diff --git a/clientv3/integration/naming/endpoints_test.go b/clientv3/integration/naming/endpoints_test.go
index be59479eb..25b6be28e 100644
--- a/clientv3/integration/naming/endpoints_test.go
+++ b/clientv3/integration/naming/endpoints_test.go
@@ -133,3 +133,84 @@ func TestEndpointManagerAtomicity(t *testing.T) {
 		t.Fatalf("expected two delete updates, got %+v", updates)
 	}
 }
+
+func TestEndpointManagerCRUD(t *testing.T) {
+	defer testutil.AfterTest(t)
+
+	clus := integration.NewClusterV3(t, &integration.ClusterConfig{Size: 1})
+	defer clus.Terminate(t)
+
+	em, err := endpoints.NewManager(clus.RandClient(), "foo")
+	if err != nil {
+		t.Fatal("failed to create EndpointManager", err)
+	}
+
+	// Add
+	k1 := "foo/a1"
+	e1 := endpoints.Endpoint{Addr: "127.0.0.1", Metadata: "metadata1"}
+	err = em.AddEndpoint(context.TODO(), k1, e1)
+	if err != nil {
+		t.Fatal("failed to add", k1, err)
+	}
+
+	k2 := "foo/a2"
+	e2 := endpoints.Endpoint{Addr: "127.0.0.2", Metadata: "metadata2"}
+	err = em.AddEndpoint(context.TODO(), k2, e2)
+	if err != nil {
+		t.Fatal("failed to add", k2, err)
+	}
+
+	eps, err := em.List(context.TODO())
+	if err != nil {
+		t.Fatal("failed to list foo")
+	}
+	if len(eps) != 2 {
+		t.Fatalf("unexpected the number of endpoints: %d", len(eps))
+	}
+	if !reflect.DeepEqual(eps[k1], e1) {
+		t.Fatalf("unexpected endpoints: %s", k1)
+	}
+	if !reflect.DeepEqual(eps[k2], e2) {
+		t.Fatalf("unexpected endpoints: %s", k2)
+	}
+
+	// Delete
+	err = em.DeleteEndpoint(context.TODO(), k1)
+	if err != nil {
+		t.Fatal("failed to delete", k2, err)
+	}
+
+	eps, err = em.List(context.TODO())
+	if err != nil {
+		t.Fatal("failed to list foo")
+	}
+	if len(eps) != 1 {
+		t.Fatalf("unexpected the number of endpoints: %d", len(eps))
+	}
+	if !reflect.DeepEqual(eps[k2], e2) {
+		t.Fatalf("unexpected endpoints: %s", k2)
+	}
+
+	// Update
+	k3 := "foo/a3"
+	e3 := endpoints.Endpoint{Addr: "127.0.0.3", Metadata: "metadata3"}
+	updates := []*endpoints.UpdateWithOpts{
+		{Update: endpoints.Update{Op: endpoints.Add, Key: k3, Endpoint: e3}},
+		{Update: endpoints.Update{Op: endpoints.Delete, Key: k2}},
+	}
+	err = em.Update(context.TODO(), updates)
+	if err != nil {
+		t.Fatal("failed to update", err)
+	}
+
+	eps, err = em.List(context.TODO())
+	if err != nil {
+		t.Fatal("failed to list foo")
+	}
+	if len(eps) != 1 {
+		t.Fatalf("unexpected the number of endpoints: %d", len(eps))
+	}
+	if !reflect.DeepEqual(eps[k3], e3) {
+		t.Fatalf("unexpected endpoints: %s", k3)
+	}
+}
diff --git a/clientv3/integration/naming/resolver_test.go b/clientv3/integration/naming/resolver_test.go
index ecb90d591..f65f5c3f3 100644
--- a/clientv3/integration/naming/resolver_test.go
+++ b/clientv3/integration/naming/resolver_test.go
@@ -15,56 +15,111 @@
 package naming
 
 import (
+	"bytes"
 	"context"
 	"testing"
+	"time"
 
 	"google.golang.org/grpc"
+	testpb "google.golang.org/grpc/test/grpc_testing"
 
+	etcdnaming "go.etcd.io/etcd/clientv3/naming"
 	"go.etcd.io/etcd/clientv3/naming/endpoints"
-	"go.etcd.io/etcd/clientv3/naming/resolver"
 	"go.etcd.io/etcd/integration"
+	grpctest "go.etcd.io/etcd/pkg/grpc_testing"
 	"go.etcd.io/etcd/pkg/testutil"
 )
 
 // This test mimics scenario described in grpc_naming.md doc.
 
 func TestEtcdGrpcResolver(t *testing.T) {
-	t.Skip("Not implemented yet")
-
 	defer testutil.AfterTest(t)
+	s1PayloadBody := []byte{'1'}
+	s1 := newDummyStubServer(s1PayloadBody)
+	if err := s1.Start(nil); err != nil {
+		t.Fatal("failed to start dummy grpc server (s1)", err)
+	}
+	defer s1.Stop()
 
-	// s1 :=  // TODO: Dummy GRPC service listening on 127.0.0.1:20000
-	// s2 :=  // TODO: Dummy GRPC service listening on 127.0.0.1:20001
+	s2PayloadBody := []byte{'2'}
+	s2 := newDummyStubServer(s2PayloadBody)
+	if err := s2.Start(nil); err != nil {
+		t.Fatal("failed to start dummy grpc server (s2)", err)
+	}
+	defer s2.Stop()
 
-	clus := integration.NewClusterV3(t, &integration.ClusterConfig{Size: 1})
+	clus := integration.NewClusterV3(t, &integration.ClusterConfig{Size: 3})
 	defer clus.Terminate(t)
 
-	em, err := endpoints.NewManager(clus.RandClient(), "foo")
+	em, err := endpoints.NewManager(clus.Client(0), "foo")
 	if err != nil {
 		t.Fatal("failed to create EndpointManager", err)
 	}
 
-	e1 := endpoints.Endpoint{Addr: "127.0.0.1:20000"}
-	e2 := endpoints.Endpoint{Addr: "127.0.0.1:20001"}
+	e1 := endpoints.Endpoint{Addr: s1.Addr()}
+	e2 := endpoints.Endpoint{Addr: s2.Addr()}
 
 	err = em.AddEndpoint(context.TODO(), "foo/e1", e1)
 	if err != nil {
 		t.Fatal("failed to add foo", err)
 	}
-	etcdResolver, err := resolver.NewBuilder(clus.RandClient())
+	r := &etcdnaming.GRPCResolver{Client: clus.Client(1)}
+	b := grpc.RoundRobin(r)
 
-	conn, err := grpc.Dial("etc://foo", grpc.WithResolvers(etcdResolver))
+	conn, err := grpc.Dial("foo", grpc.WithInsecure(), grpc.WithBalancer(b))
 	if err != nil {
-		t.Fatal("failed to connect to foo (e1)", err)
+		t.Fatal("failed to connect to foo", err)
 	}
+	defer conn.Close()
 
-	// TODO: send requests to conn, ensure s1 received it.
+	c := testpb.NewTestServiceClient(conn)
+	resp, err := c.UnaryCall(context.TODO(), &testpb.SimpleRequest{}, grpc.WaitForReady(true))
+	if err != nil {
+		t.Fatal("failed to invoke rpc to foo (e1)", err)
+	}
+	if resp.GetPayload() == nil || !bytes.Equal(resp.GetPayload().GetBody(), s1PayloadBody) {
+		t.Fatalf("unexpected response from foo (e1): %s", resp.GetPayload().GetBody())
+	}
 
 	em.DeleteEndpoint(context.TODO(), "foo/e1")
 	em.AddEndpoint(context.TODO(), "foo/e2", e2)
 
-	// TODO: Send requests to conn and make sure s2 receive it.
-	// Might require restarting s1 to break the existing (open) connection.
+	// We use a loop with deadline of 30s to avoid test getting flake
+	// as it's asynchronous for gRPC Client to update underlying connections.
+	maxRetries := 300
+	retryPeriod := 100 * time.Millisecond
+	retries := 0
+	for {
+		time.Sleep(retryPeriod)
+		retries++
 
-	conn.GetState() // this line is to avoid compiler warning that conn is unused.
+		resp, err = c.UnaryCall(context.TODO(), &testpb.SimpleRequest{})
+		if err != nil {
+			if retries < maxRetries {
+				continue
+			}
+			t.Fatal("failed to invoke rpc to foo (e2)", err)
+		}
+		if resp.GetPayload() == nil || !bytes.Equal(resp.GetPayload().GetBody(), s2PayloadBody) {
+			if retries < maxRetries {
+				continue
+			}
+			t.Fatalf("unexpected response from foo (e2): %s", resp.GetPayload().GetBody())
+		}
+
+		break
+	}
+}
+
+func newDummyStubServer(body []byte) *grpctest.StubServer {
+	return &grpctest.StubServer{
+		UnaryCallF: func(ctx context.Context, in *testpb.SimpleRequest) (*testpb.SimpleResponse, error) {
+			return &testpb.SimpleResponse{
+				Payload: &testpb.Payload{
+					Type: testpb.PayloadType_COMPRESSABLE,
+					Body: body,
+				},
+			}, nil
+		},
+	}
 }
diff --git a/clientv3/naming/endpoints/endpoints_impl.go b/clientv3/naming/endpoints/endpoints_impl.go
index beeb58eea..e1767c8d1 100644
--- a/clientv3/naming/endpoints/endpoints_impl.go
+++ b/clientv3/naming/endpoints/endpoints_impl.go
@@ -18,37 +18,66 @@ package endpoints
 
 import (
 	"context"
+	"encoding/json"
+	"errors"
 	"fmt"
+	"strings"
+
+	"google.golang.org/grpc/codes"
+	"google.golang.org/grpc/status"
 
 	"go.etcd.io/etcd/clientv3"
 	"go.etcd.io/etcd/clientv3/naming/endpoints/internal"
 )
 
 type endpointManager struct {
-	// TODO: To be implemented, tracked by: https://github.com/etcd-io/etcd/issues/12652
+	client *clientv3.Client
+	target string
 }
 
 func NewManager(client *clientv3.Client, target string) (Manager, error) {
-	// To be implemented (https://github.com/etcd-io/etcd/issues/12652)
-	return nil, fmt.Errorf("Not implemented yet")
+	if client == nil {
+		return nil, errors.New("invalid etcd client")
+	}
+
+	if target == "" {
+		return nil, errors.New("invalid target")
+	}
+
+	em := &endpointManager{
+		client: client,
+		target: target,
+	}
+	return em, nil
 }
 
-func (m *endpointManager) Update(ctx context.Context, updates []*UpdateWithOpts) error {
-	// TODO: For loop in a single transaction:
-	internalUpdate := &internal.Update{} // translate UpdateWithOpts into json format.
-	switch internalUpdate.Op {
-	//case internal.Add:
-	//	var v []byte
-	//	if v, err = json.Marshal(internalUpdate); err != nil {
-	//		return status.Error(codes.InvalidArgument, err.Error())
-	//	}
-	//	_, err = gr.Client.KV.Put(ctx, target+"/"+nm.Addr, string(v), opts...)
-	//case internal.Delete:
-	//	_, err = gr.Client.Delete(ctx, target+"/"+nm.Addr, opts...)
-	//default:
-	//	return status.Error(codes.InvalidArgument, "naming: bad naming op")
+func (m *endpointManager) Update(ctx context.Context, updates []*UpdateWithOpts) (err error) {
+	ops := make([]clientv3.Op, 0, len(updates))
+	for _, update := range updates {
+		if !strings.HasPrefix(update.Key, m.target+"/") {
+			return status.Errorf(codes.InvalidArgument, "endpoints: endpoint key should be prefixed with %s/", m.target)
+		}
+		switch update.Op {
+		case Add:
+			internalUpdate := &internal.Update{
+				Op:       internal.Add,
+				Addr:     update.Endpoint.Addr,
+				Metadata: update.Endpoint.Metadata,
+			}
+
+			var v []byte
+			if v, err = json.Marshal(internalUpdate); err != nil {
+				return status.Error(codes.InvalidArgument, err.Error())
+			}
+			ops = append(ops, clientv3.OpPut(update.Key, string(v), update.Opts...))
+		case Delete:
+			ops = append(ops, clientv3.OpDelete(update.Key, update.Opts...))
+		default:
+			return status.Error(codes.InvalidArgument, "endpoints: bad update op")
+		}
 	}
-	return fmt.Errorf("Not implemented yet")
+	_, err = m.client.KV.Txn(ctx).Then(ops...).Commit()
+	return err
 }
 
 func (m *endpointManager) AddEndpoint(ctx context.Context, key string, endpoint Endpoint, opts ...clientv3.OpOption) error {
@@ -130,6 +159,19 @@ func (m *endpointManager) NewWatchChannel(ctx context.Context) (WatchChannel, er
 }
 
 func (m *endpointManager) List(ctx context.Context) (Key2EndpointMap, error) {
-	// TODO: Implementation
-	return nil, fmt.Errorf("Not implemented yet")
+	resp, err := m.client.Get(ctx, m.target, clientv3.WithPrefix(), clientv3.WithSerializable())
+	if err != nil {
+		return nil, err
+	}
+
+	eps := make(Key2EndpointMap)
+	for _, kv := range resp.Kvs {
+		var iup internal.Update
+		if err := json.Unmarshal(kv.Value, &iup); err != nil {
+			continue
+		}
+
+		eps[string(kv.Key)] = Endpoint{Addr: iup.Addr, Metadata: iup.Metadata}
+	}
+	return eps, nil
 }
diff --git a/pkg/grpc_testing/stub_server.go b/pkg/grpc_testing/stub_server.go
new file mode 100644
index 000000000..b2892ef0d
--- /dev/null
+++ b/pkg/grpc_testing/stub_server.go
@@ -0,0 +1,100 @@
+// Copyright 2023 The etcd Authors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+package grpc_testing
+
+import (
+	"context"
+	"fmt"
+	"net"
+
+	"google.golang.org/grpc"
+	testpb "google.golang.org/grpc/test/grpc_testing"
+)
+
+// StubServer is borrowed from the interal package of grpc-go.
+// See https://github.com/grpc/grpc-go/blob/master/internal/stubserver/stubserver.go
+// Since it cannot be imported directly, we have to copy and paste it here,
+// and useless code for our testing is removed.
+
+// StubServer is a server that is easy to customize within individual test
+// cases.
+type StubServer struct {
+	// Guarantees we satisfy this interface; panics if unimplemented methods are called.
+	testpb.TestServiceServer
+
+	EmptyCallF      func(ctx context.Context, in *testpb.Empty) (*testpb.Empty, error)
+	UnaryCallF      func(ctx context.Context, in *testpb.SimpleRequest) (*testpb.SimpleResponse, error)
+	FullDuplexCallF func(stream testpb.TestService_FullDuplexCallServer) error
+
+	s *grpc.Server
+
+	// Network and Address are parameters for Listen. Defaults will be used if these are empty before Start.
+	Network string
+	Address string
+
+	cleanups []func() // Lambdas executed in Stop(); populated by Start().
+}
+
+// EmptyCall is the handler for testpb.EmptyCall.
+func (ss *StubServer) EmptyCall(ctx context.Context, in *testpb.Empty) (*testpb.Empty, error) {
+	return ss.EmptyCallF(ctx, in)
+}
+
+// UnaryCall is the handler for testpb.UnaryCall.
+func (ss *StubServer) UnaryCall(ctx context.Context, in *testpb.SimpleRequest) (*testpb.SimpleResponse, error) {
+	return ss.UnaryCallF(ctx, in)
+}
+
+// FullDuplexCall is the handler for testpb.FullDuplexCall.
+func (ss *StubServer) FullDuplexCall(stream testpb.TestService_FullDuplexCallServer) error {
+	return ss.FullDuplexCallF(stream)
+}
+
+// Start starts the server and creates a client connected to it.
+func (ss *StubServer) Start(sopts []grpc.ServerOption, dopts ...grpc.DialOption) error {
+	if ss.Network == "" {
+		ss.Network = "tcp"
+	}
+	if ss.Address == "" {
+		ss.Address = "localhost:0"
+	}
+
+	lis, err := net.Listen(ss.Network, ss.Address)
+	if err != nil {
+		return fmt.Errorf("net.Listen(%q, %q) = %v", ss.Network, ss.Address, err)
+	}
+	ss.Address = lis.Addr().String()
+	ss.cleanups = append(ss.cleanups, func() { lis.Close() })
+
+	s := grpc.NewServer(sopts...)
+	testpb.RegisterTestServiceServer(s, ss)
+	go s.Serve(lis)
+	ss.cleanups = append(ss.cleanups, s.Stop)
+	ss.s = s
+
+	return nil
+}
+
+// Stop stops ss and cleans up all resources it consumed.
+func (ss *StubServer) Stop() {
+	for i := len(ss.cleanups) - 1; i >= 0; i-- {
+		ss.cleanups[i]()
+	}
+}
+
+// Addr gets the address the server listening on.
+func (ss *StubServer) Addr() string {
+	return ss.Address
+}