diff --git a/raft/interaction_test.go b/raft/interaction_test.go
index 375e636dc001..c8b8cb00963f 100644
--- a/raft/interaction_test.go
+++ b/raft/interaction_test.go
@@ -22,6 +22,9 @@ import (
 )
 
 func TestInteraction(t *testing.T) {
+	// NB: if this test fails, run `go test ./raft -rewrite` and inspect the
+	// diff. Only commit the changes if you understand what caused them and if
+	// they are desired.
 	datadriven.Walk(t, "testdata", func(t *testing.T, path string) {
 		env := rafttest.NewInteractionEnv(nil)
 		datadriven.RunTest(t, path, func(d *datadriven.TestData) string {
diff --git a/raft/raft.go b/raft/raft.go
index 02f493a8d89a..54a8192cebe6 100644
--- a/raft/raft.go
+++ b/raft/raft.go
@@ -1036,10 +1036,36 @@ func stepLeader(r *raft, m pb.Message) error {
 
 		for i := range m.Entries {
 			e := &m.Entries[i]
-			if e.Type == pb.EntryConfChange || e.Type == pb.EntryConfChangeV2 {
-				if r.pendingConfIndex > r.raftLog.applied {
-					r.logger.Infof("%x propose conf %s ignored since pending unapplied configuration [index %d, applied %d]",
-						r.id, e, r.pendingConfIndex, r.raftLog.applied)
+			var cc pb.ConfChangeI
+			if e.Type == pb.EntryConfChange {
+				var ccc pb.ConfChange
+				if err := ccc.Unmarshal(e.Data); err != nil {
+					panic(err)
+				}
+				cc = ccc
+			} else if e.Type == pb.EntryConfChangeV2 {
+				var ccc pb.ConfChangeV2
+				if err := ccc.Unmarshal(e.Data); err != nil {
+					panic(err)
+				}
+				cc = ccc
+			}
+			if cc != nil {
+				alreadyPending := r.pendingConfIndex > r.raftLog.applied
+				alreadyJoint := len(r.prs.Config.Voters[1]) > 0
+				wantsLeaveJoint := len(cc.AsV2().Changes) == 0
+
+				var refused string
+				if alreadyPending {
+					refused = fmt.Sprintf("possible unapplied conf change at index %d (applied to %d)", r.pendingConfIndex, r.raftLog.applied)
+				} else if alreadyJoint && !wantsLeaveJoint {
+					refused = "must transition out of joint config first"
+				} else if !alreadyJoint && wantsLeaveJoint {
+					refused = "not in joint state; refusing empty conf change"
+				}
+
+				if refused != "" {
+					r.logger.Infof("%x ignoring conf change %v at config %s: %s", r.id, cc, r.prs.Config, refused)
 					m.Entries[i] = pb.Entry{Type: pb.EntryNormal}
 				} else {
 					r.pendingConfIndex = r.raftLog.lastIndex() + uint64(i) + 1
diff --git a/raft/rafttest/interaction_env_handler_process_ready.go b/raft/rafttest/interaction_env_handler_process_ready.go
index ff5cf2bd9da6..1006433c493a 100644
--- a/raft/rafttest/interaction_env_handler_process_ready.go
+++ b/raft/rafttest/interaction_env_handler_process_ready.go
@@ -19,7 +19,6 @@ import (
 
 	"github.com/cockroachdb/datadriven"
 	"go.etcd.io/etcd/raft"
-	"go.etcd.io/etcd/raft/quorum"
 	"go.etcd.io/etcd/raft/raftpb"
 )
 
@@ -50,6 +49,7 @@ func (env *InteractionEnv) ProcessReady(idx int) error {
 	}
 	for _, ent := range rd.CommittedEntries {
 		var update []byte
+		var cs *raftpb.ConfState
 		switch ent.Type {
 		case raftpb.EntryConfChange:
 			var cc raftpb.ConfChange
@@ -57,13 +57,13 @@ func (env *InteractionEnv) ProcessReady(idx int) error {
 				return err
 			}
 			update = cc.Context
-			rn.ApplyConfChange(cc)
+			cs = rn.ApplyConfChange(cc)
 		case raftpb.EntryConfChangeV2:
 			var cc raftpb.ConfChangeV2
 			if err := cc.Unmarshal(ent.Data); err != nil {
 				return err
 			}
-			rn.ApplyConfChange(cc)
+			cs = rn.ApplyConfChange(cc)
 			update = cc.Context
 		default:
 			update = ent.Data
@@ -78,13 +78,11 @@ func (env *InteractionEnv) ProcessReady(idx int) error {
 		snap.Data = append(snap.Data, update...)
 		snap.Metadata.Index = ent.Index
 		snap.Metadata.Term = ent.Term
-		cfg := rn.Status().Config
-		snap.Metadata.ConfState = raftpb.ConfState{
-			Voters:         cfg.Voters[0].Slice(),
-			VotersOutgoing: cfg.Voters[1].Slice(),
-			Learners:       quorum.MajorityConfig(cfg.Learners).Slice(),
-			LearnersNext:   quorum.MajorityConfig(cfg.LearnersNext).Slice(),
+		if cs == nil {
+			sl := env.Nodes[idx].History
+			cs = &sl[len(sl)-1].Metadata.ConfState
 		}
+		snap.Metadata.ConfState = *cs
 		env.Nodes[idx].History = append(env.Nodes[idx].History, snap)
 	}
 	for _, msg := range rd.Messages {
diff --git a/raft/rafttest/interaction_env_handler_stabilize.go b/raft/rafttest/interaction_env_handler_stabilize.go
index ce6e3b6e99c9..4f5fb64a4ee8 100644
--- a/raft/rafttest/interaction_env_handler_stabilize.go
+++ b/raft/rafttest/interaction_env_handler_stabilize.go
@@ -67,9 +67,10 @@ func (env *InteractionEnv) Stabilize(idxs ...int) error {
 		}
 		var msgs []raftpb.Message
 		for _, rn := range nodes {
-			msgs, env.Messages = splitMsgs(env.Messages, rn.Status().ID)
+			id := rn.Status().ID
+			msgs, env.Messages = splitMsgs(env.Messages, id)
 			if len(msgs) > 0 {
-				fmt.Fprintf(env.Output, "> delivering messages\n")
+				fmt.Fprintf(env.Output, "> %d receiving messages\n", id)
 				withIndent(func() { env.DeliverMsgs(msgs) })
 				done = false
 			}
diff --git a/raft/testdata/campaign.txt b/raft/testdata/campaign.txt
index 19bb06b9e45a..c5deb2dc1825 100644
--- a/raft/testdata/campaign.txt
+++ b/raft/testdata/campaign.txt
@@ -31,12 +31,12 @@ stabilize
   Messages:
   1->2 MsgVote Term:1 Log:1/2
   1->3 MsgVote Term:1 Log:1/2
-> delivering messages
+> 2 receiving messages
   1->2 MsgVote Term:1 Log:1/2
   INFO 2 [term: 0] received a MsgVote message with higher term from 1 [term: 1]
   INFO 2 became follower at term 1
   INFO 2 [logterm: 1, index: 2, vote: 0] cast MsgVote for 1 [logterm: 1, index: 2] at term 1
-> delivering messages
+> 3 receiving messages
   1->3 MsgVote Term:1 Log:1/2
   INFO 3 [term: 0] received a MsgVote message with higher term from 1 [term: 1]
   INFO 3 became follower at term 1
@@ -51,7 +51,7 @@ stabilize
   HardState Term:1 Vote:1 Commit:2
   Messages:
   3->1 MsgVoteResp Term:1 Log:0/0
-> delivering messages
+> 1 receiving messages
   2->1 MsgVoteResp Term:1 Log:0/0
   INFO 1 received MsgVoteResp from 2 at term 1
   INFO 1 has received 2 MsgVoteResp votes and 0 vote rejections
@@ -65,9 +65,9 @@ stabilize
   Messages:
   1->2 MsgApp Term:1 Log:1/2 Commit:2 Entries:[1/3 EntryNormal ""]
   1->3 MsgApp Term:1 Log:1/2 Commit:2 Entries:[1/3 EntryNormal ""]
-> delivering messages
+> 2 receiving messages
   1->2 MsgApp Term:1 Log:1/2 Commit:2 Entries:[1/3 EntryNormal ""]
-> delivering messages
+> 3 receiving messages
   1->3 MsgApp Term:1 Log:1/2 Commit:2 Entries:[1/3 EntryNormal ""]
 > 2 handling Ready
   Ready MustSync=true:
@@ -83,7 +83,7 @@ stabilize
   1/3 EntryNormal ""
   Messages:
   3->1 MsgAppResp Term:1 Log:0/3
-> delivering messages
+> 1 receiving messages
   2->1 MsgAppResp Term:1 Log:0/3
   3->1 MsgAppResp Term:1 Log:0/3
 > 1 handling Ready
@@ -94,9 +94,9 @@ stabilize
   Messages:
   1->2 MsgApp Term:1 Log:1/3 Commit:3
   1->3 MsgApp Term:1 Log:1/3 Commit:3
-> delivering messages
+> 2 receiving messages
   1->2 MsgApp Term:1 Log:1/3 Commit:3
-> delivering messages
+> 3 receiving messages
   1->3 MsgApp Term:1 Log:1/3 Commit:3
 > 2 handling Ready
   Ready MustSync=false:
@@ -112,6 +112,6 @@ stabilize
   1/3 EntryNormal ""
   Messages:
   3->1 MsgAppResp Term:1 Log:0/3
-> delivering messages
+> 1 receiving messages
   2->1 MsgAppResp Term:1 Log:0/3
   3->1 MsgAppResp Term:1 Log:0/3
diff --git a/raft/testdata/campaign_learner_must_vote.txt b/raft/testdata/campaign_learner_must_vote.txt
new file mode 100644
index 000000000000..50aae3817991
--- /dev/null
+++ b/raft/testdata/campaign_learner_must_vote.txt
@@ -0,0 +1,123 @@
+# Regression test that verifies that learners can vote. This holds only in the
+# sense that if a learner is asked to vote, a candidate believes that they are a
+# voter based on its current config, which may be more recent than that of the
+# learner. If learners which are actually voters but don't know it yet don't
+# vote in that situation, the raft group may end up unavailable despite a quorum
+# of voters (as of the latest config) being available.
+#
+# See:
+# https://github.com/etcd-io/etcd/pull/10998
+
+# Turn output off during boilerplate.
+log-level none
+----
+ok
+
+add-nodes 3 voters=(1,2) learners=(3) index=2
+----
+ok
+
+campaign 1
+----
+ok
+
+stabilize
+----
+ok (quiet)
+
+propose-conf-change 1
+v3
+----
+ok
+
+stabilize 1 2
+----
+ok (quiet)
+
+log-level debug
+----
+ok
+
+campaign 2
+----
+INFO 2 is starting a new election at term 1
+INFO 2 became candidate at term 2
+INFO 2 received MsgVoteResp from 2 at term 2
+INFO 2 [logterm: 1, index: 4] sent MsgVote request to 1 at term 2
+INFO 2 [logterm: 1, index: 4] sent MsgVote request to 3 at term 2
+
+# n2 is now campaigning while n1 is down (does not respond). The latest config
+# has n1 as a voter, but n1 doesn't even have the corresponding conf change in
+# its log. Still, it casts a vote for n2 which can in turn become leader and
+# catches up n3.
+stabilize 2 3
+----
+> 2 handling Ready
+  Ready MustSync=true:
+  Lead:0 State:StateCandidate
+  HardState Term:2 Vote:2 Commit:4
+  Messages:
+  2->1 MsgVote Term:2 Log:1/4
+  2->3 MsgVote Term:2 Log:1/4
+> 3 receiving messages
+  1->3 MsgApp Term:1 Log:1/3 Commit:3 Entries:[1/4 EntryConfChangeV2 v3]
+  1->3 MsgApp Term:1 Log:1/4 Commit:4
+  2->3 MsgVote Term:2 Log:1/4
+  INFO 3 [term: 1] received a MsgVote message with higher term from 2 [term: 2]
+  INFO 3 became follower at term 2
+  INFO 3 [logterm: 1, index: 4, vote: 0] cast MsgVote for 2 [logterm: 1, index: 4] at term 2
+> 3 handling Ready
+  INFO 3 switched to configuration voters=(1 2 3)
+  Ready MustSync=true:
+  Lead:0 State:StateFollower
+  HardState Term:2 Vote:2 Commit:4
+  Entries:
+  1/4 EntryConfChangeV2 v3
+  CommittedEntries:
+  1/4 EntryConfChangeV2 v3
+  Messages:
+  3->1 MsgAppResp Term:1 Log:0/4
+  3->1 MsgAppResp Term:1 Log:0/4
+  3->2 MsgVoteResp Term:2 Log:0/0
+> 2 receiving messages
+  3->2 MsgVoteResp Term:2 Log:0/0
+  INFO 2 received MsgVoteResp from 3 at term 2
+  INFO 2 has received 2 MsgVoteResp votes and 0 vote rejections
+  INFO 2 became leader at term 2
+> 2 handling Ready
+  Ready MustSync=true:
+  Lead:2 State:StateLeader
+  Entries:
+  2/5 EntryNormal ""
+  Messages:
+  2->1 MsgApp Term:2 Log:1/4 Commit:4 Entries:[2/5 EntryNormal ""]
+  2->3 MsgApp Term:2 Log:1/4 Commit:4 Entries:[2/5 EntryNormal ""]
+> 3 receiving messages
+  2->3 MsgApp Term:2 Log:1/4 Commit:4 Entries:[2/5 EntryNormal ""]
+> 3 handling Ready
+  Ready MustSync=true:
+  Lead:2 State:StateFollower
+  Entries:
+  2/5 EntryNormal ""
+  Messages:
+  3->2 MsgAppResp Term:2 Log:0/5
+> 2 receiving messages
+  3->2 MsgAppResp Term:2 Log:0/5
+> 2 handling Ready
+  Ready MustSync=false:
+  HardState Term:2 Vote:2 Commit:5
+  CommittedEntries:
+  2/5 EntryNormal ""
+  Messages:
+  2->3 MsgApp Term:2 Log:2/5 Commit:5
+> 3 receiving messages
+  2->3 MsgApp Term:2 Log:2/5 Commit:5
+> 3 handling Ready
+  Ready MustSync=false:
+  HardState Term:2 Vote:2 Commit:5
+  CommittedEntries:
+  2/5 EntryNormal ""
+  Messages:
+  3->2 MsgAppResp Term:2 Log:0/5
+> 2 receiving messages
+  3->2 MsgAppResp Term:2 Log:0/5
diff --git a/raft/testdata/confchange_v1_add_single.txt b/raft/testdata/confchange_v1_add_single.txt
new file mode 100644
index 000000000000..4c92ee53cbd0
--- /dev/null
+++ b/raft/testdata/confchange_v1_add_single.txt
@@ -0,0 +1,97 @@
+# Run a V1 membership change that adds a single voter.
+
+# Bootstrap n1.
+add-nodes 1 voters=(1) index=2
+----
+INFO 1 switched to configuration voters=(1)
+INFO 1 became follower at term 0
+INFO newRaft 1 [peers: [1], term: 0, commit: 2, applied: 2, lastindex: 2, lastterm: 1]
+
+campaign 1
+----
+INFO 1 is starting a new election at term 0
+INFO 1 became candidate at term 1
+INFO 1 received MsgVoteResp from 1 at term 1
+INFO 1 became leader at term 1
+
+# Add v2 (with an auto transition).
+propose-conf-change 1 v1=true
+v2
+----
+ok
+
+# Pull n2 out of thin air.
+add-nodes 1
+----
+INFO 2 switched to configuration voters=()
+INFO 2 became follower at term 0
+INFO newRaft 2 [peers: [], term: 0, commit: 0, applied: 0, lastindex: 0, lastterm: 0]
+
+# n1 commits the conf change using itself as commit quorum, immediately transitions into
+# the final config, and catches up n2. Note that it's using an EntryConfChange, not an
+# EntryConfChangeV2, so this is compatible with nodes that don't know about V2 conf changes.
+stabilize
+----
+> 1 handling Ready
+  INFO 1 switched to configuration voters=(1 2)
+  Ready MustSync=true:
+  Lead:1 State:StateLeader
+  HardState Term:1 Vote:1 Commit:4
+  Entries:
+  1/3 EntryNormal ""
+  1/4 EntryConfChange v2
+  CommittedEntries:
+  1/3 EntryNormal ""
+  1/4 EntryConfChange v2
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgApp Term:1 Log:1/3 Commit:4 Entries:[1/4 EntryConfChange v2]
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/3 Commit:4 Entries:[1/4 EntryConfChange v2]
+  INFO 2 [term: 0] received a MsgApp message with higher term from 1 [term: 1]
+  INFO 2 became follower at term 1
+  DEBUG 2 [logterm: 0, index: 3] rejected MsgApp [logterm: 1, index: 3] from 1
+> 2 handling Ready
+  Ready MustSync=true:
+  Lead:1 State:StateFollower
+  HardState Term:1 Commit:0
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
+  DEBUG 1 received MsgAppResp(MsgApp was rejected, lastindex: 0) from 2 for index 3
+  DEBUG 1 decreased progress of 2 to [StateProbe match=0 next=1]
+  DEBUG 1 [firstindex: 3, commit: 4] sent snapshot[index: 4, term: 1] to 2 [StateProbe match=0 next=1]
+  DEBUG 1 paused sending replication messages to 2 [StateSnapshot match=0 next=1 paused pendingSnap=4]
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
+> 2 receiving messages
+  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
+  INFO log [committed=0, applied=0, unstable.offset=1, len(unstable.Entries)=0] starts to restore snapshot [index: 4, term: 1]
+  INFO 2 switched to configuration voters=(1 2)
+  INFO 2 [commit: 4, lastindex: 4, lastterm: 1] restored snapshot [index: 4, term: 1]
+  INFO 2 [commit: 4] restored snapshot [index: 4, term: 1]
+> 2 handling Ready
+  Ready MustSync=false:
+  HardState Term:1 Commit:4
+  Snapshot Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/4
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/4
+  DEBUG 1 recovered from needing snapshot, resumed sending replication messages to 2 [StateSnapshot match=4 next=5 paused pendingSnap=4]
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgApp Term:1 Log:1/4 Commit:4
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/4 Commit:4
+> 2 handling Ready
+  Ready MustSync=false:
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/4
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/4
diff --git a/raft/testdata/confchange_v1_remove_leader.txt b/raft/testdata/confchange_v1_remove_leader.txt
new file mode 100644
index 000000000000..004b971d1500
--- /dev/null
+++ b/raft/testdata/confchange_v1_remove_leader.txt
@@ -0,0 +1,102 @@
+# We'll turn this back on after the boilerplate.
+log-level none
+----
+ok
+
+# Run a V1 membership change that removes the leader.
+# Bootstrap n1, n2, n3.
+add-nodes 3 voters=(1,2,3) index=2
+----
+ok
+
+campaign 1
+----
+ok
+
+stabilize
+----
+ok (quiet)
+
+log-level debug
+----
+ok
+
+# Remove n1.
+propose-conf-change 1 v1=true
+r1
+----
+ok
+
+stabilize
+----
+> 1 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/4 EntryConfChange r1
+  Messages:
+  1->2 MsgApp Term:1 Log:1/3 Commit:3 Entries:[1/4 EntryConfChange r1]
+  1->3 MsgApp Term:1 Log:1/3 Commit:3 Entries:[1/4 EntryConfChange r1]
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/3 Commit:3 Entries:[1/4 EntryConfChange r1]
+> 3 receiving messages
+  1->3 MsgApp Term:1 Log:1/3 Commit:3 Entries:[1/4 EntryConfChange r1]
+> 2 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/4 EntryConfChange r1
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/4
+> 3 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/4 EntryConfChange r1
+  Messages:
+  3->1 MsgAppResp Term:1 Log:0/4
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/4
+  3->1 MsgAppResp Term:1 Log:0/4
+> 1 handling Ready
+  INFO 1 switched to configuration voters=(2 3)
+  Ready MustSync=false:
+  HardState Term:1 Vote:1 Commit:4
+  CommittedEntries:
+  1/4 EntryConfChange r1
+  Messages:
+  1->2 MsgApp Term:1 Log:1/4 Commit:4
+  1->3 MsgApp Term:1 Log:1/4 Commit:4
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/4 Commit:4
+> 3 receiving messages
+  1->3 MsgApp Term:1 Log:1/4 Commit:4
+> 2 handling Ready
+  INFO 2 switched to configuration voters=(2 3)
+  Ready MustSync=false:
+  HardState Term:1 Vote:1 Commit:4
+  CommittedEntries:
+  1/4 EntryConfChange r1
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/4
+> 3 handling Ready
+  INFO 3 switched to configuration voters=(2 3)
+  Ready MustSync=false:
+  HardState Term:1 Vote:1 Commit:4
+  CommittedEntries:
+  1/4 EntryConfChange r1
+  Messages:
+  3->1 MsgAppResp Term:1 Log:0/4
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/4
+  3->1 MsgAppResp Term:1 Log:0/4
+
+status 1
+----
+2: StateReplicate match=4 next=5
+3: StateReplicate match=4 next=5
+
+# TODO(tbg): the leader now drops any proposals, but if it has any other
+# uncommitted proposals in its log already, it will likely try to distribute
+# them which could be buggy. Test that.
+propose-conf-change 1 v1=true
+v1
+----
+raft proposal dropped
diff --git a/raft/testdata/confchange_upreplicate_1_to_3_v2_auto.txt b/raft/testdata/confchange_v2_add_double_auto.txt
similarity index 87%
rename from raft/testdata/confchange_upreplicate_1_to_3_v2_auto.txt
rename to raft/testdata/confchange_v2_add_double_auto.txt
index 4714bfceec13..866053dbb9ce 100644
--- a/raft/testdata/confchange_upreplicate_1_to_3_v2_auto.txt
+++ b/raft/testdata/confchange_v2_add_double_auto.txt
@@ -15,7 +15,7 @@ INFO 1 became candidate at term 1
 INFO 1 received MsgVoteResp from 1 at term 1
 INFO 1 became leader at term 1
 
-propose-conf-change 1
+propose-conf-change 1 transition=auto
 v2 v3
 ----
 ok
@@ -32,7 +32,9 @@ INFO newRaft 3 [peers: [], term: 0, commit: 0, applied: 0, lastindex: 0, lastter
 
 # n1 immediately gets to commit & apply the conf change using only itself. We see that
 # it starts transitioning out of that joint configuration (though we will only see that
-# proposal in the next ready handling loop, when it is emitted).
+# proposal in the next ready handling loop, when it is emitted). We also see that this
+# is using joint consensus, which it has to since we're carrying out two additions at
+# once.
 process-ready 1
 ----
 INFO 1 switched to configuration voters=(1 2 3)&&(1) autoleave
@@ -65,7 +67,7 @@ stabilize 1
 # which transitions them out of their joint configuration into the final one (1 2 3).
 stabilize 1 2
 ----
-> delivering messages
+> 2 receiving messages
   1->2 MsgApp Term:1 Log:1/3 Commit:4 Entries:[1/4 EntryConfChangeV2 v2 v3]
   INFO 2 [term: 0] received a MsgApp message with higher term from 1 [term: 1]
   INFO 2 became follower at term 1
@@ -76,7 +78,7 @@ stabilize 1 2
   HardState Term:1 Commit:0
   Messages:
   2->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
-> delivering messages
+> 1 receiving messages
   2->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
   DEBUG 1 received MsgAppResp(MsgApp was rejected, lastindex: 0) from 2 for index 3
   DEBUG 1 decreased progress of 2 to [StateProbe match=0 next=1]
@@ -85,27 +87,27 @@ stabilize 1 2
 > 1 handling Ready
   Ready MustSync=false:
   Messages:
-  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[1] Learners:[] LearnersNext:[]
-> delivering messages
-  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[1] Learners:[] LearnersNext:[]
+  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[1] Learners:[] LearnersNext:[] AutoLeave:true
+> 2 receiving messages
+  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[1] Learners:[] LearnersNext:[] AutoLeave:true
   INFO log [committed=0, applied=0, unstable.offset=1, len(unstable.Entries)=0] starts to restore snapshot [index: 4, term: 1]
-  INFO 2 switched to configuration voters=(1 2 3)&&(1)
+  INFO 2 switched to configuration voters=(1 2 3)&&(1) autoleave
   INFO 2 [commit: 4, lastindex: 4, lastterm: 1] restored snapshot [index: 4, term: 1]
   INFO 2 [commit: 4] restored snapshot [index: 4, term: 1]
 > 2 handling Ready
   Ready MustSync=false:
   HardState Term:1 Commit:4
-  Snapshot Index:4 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[1] Learners:[] LearnersNext:[]
+  Snapshot Index:4 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[1] Learners:[] LearnersNext:[] AutoLeave:true
   Messages:
   2->1 MsgAppResp Term:1 Log:0/4
-> delivering messages
+> 1 receiving messages
   2->1 MsgAppResp Term:1 Log:0/4
   DEBUG 1 recovered from needing snapshot, resumed sending replication messages to 2 [StateSnapshot match=4 next=5 paused pendingSnap=4]
 > 1 handling Ready
   Ready MustSync=false:
   Messages:
   1->2 MsgApp Term:1 Log:1/4 Commit:4 Entries:[1/5 EntryConfChangeV2]
-> delivering messages
+> 2 receiving messages
   1->2 MsgApp Term:1 Log:1/4 Commit:4 Entries:[1/5 EntryConfChangeV2]
 > 2 handling Ready
   Ready MustSync=true:
@@ -113,7 +115,7 @@ stabilize 1 2
   1/5 EntryConfChangeV2
   Messages:
   2->1 MsgAppResp Term:1 Log:0/5
-> delivering messages
+> 1 receiving messages
   2->1 MsgAppResp Term:1 Log:0/5
 > 1 handling Ready
   INFO 1 switched to configuration voters=(1 2 3)
@@ -123,7 +125,7 @@ stabilize 1 2
   1/5 EntryConfChangeV2
   Messages:
   1->2 MsgApp Term:1 Log:1/5 Commit:5
-> delivering messages
+> 2 receiving messages
   1->2 MsgApp Term:1 Log:1/5 Commit:5
 > 2 handling Ready
   INFO 2 switched to configuration voters=(1 2 3)
@@ -133,13 +135,13 @@ stabilize 1 2
   1/5 EntryConfChangeV2
   Messages:
   2->1 MsgAppResp Term:1 Log:0/5
-> delivering messages
+> 1 receiving messages
   2->1 MsgAppResp Term:1 Log:0/5
 
 # n3 immediately receives a snapshot in the final configuration.
 stabilize 1 3
 ----
-> delivering messages
+> 3 receiving messages
   1->3 MsgApp Term:1 Log:1/3 Commit:4 Entries:[1/4 EntryConfChangeV2 v2 v3]
   INFO 3 [term: 0] received a MsgApp message with higher term from 1 [term: 1]
   INFO 3 became follower at term 1
@@ -150,7 +152,7 @@ stabilize 1 3
   HardState Term:1 Commit:0
   Messages:
   3->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
-> delivering messages
+> 1 receiving messages
   3->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
   DEBUG 1 received MsgAppResp(MsgApp was rejected, lastindex: 0) from 3 for index 3
   DEBUG 1 decreased progress of 3 to [StateProbe match=0 next=1]
@@ -159,9 +161,9 @@ stabilize 1 3
 > 1 handling Ready
   Ready MustSync=false:
   Messages:
-  1->3 MsgSnap Term:1 Log:0/0 Snapshot: Index:5 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[]
-> delivering messages
-  1->3 MsgSnap Term:1 Log:0/0 Snapshot: Index:5 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[]
+  1->3 MsgSnap Term:1 Log:0/0 Snapshot: Index:5 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
+> 3 receiving messages
+  1->3 MsgSnap Term:1 Log:0/0 Snapshot: Index:5 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
   INFO log [committed=0, applied=0, unstable.offset=1, len(unstable.Entries)=0] starts to restore snapshot [index: 5, term: 1]
   INFO 3 switched to configuration voters=(1 2 3)
   INFO 3 [commit: 5, lastindex: 5, lastterm: 1] restored snapshot [index: 5, term: 1]
@@ -169,23 +171,23 @@ stabilize 1 3
 > 3 handling Ready
   Ready MustSync=false:
   HardState Term:1 Commit:5
-  Snapshot Index:5 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[]
+  Snapshot Index:5 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
   Messages:
   3->1 MsgAppResp Term:1 Log:0/5
-> delivering messages
+> 1 receiving messages
   3->1 MsgAppResp Term:1 Log:0/5
   DEBUG 1 recovered from needing snapshot, resumed sending replication messages to 3 [StateSnapshot match=5 next=6 paused pendingSnap=5]
 > 1 handling Ready
   Ready MustSync=false:
   Messages:
   1->3 MsgApp Term:1 Log:1/5 Commit:5
-> delivering messages
+> 3 receiving messages
   1->3 MsgApp Term:1 Log:1/5 Commit:5
 > 3 handling Ready
   Ready MustSync=false:
   Messages:
   3->1 MsgAppResp Term:1 Log:0/5
-> delivering messages
+> 1 receiving messages
   3->1 MsgAppResp Term:1 Log:0/5
 
 # Nothing else happens.
diff --git a/raft/testdata/confchange_v2_add_double_explicit.txt b/raft/testdata/confchange_v2_add_double_explicit.txt
new file mode 100644
index 000000000000..60805fcfbfc3
--- /dev/null
+++ b/raft/testdata/confchange_v2_add_double_explicit.txt
@@ -0,0 +1,206 @@
+# Run a V2 membership change that adds a single voter but explicitly asks for the
+# use of joint consensus, including wanting to transition out of the joint config
+# manually.
+
+# Bootstrap n1.
+add-nodes 1 voters=(1) index=2
+----
+INFO 1 switched to configuration voters=(1)
+INFO 1 became follower at term 0
+INFO newRaft 1 [peers: [1], term: 0, commit: 2, applied: 2, lastindex: 2, lastterm: 1]
+
+campaign 1
+----
+INFO 1 is starting a new election at term 0
+INFO 1 became candidate at term 1
+INFO 1 received MsgVoteResp from 1 at term 1
+INFO 1 became leader at term 1
+
+# Add v2 with an explicit transition.
+propose-conf-change 1 transition=explicit
+v2
+----
+ok
+
+# Pull n2 out of thin air.
+add-nodes 1
+----
+INFO 2 switched to configuration voters=()
+INFO 2 became follower at term 0
+INFO newRaft 2 [peers: [], term: 0, commit: 0, applied: 0, lastindex: 0, lastterm: 0]
+
+# n1 commits the conf change using itself as commit quorum, then starts catching up n2.
+# Everyone remains in the joint config. Note that the snapshot below has AutoLeave unset.
+stabilize 1 2
+----
+> 1 handling Ready
+  INFO 1 switched to configuration voters=(1 2)&&(1)
+  Ready MustSync=true:
+  Lead:1 State:StateLeader
+  HardState Term:1 Vote:1 Commit:4
+  Entries:
+  1/3 EntryNormal ""
+  1/4 EntryConfChangeV2 v2
+  CommittedEntries:
+  1/3 EntryNormal ""
+  1/4 EntryConfChangeV2 v2
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgApp Term:1 Log:1/3 Commit:4 Entries:[1/4 EntryConfChangeV2 v2]
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/3 Commit:4 Entries:[1/4 EntryConfChangeV2 v2]
+  INFO 2 [term: 0] received a MsgApp message with higher term from 1 [term: 1]
+  INFO 2 became follower at term 1
+  DEBUG 2 [logterm: 0, index: 3] rejected MsgApp [logterm: 1, index: 3] from 1
+> 2 handling Ready
+  Ready MustSync=true:
+  Lead:1 State:StateFollower
+  HardState Term:1 Commit:0
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
+  DEBUG 1 received MsgAppResp(MsgApp was rejected, lastindex: 0) from 2 for index 3
+  DEBUG 1 decreased progress of 2 to [StateProbe match=0 next=1]
+  DEBUG 1 [firstindex: 3, commit: 4] sent snapshot[index: 4, term: 1] to 2 [StateProbe match=0 next=1]
+  DEBUG 1 paused sending replication messages to 2 [StateSnapshot match=0 next=1 paused pendingSnap=4]
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[1] Learners:[] LearnersNext:[] AutoLeave:false
+> 2 receiving messages
+  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[1] Learners:[] LearnersNext:[] AutoLeave:false
+  INFO log [committed=0, applied=0, unstable.offset=1, len(unstable.Entries)=0] starts to restore snapshot [index: 4, term: 1]
+  INFO 2 switched to configuration voters=(1 2)&&(1)
+  INFO 2 [commit: 4, lastindex: 4, lastterm: 1] restored snapshot [index: 4, term: 1]
+  INFO 2 [commit: 4] restored snapshot [index: 4, term: 1]
+> 2 handling Ready
+  Ready MustSync=false:
+  HardState Term:1 Commit:4
+  Snapshot Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[1] Learners:[] LearnersNext:[] AutoLeave:false
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/4
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/4
+  DEBUG 1 recovered from needing snapshot, resumed sending replication messages to 2 [StateSnapshot match=4 next=5 paused pendingSnap=4]
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgApp Term:1 Log:1/4 Commit:4
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/4 Commit:4
+> 2 handling Ready
+  Ready MustSync=false:
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/4
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/4
+
+# Check that we're not allowed to change membership again while in the joint state.
+# This leads to an empty entry being proposed instead (index 5 in the stabilize block
+# below).
+propose-conf-change 1
+v3 v4 v5
+----
+INFO 1 ignoring conf change {ConfChangeTransitionAuto [{ConfChangeAddNode 3 []} {ConfChangeAddNode 4 []} {ConfChangeAddNode 5 []}] [] []} at config voters=(1 2)&&(1): must transition out of joint config first
+
+# Propose a transition out of the joint config. We'll see this at index 6 below.
+propose-conf-change 1
+----
+ok
+
+# The group commits the command and everyone switches to the final config.
+stabilize
+----
+> 1 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/5 EntryNormal ""
+  1/6 EntryConfChangeV2
+  Messages:
+  1->2 MsgApp Term:1 Log:1/4 Commit:4 Entries:[1/5 EntryNormal ""]
+  1->2 MsgApp Term:1 Log:1/5 Commit:4 Entries:[1/6 EntryConfChangeV2]
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/4 Commit:4 Entries:[1/5 EntryNormal ""]
+  1->2 MsgApp Term:1 Log:1/5 Commit:4 Entries:[1/6 EntryConfChangeV2]
+> 2 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/5 EntryNormal ""
+  1/6 EntryConfChangeV2
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/5
+  2->1 MsgAppResp Term:1 Log:0/6
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/5
+  2->1 MsgAppResp Term:1 Log:0/6
+> 1 handling Ready
+  INFO 1 switched to configuration voters=(1 2)
+  Ready MustSync=false:
+  HardState Term:1 Vote:1 Commit:6
+  CommittedEntries:
+  1/5 EntryNormal ""
+  1/6 EntryConfChangeV2
+  Messages:
+  1->2 MsgApp Term:1 Log:1/6 Commit:5
+  1->2 MsgApp Term:1 Log:1/6 Commit:6
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/6 Commit:5
+  1->2 MsgApp Term:1 Log:1/6 Commit:6
+> 2 handling Ready
+  INFO 2 switched to configuration voters=(1 2)
+  Ready MustSync=false:
+  HardState Term:1 Commit:6
+  CommittedEntries:
+  1/5 EntryNormal ""
+  1/6 EntryConfChangeV2
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/6
+  2->1 MsgAppResp Term:1 Log:0/6
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/6
+  2->1 MsgAppResp Term:1 Log:0/6
+
+# Check that trying to transition out again won't do anything.
+propose-conf-change 1
+----
+INFO 1 ignoring conf change {ConfChangeTransitionAuto [] [] []} at config voters=(1 2): not in joint state; refusing empty conf change
+
+# Finishes work for the empty entry we just proposed.
+stabilize
+----
+> 1 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/7 EntryNormal ""
+  Messages:
+  1->2 MsgApp Term:1 Log:1/6 Commit:6 Entries:[1/7 EntryNormal ""]
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/6 Commit:6 Entries:[1/7 EntryNormal ""]
+> 2 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/7 EntryNormal ""
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/7
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/7
+> 1 handling Ready
+  Ready MustSync=false:
+  HardState Term:1 Vote:1 Commit:7
+  CommittedEntries:
+  1/7 EntryNormal ""
+  Messages:
+  1->2 MsgApp Term:1 Log:1/7 Commit:7
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/7 Commit:7
+> 2 handling Ready
+  Ready MustSync=false:
+  HardState Term:1 Commit:7
+  CommittedEntries:
+  1/7 EntryNormal ""
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/7
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/7
diff --git a/raft/testdata/confchange_v2_add_double_implicit.txt b/raft/testdata/confchange_v2_add_double_implicit.txt
new file mode 100644
index 000000000000..d5061c0ca030
--- /dev/null
+++ b/raft/testdata/confchange_v2_add_double_implicit.txt
@@ -0,0 +1,125 @@
+# Run a V2 membership change that adds a single voter but explicitly asks for the
+# use of joint consensus (with auto-leaving).
+
+# TODO(tbg): also verify that if the leader changes while in the joint state, the
+# new leader will auto-transition out of the joint state just the same.
+
+# Bootstrap n1.
+add-nodes 1 voters=(1) index=2
+----
+INFO 1 switched to configuration voters=(1)
+INFO 1 became follower at term 0
+INFO newRaft 1 [peers: [1], term: 0, commit: 2, applied: 2, lastindex: 2, lastterm: 1]
+
+campaign 1
+----
+INFO 1 is starting a new election at term 0
+INFO 1 became candidate at term 1
+INFO 1 received MsgVoteResp from 1 at term 1
+INFO 1 became leader at term 1
+
+propose-conf-change 1 transition=implicit
+v2
+----
+ok
+
+# Add n2.
+add-nodes 1
+----
+INFO 2 switched to configuration voters=()
+INFO 2 became follower at term 0
+INFO newRaft 2 [peers: [], term: 0, commit: 0, applied: 0, lastindex: 0, lastterm: 0]
+
+# n1 commits the conf change using itself as commit quorum, then starts catching up n2.
+# When that's done, it starts auto-transitioning out. Note that the snapshots propagating
+# the joint config have the AutoLeave flag set in their config.
+stabilize 1 2
+----
+> 1 handling Ready
+  INFO 1 switched to configuration voters=(1 2)&&(1) autoleave
+  INFO initiating automatic transition out of joint configuration voters=(1 2)&&(1) autoleave
+  Ready MustSync=true:
+  Lead:1 State:StateLeader
+  HardState Term:1 Vote:1 Commit:4
+  Entries:
+  1/3 EntryNormal ""
+  1/4 EntryConfChangeV2 v2
+  CommittedEntries:
+  1/3 EntryNormal ""
+  1/4 EntryConfChangeV2 v2
+> 1 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/5 EntryConfChangeV2
+  Messages:
+  1->2 MsgApp Term:1 Log:1/3 Commit:4 Entries:[1/4 EntryConfChangeV2 v2]
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/3 Commit:4 Entries:[1/4 EntryConfChangeV2 v2]
+  INFO 2 [term: 0] received a MsgApp message with higher term from 1 [term: 1]
+  INFO 2 became follower at term 1
+  DEBUG 2 [logterm: 0, index: 3] rejected MsgApp [logterm: 1, index: 3] from 1
+> 2 handling Ready
+  Ready MustSync=true:
+  Lead:1 State:StateFollower
+  HardState Term:1 Commit:0
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
+  DEBUG 1 received MsgAppResp(MsgApp was rejected, lastindex: 0) from 2 for index 3
+  DEBUG 1 decreased progress of 2 to [StateProbe match=0 next=1]
+  DEBUG 1 [firstindex: 3, commit: 4] sent snapshot[index: 4, term: 1] to 2 [StateProbe match=0 next=1]
+  DEBUG 1 paused sending replication messages to 2 [StateSnapshot match=0 next=1 paused pendingSnap=4]
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[1] Learners:[] LearnersNext:[] AutoLeave:true
+> 2 receiving messages
+  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[1] Learners:[] LearnersNext:[] AutoLeave:true
+  INFO log [committed=0, applied=0, unstable.offset=1, len(unstable.Entries)=0] starts to restore snapshot [index: 4, term: 1]
+  INFO 2 switched to configuration voters=(1 2)&&(1) autoleave
+  INFO 2 [commit: 4, lastindex: 4, lastterm: 1] restored snapshot [index: 4, term: 1]
+  INFO 2 [commit: 4] restored snapshot [index: 4, term: 1]
+> 2 handling Ready
+  Ready MustSync=false:
+  HardState Term:1 Commit:4
+  Snapshot Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[1] Learners:[] LearnersNext:[] AutoLeave:true
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/4
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/4
+  DEBUG 1 recovered from needing snapshot, resumed sending replication messages to 2 [StateSnapshot match=4 next=5 paused pendingSnap=4]
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgApp Term:1 Log:1/4 Commit:4 Entries:[1/5 EntryConfChangeV2]
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/4 Commit:4 Entries:[1/5 EntryConfChangeV2]
+> 2 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/5 EntryConfChangeV2
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/5
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/5
+> 1 handling Ready
+  INFO 1 switched to configuration voters=(1 2)
+  Ready MustSync=false:
+  HardState Term:1 Vote:1 Commit:5
+  CommittedEntries:
+  1/5 EntryConfChangeV2
+  Messages:
+  1->2 MsgApp Term:1 Log:1/5 Commit:5
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/5 Commit:5
+> 2 handling Ready
+  INFO 2 switched to configuration voters=(1 2)
+  Ready MustSync=false:
+  HardState Term:1 Commit:5
+  CommittedEntries:
+  1/5 EntryConfChangeV2
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/5
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/5
diff --git a/raft/testdata/confchange_v2_add_single_auto.txt b/raft/testdata/confchange_v2_add_single_auto.txt
new file mode 100644
index 000000000000..2b00facbc2f0
--- /dev/null
+++ b/raft/testdata/confchange_v2_add_single_auto.txt
@@ -0,0 +1,198 @@
+# Run a V2 membership change that adds a single voter in auto mode, which means
+# that joint consensus is not used but a direct transition into the new config
+# takes place.
+
+# Bootstrap n1.
+add-nodes 1 voters=(1) index=2
+----
+INFO 1 switched to configuration voters=(1)
+INFO 1 became follower at term 0
+INFO newRaft 1 [peers: [1], term: 0, commit: 2, applied: 2, lastindex: 2, lastterm: 1]
+
+campaign 1
+----
+INFO 1 is starting a new election at term 0
+INFO 1 became candidate at term 1
+INFO 1 received MsgVoteResp from 1 at term 1
+INFO 1 became leader at term 1
+
+# Add v2 (with an auto transition).
+propose-conf-change 1
+v2
+----
+ok
+
+# Pull n2 out of thin air.
+add-nodes 1
+----
+INFO 2 switched to configuration voters=()
+INFO 2 became follower at term 0
+INFO newRaft 2 [peers: [], term: 0, commit: 0, applied: 0, lastindex: 0, lastterm: 0]
+
+# n1 commits the conf change using itself as commit quorum, immediately transitions into
+# the final config, and catches up n2.
+stabilize
+----
+> 1 handling Ready
+  INFO 1 switched to configuration voters=(1 2)
+  Ready MustSync=true:
+  Lead:1 State:StateLeader
+  HardState Term:1 Vote:1 Commit:4
+  Entries:
+  1/3 EntryNormal ""
+  1/4 EntryConfChangeV2 v2
+  CommittedEntries:
+  1/3 EntryNormal ""
+  1/4 EntryConfChangeV2 v2
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgApp Term:1 Log:1/3 Commit:4 Entries:[1/4 EntryConfChangeV2 v2]
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/3 Commit:4 Entries:[1/4 EntryConfChangeV2 v2]
+  INFO 2 [term: 0] received a MsgApp message with higher term from 1 [term: 1]
+  INFO 2 became follower at term 1
+  DEBUG 2 [logterm: 0, index: 3] rejected MsgApp [logterm: 1, index: 3] from 1
+> 2 handling Ready
+  Ready MustSync=true:
+  Lead:1 State:StateFollower
+  HardState Term:1 Commit:0
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/3 Rejected (Hint: 0)
+  DEBUG 1 received MsgAppResp(MsgApp was rejected, lastindex: 0) from 2 for index 3
+  DEBUG 1 decreased progress of 2 to [StateProbe match=0 next=1]
+  DEBUG 1 [firstindex: 3, commit: 4] sent snapshot[index: 4, term: 1] to 2 [StateProbe match=0 next=1]
+  DEBUG 1 paused sending replication messages to 2 [StateSnapshot match=0 next=1 paused pendingSnap=4]
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
+> 2 receiving messages
+  1->2 MsgSnap Term:1 Log:0/0 Snapshot: Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
+  INFO log [committed=0, applied=0, unstable.offset=1, len(unstable.Entries)=0] starts to restore snapshot [index: 4, term: 1]
+  INFO 2 switched to configuration voters=(1 2)
+  INFO 2 [commit: 4, lastindex: 4, lastterm: 1] restored snapshot [index: 4, term: 1]
+  INFO 2 [commit: 4] restored snapshot [index: 4, term: 1]
+> 2 handling Ready
+  Ready MustSync=false:
+  HardState Term:1 Commit:4
+  Snapshot Index:4 Term:1 ConfState:Voters:[1 2] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/4
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/4
+  DEBUG 1 recovered from needing snapshot, resumed sending replication messages to 2 [StateSnapshot match=4 next=5 paused pendingSnap=4]
+> 1 handling Ready
+  Ready MustSync=false:
+  Messages:
+  1->2 MsgApp Term:1 Log:1/4 Commit:4
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/4 Commit:4
+> 2 handling Ready
+  Ready MustSync=false:
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/4
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/4
+
+# Check that we're not allowed to change membership again while in the joint state.
+# This leads to an empty entry being proposed instead (index 5 in the stabilize block
+# below).
+propose-conf-change 1
+v3 v4 v5
+----
+ok
+
+# Propose a transition out of the joint config. We'll see this at index 6 below.
+propose-conf-change 1
+----
+INFO 1 ignoring conf change {ConfChangeTransitionAuto [] [] []} at config voters=(1 2): possible unapplied conf change at index 5 (applied to 4)
+
+# The group commits the command and everyone switches to the final config.
+stabilize
+----
+> 1 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/5 EntryConfChangeV2 v3 v4 v5
+  1/6 EntryNormal ""
+  Messages:
+  1->2 MsgApp Term:1 Log:1/4 Commit:4 Entries:[1/5 EntryConfChangeV2 v3 v4 v5]
+  1->2 MsgApp Term:1 Log:1/5 Commit:4 Entries:[1/6 EntryNormal ""]
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/4 Commit:4 Entries:[1/5 EntryConfChangeV2 v3 v4 v5]
+  1->2 MsgApp Term:1 Log:1/5 Commit:4 Entries:[1/6 EntryNormal ""]
+> 2 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/5 EntryConfChangeV2 v3 v4 v5
+  1/6 EntryNormal ""
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/5
+  2->1 MsgAppResp Term:1 Log:0/6
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/5
+  2->1 MsgAppResp Term:1 Log:0/6
+> 1 handling Ready
+  INFO 1 switched to configuration voters=(1 2 3 4 5)&&(1 2) autoleave
+  INFO initiating automatic transition out of joint configuration voters=(1 2 3 4 5)&&(1 2) autoleave
+  Ready MustSync=false:
+  HardState Term:1 Vote:1 Commit:6
+  CommittedEntries:
+  1/5 EntryConfChangeV2 v3 v4 v5
+  1/6 EntryNormal ""
+  Messages:
+  1->2 MsgApp Term:1 Log:1/6 Commit:5
+  1->2 MsgApp Term:1 Log:1/6 Commit:6
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/6 Commit:5
+  1->2 MsgApp Term:1 Log:1/6 Commit:6
+> 1 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/7 EntryConfChangeV2
+  Messages:
+  1->3 MsgApp Term:1 Log:1/5 Commit:6 Entries:[1/6 EntryNormal ""]
+  1->4 MsgApp Term:1 Log:1/5 Commit:6 Entries:[1/6 EntryNormal ""]
+  1->5 MsgApp Term:1 Log:1/5 Commit:6 Entries:[1/6 EntryNormal ""]
+> 2 handling Ready
+  INFO 2 switched to configuration voters=(1 2 3 4 5)&&(1 2) autoleave
+  Ready MustSync=false:
+  HardState Term:1 Commit:6
+  CommittedEntries:
+  1/5 EntryConfChangeV2 v3 v4 v5
+  1/6 EntryNormal ""
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/6
+  2->1 MsgAppResp Term:1 Log:0/6
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/6
+  2->1 MsgAppResp Term:1 Log:0/6
+
+# Check that trying to transition out again won't do anything.
+propose-conf-change 1
+----
+ok
+
+# Finishes work for the empty entry we just proposed.
+stabilize
+----
+> 1 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/8 EntryConfChangeV2
+  Messages:
+  1->2 MsgApp Term:1 Log:1/6 Commit:6 Entries:[1/7 EntryConfChangeV2, 1/8 EntryConfChangeV2]
+> 2 receiving messages
+  1->2 MsgApp Term:1 Log:1/6 Commit:6 Entries:[1/7 EntryConfChangeV2, 1/8 EntryConfChangeV2]
+> 2 handling Ready
+  Ready MustSync=true:
+  Entries:
+  1/7 EntryConfChangeV2
+  1/8 EntryConfChangeV2
+  Messages:
+  2->1 MsgAppResp Term:1 Log:0/8
+> 1 receiving messages
+  2->1 MsgAppResp Term:1 Log:0/8
diff --git a/raft/testdata/snapshot_succeed_via_app_resp.txt b/raft/testdata/snapshot_succeed_via_app_resp.txt
index c7ddfec41cde..09e0f588c5d2 100644
--- a/raft/testdata/snapshot_succeed_via_app_resp.txt
+++ b/raft/testdata/snapshot_succeed_via_app_resp.txt
@@ -70,7 +70,7 @@ Messages:
 # and responds.
 stabilize 3
 ----
-> delivering messages
+> 3 receiving messages
   1->3 MsgHeartbeat Term:1 Log:0/0
   INFO 3 [term: 0] received a MsgHeartbeat message with higher term from 1 [term: 1]
   INFO 3 became follower at term 1
@@ -84,14 +84,14 @@ stabilize 3
 # The leader in turn will realize that n3 needs a snapshot, which it initiates.
 stabilize 1
 ----
-> delivering messages
+> 1 receiving messages
   3->1 MsgHeartbeatResp Term:1 Log:0/0
   DEBUG 1 [firstindex: 12, commit: 11] sent snapshot[index: 11, term: 1] to 3 [StateProbe match=0 next=11]
   DEBUG 1 paused sending replication messages to 3 [StateSnapshot match=0 next=11 paused pendingSnap=11]
 > 1 handling Ready
   Ready MustSync=false:
   Messages:
-  1->3 MsgSnap Term:1 Log:0/0 Snapshot: Index:11 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[]
+  1->3 MsgSnap Term:1 Log:0/0 Snapshot: Index:11 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
 
 status 1
 ----
@@ -105,8 +105,8 @@ status 1
 # was now fully caught up.
 stabilize 3
 ----
-> delivering messages
-  1->3 MsgSnap Term:1 Log:0/0 Snapshot: Index:11 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[]
+> 3 receiving messages
+  1->3 MsgSnap Term:1 Log:0/0 Snapshot: Index:11 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
   INFO log [committed=0, applied=0, unstable.offset=1, len(unstable.Entries)=0] starts to restore snapshot [index: 11, term: 1]
   INFO 3 switched to configuration voters=(1 2 3)
   INFO 3 [commit: 11, lastindex: 11, lastterm: 1] restored snapshot [index: 11, term: 1]
@@ -114,7 +114,7 @@ stabilize 3
 > 3 handling Ready
   Ready MustSync=false:
   HardState Term:1 Commit:11
-  Snapshot Index:11 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[]
+  Snapshot Index:11 Term:1 ConfState:Voters:[1 2 3] VotersOutgoing:[] Learners:[] LearnersNext:[] AutoLeave:false
   Messages:
   3->1 MsgAppResp Term:1 Log:0/11
 
@@ -122,7 +122,7 @@ stabilize 3
 # Leader sends another MsgAppResp, to communicate the updated commit index.
 stabilize 1
 ----
-> delivering messages
+> 1 receiving messages
   3->1 MsgAppResp Term:1 Log:0/11
   DEBUG 1 recovered from needing snapshot, resumed sending replication messages to 3 [StateSnapshot match=11 next=12 paused pendingSnap=11]
 > 1 handling Ready
@@ -139,9 +139,9 @@ status 1
 # Let things settle.
 stabilize
 ----
-> delivering messages
+> 2 receiving messages
   1->2 MsgHeartbeat Term:1 Log:0/0 Commit:11
-> delivering messages
+> 3 receiving messages
   1->3 MsgApp Term:1 Log:1/11 Commit:11
 > 2 handling Ready
   Ready MustSync=false:
@@ -151,6 +151,6 @@ stabilize
   Ready MustSync=false:
   Messages:
   3->1 MsgAppResp Term:1 Log:0/11
-> delivering messages
+> 1 receiving messages
   2->1 MsgHeartbeatResp Term:1 Log:0/0
   3->1 MsgAppResp Term:1 Log:0/11
diff --git a/raft/util.go b/raft/util.go
index 881a6e14e241..785cf735d5db 100644
--- a/raft/util.go
+++ b/raft/util.go
@@ -77,8 +77,8 @@ func DescribeSoftState(ss SoftState) string {
 
 func DescribeConfState(state pb.ConfState) string {
 	return fmt.Sprintf(
-		"Voters:%v VotersOutgoing:%v Learners:%v LearnersNext:%v",
-		state.Voters, state.VotersOutgoing, state.Learners, state.LearnersNext,
+		"Voters:%v VotersOutgoing:%v Learners:%v LearnersNext:%v AutoLeave:%v",
+		state.Voters, state.VotersOutgoing, state.Learners, state.LearnersNext, state.AutoLeave,
 	)
 }