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Did you checked the metadata for any pending segments. select count(*) as cnt , datasource from druid_pendingsegments group by datasource order by cnt desc

you means there are too many pengding segments，which leads Historical timeout？ Should I delete the metadata of druid pending segment？

Does it always timeout on the segment metadata refresh? or is this intermitent?

not always, it will try to refresh every 3minutes. Sometimes, the broker refresh 1~2 time and success, and sometimes 5-6 times or more, they will startup success finally.