diff --git a/clients/src/main/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManager.java b/clients/src/main/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManager.java
index bf67b953dad7f..08aa6b6927f92 100644
--- a/clients/src/main/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManager.java
+++ b/clients/src/main/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManager.java
@@ -49,6 +49,8 @@
 import java.util.stream.Collectors;
 import java.util.stream.IntStream;
 
+import static org.apache.kafka.clients.consumer.internals.NetworkClientDelegate.PollResult.EMPTY;
+
 /**
  * <p>Manages the request creation and response handling for the Streams group heartbeat. The class creates a
  * heartbeat request using the state stored in the membership manager. The requests can be retrieved
@@ -374,6 +376,55 @@ public NetworkClientDelegate.PollResult poll(long currentTimeMs) {
         }
     }
 
+    /**
+     * Generate a heartbeat request to leave the group if the state is still LEAVING when this is
+     * called to close the consumer.
+     * <p/>
+     * Note that when closing the consumer, even though an event to Unsubscribe is generated
+     * (triggers callbacks and sends leave group), it could be the case that the Unsubscribe event
+     * processing does not complete in time and moves on to close the managers (ex. calls to
+     * close with zero timeout). So we could end up on this pollOnClose with the member in
+     * {@link MemberState#PREPARE_LEAVING} (ex. app thread did not have the time to process the
+     * event to execute callbacks), or {@link MemberState#LEAVING} (ex. the leave request could
+     * not be sent due to coordinator not available at that time). In all cases, the pollOnClose
+     * will be triggered right before sending the final requests, so we ensure that we generate
+     * the request to leave if needed.
+     *
+     * @param currentTimeMs The current system time in milliseconds at which the method was called
+     * @return PollResult containing the request to send
+     */
+    @Override
+    public NetworkClientDelegate.PollResult pollOnClose(long currentTimeMs) {
+        if (membershipManager.isLeavingGroup()) {
+            NetworkClientDelegate.UnsentRequest request = makeHeartbeatRequestAndLogResponse(currentTimeMs);
+            return new NetworkClientDelegate.PollResult(heartbeatRequestState.heartbeatIntervalMs(), List.of(request));
+        }
+        return EMPTY;
+    }
+
+    /**
+     * Returns the delay for which the application thread can safely wait before it should be responsive
+     * to results from the request managers. For example, the subscription state can change when heartbeats
+     * are sent, so blocking for longer than the heartbeat interval might mean the application thread is not
+     * responsive to changes.
+     *
+     * <p>Similarly, we may have to unblock the application thread to send a `PollApplicationEvent` to make sure
+     * our poll timer will not expire while we are polling.
+     *
+     * <p>In the event that heartbeats are currently being skipped, this still returns the next heartbeat
+     * delay rather than {@code Long.MAX_VALUE} so that the application thread remains responsive.
+     */
+    @Override
+    public long maximumTimeToWait(long currentTimeMs) {
+        pollTimer.update(currentTimeMs);
+        if (pollTimer.isExpired() ||
+            membershipManager.shouldNotWaitForHeartbeatInterval() && !heartbeatRequestState.requestInFlight()) {
+
+            return 0L;
+        }
+        return Math.min(pollTimer.remainingMs() / 2, heartbeatRequestState.timeToNextHeartbeatMs(currentTimeMs));
+    }
+
     /**
      * A heartbeat should be sent without waiting for the heartbeat interval to expire if:
      * - the member is leaving the group
diff --git a/clients/src/test/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManagerTest.java b/clients/src/test/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManagerTest.java
index 126be01e1f504..dae6958035bc5 100644
--- a/clients/src/test/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManagerTest.java
+++ b/clients/src/test/java/org/apache/kafka/clients/consumer/internals/StreamsGroupHeartbeatRequestManagerTest.java
@@ -45,6 +45,7 @@
 import org.junit.jupiter.api.extension.ExtendWith;
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.Arguments;
+import org.junit.jupiter.params.provider.CsvSource;
 import org.junit.jupiter.params.provider.EnumSource;
 import org.junit.jupiter.params.provider.MethodSource;
 import org.junit.jupiter.params.provider.ValueSource;
@@ -1382,6 +1383,132 @@ private static Stream<Arguments> provideOtherErrors() {
             .map(Arguments::of);
     }
 
+    @Test
+    public void testPollOnCloseWhenIsNotLeaving() {
+        final StreamsGroupHeartbeatRequestManager heartbeatRequestManager = createStreamsGroupHeartbeatRequestManager();
+
+        NetworkClientDelegate.PollResult result = heartbeatRequestManager.pollOnClose(time.milliseconds());
+
+        assertEquals(NetworkClientDelegate.PollResult.EMPTY, result);
+    }
+
+    @Test
+    public void testPollOnCloseWhenIsLeaving() {
+        final StreamsGroupHeartbeatRequestManager heartbeatRequestManager = createStreamsGroupHeartbeatRequestManager();
+        when(membershipManager.isLeavingGroup()).thenReturn(true);
+        when(membershipManager.groupId()).thenReturn(GROUP_ID);
+        when(membershipManager.memberId()).thenReturn(MEMBER_ID);
+        when(membershipManager.memberEpoch()).thenReturn(LEAVE_GROUP_MEMBER_EPOCH);
+
+        NetworkClientDelegate.PollResult result = heartbeatRequestManager.pollOnClose(time.milliseconds());
+
+        assertEquals(1, result.unsentRequests.size());
+        final NetworkClientDelegate.UnsentRequest networkRequest = result.unsentRequests.get(0);
+        StreamsGroupHeartbeatRequest streamsRequest = (StreamsGroupHeartbeatRequest) networkRequest.requestBuilder().build();
+        assertEquals(GROUP_ID, streamsRequest.data().groupId());
+        assertEquals(MEMBER_ID, streamsRequest.data().memberId());
+        assertEquals(LEAVE_GROUP_MEMBER_EPOCH, streamsRequest.data().memberEpoch());
+    }
+
+    @Test
+    public void testMaximumTimeToWaitPollTimerExpired() {
+        try (
+            final MockedConstruction<Timer> timerMockedConstruction = mockConstruction(Timer.class, (mock, context) -> {
+                when(mock.isExpired()).thenReturn(true);
+            });
+            final MockedConstruction<HeartbeatRequestState> heartbeatRequestStateMockedConstruction = mockConstruction(
+                HeartbeatRequestState.class,
+                (mock, context) -> {
+                    when(mock.requestInFlight()).thenReturn(false);
+                })
+        ) {
+            final StreamsGroupHeartbeatRequestManager heartbeatRequestManager = createStreamsGroupHeartbeatRequestManager();
+            final Timer pollTimer = timerMockedConstruction.constructed().get(0);
+            time.sleep(1234);
+
+            final long maximumTimeToWait = heartbeatRequestManager.maximumTimeToWait(time.milliseconds());
+
+            assertEquals(0, maximumTimeToWait);
+            verify(pollTimer).update(time.milliseconds());
+        }
+    }
+
+    @Test
+    public void testMaximumTimeToWaitWhenHeartbeatShouldBeSentImmediately() {
+        try (
+            final MockedConstruction<Timer> timerMockedConstruction = mockConstruction(Timer.class);
+            final MockedConstruction<HeartbeatRequestState> heartbeatRequestStateMockedConstruction = mockConstruction(
+                HeartbeatRequestState.class,
+                (mock, context) -> {
+                    when(mock.requestInFlight()).thenReturn(false);
+                })
+        ) {
+            final StreamsGroupHeartbeatRequestManager heartbeatRequestManager = createStreamsGroupHeartbeatRequestManager();
+            final Timer pollTimer = timerMockedConstruction.constructed().get(0);
+            when(membershipManager.shouldNotWaitForHeartbeatInterval()).thenReturn(true);
+            time.sleep(1234);
+
+            final long maximumTimeToWait = heartbeatRequestManager.maximumTimeToWait(time.milliseconds());
+
+            assertEquals(0, maximumTimeToWait);
+            verify(pollTimer).update(time.milliseconds());
+        }
+    }
+
+    @ParameterizedTest
+    @CsvSource({"true, false", "false, false", "true, true"})
+    public void testMaximumTimeToWaitWhenHeartbeatShouldBeNotSentImmediately(final boolean isRequestInFlight,
+                                                                             final boolean shouldNotWaitForHeartbeatInterval) {
+        final long remainingMs = 12L;
+        final long timeToNextHeartbeatMs = 6L;
+        try (
+            final MockedConstruction<Timer> timerMockedConstruction = mockConstruction(Timer.class, (mock, context) -> {
+                when(mock.remainingMs()).thenReturn(remainingMs);
+            });
+            final MockedConstruction<HeartbeatRequestState> heartbeatRequestStateMockedConstruction = mockConstruction(
+                HeartbeatRequestState.class,
+                (mock, context) -> {
+                    when(mock.requestInFlight()).thenReturn(isRequestInFlight);
+                    when(mock.timeToNextHeartbeatMs(anyLong())).thenReturn(timeToNextHeartbeatMs);
+                })
+        ) {
+            final StreamsGroupHeartbeatRequestManager heartbeatRequestManager = createStreamsGroupHeartbeatRequestManager();
+            final Timer pollTimer = timerMockedConstruction.constructed().get(0);
+            when(membershipManager.shouldNotWaitForHeartbeatInterval()).thenReturn(shouldNotWaitForHeartbeatInterval);
+            time.sleep(1234);
+
+            final long maximumTimeToWait = heartbeatRequestManager.maximumTimeToWait(time.milliseconds());
+
+            assertEquals(timeToNextHeartbeatMs, maximumTimeToWait);
+            verify(pollTimer).update(time.milliseconds());
+        }
+    }
+
+    @ParameterizedTest
+    @CsvSource({"12, 5", "10, 6"})
+    public void testMaximumTimeToWaitSelectingMinimumWaitTime(final long remainingMs,
+                                                              final long timeToNextHeartbeatMs) {
+        try (
+            final MockedConstruction<Timer> timerMockedConstruction = mockConstruction(Timer.class, (mock, context) -> {
+                when(mock.remainingMs()).thenReturn(remainingMs);
+            });
+            final MockedConstruction<HeartbeatRequestState> heartbeatRequestStateMockedConstruction = mockConstruction(
+                HeartbeatRequestState.class,
+                (mock, context) -> {
+                    when(mock.timeToNextHeartbeatMs(anyLong())).thenReturn(timeToNextHeartbeatMs);
+                })
+        ) {
+            final StreamsGroupHeartbeatRequestManager heartbeatRequestManager = createStreamsGroupHeartbeatRequestManager();
+            final Timer pollTimer = timerMockedConstruction.constructed().get(0);
+            time.sleep(1234);
+
+            final long maximumTimeToWait = heartbeatRequestManager.maximumTimeToWait(time.milliseconds());
+
+            assertEquals(5, maximumTimeToWait);
+            verify(pollTimer).update(time.milliseconds());
+        }
+    }
+
     private static ConsumerConfig config() {
         Properties prop = new Properties();
         prop.put(ConsumerConfig.KEY_DESERIALIZER_CLASS_CONFIG, StringDeserializer.class);