diff --git a/go/vt/vttablet/tabletserver/repltracker/writer_test.go b/go/vt/vttablet/tabletserver/repltracker/writer_test.go
index fade8918114..d9957940ea8 100644
--- a/go/vt/vttablet/tabletserver/repltracker/writer_test.go
+++ b/go/vt/vttablet/tabletserver/repltracker/writer_test.go
@@ -17,7 +17,9 @@ limitations under the License.
 package repltracker
 
 import (
+	"context"
 	"fmt"
+	"sync"
 	"testing"
 	"time"
 
@@ -65,6 +67,48 @@ func TestWriteHeartbeatError(t *testing.T) {
 	assert.Equal(t, int64(1), writeErrors.Get())
 }
 
+// TestCloseWhileStuckWriting tests that Close shouldn't get stuck even if the heartbeat writer is stuck waiting for a semi-sync ACK.
+func TestCloseWhileStuckWriting(t *testing.T) {
+	db := fakesqldb.New(t)
+	tw := newTestWriter(db, nil)
+	tw.isOpen = true
+
+	killWg := sync.WaitGroup{}
+	killWg.Add(1)
+	startedWaitWg := sync.WaitGroup{}
+	startedWaitWg.Add(1)
+
+	// Insert a query pattern that causes the upsert to block indefinitely until it has been killed.
+	// This simulates a stuck primary write due to a semi-sync ACK requirement.
+	db.AddQueryPatternWithCallback(`INSERT INTO .*heartbeat \(ts, tabletUid, keyspaceShard\).*`, &sqltypes.Result{}, func(s string) {
+		startedWaitWg.Done()
+		killWg.Wait()
+	})
+
+	// When we receive a kill query, we want to finish running the wait group to unblock the upsert query.
+	db.AddQueryPatternWithCallback("kill", &sqltypes.Result{}, func(s string) {
+		killWg.Done()
+	})
+
+	// Now we enable writes, but the first write will get blocked.
+	tw.enableWrites(true)
+	// We wait until the write has blocked to ensure we only call Close after we are stuck writing.
+	startedWaitWg.Wait()
+	// Even if the write is blocked, we should be able to disable writes without waiting indefinitely.
+	// This is what we call, when we try to Close the heartbeat writer.
+	ctx, cancel := context.WithCancel(context.Background())
+	go func() {
+		tw.enableWrites(false)
+		cancel()
+	}()
+	select {
+	case <-ctx.Done():
+		db.Close()
+	case <-time.After(10 * time.Second):
+		t.Fatalf("Timed out waiting for heartbeat writer to close")
+	}
+}
+
 func newTestWriter(db *fakesqldb.DB, frozenTime *time.Time) *heartbeatWriter {
 	config := tabletenv.NewDefaultConfig()
 	config.ReplicationTracker.Mode = tabletenv.Heartbeat