diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0bd710d7b1..23f5982de3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,10 @@ IMPROVEMENTS:
 * CLI
    * Pre-check in the `install` command to verify the correct license secret exists when using an enterprise Consul image. [[GH-875](https://github.com/hashicorp/consul-k8s/pull/875)]
 
+BUG FIXES:
+* Control Plane:
+   * Add a workaround to check that the ACL token is replicated to other Consul servers. [[GH-862](https://github.com/hashicorp/consul-k8s/issues/862)]
+
 ## 0.37.0 (November 18, 2021)
 
 BREAKING CHANGES:
diff --git a/control-plane/subcommand/connect-init/command.go b/control-plane/subcommand/connect-init/command.go
index e7487fb9e1..18271e6b05 100644
--- a/control-plane/subcommand/connect-init/command.go
+++ b/control-plane/subcommand/connect-init/command.go
@@ -26,6 +26,9 @@ const (
 	numLoginRetries = 3
 	// The number of times to attempt to read this service (120s).
 	defaultServicePollingRetries = 120
+
+	raftReplicationTimeout   = 2 * time.Second
+	tokenReadPollingInterval = 100 * time.Millisecond
 )
 
 type Command struct {
@@ -155,6 +158,49 @@ func (c *Command) Run(args []string) int {
 			return 1
 		}
 		c.logger.Info("Consul login complete")
+
+		// A workaround to check that the ACL token is replicated to other Consul servers.
+		//
+		// A consul client may reach out to a follower instead of a leader to resolve the token during the
+		// call to get services below. This is because clients talk to servers in the stale consistency mode
+		// to decrease the load on the servers (see https://www.consul.io/docs/architecture/consensus#stale).
+		// In that case, it's possible that the token isn't replicated
+		// to that server instance yet. The client will then get an "ACL not found" error
+		// and subsequently cache this not found response. Then our call below
+		// to get services from the agent will keep hitting the same "ACL not found" error
+		// until the cache entry expires (determined by the `acl_token_ttl` which defaults to 30 seconds).
+		// This is not great because it will delay app start up time by 30 seconds in most cases
+		// (if you are running 3 servers, then the probability of ending up on a follower is close to 2/3).
+		//
+		// To help with that, we try to first read the token in the stale consistency mode until we
+		// get a successful response. This should not take more than 100ms because raft replication
+		// should in most cases take less than that (see https://www.consul.io/docs/install/performance#read-write-tuning)
+		// but we set the timeout to 2s to be sure.
+		//
+		// Note though that this workaround does not eliminate this problem completely. It's still possible
+		// for this call and the next call to reach different servers and those servers to have different
+		// states from each other.
+		// For example, this call can reach a leader and succeed, while the call below can go to a follower
+		// that is still behind the leader and get an "ACL not found" error.
+		// However, this is a pretty unlikely case because
+		// clients have sticky connections to a server, and those connections get rebalanced only every 2-3min.
+		// And so, this workaround should work in a vast majority of cases.
+		c.logger.Info("Checking that the ACL token exists when reading it in the stale consistency mode")
+		// Use raft timeout and polling interval to determine the number of retries.
+		numTokenReadRetries := uint64(raftReplicationTimeout.Milliseconds() / tokenReadPollingInterval.Milliseconds())
+		err = backoff.Retry(func() error {
+			_, _, err := consulClient.ACL().TokenReadSelf(&api.QueryOptions{AllowStale: true})
+			if err != nil {
+				c.logger.Error("Unable to read ACL token; retrying", "err", err)
+			}
+			return err
+		}, backoff.WithMaxRetries(backoff.NewConstantBackOff(tokenReadPollingInterval), numTokenReadRetries))
+		if err != nil {
+			c.logger.Error("Unable to read ACL token from a Consul server; "+
+				"please check that your server cluster is healthy", "err", err)
+			return 1
+		}
+		c.logger.Info("Successfully read ACL token from the server")
 	}
 
 	// Now wait for the service to be registered. Do this by querying the Agent for a service
diff --git a/control-plane/subcommand/connect-init/command_test.go b/control-plane/subcommand/connect-init/command_test.go
index 704c7356a6..ff847bf0fb 100644
--- a/control-plane/subcommand/connect-init/command_test.go
+++ b/control-plane/subcommand/connect-init/command_test.go
@@ -592,6 +592,10 @@ func TestRun_FailsWithBadServerResponses(t *testing.T) {
 				if r != nil && r.URL.Path == "/v1/acl/login" && r.Method == "POST" {
 					w.Write([]byte(c.loginResponse))
 				}
+				// Token read request.
+				if r != nil && r.URL.Path == "/v1/acl/token/self" && r.Method == "GET" {
+					w.Write([]byte(testTokenReadSelfResponse))
+				}
 				// Agent Services get.
 				if r != nil && r.URL.Path == "/v1/agent/services" && r.Method == "GET" {
 					servicesGetCounter++
@@ -600,7 +604,7 @@ func TestRun_FailsWithBadServerResponses(t *testing.T) {
 			}))
 			defer consulServer.Close()
 
-			// Setup the Command.
+			// Set up the Command.
 			ui := cli.NewMockUi()
 			cmd := Command{
 				UI:                                 ui,
@@ -663,6 +667,10 @@ func TestRun_LoginWithRetries(t *testing.T) {
 						w.Write([]byte(testLoginResponse))
 					}
 				}
+				// Token read request.
+				if r != nil && r.URL.Path == "/v1/acl/token/self" && r.Method == "GET" {
+					w.Write([]byte(testTokenReadSelfResponse))
+				}
 				// Agent Services get.
 				if r != nil && r.URL.Path == "/v1/agent/services" && r.Method == "GET" {
 					w.Write([]byte(testServiceListResponse))
@@ -702,6 +710,79 @@ func TestRun_LoginWithRetries(t *testing.T) {
 	}
 }
 
+// Test that we check token exists when reading it in the stale consistency mode.
+func TestRun_EnsureTokenExists(t *testing.T) {
+	t.Parallel()
+
+	cases := map[string]struct {
+		neverSucceed bool
+	}{
+		"succeed after first retry": {neverSucceed: false},
+		"never succeed":             {neverSucceed: true},
+	}
+
+	for name, c := range cases {
+		t.Run(name, func(t *testing.T) {
+			// Create a fake input bearer token file and an output file.
+			bearerFile := common.WriteTempFile(t, "bearerTokenFile")
+			tokenFile := common.WriteTempFile(t, "")
+			proxyFile := common.WriteTempFile(t, "")
+
+			// Start the mock Consul server.
+			counter := 0
+			consulServer := httptest.NewServer(http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
+				// ACL Login.
+				if r != nil && r.URL.Path == "/v1/acl/login" && r.Method == "POST" {
+					w.Write([]byte(testLoginResponse))
+				}
+				// Token read request.
+				if r != nil &&
+					r.URL.Path == "/v1/acl/token/self" &&
+					r.Method == "GET" &&
+					r.URL.Query().Has("stale") {
+
+					// Fail the first request but succeed on the next.
+					if counter == 0 || c.neverSucceed {
+						counter++
+						w.WriteHeader(http.StatusForbidden)
+						w.Write([]byte("ACL not found"))
+					} else {
+						w.Write([]byte(testTokenReadSelfResponse))
+					}
+				}
+				// Agent Services get.
+				if r != nil && r.URL.Path == "/v1/agent/services" && r.Method == "GET" {
+					w.Write([]byte(testServiceListResponse))
+				}
+			}))
+			defer consulServer.Close()
+
+			serverURL, err := url.Parse(consulServer.URL)
+			require.NoError(t, err)
+
+			ui := cli.NewMockUi()
+			cmd := Command{
+				UI:              ui,
+				tokenSinkFile:   tokenFile,
+				bearerTokenFile: bearerFile,
+				proxyIDFile:     proxyFile,
+			}
+			code := cmd.Run([]string{
+				"-pod-name", testPodName,
+				"-pod-namespace", testPodNamespace,
+				"-acl-auth-method", test.AuthMethod,
+				"-service-account-name", testServiceAccountName,
+				"-http-addr", serverURL.String()})
+			if c.neverSucceed {
+				require.Equal(t, 1, code)
+			} else {
+				require.Equal(t, 0, code)
+				require.Equal(t, 1, counter)
+			}
+		})
+	}
+}
+
 const (
 	metaKeyPodName         = "pod-name"
 	metaKeyKubeNS          = "k8s-namespace"
@@ -710,7 +791,7 @@ const (
 	testPodName            = "counting-pod"
 	testServiceAccountName = "counting"
 
-	// sample response from https://consul.io/api-docs/acl#sample-response
+	// Sample response from https://consul.io/api-docs/acl#sample-response.
 	testLoginResponse = `{
   "AccessorID": "926e2bd2-b344-d91b-0c83-ae89f372cd9b",
   "SecretID": "b78d37c7-0ca7-5f4d-99ee-6d9975ce4586",
@@ -734,6 +815,30 @@ const (
   "ModifyIndex": 36
 }`
 
+	// Sample response from https://www.consul.io/api-docs/acl/tokens#read-self-token.
+	testTokenReadSelfResponse = `
+{
+  "AccessorID": "6a1253d2-1785-24fd-91c2-f8e78c745511",
+  "SecretID": "45a3bd52-07c7-47a4-52fd-0745e0cfe967",
+  "Description": "Agent token for 'node1'",
+  "Policies": [
+    {
+      "ID": "165d4317-e379-f732-ce70-86278c4558f7",
+      "Name": "node1-write"
+    },
+    {
+      "ID": "e359bd81-baca-903e-7e64-1ccd9fdc78f5",
+      "Name": "node-read"
+    }
+  ],
+  "Local": false,
+  "CreateTime": "2018-10-24T12:25:06.921933-04:00",
+  "Hash": "UuiRkOQPRCvoRZHRtUxxbrmwZ5crYrOdZ0Z1FTFbTbA=",
+  "CreateIndex": 59,
+  "ModifyIndex": 59
+}
+`
+
 	testServiceListResponse = `{
   "counting-counting": {
     "ID": "counting-counting",