toml:"store-io-per-second"`
 	StoreVersion       string      `toml:"store-version"`
@@ -107,6 +109,7 @@ func (sc *SimConfig) Adjust(meta *toml.MetaData) error {
 	configutil.AdjustDuration(&sc.SimTickInterval, defaultSimTickInterval)
 	configutil.AdjustInt(&sc.TotalStore, defaultTotalStore)
 	configutil.AdjustInt(&sc.TotalRegion, defaultTotalRegion)
+	configutil.AdjustInt(&sc.HibernatePercent, defaultHibernatePercent)
 	configutil.AdjustBool(&sc.EnableTransferRegionCounter, defaultEnableTransferRegionCounter)
 	configutil.AdjustInt64(&sc.StoreIOMBPerSecond, defaultStoreIOMBPerSecond)
 	configutil.AdjustString(&sc.StoreVersion, versioninfo.PDReleaseVersion)
diff --git a/tools/pd-simulator/simulator/drive.go b/tools/pd-simulator/simulator/drive.go
index 8c511b5ac5c..87b779559ca 100644
--- a/tools/pd-simulator/simulator/drive.go
+++ b/tools/pd-simulator/simulator/drive.go
@@ -16,6 +16,7 @@ package simulator
 
 import (
 	"context"
+	"math/rand"
 	"net/http"
 	"net/http/pprof"
 	"path"
@@ -47,12 +48,18 @@ type Driver struct {
 	pdAddr        string
 	statusAddress string
 	simCase       *cases.Case
-	tickCount     int64
 	eventRunner   *EventRunner
 	raftEngine    *RaftEngine
 	conn          *Connection
 	simConfig     *config.SimConfig
 	pdConfig      *config.PDConfig
+
+	tick struct {
+		count      int64
+		region     chan int64
+		store      chan int64
+		stepRegion chan int64
+	}
 }
 
 // NewDriver returns a driver.
@@ -64,17 +71,22 @@ func NewDriver(pdAddr, statusAddress, caseName string, simConfig *config.SimConf
 	pdConfig := &config.PDConfig{}
 	pdConfig.PlacementRules = simCase.Rules
 	pdConfig.LocationLabels = simCase.Labels
-	return &Driver{
+	driver := Driver{
 		pdAddr:        pdAddr,
 		statusAddress: statusAddress,
 		simCase:       simCase,
 		simConfig:     simConfig,
 		pdConfig:      pdConfig,
-	}, nil
+	}
+	driver.tick.stepRegion = make(chan int64, 1)
+	driver.tick.region = make(chan int64, 1)
+	driver.tick.store = make(chan int64, 1)
+	return &driver, nil
 }
 
 // Prepare initializes cluster information, bootstraps cluster and starts nodes.
 func (d *Driver) Prepare() error {
+	simutil.Logger.Info("prepare cluster")
 	conn, err := NewConnection(d.simCase, d.simConfig)
 	if err != nil {
 		return err
@@ -166,15 +178,136 @@ func (d *Driver) updateNodesClient() error {
 
 // Tick invokes nodes' Tick.
 func (d *Driver) Tick() {
-	d.tickCount++
-	d.raftEngine.stepRegions()
-	d.eventRunner.Tick(d.tickCount)
+	d.tick.count++
+	curTick := d.tick.count
+	go func() {
+		d.tick.stepRegion <- curTick
+	}()
+	go func() {
+		d.tick.region <- curTick
+	}()
+	go func() {
+		d.tick.store <- curTick
+	}()
+}
+
+func (d *Driver) StepRegions(ctx context.Context) {
+	for {
+		select {
+		case tick := <-d.tick.stepRegion:
+			d.raftEngine.stepRegions()
+			d.eventRunner.Tick(tick)
+			for _, n := range d.conn.Nodes {
+				n.reportRegionChange()
+				d.wg.Add(1)
+				go n.Tick(&d.wg)
+			}
+			d.wg.Wait()
+		case <-ctx.Done():
+			return
+		}
+	}
+}
+
+func (d *Driver) StoresHeartbeat(ctx context.Context) {
+	config := d.raftEngine.storeConfig
+	storeInterval := uint64(config.RaftStore.StoreHeartBeatInterval.Duration / config.SimTickInterval.Duration)
+	var wg sync.WaitGroup
+	for {
+		select {
+		case tick := <-d.tick.store:
+			if uint64(tick)%storeInterval == 0 {
+				for _, n := range d.conn.Nodes {
+					wg.Add(1)
+					go n.storeHeartBeat(&wg)
+				}
+				wg.Wait()
+			}
+		case <-ctx.Done():
+			return
+		}
+	}
+}
+
+func (d *Driver) RegionsHeartbeat(ctx context.Context) {
+	// ensure only wait for the first time heartbeat done
+	firstReport := true
+	config := d.raftEngine.storeConfig
+	regionInterval := uint64(config.RaftStore.RegionHeartBeatInterval.Duration / config.SimTickInterval.Duration)
+	nodesChannel := make(map[uint64]chan *core.RegionInfo, len(d.conn.Nodes))
 	for _, n := range d.conn.Nodes {
-		n.reportRegionChange()
-		d.wg.Add(1)
-		go n.Tick(&d.wg)
+		nodesChannel[n.Store.GetId()] = make(chan *core.RegionInfo, d.simConfig.TotalRegion)
+		go func(storeID uint64, ch chan *core.RegionInfo) {
+			for {
+				select {
+				case region := <-ch:
+					d.conn.Nodes[storeID].regionHeartBeat(region)
+				case <-ctx.Done():
+					close(ch)
+					return
+				}
+			}
+		}(n.Store.GetId(), nodesChannel[n.Store.GetId()])
+	}
+
+	for {
+		select {
+		case tick := <-d.tick.region:
+			if uint64(tick)%regionInterval == 0 {
+				regions := d.raftEngine.GetRegions()
+				healthyNodes := make(map[uint64]bool)
+				for _, n := range d.conn.Nodes {
+					if n.GetNodeState() != metapb.NodeState_Preparing && n.GetNodeState() != metapb.NodeState_Serving {
+						healthyNodes[n.Store.GetId()] = false
+					} else {
+						healthyNodes[n.Store.GetId()] = true
+					}
+				}
+				report := 0
+				for _, region := range regions {
+					hibernatePercent := d.simConfig.HibernatePercent
+					// using rand(0,100) to meet hibernatePercent
+					if !firstReport && rand.Intn(100) < hibernatePercent {
+						continue
+					}
+
+					if region.GetLeader() != nil {
+						storeID := region.GetLeader().GetStoreId()
+						if healthy, ok := healthyNodes[storeID]; !ok || !healthy {
+							continue
+						}
+						nodesChannel[storeID] <- region.Clone()
+						report++
+					}
+				}
+
+				// Only set HaltSchedule to false when the leader count is 80% of the total region count.
+				// using firstReport to avoid the haltSchedule set to true manually.
+				if HaltSchedule.Load() && firstReport {
+					storeInterval := uint64(config.RaftStore.StoreHeartBeatInterval.Duration / config.SimTickInterval.Duration)
+					ticker := time.NewTicker(time.Duration(storeInterval))
+					for range ticker.C {
+						// need to wait for first time heartbeat done
+						stores, _ := PDHTTPClient.GetStores(ctx)
+						var leaderCount int64
+						for _, store := range stores.Stores {
+							leaderCount += store.Status.LeaderCount
+						}
+						// Add halt schedule check to avoid the situation that the leader count is always less than 80%.
+						if leaderCount > int64(float64(d.simConfig.TotalRegion)*0.8) || !HaltSchedule.Load() {
+							ChooseToHaltPDSchedule(false)
+							firstReport = false
+							ticker.Stop()
+							simutil.Logger.Info("first region heartbeat done", zap.Int64("leaderCount", leaderCount), zap.Int("checkRegions", len(regions)))
+							break
+						}
+					}
+				}
+			}
+		case <-ctx.Done():
+			return
+		}
 	}
-	d.wg.Wait()
 }
 
 var HaltSchedule atomic.Bool
@@ -197,6 +330,7 @@ func (d *Driver) Check() bool {
 
 // Start starts all nodes.
 func (d *Driver) Start() error {
+	simutil.Logger.Info("init nodes")
 	if err := d.updateNodesClient(); err != nil {
 		return err
 	}
@@ -221,7 +355,7 @@ func (d *Driver) Stop() {
 
 // TickCount returns the simulation's tick count.
 func (d *Driver) TickCount() int64 {
-	return d.tickCount
+	return d.tick.count
 }
 
 // GetBootstrapInfo returns a valid bootstrap store and region.
diff --git a/tools/pd-simulator/simulator/node.go b/tools/pd-simulator/simulator/node.go
index 2059107227e..59b0d393c47 100644
--- a/tools/pd-simulator/simulator/node.go
+++ b/tools/pd-simulator/simulator/node.go
@@ -129,7 +129,6 @@ func (n *Node) Tick(wg *sync.WaitGroup) {
 	if n.GetNodeState() != metapb.NodeState_Preparing && n.GetNodeState() != metapb.NodeState_Serving {
 		return
 	}
-	n.stepHeartBeat()
 	n.stepCompaction()
 	n.stepTask()
 	n.tick++
@@ -154,29 +153,14 @@ func (n *Node) stepTask() {
 	}
 }
 
-var schedulerCheck sync.Once
-
-func (n *Node) stepHeartBeat() {
-	config := n.raftEngine.storeConfig
-
-	period := uint64(config.RaftStore.StoreHeartBeatInterval.Duration / config.SimTickInterval.Duration)
-	if n.tick%period == 0 {
-		n.storeHeartBeat()
-	}
-	period = uint64(config.RaftStore.RegionHeartBeatInterval.Duration / config.SimTickInterval.Duration)
-	if n.tick%period == 0 {
-		n.regionHeartBeat()
-		schedulerCheck.Do(func() { ChooseToHaltPDSchedule(false) })
-	}
-}
-
 func (n *Node) stepCompaction() {
 	if n.tick%compactionDelayPeriod == 0 {
 		n.compaction()
 	}
 }
 
-func (n *Node) storeHeartBeat() {
+func (n *Node) storeHeartBeat(wg *sync.WaitGroup) {
+	defer wg.Done()
 	if n.GetNodeState() != metapb.NodeState_Preparing && n.GetNodeState() != metapb.NodeState_Serving {
 		return
 	}
@@ -205,26 +189,16 @@ func (n *Node) compaction() {
 	n.stats.ToCompactionSize = 0
 }
 
-func (n *Node) regionHeartBeat() {
-	if n.GetNodeState() != metapb.NodeState_Preparing && n.GetNodeState() != metapb.NodeState_Serving {
-		return
+func (n *Node) regionHeartBeat(region *core.RegionInfo) {
+	ctx, cancel := context.WithTimeout(n.ctx, pdTimeout)
+	err := n.client.RegionHeartbeat(ctx, region)
+	if err != nil {
+		simutil.Logger.Info("report region heartbeat error",
+			zap.Uint64("node-id", n.Id),
+			zap.Uint64("region-id", region.GetID()),
+			zap.Error(err))
 	}
-	n.raftEngine.TraverseRegions(func(region *core.RegionInfo) {
-		if region.GetLeader() != nil && region.GetLeader().GetStoreId() == n.Id {
-			ctx, cancel := context.WithTimeout(n.ctx, pdTimeout)
-			if region == nil {
-				simutil.Logger.Fatal("region not found")
-			}
-			err := n.client.RegionHeartbeat(ctx, region.Clone())
-			if err != nil {
-				simutil.Logger.Info("report region heartbeat error",
-					zap.Uint64("node-id", n.Id),
-					zap.Uint64("region-id", region.GetID()),
-					zap.Error(err))
-			}
-			cancel()
-		}
-	})
+	cancel()
 }
 
 func (n *Node) reportRegionChange() {
diff --git a/tools/pd-simulator/simulator/raft.go b/tools/pd-simulator/simulator/raft.go
index 727cc6ab805..9a219d32f9f 100644
--- a/tools/pd-simulator/simulator/raft.go
+++ b/tools/pd-simulator/simulator/raft.go
@@ -255,11 +255,6 @@ func (r *RaftEngine) ResetRegionChange(storeID uint64, regionID uint64) {
 	}
 }
 
-// TraverseRegions executes a function on all regions, and function need to be self-locked.
-func (r *RaftEngine) TraverseRegions(lockedFunc func(*core.RegionInfo)) {
-	r.regionsInfo.TraverseRegions(lockedFunc)
-}
-
 // GetRegions gets all RegionInfo from regionMap
 func (r *RaftEngine) GetRegions() []*core.RegionInfo {
 	r.RLock()