diff --git a/apps/emqx_conf/src/emqx_cluster_rpc.erl b/apps/emqx_conf/src/emqx_cluster_rpc.erl
index e42505b49..a2c0a2478 100644
--- a/apps/emqx_conf/src/emqx_cluster_rpc.erl
+++ b/apps/emqx_conf/src/emqx_cluster_rpc.erl
@@ -501,11 +501,12 @@ do_initiate(MFA, State = #{node := Node}, Count, Failure0) ->
 
 stale_view_of_cluster_msg(Meta, Count) ->
     Reason = Meta#{
-        msg => stale_view_of_cluster_state,
-        retry_times => Count
+        msg => stale_view_of_cluster,
+        retry_times => Count,
+        suggested => "run `./bin/emqx_ctl conf cluster_sync fix` when not restored for a long time"
     },
     ?SLOG(warning, Reason),
-    Reason.
+    {error, Reason}.
 
 %% The entry point of a config change transaction.
 init_mfa(Node, MFA) ->
diff --git a/apps/emqx_conf/src/emqx_cluster_rpc_cleaner.erl b/apps/emqx_conf/src/emqx_cluster_rpc_cleaner.erl
index 5b2552ad9..c4ea64aa6 100644
--- a/apps/emqx_conf/src/emqx_cluster_rpc_cleaner.erl
+++ b/apps/emqx_conf/src/emqx_cluster_rpc_cleaner.erl
@@ -94,6 +94,9 @@ del_stale_mfa(MaxHistory) ->
         ),
     delete_stale_mfa(mnesia:last(?CLUSTER_MFA), DoneId, MaxHistory).
 
+%% Do nothing when cluster_rpc_commit is empty.
+delete_stale_mfa(_, infinity, _Count) ->
+    ok;
 delete_stale_mfa('$end_of_table', _DoneId, _Count) ->
     ok;
 delete_stale_mfa(CurrId, DoneId, Count) when CurrId > DoneId ->
diff --git a/apps/emqx_conf/src/emqx_conf_cli.erl b/apps/emqx_conf/src/emqx_conf_cli.erl
index f2b9d63b0..6c5f519bb 100644
--- a/apps/emqx_conf/src/emqx_conf_cli.erl
+++ b/apps/emqx_conf/src/emqx_conf_cli.erl
@@ -18,6 +18,7 @@
 -include("emqx_conf.hrl").
 -include_lib("emqx_auth/include/emqx_authn_chains.hrl").
 -include_lib("emqx/include/logger.hrl").
+-include_lib("emqx/include/emqx_schema.hrl").
 
 -export([
     load/0,
@@ -38,6 +39,8 @@
 -define(UPDATE_READONLY_KEYS_PROHIBITED, <<"Cannot update read-only key '~s'.">>).
 -define(SCHEMA_VALIDATION_CONF_ROOT_BIN, <<"schema_validation">>).
 -define(MESSAGE_TRANSFORMATION_CONF_ROOT_BIN, <<"message_transformation">>).
+-define(TIMEOUT, 30000).
+
 
 -dialyzer({no_match, [load/0]}).
 
@@ -90,13 +93,35 @@ admins(["skip", Node0]) ->
     Node = list_to_existing_atom(Node0),
     emqx_cluster_rpc:skip_failed_commit(Node),
     status();
-admins(["tnxid", TnxId0]) ->
-    %% changed to 'inspect' in 5.6
-    %% TODO: delete this clause in 5.7
-    admins(["inspect", TnxId0]);
 admins(["inspect", TnxId0]) ->
     TnxId = list_to_integer(TnxId0),
     print(emqx_cluster_rpc:query(TnxId));
+admins(["fix"]) ->
+    {atomic, Status} = emqx_cluster_rpc:status(),
+    %% find inconsistent in conf, but fix in raw way.
+    %% because the raw conf is hard to be compared. (e.g, 1000ms vs 1s)
+    #{stopped_nodes := StoppedNodes} = emqx_mgmt_cli:cluster_info(),
+    AllConfs = find_running_confs(),
+    case find_inconsistent(Status, AllConfs) of
+        {inconsistent_tnx_id_key, Target, InconsistentKeys} ->
+            fix_inconsistent_with_raw(Target, InconsistentKeys);
+        inconsistent_tnx_id ->
+            print_tnx_id_status(Status),
+            ok = emqx_cluster_rpc:reset(),
+            emqx_ctl:print("Reset tnxid to 0 successfully~n");
+        {inconsistent_key, TnxId, InconsistentKeys} ->
+            [{Target, _} | _] = AllConfs,
+            print_inconsistent_conf(InconsistentKeys, Target, Status, AllConfs),
+            emqx_ctl:warning("All configuration has already been synchronized(~w)~n", [TnxId]),
+            emqx_ctl:warning(
+                "but we find inconsistent keys: ~p, which come from environment variables or etc/emqx.conf.~n",
+                [InconsistentKeys]
+            ),
+            emqx_ctl:warning("This is normal. This fix will not make any changes.~n");
+        {error, Reason} ->
+            emqx_ctl:print(Reason)
+    end,
+    StoppedNodes =/= [] andalso emqx_ctl:warning("Find stopped nodes: ~p~n", [StoppedNodes]);
 admins(["fast_forward"]) ->
     status(),
     Nodes = mria:running_nodes(),
@@ -118,6 +143,14 @@ admins(["fast_forward", Node0, ToTnxId]) ->
 admins(_) ->
     emqx_ctl:usage(usage_sync()).
 
+fix_inconsistent_with_raw(Node, Keys) ->
+    Confs = [#{Key => emqx_conf_proto_v3:get_raw_config(Node, Key)} || Key <- Keys],
+    ok = emqx_cluster_rpc:reset(),
+    case load_config_from_raw(Confs, #{mode => replace}) of
+        ok -> waiting_for_fix_finish();
+        Error -> Error
+    end.
+
 audit(Level, From, Log) ->
     ?AUDIT(Level, redact(Log#{from => From})).
 
@@ -159,29 +192,52 @@ usage_sync() ->
             "WARNING: This results in inconsistent configs among the clustered nodes."},
         {"conf cluster_sync fast_forward [node] <ID>",
             "Fast-forward config change to the given commit ID on the given node.\n"
-            "WARNING: This results in inconsistent configs among the clustered nodes."}
+            "WARNING: This results in inconsistent configs among the clustered nodes."},
+        {"conf cluster_sync fix",
+            "Sync the node with the most comprehensive configuration to other node.\n"
+            "WARNING: typically the one with the highest tnxid."}
     ].
 
 status() ->
-    emqx_ctl:print("-----------------------------------------------\n"),
     {atomic, Status} = emqx_cluster_rpc:status(),
-    lists:foreach(
-        fun(S) ->
-            #{
-                node := Node,
-                tnx_id := TnxId,
-                mfa := {M, F, A},
-                created_at := CreatedAt
-            } = S,
+    status(Status).
+
+status(Status) ->
+    emqx_ctl:print("-----------------------------------------------\n"),
+    #{stopped_nodes := StoppedNodes} = emqx_mgmt_cli:cluster_info(),
+    AllConfs = find_running_confs(),
+    case find_inconsistent(Status, AllConfs) of
+        {inconsistent_tnx_id_key, TargetNode, InconsistentKeys} ->
+            emqx_ctl:warning("Inconsistent keys: ~p~n", [InconsistentKeys]),
+            print_inconsistent_conf(InconsistentKeys, TargetNode, Status, AllConfs);
+        inconsistent_tnx_id ->
+            print_tnx_id_status(Status),
             emqx_ctl:print(
-                "~p:[~w] CreatedAt:~p ~p:~p/~w\n",
-                [Node, TnxId, CreatedAt, M, F, length(A)]
-            )
-        end,
-        Status
-    ),
+                "run `./bin/emqx_ctl conf cluster_sync fix` when not restored for a long time"
+            );
+        {inconsistent_key, TnxId, InconsistentKeys} ->
+            [{Target, _} | _] = AllConfs,
+            print_inconsistent_conf(InconsistentKeys, Target, Status, AllConfs),
+            emqx_ctl:warning("All configuration has already been synchronized(~w)~n", [TnxId]),
+            emqx_ctl:warning(
+                "but we find inconsistent keys: ~p, which come from environment variables or etc/emqx.conf.~n",
+                [InconsistentKeys]
+            ),
+            emqx_ctl:warning(
+                "Configuring different values (excluding node.name) through environment variables and etc/emqx.conf"
+                " is allowed but not recommended.~n"
+            );
+        {error, Reason} ->
+            emqx_ctl:print(Reason)
+    end,
+    StoppedNodes =/= [] andalso emqx_ctl:warning("Find stopped nodes: ~p~n", [StoppedNodes]),
     emqx_ctl:print("-----------------------------------------------\n").
 
+print_tnx_id_status(List0) ->
+    emqx_ctl:print("No inconsistent configuration found but has inconsistent tnxId ~n"),
+    List1 = lists:map(fun(#{node := Node, tnx_id := TnxId}) -> {Node, TnxId} end, List0),
+    emqx_ctl:print("~p~n", [List1]).
+
 print_keys(Keys) ->
     SortKeys = lists:sort(Keys),
     emqx_ctl:print("~1p~n", [[binary_to_existing_atom(K) || K <- SortKeys]]).
@@ -500,8 +556,7 @@ filter_readonly_config(Raw) ->
     try
         RawDefault = fill_defaults(Raw),
         _ = emqx_config:check_config(SchemaMod, RawDefault),
-        ReadOnlyKeys = [atom_to_binary(K) || K <- ?READONLY_KEYS],
-        {ok, maps:without(ReadOnlyKeys, Raw)}
+        {ok, maps:without([atom_to_binary(K) || K <- ?READONLY_KEYS], Raw)}
     catch
         throw:Error ->
             ?SLOG(error, #{
@@ -588,3 +643,240 @@ warning(_, Format, Args) -> emqx_ctl:warning(Format, Args).
 
 print(#{log := none}, _, _) -> ok;
 print(_, Format, Args) -> emqx_ctl:print(Format, Args).
+
+waiting_for_fix_finish() ->
+    timer:sleep(1000),
+    waiting_for_sync_finish(1).
+
+waiting_for_sync_finish(10) ->
+    emqx_ctl:warning("waiting_for sync timeout(maybe failed) 10s ~n");
+waiting_for_sync_finish(Sec) ->
+    {atomic, Status} = emqx_cluster_rpc:status(),
+    case lists:usort([TnxId || #{tnx_id := TnxId} <- Status]) of
+        [_] ->
+            emqx_ctl:warning("sync successfully in ~ws ~n", [Sec]);
+        _ ->
+            Res = lists:sort([{TnxId, Node} || #{node := Node, tnx_id := TnxId} <- Status]),
+            emqx_ctl:warning("sync: ~n", [Res]),
+            timer:sleep(1000),
+            waiting_for_sync_finish(Sec + 1)
+    end.
+
+find_inconsistent(Status, AllConfs) ->
+    case find_highest_node(Status) of
+        {same_tnx_id, TnxId} ->
+            %% check the conf is the same or not
+            [{_, TargetConf} | OtherConfs] = AllConfs,
+            case find_inconsistent_key(TargetConf, OtherConfs) of
+                [] ->
+                    Msg =
+                        <<"All configuration has already been synchronized(",
+                            (integer_to_binary(TnxId))/binary, ") successfully\n">>,
+                    {error, Msg};
+                InconsistentKeys ->
+                    {inconsistent_key, TnxId, InconsistentKeys}
+            end;
+        {ok, Target} ->
+            {value, {_, TargetConf}, OtherConfs} = lists:keytake(Target, 1, AllConfs),
+            case find_inconsistent_key(TargetConf, OtherConfs) of
+                [] -> inconsistent_tnx_id;
+                ChangedKeys -> {inconsistent_tnx_id_key, Target, ChangedKeys}
+            end
+    end.
+
+find_inconsistent_key(TargetConf, OtherConfs) ->
+    lists:usort(
+        lists:foldl(
+            fun({_Node, OtherConf}, Changed) ->
+                lists:filtermap(
+                    fun({K, V}) -> changed(K, V, TargetConf) end,
+                    maps:to_list(OtherConf)
+                ) ++ Changed
+            end,
+            [],
+            OtherConfs
+        )
+    ).
+
+find_highest_node([]) ->
+    {same_tnx_id, 0};
+find_highest_node(Status) ->
+    Ids = [{Id, Node} || #{tnx_id := Id, node := Node} <- Status],
+    case lists:usort(fun({A, _}, {B, _}) -> A >= B end, Ids) of
+        [{TnxId, _}] ->
+            {same_tnx_id, TnxId};
+        [{_TnxId, Target} | _] ->
+            {ok, Target}
+    end.
+
+changed(K, V, Conf) ->
+    case maps:find(K, Conf) of
+        {ok, V1} when V =:= V1 -> false;
+        _ -> {true, K}
+    end.
+
+find_running_confs() ->
+    lists:map(
+        fun(Node) ->
+            Conf = emqx_conf_proto_v3:get_config(Node, []),
+            {Node, maps:without(?READONLY_KEYS, Conf)}
+        end,
+        mria:running_nodes()
+    ).
+
+print_inconsistent_conf(Keys, Target, Status, AllConfs) ->
+    {value, {_, TargetConf}, OtherConfs} = lists:keytake(Target, 1, AllConfs),
+    TargetTnxId = get_tnx_id(Target, Status),
+    lists:foreach(
+        fun(Key) ->
+            lists:foreach(
+                fun({Node, OtherConf}) ->
+                    TargetV = maps:get(Key, TargetConf),
+                    PrevV = maps:get(Key, OtherConf),
+                    NodeTnxId = get_tnx_id(Node, Status),
+                    Options = #{
+                        key => Key,
+                        node => {Node, NodeTnxId},
+                        target => {Target, TargetTnxId}
+                    },
+                    print_inconsistent_conf(TargetV, PrevV, Options)
+                end,
+                OtherConfs
+            )
+        end,
+        Keys
+    ).
+
+get_tnx_id(Node, Status) ->
+    case lists:filter(fun(#{node := Node0}) -> Node0 =:= Node end, Status) of
+        [] -> 0;
+        [#{tnx_id := TnxId}] -> TnxId
+    end.
+
+print_inconsistent_conf(SameConf, SameConf, _Options) ->
+    ok;
+print_inconsistent_conf(New = #{}, Old = #{}, Options) ->
+    #{
+        added := Added,
+        removed := Removed,
+        changed := Changed
+    } = emqx_utils_maps:diff_maps(New, Old),
+    RemovedFmt = "~ts(~w)'s ~s has deleted certain keys, but they still function on ~ts(~w).~n",
+    print_inconsistent(Removed, RemovedFmt, Options),
+    AddedFmt = "~ts(~w)'s ~s has new setting, but it has not been applied to ~ts(~w).~n",
+    print_inconsistent(Added, AddedFmt, Options),
+    ChangedFmt =
+        "~ts(~w)'s ~s has been updated, but the changes have not been applied to ~ts(~w).~n",
+    print_inconsistent(Changed, ChangedFmt, Options);
+%% authentication rewrite topic_metrics is list(not map).
+print_inconsistent_conf(New, Old, Options) ->
+    #{
+        key := Key,
+        target := {Target, TargetTnxId},
+        node := {Node, NodeTnxId}
+    } = Options,
+    emqx_ctl:print("~ts(~w)'s ~s is diff from ~ts(~w).~n", [
+        Node, NodeTnxId, Key, Target, TargetTnxId
+    ]),
+    print_hocon(#{Node => Old, Target => New}).
+
+print_inconsistent(Conf, Fmt, Options) when Conf =/= #{} ->
+    #{
+        key := Key,
+        target := {Target, TargetTnxId},
+        node := {Node, NodeTnxId}
+    } = Options,
+    emqx_ctl:warning(Fmt, [Target, TargetTnxId, Key, Node, NodeTnxId]),
+    NodeRawConf = emqx_conf_proto_v3:get_raw_config(Node, [Key]),
+    TargetRawConf = emqx_conf_proto_v3:get_raw_config(Target, [Key]),
+    {TargetConf, NodeConf} =
+        maps:fold(
+            fun(SubKey, _, {NewAcc, OldAcc}) ->
+                SubNew0 = maps:get(atom_to_binary(SubKey), NodeRawConf, undefined),
+                SubOld0 = maps:get(atom_to_binary(SubKey), TargetRawConf, undefined),
+                {SubNew1, SubOld1} = remove_identical_value(SubNew0, SubOld0),
+                {NewAcc#{SubKey => SubNew1}, OldAcc#{SubKey => SubOld1}}
+            end,
+            {#{}, #{}},
+            Conf
+        ),
+    %% zones.default is a virtual zone. It will be changed when mqtt changes,
+    %% so we can't retrieve the raw data for zones.default(always undefined).
+    case TargetConf =:= NodeConf of
+        true -> ok;
+        false -> print_hocon(#{Target => #{Key => TargetConf}, Node => #{Key => NodeConf}})
+    end;
+print_inconsistent(_Conf, _Format, _Options) ->
+    ok.
+
+remove_identical_value(New = #{}, Old = #{}) ->
+    maps:fold(
+        fun(K, NewV, {Acc1, Acc2}) ->
+            case maps:find(K, Old) of
+                {ok, NewV} ->
+                    {maps:remove(K, Acc1), maps:remove(K, Acc2)};
+                {ok, OldV} ->
+                    {NewV1, OldV1} = remove_identical_value(NewV, OldV),
+                    {maps:put(K, NewV1, Acc1), maps:put(K, OldV1, Acc2)}
+            end
+        end,
+        {New, Old},
+        New
+    );
+remove_identical_value(New, Old) ->
+    {New, Old}.
+
+-ifdef(TEST).
+-include_lib("eunit/include/eunit.hrl").
+
+find_inconsistent_test() ->
+    Status = [
+        #{node => 'node1', tnx_id => 1},
+        #{node => 'node2', tnx_id => 3},
+        #{node => 'node3', tnx_id => 2}
+    ],
+    Stats = #{<<"enable">> => false},
+
+    %% chose the highest tnx_id node
+    Mqtt = #{
+        <<"await_rel_timeout">> => <<"300s">>,
+        <<"exclusive_subscription">> => false,
+        <<"idle_timeout">> => <<"15s">>
+    },
+    TargetMqtt1 = Mqtt#{<<"idle_timeout">> => <<"16s">>},
+    Confs0 = [
+        {node1, #{<<"mqtt">> => Mqtt#{<<"idle_timeout">> => <<"11s">>}, <<"stats">> => Stats}},
+        {node3, #{<<"mqtt">> => Mqtt#{<<"idle_timeout">> => <<"17s">>}, <<"stats">> => Stats}},
+        {node2, #{<<"mqtt">> => TargetMqtt1, <<"stats">> => Stats}}
+    ],
+    ?assertEqual(
+        {inconsistent_tnx_id_key, node2, [<<"mqtt">>]}, find_inconsistent(Status, Confs0)
+    ),
+
+    %% conf is the same, no changed
+    NoDiffConfs = [
+        {node1, #{<<"mqtt">> => Mqtt, <<"stats">> => Stats}},
+        {node2, #{<<"mqtt">> => Mqtt, <<"stats">> => Stats}},
+        {node3, #{<<"mqtt">> => Mqtt, <<"stats">> => Stats}}
+    ],
+    ?assertEqual(inconsistent_tnx_id, find_inconsistent(Status, NoDiffConfs)),
+
+    %% same tnx_id
+    SameStatus = [
+        #{node => 'node1', tnx_id => 3},
+        #{node => 'node2', tnx_id => 3},
+        #{node => 'node3', tnx_id => 3}
+    ],
+    %% same conf
+    ?assertEqual(
+        {error, <<"All configuration has already been synchronized(3) successfully\n">>},
+        find_inconsistent(SameStatus, NoDiffConfs)
+    ),
+    %% diff conf same tnx_id use the first one
+    ?assertEqual(
+        {inconsistent_key, 3, [<<"mqtt">>]},
+        find_inconsistent(SameStatus, Confs0)
+    ),
+    ok.
+
+-endif.
diff --git a/apps/emqx_conf/src/proto/emqx_conf_proto_v3.erl b/apps/emqx_conf/src/proto/emqx_conf_proto_v3.erl
index 14d578ec1..e2e035879 100644
--- a/apps/emqx_conf/src/proto/emqx_conf_proto_v3.erl
+++ b/apps/emqx_conf/src/proto/emqx_conf_proto_v3.erl
@@ -37,6 +37,7 @@
 ]).
 
 -export([get_hocon_config/1, get_hocon_config/2]).
+-export([get_raw_config/2]).
 
 -include_lib("emqx/include/bpapi.hrl").
 
@@ -114,6 +115,10 @@ get_override_config_file(Nodes) ->
 get_hocon_config(Node) ->
     rpc:call(Node, emqx_conf_cli, get_config, []).
 
+-spec get_raw_config(node(), update_config_key_path()) -> map() | {badrpc, _}.
+get_raw_config(Node, KeyPath) ->
+    rpc:call(Node, emqx, get_raw_config, [KeyPath]).
+
 -spec get_hocon_config(node(), binary()) -> map() | {badrpc, _}.
 get_hocon_config(Node, Key) ->
     rpc:call(Node, emqx_conf_cli, get_config, [Key]).
diff --git a/apps/emqx_conf/test/emqx_cluster_rpc_SUITE.erl b/apps/emqx_conf/test/emqx_cluster_rpc_SUITE.erl
index 97b80ab6b..bd336a619 100644
--- a/apps/emqx_conf/test/emqx_cluster_rpc_SUITE.erl
+++ b/apps/emqx_conf/test/emqx_cluster_rpc_SUITE.erl
@@ -141,12 +141,13 @@ t_commit_ok_but_apply_fail_on_other_node(_Config) ->
     Res1 = gen_server:call(?NODE2, Call),
     Res2 = gen_server:call(?NODE3, Call),
     %% Node2 is retry on tnx_id 1, and should not run Next MFA.
-    ?assertEqual(
+    ?assertMatch(
         {init_failure, #{
-            msg => stale_view_of_cluster_state,
-            retry_times => 2,
-            cluster_tnx_id => 2,
-            node_tnx_id => 1
+            msg := stale_view_of_cluster_state,
+            retry_times := 2,
+            cluster_tnx_id := 2,
+            node_tnx_id := 1,
+            suggested := _
         }},
         Res1
     ),
diff --git a/apps/emqx_management/src/emqx_mgmt_cli.erl b/apps/emqx_management/src/emqx_mgmt_cli.erl
index 8d327efe6..2742167f5 100644
--- a/apps/emqx_management/src/emqx_mgmt_cli.erl
+++ b/apps/emqx_management/src/emqx_mgmt_cli.erl
@@ -44,7 +44,8 @@
     pem_cache/1,
     olp/1,
     data/1,
-    ds/1
+    ds/1,
+    cluster_info/0
 ]).
 
 -spec load() -> ok.
@@ -53,7 +54,7 @@ load() ->
     lists:foreach(fun(Cmd) -> emqx_ctl:register_command(Cmd, {?MODULE, Cmd}, []) end, Cmds).
 
 is_cmd(Fun) ->
-    not lists:member(Fun, [init, load, module_info]).
+    not lists:member(Fun, [init, load, module_info, cluster_info]).
 
 %%--------------------------------------------------------------------
 %% @doc Node status