diff --git a/.changelog/12640.txt b/.changelog/12640.txt
new file mode 100644
index 0000000000..cc326764a1
--- /dev/null
+++ b/.changelog/12640.txt
@@ -0,0 +1,3 @@
+```release-note:bug
+health: ensure /v1/health/service/:service endpoint returns the most recent results when a filter is used with streaming #12640
+```
diff --git a/agent/consul/health_endpoint.go b/agent/consul/health_endpoint.go
index 60dc968c55..5f38ba189d 100644
--- a/agent/consul/health_endpoint.go
+++ b/agent/consul/health_endpoint.go
@@ -236,30 +236,38 @@ func (h *Health) ServiceNodes(args *structs.ServiceSpecificRequest, reply *struc
 		&args.QueryOptions,
 		&reply.QueryMeta,
 		func(ws memdb.WatchSet, state *state.Store) error {
+			var thisReply structs.IndexedCheckServiceNodes
+
 			index, nodes, err := f(ws, state, args)
 			if err != nil {
 				return err
 			}
 
-			reply.Index, reply.Nodes = index, nodes
+			thisReply.Index, thisReply.Nodes = index, nodes
+
 			if len(args.NodeMetaFilters) > 0 {
-				reply.Nodes = nodeMetaFilter(args.NodeMetaFilters, reply.Nodes)
+				thisReply.Nodes = nodeMetaFilter(args.NodeMetaFilters, thisReply.Nodes)
 			}
 
-			raw, err := filter.Execute(reply.Nodes)
+			raw, err := filter.Execute(thisReply.Nodes)
 			if err != nil {
 				return err
 			}
-			reply.Nodes = raw.(structs.CheckServiceNodes)
+			thisReply.Nodes = raw.(structs.CheckServiceNodes)
 
 			// Note: we filter the results with ACLs *after* applying the user-supplied
 			// bexpr filter, to ensure QueryMeta.ResultsFilteredByACLs does not include
 			// results that would be filtered out even if the user did have permission.
-			if err := h.srv.filterACL(args.Token, reply); err != nil {
+			if err := h.srv.filterACL(args.Token, &thisReply); err != nil {
 				return err
 			}
 
-			return h.srv.sortNodesByDistanceFrom(args.Source, reply.Nodes)
+			if err := h.srv.sortNodesByDistanceFrom(args.Source, thisReply.Nodes); err != nil {
+				return err
+			}
+
+			*reply = thisReply
+			return nil
 		})
 
 	// Provide some metrics
diff --git a/agent/consul/health_endpoint_test.go b/agent/consul/health_endpoint_test.go
index c3ebab97c3..fbd6e4bcb3 100644
--- a/agent/consul/health_endpoint_test.go
+++ b/agent/consul/health_endpoint_test.go
@@ -663,6 +663,85 @@ func TestHealth_ServiceNodes(t *testing.T) {
 	}
 }
 
+func TestHealth_ServiceNodes_BlockingQuery_withFilter(t *testing.T) {
+	if testing.Short() {
+		t.Skip("too slow for testing.Short")
+	}
+
+	t.Parallel()
+
+	_, s1 := testServer(t)
+	codec := rpcClient(t, s1)
+
+	waitForLeaderEstablishment(t, s1)
+
+	register := func(t *testing.T, name, tag string) {
+		arg := structs.RegisterRequest{
+			Datacenter: "dc1",
+			ID:         types.NodeID("43d419c0-433b-42c3-bf8a-193eba0b41a3"),
+			Node:       "node1",
+			Address:    "127.0.0.1",
+			Service: &structs.NodeService{
+				ID:      name,
+				Service: name,
+				Tags:    []string{tag},
+			},
+		}
+		var out struct{}
+		require.NoError(t, msgpackrpc.CallWithCodec(codec, "Catalog.Register", &arg, &out))
+	}
+
+	register(t, "web", "foo")
+
+	var lastIndex uint64
+	runStep(t, "read original", func(t *testing.T) {
+		var out structs.IndexedCheckServiceNodes
+		req := structs.ServiceSpecificRequest{
+			Datacenter:  "dc1",
+			ServiceName: "web",
+			QueryOptions: structs.QueryOptions{
+				Filter: "foo in Service.Tags",
+			},
+		}
+		require.NoError(t, msgpackrpc.CallWithCodec(codec, "Health.ServiceNodes", &req, &out))
+
+		require.Len(t, out.Nodes, 1)
+		node := out.Nodes[0]
+		require.Equal(t, "node1", node.Node.Node)
+		require.Equal(t, "web", node.Service.Service)
+		require.Equal(t, []string{"foo"}, node.Service.Tags)
+
+		require.Equal(t, structs.QueryBackendBlocking, out.Backend)
+		lastIndex = out.Index
+	})
+
+	runStep(t, "read blocking query result", func(t *testing.T) {
+		req := structs.ServiceSpecificRequest{
+			Datacenter:  "dc1",
+			ServiceName: "web",
+			QueryOptions: structs.QueryOptions{
+				Filter: "foo in Service.Tags",
+			},
+		}
+		req.MinQueryIndex = lastIndex
+
+		var out structs.IndexedCheckServiceNodes
+		errCh := channelCallRPC(s1, "Health.ServiceNodes", &req, &out, nil)
+
+		time.Sleep(200 * time.Millisecond)
+
+		// Change the tags
+		register(t, "web", "bar")
+
+		if err := <-errCh; err != nil {
+			require.NoError(t, err)
+		}
+
+		require.Equal(t, structs.QueryBackendBlocking, out.Backend)
+		require.Len(t, out.Nodes, 0)
+	})
+}
+
 func TestHealth_ServiceNodes_MultipleServiceTags(t *testing.T) {
 	if testing.Short() {
 		t.Skip("too slow for testing.Short")
diff --git a/agent/health_endpoint_test.go b/agent/health_endpoint_test.go
index 8bf37835c1..f29c2f4be6 100644
--- a/agent/health_endpoint_test.go
+++ b/agent/health_endpoint_test.go
@@ -20,6 +20,7 @@ import (
 	"github.com/hashicorp/consul/api"
 	"github.com/hashicorp/consul/sdk/testutil/retry"
 	"github.com/hashicorp/consul/testrpc"
+	"github.com/hashicorp/consul/types"
 )
 
 func TestHealthChecksInState(t *testing.T) {
@@ -936,6 +937,135 @@ use_streaming_backend = true
 	}
 }
 
+func TestHealthServiceNodes_Blocking_withFilter(t *testing.T) {
+	cases := []struct {
+		name         string
+		hcl          string
+		queryBackend string
+	}{
+		{
+			name:         "no streaming",
+			queryBackend: "blocking-query",
+			hcl:          `use_streaming_backend = false`,
+		},
+		{
+			name: "streaming",
+			hcl: `
+rpc { enable_streaming = true }
+use_streaming_backend = true
+`,
+			queryBackend: "streaming",
+		},
+	}
+
+	runStep := func(t *testing.T, name string, fn func(t *testing.T)) {
+		t.Helper()
+		if !t.Run(name, fn) {
+			t.FailNow()
+		}
+	}
+
+	register := func(t *testing.T, a *TestAgent, name, tag string) {
+		args := &structs.RegisterRequest{
+			Datacenter: "dc1",
+			ID:         types.NodeID("43d419c0-433b-42c3-bf8a-193eba0b41a3"),
+			Node:       "node1",
+			Address:    "127.0.0.1",
+			Service: &structs.NodeService{
+				ID:      name,
+				Service: name,
+				Tags:    []string{tag},
+			},
+		}
+
+		var out struct{}
+		require.NoError(t, a.RPC("Catalog.Register", args, &out))
+	}
+
+	for _, tc := range cases {
+		tc := tc
+		t.Run(tc.name, func(t *testing.T) {
+			a := NewTestAgent(t, tc.hcl)
+			defer a.Shutdown()
+			testrpc.WaitForTestAgent(t, a.RPC, "dc1")
+
+			// Register one with a tag.
+			register(t, a, "web", "foo")
+
+			filterUrlPart := "filter=" + url.QueryEscape("foo in Service.Tags")
+
+			// TODO: use other call format
+
+			// Initial request with a filter should return one.
+			var lastIndex uint64
+			runStep(t, "read original", func(t *testing.T) {
+				req, err := http.NewRequest("GET", "/v1/health/service/web?dc=dc1&"+filterUrlPart, nil)
+				require.NoError(t, err)
+
+				resp := httptest.NewRecorder()
+				obj, err := a.srv.HealthServiceNodes(resp, req)
+				require.NoError(t, err)
+
+				nodes := obj.(structs.CheckServiceNodes)
+
+				require.Len(t, nodes, 1)
+
+				node := nodes[0]
+				require.Equal(t, "node1", node.Node.Node)
+				require.Equal(t, "web", node.Service.Service)
+				require.Equal(t, []string{"foo"}, node.Service.Tags)
+
+				require.Equal(t, "blocking-query", resp.Header().Get("X-Consul-Query-Backend"))
+
+				idx := getIndex(t, resp)
+				require.True(t, idx > 0)
+
+				lastIndex = idx
+			})
+
+			const timeout = 30 * time.Second
+			runStep(t, "read blocking query result", func(t *testing.T) {
+				var (
+					// out and resp are not safe to read until reading from errCh
+					out   structs.CheckServiceNodes
+					resp  = httptest.NewRecorder()
+					errCh = make(chan error, 1)
+				)
+				go func() {
+					url := fmt.Sprintf("/v1/health/service/web?dc=dc1&index=%d&wait=%s&%s", lastIndex, timeout, filterUrlPart)
+					req, err := http.NewRequest("GET", url, nil)
+					if err != nil {
+						errCh <- err
+						return
+					}
+
+					obj, err := a.srv.HealthServiceNodes(resp, req)
+					if err != nil {
+						errCh <- err
+						return
+					}
+
+					nodes := obj.(structs.CheckServiceNodes)
+					out = nodes
+					errCh <- nil
+				}()
+
+				time.Sleep(200 * time.Millisecond)
+
+				// Change the tags.
+				register(t, a, "web", "bar")
+
+				if err := <-errCh; err != nil {
+					require.NoError(t, err)
+				}
+
+				require.Len(t, out, 0)
+				require.Equal(t, tc.queryBackend, resp.Header().Get("X-Consul-Query-Backend"))
+			})
+		})
+	}
+}
+
 func TestHealthServiceNodes_NodeMetaFilter(t *testing.T) {
 	if testing.Short() {
 		t.Skip("too slow for testing.Short")
diff --git a/agent/rpcclient/health/view.go b/agent/rpcclient/health/view.go
index 6343032d9e..8c9e6d469c 100644
--- a/agent/rpcclient/health/view.go
+++ b/agent/rpcclient/health/view.go
@@ -80,11 +80,12 @@ func (s *healthView) Update(events []*pbsubscribe.Event) error {
 				return errors.New("check service node was unexpectedly nil")
 			}
 			passed, err := s.filter.Evaluate(*csn)
-			switch {
-			case err != nil:
+			if err != nil {
 				return err
-			case passed:
+			} else if passed {
 				s.state[id] = *csn
+			} else {
+				delete(s.state, id)
 			}
 
 		case pbsubscribe.CatalogOp_Deregister:
diff --git a/agent/structs/structs.go b/agent/structs/structs.go
index 88e5a9b210..d5462bd51e 100644
--- a/agent/structs/structs.go
+++ b/agent/structs/structs.go
@@ -398,6 +398,8 @@ const (
 	QueryBackendStreaming
 )
 
+func (q QueryBackend) GoString() string { return q.String() }
+
 func (q QueryBackend) String() string {
 	switch q {
 	case QueryBackendBlocking: