diff --git a/x/mongo/driver/topology/server.go b/x/mongo/driver/topology/server.go
index bbd3af9743..2b72d3efd8 100644
--- a/x/mongo/driver/topology/server.go
+++ b/x/mongo/driver/topology/server.go
@@ -801,10 +801,19 @@ func (s *Server) check() (description.Server, error) {
 	if s.conn == nil || s.conn.closed() || s.checkWasCancelled() {
 		// Create a new connection and add it's handshake RTT as a sample.
 		err = s.setupHeartbeatConnection()
+		duration = time.Since(start)
 		if err == nil {
 			// Use the description from the connection handshake as the value for this check.
 			s.rttMonitor.addSample(s.conn.helloRTT)
 			descPtr = &s.conn.desc
+			if s.conn != nil {
+				s.publishServerHeartbeatSucceededEvent(s.conn.ID(), duration, s.conn.desc, false)
+			}
+		} else {
+			err = unwrapConnectionError(err)
+			if s.conn != nil {
+				s.publishServerHeartbeatFailedEvent(s.conn.ID(), duration, err, false)
+			}
 		}
 	} else {
 		// An existing connection is being used. Use the server description properties to execute the right heartbeat.
diff --git a/x/mongo/driver/topology/server_test.go b/x/mongo/driver/topology/server_test.go
index e42caff804..3078f2eeb3 100644
--- a/x/mongo/driver/topology/server_test.go
+++ b/x/mongo/driver/topology/server_test.go
@@ -56,35 +56,32 @@ type errorQueue struct {
 	mutex  sync.Mutex
 }
 
-func (eq *errorQueue) head() (int, error) {
+func (eq *errorQueue) head() error {
 	eq.mutex.Lock()
 	defer eq.mutex.Unlock()
-	if l := len(eq.errors); l > 0 {
-		return l, eq.errors[0]
+	if len(eq.errors) > 0 {
+		return eq.errors[0]
 	}
-	return 0, nil
+	return nil
 }
 
-func (eq *errorQueue) dequeue() {
+func (eq *errorQueue) dequeue() bool {
 	eq.mutex.Lock()
 	defer eq.mutex.Unlock()
 	if len(eq.errors) > 0 {
 		eq.errors = eq.errors[1:]
+		return true
 	}
+	return false
 }
 
 type timeoutConn struct {
 	net.Conn
 	errors *errorQueue
-	ch     chan int
 }
 
 func (c *timeoutConn) Read(b []byte) (int, error) {
-	var n int
-	l, err := c.errors.head()
-	defer func(l int) {
-		c.ch <- l
-	}(l)
+	n, err := 0, c.errors.head()
 	if err == nil {
 		n, err = c.Conn.Read(b)
 	}
@@ -92,11 +89,7 @@ func (c *timeoutConn) Read(b []byte) (int, error) {
 }
 
 func (c *timeoutConn) Write(b []byte) (int, error) {
-	var n int
-	l, err := c.errors.head()
-	defer func(l int) {
-		c.ch <- l
-	}(l)
+	n, err := 0, c.errors.head()
 	if err == nil {
 		n, err = c.Conn.Write(b)
 	}
@@ -106,7 +99,6 @@ func (c *timeoutConn) Write(b []byte) (int, error) {
 type timeoutDialer struct {
 	Dialer
 	errors *errorQueue
-	ch     chan int
 }
 
 func (d *timeoutDialer) DialContext(ctx context.Context, network, address string) (net.Conn, error) {
@@ -129,7 +121,7 @@ func (d *timeoutDialer) DialContext(ctx context.Context, network, address string
 		}
 		c = tls.Client(c, config)
 	}
-	return &timeoutConn{c, d.errors, d.ch}, e
+	return &timeoutConn{c, d.errors}, e
 }
 
 // TestServerHeartbeatTimeout tests timeout retry for GODRIVER-2577.
@@ -145,19 +137,16 @@ func TestServerHeartbeatTimeout(t *testing.T) {
 	testCases := []struct {
 		desc              string
 		ioErrors          []error
-		len               int
 		expectPoolCleared bool
 	}{
 		{
 			desc:              "one single timeout should not clear the pool",
 			ioErrors:          []error{nil, networkTimeoutError, nil, networkTimeoutError, nil},
-			len:               0,
 			expectPoolCleared: false,
 		},
 		{
 			desc:              "continuous timeouts should clear the pool",
-			ioErrors:          []error{nil, networkTimeoutError, networkTimeoutError},
-			len:               1,
+			ioErrors:          []error{nil, networkTimeoutError, networkTimeoutError, nil},
 			expectPoolCleared: true,
 		},
 	}
@@ -166,9 +155,8 @@ func TestServerHeartbeatTimeout(t *testing.T) {
 		t.Run(tc.desc, func(t *testing.T) {
 			t.Parallel()
 
-			const heartbeatInterval = 200 * time.Millisecond
-
-			c := make(chan int)
+			var wg sync.WaitGroup
+			wg.Add(1)
 
 			errors := &errorQueue{errors: tc.ioErrors}
 			tpm := eventtest.NewTestPoolMonitor()
@@ -182,40 +170,29 @@ func TestServerHeartbeatTimeout(t *testing.T) {
 					return append(opts,
 						WithDialer(func(d Dialer) Dialer {
 							var dialer net.Dialer
-							return &timeoutDialer{&dialer, errors, c}
+							return &timeoutDialer{&dialer, errors}
 						}))
 				}),
 				WithServerMonitor(func(*event.ServerMonitor) *event.ServerMonitor {
 					return &event.ServerMonitor{
 						ServerHeartbeatSucceeded: func(e *event.ServerHeartbeatSucceededEvent) {
-							errors.dequeue()
+							if !errors.dequeue() {
+								wg.Done()
+							}
 						},
 						ServerHeartbeatFailed: func(e *event.ServerHeartbeatFailedEvent) {
-							errors.dequeue()
+							if !errors.dequeue() {
+								wg.Done()
+							}
 						},
 					}
 				}),
 				WithHeartbeatInterval(func(time.Duration) time.Duration {
-					return heartbeatInterval
+					return 200 * time.Millisecond
 				}),
 			)
 			require.NoError(t, server.Connect(nil))
-
-			timeout := time.After(50 * heartbeatInterval)
-			var l int
-		loop:
-			for {
-				select {
-				case l = <-c:
-					if l == 0 || tpm.IsPoolCleared() {
-						break loop
-					}
-				case <-timeout:
-					assert.Fail(t, "timeout")
-					break loop
-				}
-			}
-			assert.Equal(t, tc.len, l, "pool has been cleared unexpectedly")
+			wg.Wait()
 			assert.Equal(t, tc.expectPoolCleared, tpm.IsPoolCleared(), "expected pool cleared to be %v but was %v", tc.expectPoolCleared, tpm.IsPoolCleared())
 		})
 	}