[BUG] 3006.8 minion failed to answer server's publis... | saltstack/salt

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Description
Hi
I found a couple of my minions not answering test.ping from salt-master. Same test.ping command works from minion.
This is a bug report with detail info to track this issue.

Setup
minion01 and salt01 are on same 3006.8 version.

[ x] on-prem machine
[ x] VM (Virtualbox, KVM, etc. please specify)
VM running on a cloud service, please be explicit and add details
container (Kubernetes, Docker, containerd, etc. please specify)
or a combination, please be explicit
jails if it is FreeBSD
classic packaging
[ x] onedir packaging
[ x] used bootstrap to install

Steps to Reproduce the behavior

salt01# salt minion01 test.ping --out=txt
minion01: Minion did not return. [Not connected]
ssh into minion01 to restart salt-minion 
salt minion01 test.ping  now works

Expected behavior

salt minion01 test.ping # works without restart salt-minion

Screenshots
If applicable, add screenshots to help explain your problem.

Versions Report

master01: salt --versions-report

(Provided by running salt --versions-report. Please also mention any differences in master/minion versions.)

Salt Version:
          Salt: 3006.8

Python Version:
        Python: 3.10.14 (main, Apr  3 2024, 21:30:09) [GCC 11.2.0]

Dependency Versions:
          cffi: 1.14.6
      cherrypy: unknown
      dateutil: 2.8.1
     docker-py: Not Installed
         gitdb: Not Installed
     gitpython: Not Installed
        Jinja2: 3.1.3
       libgit2: Not Installed
  looseversion: 1.0.2
      M2Crypto: Not Installed
          Mako: Not Installed
       msgpack: 1.0.2
  msgpack-pure: Not Installed
  mysql-python: Not Installed
     packaging: 22.0
     pycparser: 2.21
      pycrypto: Not Installed
  pycryptodome: 3.19.1
        pygit2: Not Installed
  python-gnupg: 0.4.8
        PyYAML: 6.0.1
         PyZMQ: 23.2.0
        relenv: 0.16.0
         smmap: Not Installed
       timelib: 0.2.4
       Tornado: 4.5.3
           ZMQ: 4.3.4

System Versions:
          dist: rocky 8.9 Green Obsidian
        locale: utf-8
       machine: x86_64
       release: 4.18.0-513.24.1.el8_9.x86_64
        system: Linux
       version: Rocky Linux 8.9 Green Obsidian

minin01: salt --versions-report

```yaml Salt Version: Salt: 3006.8

Python Version:
Python: 3.10.14 (main, Apr 3 2024, 21:30:09) [GCC 11.2.0]

Dependency Versions:
cffi: 1.14.6
cherrypy: 18.6.1
dateutil: 2.8.1
docker-py: Not Installed
gitdb: Not Installed
gitpython: Not Installed
Jinja2: 3.1.3
libgit2: Not Installed
looseversion: 1.0.2
M2Crypto: Not Installed
Mako: Not Installed
msgpack: 1.0.2
msgpack-pure: Not Installed
mysql-python: Not Installed
packaging: 22.0
pycparser: 2.21
pycrypto: Not Installed
pycryptodome: 3.19.1
pygit2: Not Installed
python-gnupg: 0.4.8
PyYAML: 6.0.1
PyZMQ: 23.2.0
relenv: 0.16.0
smmap: Not Installed
timelib: 0.2.4
Tornado: 4.5.3
ZMQ: 4.3.4

System Versions:
dist: ubuntu 22.04.4 jammy
locale: utf-8
machine: x86_64
release: 5.15.0-107-generic
system: Linux
version: Ubuntu 22.04.4 jammy

</details>


**Additional context**
Add any other context about the problem here.

The report names no source file or test; start by reproducing the failure with salt minion01 test.ping --out=txt and compare the master and minion behavior before and after restarting salt-minion. Done means the minion answers test.ping from the master without requiring a service restart.

Written by the indexing model from the issue text.

[BUG] 3006.8 minion failed to answer server's publish command unless restart

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