Eeeh I’m not so sure. The overhead of handling a hello-world heartbeat request is negligible, sure, but what about the overhead of having the connections open (file descriptors, maybe >1 per request), client tracking metadata for what are necessarily all different client location identifiers, and so on?
That’s still cheap stuff, but at 2krps there are totally realistic scenarios where a system with decent capacity budgeting could still be adversely affected by heartbeats.
And what if a heartbeat client’s network link is degraded and there’s a super long time between first byte and last? Whether or not that client gets evicted from the cluster, if it’s basically slowloris-ing the server that can cause issues too.