diff --git a/agent/agentlocal/agent_local.go b/agent/agentlocal/agent_local.go
index 60a6e3325f..e0809b2494 100644
--- a/agent/agentlocal/agent_local.go
+++ b/agent/agentlocal/agent_local.go
@@ -100,7 +100,7 @@ func NewServer(cfg configGetReloader, supervisor supervisor, client client, conf
 // Run runs gRPC and JSON servers with API and debug endpoints until ctx is canceled.
 //
 // Run exits when ctx is canceled, or when a request to reload configuration is received.
-func (s *Server) Run(ctx context.Context) {
+func (s *Server) Run(ctx context.Context, reloadCh chan bool) {
 	defer s.l.Info("Done.")
 
 	serverCtx, serverCancel := context.WithCancel(ctx)
@@ -125,8 +125,10 @@ func (s *Server) Run(ctx context.Context) {
 	}()
 
 	select {
-	case <-ctx.Done():
 	case <-s.reload:
+		s.l.Debug("Agent reload triggered")
+		reloadCh <- true
+	case <-ctx.Done():
 	}
 
 	serverCancel()
diff --git a/agent/client/client.go b/agent/client/client.go
index c2106072d0..a7906b6ef1 100644
--- a/agent/client/client.go
+++ b/agent/client/client.go
@@ -262,6 +262,9 @@ func (c *Client) processActionResults(ctx context.Context) {
 	for {
 		select {
 		case result := <-c.runner.ActionsResults():
+			if result == nil {
+				continue
+			}
 			resp, err := c.channel.SendAndWaitResponse(result)
 			if err != nil {
 				c.l.Error(err)
@@ -281,6 +284,9 @@ func (c *Client) processJobsResults(ctx context.Context) {
 	for {
 		select {
 		case message := <-c.runner.JobsMessages():
+			if message == nil {
+				continue
+			}
 			c.channel.Send(&channel.AgentResponse{
 				ID:      0, // Jobs send messages that don't require any responses, so we can leave message ID blank.
 				Payload: message,
@@ -302,6 +308,9 @@ func (c *Client) processSupervisorRequests(ctx context.Context) {
 		for {
 			select {
 			case state := <-c.supervisor.Changes():
+				if state == nil {
+					continue
+				}
 				resp, err := c.channel.SendAndWaitResponse(state)
 				if err != nil {
 					c.l.Error(err)
@@ -324,6 +333,9 @@ func (c *Client) processSupervisorRequests(ctx context.Context) {
 		for {
 			select {
 			case collect := <-c.supervisor.QANRequests():
+				if collect == nil {
+					continue
+				}
 				resp, err := c.channel.SendAndWaitResponse(collect)
 				if err != nil {
 					c.l.Error(err)
diff --git a/agent/commands/run.go b/agent/commands/run.go
index 22878c350b..cc384a75a9 100644
--- a/agent/commands/run.go
+++ b/agent/commands/run.go
@@ -40,14 +40,13 @@ import (
 
 // Run implements `pmm-agent run` default command.
 func Run() {
-	var cfg *config.Config
-	l := logrus.WithField("component", "main")
-	ctx, cancel := context.WithCancel(context.Background())
-	defer l.Info("Done.")
-
 	const initServerLogsMaxLength = 32 // store logs before load configuration
 	logStore := tailog.NewStore(initServerLogsMaxLength)
 	logrus.SetOutput(io.MultiWriter(os.Stderr, logStore))
+	l := logrus.WithField("component", "main")
+	rootCtx, rootCancel := context.WithCancel(context.Background())
+
+	defer l.Info("Done.")
 
 	// handle termination signals
 	signals := make(chan os.Signal, 1)
@@ -56,75 +55,89 @@ func Run() {
 		s := <-signals
 		signal.Stop(signals)
 		l.Warnf("Got %s, shutting down...", unix.SignalName(s.(unix.Signal))) //nolint:forcetypeassert
-		if cfg != nil {
-			cleanupTmp(cfg.Paths.TempDir, l)
-		}
-		cancel()
+		rootCancel()
 	}()
 
-	configStorage := config.NewStorage(nil)
-	configFilepath, err := configStorage.Reload(l)
-	if err != nil {
-		l.Fatalf("Failed to load configuration: %s.", err)
-	}
-
-	cfg = configStorage.Get()
-
-	cleanupTmp(cfg.Paths.TempDir, l)
-	connectionUptimeService := connectionuptime.NewService(cfg.WindowConnectedTime)
-	connectionUptimeService.RunCleanupGoroutine(ctx)
 	v := versioner.New(&versioner.RealExecFunctions{})
-	supervisor := supervisor.NewSupervisor(ctx, v, configStorage)
-	connectionChecker := connectionchecker.New(configStorage)
-	r := runner.New(cfg.RunnerCapacity)
-	client := client.New(configStorage, supervisor, r, connectionChecker, v, connectionUptimeService, logStore)
-	localServer := agentlocal.NewServer(configStorage, supervisor, client, configFilepath, logStore)
-
-	var wg sync.WaitGroup
-	wg.Add(3)
-	go func() {
-		defer wg.Done()
-		supervisor.Run(ctx)
-		cancel()
-	}()
-	go func() {
-		defer wg.Done()
-		r.Run(ctx)
-		cancel()
-	}()
-	go func() {
-		defer wg.Done()
-		localServer.Run(ctx)
-		cancel()
-	}()
+	configStorage, configFilepath := prepareConfig(l)
 
 	for {
-		_, err = configStorage.Reload(l)
-		if err != nil {
-			l.Fatalf("Failed to load configuration: %s.", err)
-		}
-
+		ctx, cancel := context.WithCancel(rootCtx)
 		cfg := configStorage.Get()
 
-		config.ConfigureLogger(cfg)
-		logStore.Resize(cfg.LogLinesCount)
-		l.Debugf("Loaded configuration: %+v", cfg)
+		prepareLogger(cfg, logStore, l)
+
+		supervisor := supervisor.NewSupervisor(ctx, v, configStorage)
+		connectionChecker := connectionchecker.New(configStorage)
+		r := runner.New(cfg.RunnerCapacity)
+		client := client.New(configStorage, supervisor, r, connectionChecker, v, prepareConnectionService(ctx, cfg), logStore)
+		localServer := agentlocal.NewServer(configStorage, supervisor, client, configFilepath, logStore)
 
 		logrus.Infof("Window check connection time is %.2f hour(s)", cfg.WindowConnectedTime.Hours())
-		connectionUptimeService.SetWindowPeriod(cfg.WindowConnectedTime)
 
+		var wg sync.WaitGroup
+		wg.Add(3)
+		reloadCh := make(chan bool, 1)
+		go func() {
+			defer wg.Done()
+			supervisor.Run(ctx)
+			cancel()
+		}()
+		go func() {
+			defer wg.Done()
+			r.Run(ctx)
+			cancel()
+		}()
+		go func() {
+			defer wg.Done()
+			localServer.Run(ctx, reloadCh)
+			cancel()
+		}()
+
+		processClientUntilCancel(ctx, client, reloadCh)
+
+		cleanupTmp(cfg.Paths.TempDir, l)
+		wg.Wait()
+		select {
+		case <-rootCtx.Done():
+			return
+		default:
+		}
+	}
+}
+
+func processClientUntilCancel(ctx context.Context, client *client.Client, reloadCh chan bool) {
+	for {
 		clientCtx, cancelClientCtx := context.WithCancel(ctx)
+		client.Run(clientCtx)
 
-		_ = client.Run(clientCtx)
 		cancelClientCtx()
-
 		<-client.Done()
 
-		if ctx.Err() != nil {
-			break
+		select {
+		case <-reloadCh:
+			return
+		case <-ctx.Done():
+			return
+		default:
 		}
 	}
-	wg.Wait()
+}
+
+func prepareConfig(l *logrus.Entry) (*config.Storage, string) {
+	configStorage := config.NewStorage(nil)
+	configFilepath, err := configStorage.Reload(l)
+	if err != nil {
+		l.Fatalf("Failed to load configuration: %s.", err)
+	}
+
+	return configStorage, configFilepath
+}
+
+func prepareLogger(cfg *config.Config, logStore *tailog.Store, l *logrus.Entry) {
+	config.ConfigureLogger(cfg)
+	logStore.Resize(cfg.LogLinesCount)
+	l.Debugf("Loaded configuration: %+v", cfg)
 }
 
 func cleanupTmp(tmpRoot string, log *logrus.Entry) {
@@ -141,3 +154,10 @@ func cleanupTmp(tmpRoot string, log *logrus.Entry) {
 		}
 	}
 }
+
+func prepareConnectionService(ctx context.Context, cfg *config.Config) *connectionuptime.Service {
+	connectionUptimeService := connectionuptime.NewService(cfg.WindowConnectedTime)
+	connectionUptimeService.RunCleanupGoroutine(ctx)
+
+	return connectionUptimeService
+}
diff --git a/agent/config/logger.go b/agent/config/logger.go
index 570ab0dbfa..781f206c4f 100644
--- a/agent/config/logger.go
+++ b/agent/config/logger.go
@@ -63,8 +63,6 @@ func ConfigureLogger(cfg *Config) {
 		logrus.SetLevel(level)
 
 		if level == logrus.TraceLevel {
-			// grpclog.SetLoggerV2 is not thread-safe
-
 			// logrus.SetReportCaller thread-safe: https://github.com/sirupsen/logrus/issues/954
 			logrus.SetReportCaller(true)
 		}