diff --git a/go/vt/vtctl/grpcvtctldserver/testutil/test_tmclient.go b/go/vt/vtctl/grpcvtctldserver/testutil/test_tmclient.go
index b824833a7dc..9426f1327b2 100644
--- a/go/vt/vtctl/grpcvtctldserver/testutil/test_tmclient.go
+++ b/go/vt/vtctl/grpcvtctldserver/testutil/test_tmclient.go
@@ -281,6 +281,11 @@ type TabletManagerClient struct {
 		Position *replicationdatapb.Status
 		Error    error
 	}
+	PrimaryStatusDelays  map[string]time.Duration
+	PrimaryStatusResults map[string]struct {
+		Status *replicationdatapb.PrimaryStatus
+		Error  error
+	}
 	RestoreFromBackupResults map[string]struct {
 		Events        []*logutilpb.Event
 		EventInterval time.Duration
@@ -870,6 +875,32 @@ func (fake *TabletManagerClient) ReplicationStatus(ctx context.Context, tablet *
 	return nil, assert.AnError
 }
 
+// PrimaryStatus is part of the tmclient.TabletManagerClient interface.
+func (fake *TabletManagerClient) PrimaryStatus(ctx context.Context, tablet *topodatapb.Tablet) (*replicationdatapb.PrimaryStatus, error) {
+	if fake.PrimaryStatusResults == nil {
+		return nil, assert.AnError
+	}
+
+	key := topoproto.TabletAliasString(tablet.Alias)
+
+	if fake.PrimaryStatusDelays != nil {
+		if delay, ok := fake.PrimaryStatusDelays[key]; ok {
+			select {
+			case <-ctx.Done():
+				return nil, ctx.Err()
+			case <-time.After(delay):
+				// proceed to results
+			}
+		}
+	}
+
+	if result, ok := fake.PrimaryStatusResults[key]; ok {
+		return result.Status, result.Error
+	}
+
+	return nil, assert.AnError
+}
+
 type backupRestoreStreamAdapter struct {
 	*grpcshim.BidiStream
 	ch chan *logutilpb.Event
diff --git a/go/vt/vtctl/reparentutil/planned_reparenter.go b/go/vt/vtctl/reparentutil/planned_reparenter.go
index b44024c00d2..e447d9f8150 100644
--- a/go/vt/vtctl/reparentutil/planned_reparenter.go
+++ b/go/vt/vtctl/reparentutil/planned_reparenter.go
@@ -719,6 +719,7 @@ func (pr *PlannedReparenter) reparentTablets(
 	return nil
 }
 
+// verifyAllTabletsReachable verifies that all the tablets are reachable when running PRS.
 func (pr *PlannedReparenter) verifyAllTabletsReachable(ctx context.Context, tabletMap map[string]*topo.TabletInfo) error {
 	// Create a cancellable context for the entire set of RPCs to verify reachability.
 	verifyCtx, verifyCancel := context.WithTimeout(ctx, topo.RemoteOperationTimeout)
diff --git a/go/vt/vtctl/reparentutil/planned_reparenter_flaky_test.go b/go/vt/vtctl/reparentutil/planned_reparenter_flaky_test.go
index 20815db3dfc..e5ab2a169f8 100644
--- a/go/vt/vtctl/reparentutil/planned_reparenter_flaky_test.go
+++ b/go/vt/vtctl/reparentutil/planned_reparenter_flaky_test.go
@@ -3638,3 +3638,185 @@ func AssertReparentEventsEqual(t *testing.T, expected *events.Reparent, actual *
 
 	AssertReparentEventsEqualWithMessage(t, expected, actual, "")
 }
+
+// TestPlannedReparenter_verifyAllTabletsReachable tests the functionality of verifyAllTabletsReachable.
+func TestPlannedReparenter_verifyAllTabletsReachable(t *testing.T) {
+	tests := []struct {
+		name         string
+		ts           *topo.Server
+		tmc          tmclient.TabletManagerClient
+		tabletMap    map[string]*topo.TabletInfo
+		remoteOpTime time.Duration
+		wantErr      string
+	}{
+		{
+			name: "Success",
+			tmc: &testutil.TabletManagerClient{
+				PrimaryStatusResults: map[string]struct {
+					Status *replicationdatapb.PrimaryStatus
+					Error  error
+				}{
+					"zone1-0000000200": {
+						Status: &replicationdatapb.PrimaryStatus{},
+					},
+					"zone1-0000000201": {
+						Status: &replicationdatapb.PrimaryStatus{},
+					},
+					"zone1-0000000100": {
+						Status: &replicationdatapb.PrimaryStatus{},
+					},
+				},
+			},
+			tabletMap: map[string]*topo.TabletInfo{
+				"zone1-0000000100": {
+					Tablet: &topodatapb.Tablet{
+						Alias: &topodatapb.TabletAlias{
+							Cell: "zone1",
+							Uid:  100,
+						},
+						Type: topodatapb.TabletType_PRIMARY,
+					},
+				},
+				"zone1-0000000200": {
+					Tablet: &topodatapb.Tablet{
+						Alias: &topodatapb.TabletAlias{
+							Cell: "zone1",
+							Uid:  200,
+						},
+						Type: topodatapb.TabletType_REPLICA,
+					},
+				},
+				"zone1-0000000201": {
+					Tablet: &topodatapb.Tablet{
+						Alias: &topodatapb.TabletAlias{
+							Cell: "zone1",
+							Uid:  201,
+						},
+						Type: topodatapb.TabletType_REPLICA,
+					},
+				},
+			},
+		}, {
+			name: "Failure",
+			tmc: &testutil.TabletManagerClient{
+				PrimaryStatusResults: map[string]struct {
+					Status *replicationdatapb.PrimaryStatus
+					Error  error
+				}{
+					"zone1-0000000200": {
+						Error: fmt.Errorf("primary status failed"),
+					},
+					"zone1-0000000201": {
+						Status: &replicationdatapb.PrimaryStatus{},
+					},
+					"zone1-0000000100": {
+						Status: &replicationdatapb.PrimaryStatus{},
+					},
+				},
+			},
+			tabletMap: map[string]*topo.TabletInfo{
+				"zone1-0000000100": {
+					Tablet: &topodatapb.Tablet{
+						Alias: &topodatapb.TabletAlias{
+							Cell: "zone1",
+							Uid:  100,
+						},
+						Type: topodatapb.TabletType_PRIMARY,
+					},
+				},
+				"zone1-0000000200": {
+					Tablet: &topodatapb.Tablet{
+						Alias: &topodatapb.TabletAlias{
+							Cell: "zone1",
+							Uid:  200,
+						},
+						Type: topodatapb.TabletType_REPLICA,
+					},
+				},
+				"zone1-0000000201": {
+					Tablet: &topodatapb.Tablet{
+						Alias: &topodatapb.TabletAlias{
+							Cell: "zone1",
+							Uid:  201,
+						},
+						Type: topodatapb.TabletType_REPLICA,
+					},
+				},
+			},
+			wantErr: "primary status failed",
+		}, {
+			name: "Timeout",
+			tmc: &testutil.TabletManagerClient{
+				PrimaryStatusDelays: map[string]time.Duration{
+					"zone1-0000000100": 20 * time.Second,
+				},
+				PrimaryStatusResults: map[string]struct {
+					Status *replicationdatapb.PrimaryStatus
+					Error  error
+				}{
+					"zone1-0000000200": {
+						Status: &replicationdatapb.PrimaryStatus{},
+					},
+					"zone1-0000000201": {
+						Status: &replicationdatapb.PrimaryStatus{},
+					},
+					"zone1-0000000100": {
+						Status: &replicationdatapb.PrimaryStatus{},
+					},
+				},
+			},
+			remoteOpTime: 100 * time.Millisecond,
+			tabletMap: map[string]*topo.TabletInfo{
+				"zone1-0000000100": {
+					Tablet: &topodatapb.Tablet{
+						Alias: &topodatapb.TabletAlias{
+							Cell: "zone1",
+							Uid:  100,
+						},
+						Type: topodatapb.TabletType_PRIMARY,
+					},
+				},
+				"zone1-0000000200": {
+					Tablet: &topodatapb.Tablet{
+						Alias: &topodatapb.TabletAlias{
+							Cell: "zone1",
+							Uid:  200,
+						},
+						Type: topodatapb.TabletType_REPLICA,
+					},
+				},
+				"zone1-0000000201": {
+					Tablet: &topodatapb.Tablet{
+						Alias: &topodatapb.TabletAlias{
+							Cell: "zone1",
+							Uid:  201,
+						},
+						Type: topodatapb.TabletType_REPLICA,
+					},
+				},
+			},
+			wantErr: "context deadline exceeded",
+		},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			pr := &PlannedReparenter{
+				ts:  tt.ts,
+				tmc: tt.tmc,
+			}
+			if tt.remoteOpTime != 0 {
+				oldTime := topo.RemoteOperationTimeout
+				topo.RemoteOperationTimeout = tt.remoteOpTime
+				defer func() {
+					topo.RemoteOperationTimeout = oldTime
+				}()
+			}
+			err := pr.verifyAllTabletsReachable(context.Background(), tt.tabletMap)
+			if tt.wantErr == "" {
+				require.NoError(t, err)
+				return
+			}
+			require.ErrorContains(t, err, tt.wantErr)
+		})
+	}
+}