There's a classic metastability issue in probably most implementations of state machine replication protocols such as Raft, where a lagging follower, if it sees an op that's newer than what it's expecting, must first repair and catch up its state (FIFO repair) before it can ACK back to the leader.
Apart from introducing latency in the critical path, this can lead to really bad queueing behavior where the lagging follower queues the latest request from the leader while it first catches up, but because this catch up can take seconds or minutes, in that time the pending request queue has also overflowed, and now we're back to state transfer catch up all over again, a vicious cycle.
However, there is a new approach (LIFO repair) that we developed for TigerBeetle [1] to eliminate this bimodality, maintain (and even reinforce) safety and achieve constant ACK latencies from all followers, no matter their state. If you're curious as to how this works, we'll be talking about this LIFO repair as part of Viewstamped Replication Made Famous [2], a $20,000 consensus challenge launching in September.
[1] https://www.tigerbeetle.com
[2] https://github.com/coilhq/viewstamped-replication-made-famou...