diff --git a/Makefile b/Makefile
index ee0c3fd9b..c6352c776 100644
--- a/Makefile
+++ b/Makefile
@@ -157,7 +157,7 @@ test-smoke:
 
 test-full:
 	$(info log-file: test-$(TEST_SUFFIX).log)
-	PASSES="fmt build unit integration functional e2e grpcproxy" ./test.sh 2<&1 | tee test-$(TEST_SUFFIX).log
+	PASSES="fmt build release unit integration functional e2e grpcproxy" ./test.sh 2<&1 | tee test-$(TEST_SUFFIX).log
 
 docker-test:
 	$(info GO_VERSION: $(GO_VERSION))
diff --git a/etcdctl/ctlv2/command/backup_command.go b/etcdctl/ctlv2/command/backup_command.go
index cd9428201..3b30d813a 100644
--- a/etcdctl/ctlv2/command/backup_command.go
+++ b/etcdctl/ctlv2/command/backup_command.go
@@ -171,6 +171,12 @@ func loadWAL(srcWAL string, walsnap walpb.Snapshot, v3 bool) (etcdserverpb.Metad
 			continue
 		}
 
+		if raftReq.ClusterMemberAttrSet != nil {
+			log.Println("ignoring cluster_member_attr_set")
+			remove()
+			continue
+		}
+
 		if v3 || raftReq.Header == nil {
 			continue
 		}
diff --git a/server/etcdserver/apply.go b/server/etcdserver/apply.go
index d16f5bf6a..f80f89ca3 100644
--- a/server/etcdserver/apply.go
+++ b/server/etcdserver/apply.go
@@ -221,17 +221,17 @@ func (a *applierV3backend) Apply(r *pb.InternalRaftRequest) *applyResult {
 	case r.AuthRoleList != nil:
 		op = "AuthRoleList"
 		ar.resp, ar.err = a.s.applyV3.RoleList(r.AuthRoleList)
-	case r.ClusterVersionSet != nil:
+	case r.ClusterVersionSet != nil: // Implemented in 3.5.x
 		op = "ClusterVersionSet"
 		a.s.applyV3Internal.ClusterVersionSet(r.ClusterVersionSet)
 	case r.ClusterMemberAttrSet != nil:
-		op = "ClusterMemberAttrSet"
+		op = "ClusterMemberAttrSet" // Implemented in 3.5.x
 		a.s.applyV3Internal.ClusterMemberAttrSet(r.ClusterMemberAttrSet)
 	case r.DowngradeInfoSet != nil:
-		op = "DowngradeInfoSet"
+		op = "DowngradeInfoSet" // Implemented in 3.5.x
 		a.s.applyV3Internal.DowngradeInfoSet(r.DowngradeInfoSet)
 	default:
-		panic("not implemented")
+		a.s.lg.Panic("not implemented apply", zap.Stringer("raft-request", r))
 	}
 	return ar
 }
diff --git a/server/etcdserver/server.go b/server/etcdserver/server.go
index e7e2e109f..7aee4d0b9 100644
--- a/server/etcdserver/server.go
+++ b/server/etcdserver/server.go
@@ -721,6 +721,8 @@ func (s *EtcdServer) adjustTicks() {
 func (s *EtcdServer) Start() {
 	s.start()
 	s.GoAttach(func() { s.adjustTicks() })
+	// TODO: Switch to publishV3 in 3.6.
+	// Support for cluster_member_set_attr was added in 3.5.
 	s.GoAttach(func() { s.publish(s.Cfg.ReqTimeout()) })
 	s.GoAttach(s.purgeFile)
 	s.GoAttach(func() { monitorFileDescriptor(s.Logger(), s.stopping) })
@@ -1855,7 +1857,6 @@ func (s *EtcdServer) sync(timeout time.Duration) {
 // with the static clientURLs of the server.
 // The function keeps attempting to register until it succeeds,
 // or its server is stopped.
-// TODO: replace publish() in 3.6
 func (s *EtcdServer) publishV3(timeout time.Duration) {
 	req := &membershippb.ClusterMemberAttrSetRequest{
 		Member_ID: uint64(s.id),
@@ -1916,7 +1917,7 @@ func (s *EtcdServer) publishV3(timeout time.Duration) {
 // but does not go through v2 API endpoint, which means even with v2
 // client handler disabled (e.g. --enable-v2=false), cluster can still
 // process publish requests through rafthttp
-// TODO: Deprecate v2 store in 3.6
+// TODO: Remove in 3.6 (start using publishV3)
 func (s *EtcdServer) publish(timeout time.Duration) {
 	lg := s.Logger()
 	b, err := json.Marshal(s.attributes)
diff --git a/server/etcdserver/server_test.go b/server/etcdserver/server_test.go
index d5a747113..38d6ef2cf 100644
--- a/server/etcdserver/server_test.go
+++ b/server/etcdserver/server_test.go
@@ -27,7 +27,9 @@ import (
 	"testing"
 	"time"
 
+	"github.com/stretchr/testify/assert"
 	pb "go.etcd.io/etcd/api/v3/etcdserverpb"
+	"go.etcd.io/etcd/api/v3/membershippb"
 	"go.etcd.io/etcd/client/pkg/v3/fileutil"
 	"go.etcd.io/etcd/client/pkg/v3/testutil"
 	"go.etcd.io/etcd/client/pkg/v3/types"
@@ -36,6 +38,7 @@ import (
 	"go.etcd.io/etcd/pkg/v3/wait"
 	"go.etcd.io/etcd/raft/v3"
 	"go.etcd.io/etcd/raft/v3/raftpb"
+	"go.etcd.io/etcd/server/v3/auth"
 	"go.etcd.io/etcd/server/v3/config"
 	"go.etcd.io/etcd/server/v3/etcdserver/api/membership"
 	"go.etcd.io/etcd/server/v3/etcdserver/api/rafthttp"
@@ -49,6 +52,7 @@ import (
 	"go.etcd.io/etcd/server/v3/mvcc"
 	"go.etcd.io/etcd/server/v3/mvcc/backend"
 	"go.uber.org/zap"
+	"go.uber.org/zap/zaptest"
 )
 
 // TestDoLocalAction tests requests which do not need to go through raft to be applied,
@@ -98,7 +102,7 @@ func TestDoLocalAction(t *testing.T) {
 			v2store:  st,
 			reqIDGen: idutil.NewGenerator(0, time.Time{}),
 		}
-		resp, err := srv.Do(context.TODO(), tt.req)
+		resp, err := srv.Do(context.Background(), tt.req)
 
 		if err != tt.werr {
 			t.Fatalf("#%d: err = %+v, want %+v", i, err, tt.werr)
@@ -832,7 +836,7 @@ func TestDoProposalStopped(t *testing.T) {
 // TestSync tests sync 1. is nonblocking 2. proposes SYNC request.
 func TestSync(t *testing.T) {
 	n := newNodeRecorder()
-	ctx, cancel := context.WithCancel(context.TODO())
+	ctx, cancel := context.WithCancel(context.Background())
 	srv := &EtcdServer{
 		lgMu:     new(sync.RWMutex),
 		lg:       zap.NewExample(),
@@ -877,7 +881,7 @@ func TestSync(t *testing.T) {
 // after timeout
 func TestSyncTimeout(t *testing.T) {
 	n := newProposalBlockerRecorder()
-	ctx, cancel := context.WithCancel(context.TODO())
+	ctx, cancel := context.WithCancel(context.Background())
 	srv := &EtcdServer{
 		lgMu:     new(sync.RWMutex),
 		lg:       zap.NewExample(),
@@ -1313,7 +1317,7 @@ func TestAddMember(t *testing.T) {
 	}
 	s.start()
 	m := membership.Member{ID: 1234, RaftAttributes: membership.RaftAttributes{PeerURLs: []string{"foo"}}}
-	_, err := s.AddMember(context.TODO(), m)
+	_, err := s.AddMember(context.Background(), m)
 	gaction := n.Action()
 	s.Stop()
 
@@ -1357,7 +1361,7 @@ func TestRemoveMember(t *testing.T) {
 		consistIndex: cindex.NewFakeConsistentIndex(0),
 	}
 	s.start()
-	_, err := s.RemoveMember(context.TODO(), 1234)
+	_, err := s.RemoveMember(context.Background(), 1234)
 	gaction := n.Action()
 	s.Stop()
 
@@ -1402,7 +1406,7 @@ func TestUpdateMember(t *testing.T) {
 	}
 	s.start()
 	wm := membership.Member{ID: 1234, RaftAttributes: membership.RaftAttributes{PeerURLs: []string{"http://127.0.0.1:1"}}}
-	_, err := s.UpdateMember(context.TODO(), wm)
+	_, err := s.UpdateMember(context.Background(), wm)
 	gaction := n.Action()
 	s.Stop()
 
@@ -1426,7 +1430,7 @@ func TestPublish(t *testing.T) {
 	// simulate that request has gone through consensus
 	ch <- Response{}
 	w := wait.NewWithResponse(ch)
-	ctx, cancel := context.WithCancel(context.TODO())
+	ctx, cancel := context.WithCancel(context.Background())
 	srv := &EtcdServer{
 		lgMu:       new(sync.RWMutex),
 		lg:         zap.NewExample(),
@@ -1475,7 +1479,7 @@ func TestPublish(t *testing.T) {
 
 // TestPublishStopped tests that publish will be stopped if server is stopped.
 func TestPublishStopped(t *testing.T) {
-	ctx, cancel := context.WithCancel(context.TODO())
+	ctx, cancel := context.WithCancel(context.Background())
 	r := newRaftNode(raftNodeConfig{
 		lg:        zap.NewExample(),
 		Node:      newNodeNop(),
@@ -1503,7 +1507,7 @@ func TestPublishStopped(t *testing.T) {
 
 // TestPublishRetry tests that publish will keep retry until success.
 func TestPublishRetry(t *testing.T) {
-	ctx, cancel := context.WithCancel(context.TODO())
+	ctx, cancel := context.WithCancel(context.Background())
 	n := newNodeRecorderStream()
 	srv := &EtcdServer{
 		lgMu:       new(sync.RWMutex),
@@ -1540,6 +1544,127 @@ func TestPublishRetry(t *testing.T) {
 	<-ch
 }
 
+func TestPublishV3(t *testing.T) {
+	n := newNodeRecorder()
+	ch := make(chan interface{}, 1)
+	// simulate that request has gone through consensus
+	ch <- &applyResult{}
+	w := wait.NewWithResponse(ch)
+	ctx, cancel := context.WithCancel(context.Background())
+	lg := zaptest.NewLogger(t)
+	be, _ := backend.NewDefaultTmpBackend(t)
+	srv := &EtcdServer{
+		lgMu:       new(sync.RWMutex),
+		lg:         lg,
+		readych:    make(chan struct{}),
+		Cfg:        config.ServerConfig{Logger: lg, TickMs: 1, SnapshotCatchUpEntries: DefaultSnapshotCatchUpEntries, MaxRequestBytes: 1000},
+		id:         1,
+		r:          *newRaftNode(raftNodeConfig{lg: lg, Node: n}),
+		attributes: membership.Attributes{Name: "node1", ClientURLs: []string{"http://a", "http://b"}},
+		cluster:    &membership.RaftCluster{},
+		w:          w,
+		reqIDGen:   idutil.NewGenerator(0, time.Time{}),
+		SyncTicker: &time.Ticker{},
+		authStore:  auth.NewAuthStore(lg, be, nil, nil, 0),
+		be:         be,
+		ctx:        ctx,
+		cancel:     cancel,
+	}
+	srv.publishV3(time.Hour)
+
+	action := n.Action()
+	if len(action) != 1 {
+		t.Fatalf("len(action) = %d, want 1", len(action))
+	}
+	if action[0].Name != "Propose" {
+		t.Fatalf("action = %s, want Propose", action[0].Name)
+	}
+	data := action[0].Params[0].([]byte)
+	var r pb.InternalRaftRequest
+	if err := r.Unmarshal(data); err != nil {
+		t.Fatalf("unmarshal request error: %v", err)
+	}
+	assert.Equal(t, &membershippb.ClusterMemberAttrSetRequest{Member_ID: 0x1, MemberAttributes: &membershippb.Attributes{
+		Name: "node1", ClientUrls: []string{"http://a", "http://b"}}}, r.ClusterMemberAttrSet)
+}
+
+// TestPublishStopped tests that publish will be stopped if server is stopped.
+func TestPublishV3Stopped(t *testing.T) {
+	ctx, cancel := context.WithCancel(context.Background())
+	r := newRaftNode(raftNodeConfig{
+		lg:        zap.NewExample(),
+		Node:      newNodeNop(),
+		transport: newNopTransporter(),
+	})
+	srv := &EtcdServer{
+		lgMu:       new(sync.RWMutex),
+		lg:         zap.NewExample(),
+		Cfg:        config.ServerConfig{Logger: zap.NewExample(), TickMs: 1, SnapshotCatchUpEntries: DefaultSnapshotCatchUpEntries},
+		r:          *r,
+		cluster:    &membership.RaftCluster{},
+		w:          mockwait.NewNop(),
+		done:       make(chan struct{}),
+		stopping:   make(chan struct{}),
+		stop:       make(chan struct{}),
+		reqIDGen:   idutil.NewGenerator(0, time.Time{}),
+		SyncTicker: &time.Ticker{},
+
+		ctx:    ctx,
+		cancel: cancel,
+	}
+	close(srv.stopping)
+	srv.publishV3(time.Hour)
+}
+
+// TestPublishRetry tests that publish will keep retry until success.
+func TestPublishV3Retry(t *testing.T) {
+	ctx, cancel := context.WithCancel(context.Background())
+	n := newNodeRecorderStream()
+
+	lg := zaptest.NewLogger(t)
+	be, _ := backend.NewDefaultTmpBackend(t)
+	srv := &EtcdServer{
+		lgMu:       new(sync.RWMutex),
+		lg:         lg,
+		readych:    make(chan struct{}),
+		Cfg:        config.ServerConfig{Logger: lg, TickMs: 1, SnapshotCatchUpEntries: DefaultSnapshotCatchUpEntries, MaxRequestBytes: 1000},
+		id:         1,
+		r:          *newRaftNode(raftNodeConfig{lg: lg, Node: n}),
+		w:          mockwait.NewNop(),
+		stopping:   make(chan struct{}),
+		attributes: membership.Attributes{Name: "node1", ClientURLs: []string{"http://a", "http://b"}},
+		cluster:    &membership.RaftCluster{},
+		reqIDGen:   idutil.NewGenerator(0, time.Time{}),
+		SyncTicker: &time.Ticker{},
+		authStore:  auth.NewAuthStore(lg, be, nil, nil, 0),
+		be:         be,
+		ctx:        ctx,
+		cancel:     cancel,
+	}
+
+	// expect multiple proposals from retrying
+	ch := make(chan struct{})
+	go func() {
+		defer close(ch)
+		if action, err := n.Wait(2); err != nil {
+			t.Errorf("len(action) = %d, want >= 2 (%v)", len(action), err)
+		}
+		close(srv.stopping)
+		// drain remaining actions, if any, so publish can terminate
+		for {
+			select {
+			case <-ch:
+				return
+			default:
+				n.Action()
+			}
+		}
+	}()
+	srv.publishV3(10 * time.Nanosecond)
+	ch <- struct{}{}
+	<-ch
+}
+
 func TestStopNotify(t *testing.T) {
 	s := &EtcdServer{
 		lgMu: new(sync.RWMutex),
diff --git a/server/go.mod b/server/go.mod
index 2af585cec..be81c5a71 100644
--- a/server/go.mod
+++ b/server/go.mod
@@ -23,6 +23,7 @@ require (
 	github.com/sirupsen/logrus v1.7.0 // indirect
 	github.com/soheilhy/cmux v0.1.5
 	github.com/spf13/cobra v1.1.1
+	github.com/stretchr/testify v1.5.1
 	github.com/tmc/grpc-websocket-proxy v0.0.0-20200427203606-3cfed13b9966
 	github.com/xiang90/probing v0.0.0-20190116061207-43a291ad63a2
 	go.etcd.io/bbolt v1.3.5
diff --git a/test.sh b/test.sh
index 715b335d2..2726255ca 100755
--- a/test.sh
+++ b/test.sh
@@ -613,7 +613,7 @@ function dep_pass {
 function release_pass {
   rm -f ./bin/etcd-last-release
   # to grab latest patch release; bump this up for every minor release
-  UPGRADE_VER=$(git tag -l --sort=-version:refname "v3.3.*" | head -1)
+  UPGRADE_VER=$(git tag -l --sort=-version:refname "v3.4.*" | head -1)
   if [ -n "$MANUAL_VER" ]; then
     # in case, we need to test against different version
     UPGRADE_VER=$MANUAL_VER
diff --git a/tests/e2e/main_test.go b/tests/e2e/main_test.go
index 791c9d58e..75adb1e8e 100644
--- a/tests/e2e/main_test.go
+++ b/tests/e2e/main_test.go
@@ -6,7 +6,9 @@ package e2e
 
 import (
 	"flag"
+	"log"
 	"os"
+	"path/filepath"
 	"runtime"
 	"testing"
 
@@ -36,8 +38,18 @@ func TestMain(m *testing.M) {
 	os.Setenv("ETCD_UNSUPPORTED_ARCH", runtime.GOARCH)
 	os.Unsetenv("ETCDCTL_API")
 
-	flag.StringVar(&binDir, "bin-dir", "../../bin", "The directory for store etcd and etcdctl binaries.")
-	flag.StringVar(&certDir, "cert-dir", "../fixtures", "The directory for store certificate files.")
+	binDirDef, err := filepath.Abs("../../bin")
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	certDirDef, err := filepath.Abs("../fixtures")
+	if err != nil {
+		log.Fatal(err)
+	}
+
+	flag.StringVar(&binDir, "bin-dir", binDirDef, "The directory for store etcd and etcdctl binaries.")
+	flag.StringVar(&certDir, "cert-dir", certDirDef, "The directory for store certificate files.")
 	flag.Parse()
 
 	binPath = binDir + "/etcd"