diff --git a/embedded-tests/src/test/java/org/apache/druid/testing/embedded/docker/IngestionDockerTest.java b/embedded-tests/src/test/java/org/apache/druid/testing/embedded/docker/IngestionDockerTest.java
index 40e7a6bc0731..4f3ccc1578ab 100644
--- a/embedded-tests/src/test/java/org/apache/druid/testing/embedded/docker/IngestionDockerTest.java
+++ b/embedded-tests/src/test/java/org/apache/druid/testing/embedded/docker/IngestionDockerTest.java
@@ -52,7 +52,7 @@ protected EmbeddedDruidCluster addServers(EmbeddedDruidCluster cluster)
     overlord.addProperty("druid.plaintextPort", "7090");
 
     return cluster
-        .useDefaultTimeoutForLatchableEmitter(60)
+        .useDefaultTimeoutForLatchableEmitter(120)
         .useContainerFriendlyHostname()
         .addResource(containerOverlord)
         .addResource(containerCoordinator)
diff --git a/embedded-tests/src/test/java/org/apache/druid/testing/embedded/schema/CentralizedSchemaMetadataQueryDisabledTest.java b/embedded-tests/src/test/java/org/apache/druid/testing/embedded/schema/CentralizedSchemaMetadataQueryDisabledTest.java
index 2c701c762138..ad23d94712cd 100644
--- a/embedded-tests/src/test/java/org/apache/druid/testing/embedded/schema/CentralizedSchemaMetadataQueryDisabledTest.java
+++ b/embedded-tests/src/test/java/org/apache/druid/testing/embedded/schema/CentralizedSchemaMetadataQueryDisabledTest.java
@@ -60,7 +60,8 @@ public class CompactionTask extends CompactionTaskTest
     @Override
     protected EmbeddedDruidCluster createCluster()
     {
-      return configureCluster(super.createCluster());
+      return configureCluster(super.createCluster())
+          .useDefaultTimeoutForLatchableEmitter(60);
     }
   }
 
diff --git a/indexing-service/src/main/java/org/apache/druid/indexing/overlord/hrtr/WorkerHolder.java b/indexing-service/src/main/java/org/apache/druid/indexing/overlord/hrtr/WorkerHolder.java
index 4444916e69f7..dc219d4f8b7f 100644
--- a/indexing-service/src/main/java/org/apache/druid/indexing/overlord/hrtr/WorkerHolder.java
+++ b/indexing-service/src/main/java/org/apache/druid/indexing/overlord/hrtr/WorkerHolder.java
@@ -69,6 +69,7 @@ public class WorkerHolder
   private Worker disabledWorker;
 
   protected final AtomicBoolean disabled;
+  private final AtomicBoolean syncedAtleastOnce = new AtomicBoolean(false);
 
   // Known list of tasks running/completed on this worker.
   protected final AtomicReference<Map<String, TaskAnnouncement>> tasksSnapshotRef;
@@ -299,9 +300,18 @@ public void waitForInitialization() throws InterruptedException
     }
   }
 
+  /**
+   * Whether this worker has been synced successfully atleast once.
+   */
   public boolean isInitialized()
   {
-    return syncer.isInitialized();
+    // Do not use syncer.isInitialized() as it becomes true only after the first
+    // fullSync() or deltaSync() callback has completed. But the callback itself
+    // wakes up the HttpRemoteTaskRunner.pendingTaskExecutionLoop() which checks
+    // if this WorkerHolder is initialized before assigning tasks to it.
+    // If not initialized, execution loop goes to sleep for 1 minute thus delaying
+    // task assignment.
+    return syncedAtleastOnce.get();
   }
 
   public boolean isEnabled()
@@ -439,6 +449,7 @@ private void notifyListener(List<TaskAnnouncement> announcements, boolean isWork
           }
         }
 
+        syncedAtleastOnce.set(true);
         if (isWorkerDisabled != disabled.get()) {
           disabled.set(isWorkerDisabled);
           log.info("Worker[%s] disabled set to [%s].", worker.getHost(), isWorkerDisabled);