diff --git a/client/tso_dispatcher.go b/client/tso_dispatcher.go
index 563bcc9fc6e..956a7daace6 100644
--- a/client/tso_dispatcher.go
+++ b/client/tso_dispatcher.go
@@ -17,6 +17,7 @@ package pd
 import (
 	"context"
 	"fmt"
+	"math"
 	"math/rand"
 	"runtime/trace"
 	"sync"
@@ -203,10 +204,8 @@ func (td *tsoDispatcher) handleDispatcher(wg *sync.WaitGroup) {
 			return true
 		})
 		if batchController != nil && batchController.collectedRequestCount != 0 {
-			if r := recover(); r != nil {
-				panic(r)
-			}
-			log.Fatal("batched tso requests not cleared when exiting the tso dispatcher loop")
+			// If you encounter this failure, please check the stack in the logs to see if it's a panic.
+			log.Fatal("batched tso requests not cleared when exiting the tso dispatcher loop", zap.Any("panic", recover()))
 		}
 		tsoErr := errors.WithStack(errClosing)
 		td.revokePendingRequests(tsoErr)
@@ -351,14 +350,28 @@ tsoBatchLoop:
 		// the batch, instead of the time when the first request arrives.
 		// Here, if the elapsed time since starting collecting this batch didn't reach the expected batch time, then
 		// continue collecting.
-		if td.isConcurrentRPCEnabled() && !noDelay {
+		if td.isConcurrentRPCEnabled() {
 			estimatedLatency := stream.EstimatedRPCLatency()
 			estimateTSOLatencyGauge.WithLabelValues(streamURL).Set(estimatedLatency.Seconds())
+			goalBatchTime := estimatedLatency / time.Duration(td.rpcConcurrency)
+
+			failpoint.Inject("tsoDispatcherConcurrentModeAssertDelayDuration", func(val failpoint.Value) {
+				if s, ok := val.(string); ok {
+					expected, err := time.ParseDuration(s)
+					if err != nil {
+						panic(err)
+					}
+					if math.Abs(expected.Seconds()-goalBatchTime.Seconds()) > 1e-6 {
+						log.Fatal("tsoDispatcher: trying to delay for unexpected duration for the batch", zap.Duration("goalBatchTime", goalBatchTime), zap.Duration("expectedBatchTime", expected))
+					}
+				} else {
+					panic("invalid value for failpoint tsoDispatcherConcurrentModeAssertDelayDuration: expected string")
+				}
+			})
 
-			totalBatchTime := estimatedLatency / time.Duration(td.rpcConcurrency)
 			waitTimerStart := time.Now()
-			remainingBatchTime := totalBatchTime - waitTimerStart.Sub(currentBatchStartTime)
-			if remainingBatchTime > 0 {
+			remainingBatchTime := goalBatchTime - waitTimerStart.Sub(currentBatchStartTime)
+			if remainingBatchTime > 0 && !noDelay {
 				if !batchingTimer.Stop() {
 					select {
 					case <-batchingTimer.C:
diff --git a/client/tso_dispatcher_test.go b/client/tso_dispatcher_test.go
index 2aa082a4a64..2f7a1ef6e1e 100644
--- a/client/tso_dispatcher_test.go
+++ b/client/tso_dispatcher_test.go
@@ -32,6 +32,7 @@ import (
 type mockTSOServiceProvider struct {
 	option       *option
 	createStream func(ctx context.Context) *tsoStream
+	updateConnMu sync.Mutex
 }
 
 func newMockTSOServiceProvider(option *option, createStream func(ctx context.Context) *tsoStream) *mockTSOServiceProvider {
@@ -50,6 +51,11 @@ func (*mockTSOServiceProvider) getServiceDiscovery() ServiceDiscovery {
 }
 
 func (m *mockTSOServiceProvider) updateConnectionCtxs(ctx context.Context, _dc string, connectionCtxs *sync.Map) bool {
+	// Avoid concurrent updating in the background updating goroutine and active updating in the dispatcher loop when
+	// stream is missing.
+	m.updateConnMu.Lock()
+	defer m.updateConnMu.Unlock()
+
 	_, ok := connectionCtxs.Load(mockStreamURL)
 	if ok {
 		return true
@@ -271,6 +277,45 @@ func (s *testTSODispatcherSuite) TestConcurrentRPC() {
 	s.testStaticConcurrencyImpl(16)
 }
 
+func (s *testTSODispatcherSuite) TestBatchDelaying() {
+	ctx := context.Background()
+	s.option.setTSOClientRPCConcurrency(2)
+
+	s.re.NoError(failpoint.Enable("github.com/tikv/pd/client/tsoDispatcherConcurrentModeNoDelay", "return"))
+	s.re.NoError(failpoint.Enable("github.com/tikv/pd/client/tsoStreamSimulateEstimatedRPCLatency", `return("12ms")`))
+	defer func() {
+		s.re.NoError(failpoint.Disable("github.com/tikv/pd/client/tsoDispatcherConcurrentModeNoDelay"))
+		s.re.NoError(failpoint.Disable("github.com/tikv/pd/client/tsoStreamSimulateEstimatedRPCLatency"))
+	}()
+
+	// Make sure concurrency option takes effect.
+	req := s.sendReq(ctx)
+	s.streamInner.generateNext()
+	s.reqMustReady(req)
+
+	// Trigger the check.
+	s.re.NoError(failpoint.Enable("github.com/tikv/pd/client/tsoDispatcherConcurrentModeAssertDelayDuration", `return("6ms")`))
+	defer func() {
+		s.re.NoError(failpoint.Disable("github.com/tikv/pd/client/tsoDispatcherConcurrentModeAssertDelayDuration"))
+	}()
+	req = s.sendReq(ctx)
+	s.streamInner.generateNext()
+	s.reqMustReady(req)
+
+	// Try other concurrency.
+	s.option.setTSOClientRPCConcurrency(3)
+	s.re.NoError(failpoint.Enable("github.com/tikv/pd/client/tsoDispatcherConcurrentModeAssertDelayDuration", `return("4ms")`))
+	req = s.sendReq(ctx)
+	s.streamInner.generateNext()
+	s.reqMustReady(req)
+
+	s.option.setTSOClientRPCConcurrency(4)
+	s.re.NoError(failpoint.Enable("github.com/tikv/pd/client/tsoDispatcherConcurrentModeAssertDelayDuration", `return("3ms")`))
+	req = s.sendReq(ctx)
+	s.streamInner.generateNext()
+	s.reqMustReady(req)
+}
+
 func BenchmarkTSODispatcherHandleRequests(b *testing.B) {
 	log.SetLevel(zapcore.FatalLevel)