diff --git a/agent/consul/helper_test.go b/agent/consul/helper_test.go
index 2db49f667b..7167fa35f6 100644
--- a/agent/consul/helper_test.go
+++ b/agent/consul/helper_test.go
@@ -7,14 +7,15 @@ import (
 	"net/rpc"
 	"testing"
 
-	"github.com/hashicorp/consul/agent/structs"
-	"github.com/hashicorp/consul/api"
-	"github.com/hashicorp/consul/sdk/testutil/retry"
-	"github.com/hashicorp/consul/types"
 	msgpackrpc "github.com/hashicorp/net-rpc-msgpackrpc"
 	"github.com/hashicorp/raft"
 	"github.com/hashicorp/serf/serf"
 	"github.com/stretchr/testify/require"
+
+	"github.com/hashicorp/consul/agent/structs"
+	"github.com/hashicorp/consul/api"
+	"github.com/hashicorp/consul/sdk/testutil/retry"
+	"github.com/hashicorp/consul/types"
 )
 
 func waitForLeader(servers ...*Server) error {
@@ -976,6 +977,196 @@ func registerTestTopologyEntries(t *testing.T, codec rpc.ClientCodec, token stri
 	}
 }
 
+func registerTestRoutingConfigTopologyEntries(t *testing.T, codec rpc.ClientCodec) {
+	registrations := map[string]*structs.RegisterRequest{
+		"Service dashboard": {
+			Datacenter:     "dc1",
+			Node:           "foo",
+			SkipNodeUpdate: true,
+			Service: &structs.NodeService{
+				Kind:    structs.ServiceKindTypical,
+				ID:      "dashboard",
+				Service: "dashboard",
+				Port:    9002,
+			},
+			Checks: structs.HealthChecks{
+				&structs.HealthCheck{
+					Node:        "foo",
+					CheckID:     "foo:dashboard",
+					Status:      api.HealthPassing,
+					ServiceID:   "dashboard",
+					ServiceName: "dashboard",
+				},
+			},
+		},
+		"Service dashboard-proxy": {
+			Datacenter:     "dc1",
+			Node:           "foo",
+			SkipNodeUpdate: true,
+			Service: &structs.NodeService{
+				Kind:    structs.ServiceKindConnectProxy,
+				ID:      "dashboard-sidecar-proxy",
+				Service: "dashboard-sidecar-proxy",
+				Port:    5000,
+				Address: "198.18.1.0",
+				Proxy: structs.ConnectProxyConfig{
+					DestinationServiceName: "dashboard",
+					DestinationServiceID:   "dashboard",
+					LocalServiceAddress:    "127.0.0.1",
+					LocalServicePort:       9002,
+					Upstreams: []structs.Upstream{
+						{
+							DestinationType: "service",
+							DestinationName: "routing-config",
+							LocalBindPort:   5000,
+						},
+					},
+				},
+				LocallyRegisteredAsSidecar: true,
+			},
+		},
+		"Service counting": {
+			Datacenter:     "dc1",
+			Node:           "foo",
+			SkipNodeUpdate: true,
+			Service: &structs.NodeService{
+				Kind:    structs.ServiceKindTypical,
+				ID:      "counting",
+				Service: "counting",
+				Port:    9003,
+				Address: "198.18.1.1",
+			},
+			Checks: structs.HealthChecks{
+				&structs.HealthCheck{
+					Node:        "foo",
+					CheckID:     "foo:api",
+					Status:      api.HealthPassing,
+					ServiceID:   "counting",
+					ServiceName: "counting",
+				},
+			},
+		},
+		"Service counting-proxy": {
+			Datacenter:     "dc1",
+			Node:           "foo",
+			SkipNodeUpdate: true,
+			Service: &structs.NodeService{
+				Kind:    structs.ServiceKindConnectProxy,
+				ID:      "counting-proxy",
+				Service: "counting-proxy",
+				Port:    5001,
+				Address: "198.18.1.1",
+				Proxy: structs.ConnectProxyConfig{
+					DestinationServiceName: "counting",
+				},
+				LocallyRegisteredAsSidecar: true,
+			},
+			Checks: structs.HealthChecks{
+				&structs.HealthCheck{
+					Node:        "foo",
+					CheckID:     "foo:counting-proxy",
+					Status:      api.HealthPassing,
+					ServiceID:   "counting-proxy",
+					ServiceName: "counting-proxy",
+				},
+			},
+		},
+		"Service counting-v2": {
+			Datacenter:     "dc1",
+			Node:           "foo",
+			SkipNodeUpdate: true,
+			Service: &structs.NodeService{
+				Kind:    structs.ServiceKindTypical,
+				ID:      "counting-v2",
+				Service: "counting-v2",
+				Port:    9004,
+				Address: "198.18.1.2",
+			},
+			Checks: structs.HealthChecks{
+				&structs.HealthCheck{
+					Node:        "foo",
+					CheckID:     "foo:api",
+					Status:      api.HealthPassing,
+					ServiceID:   "counting-v2",
+					ServiceName: "counting-v2",
+				},
+			},
+		},
+		"Service counting-v2-proxy": {
+			Datacenter:     "dc1",
+			Node:           "foo",
+			SkipNodeUpdate: true,
+			Service: &structs.NodeService{
+				Kind:    structs.ServiceKindConnectProxy,
+				ID:      "counting-v2-proxy",
+				Service: "counting-v2-proxy",
+				Port:    5002,
+				Address: "198.18.1.2",
+				Proxy: structs.ConnectProxyConfig{
+					DestinationServiceName: "counting-v2",
+				},
+				LocallyRegisteredAsSidecar: true,
+			},
+			Checks: structs.HealthChecks{
+				&structs.HealthCheck{
+					Node:        "foo",
+					CheckID:     "foo:counting-v2-proxy",
+					Status:      api.HealthPassing,
+					ServiceID:   "counting-v2-proxy",
+					ServiceName: "counting-v2-proxy",
+				},
+			},
+		},
+	}
+	registerTestCatalogEntriesMap(t, codec, registrations)
+
+	entries := []structs.ConfigEntryRequest{
+		{
+			Datacenter: "dc1",
+			Entry: &structs.ProxyConfigEntry{
+				Kind: structs.ProxyDefaults,
+				Name: structs.ProxyConfigGlobal,
+				Config: map[string]interface{}{
+					"protocol": "http",
+				},
+			},
+		},
+		{
+			Datacenter: "dc1",
+			Entry: &structs.ServiceRouterConfigEntry{
+				Kind: structs.ServiceRouter,
+				Name: "routing-config",
+				Routes: []structs.ServiceRoute{
+					{
+						Match: &structs.ServiceRouteMatch{
+							HTTP: &structs.ServiceRouteHTTPMatch{
+								PathPrefix: "/v2",
+							},
+						},
+						Destination: &structs.ServiceRouteDestination{
+							Service: "counting-v2",
+						},
+					},
+					{
+						Match: &structs.ServiceRouteMatch{
+							HTTP: &structs.ServiceRouteHTTPMatch{
+								PathPrefix: "/",
+							},
+						},
+						Destination: &structs.ServiceRouteDestination{
+							Service: "counting",
+						},
+					},
+				},
+			},
+		},
+	}
+	for _, req := range entries {
+		var out bool
+		require.NoError(t, msgpackrpc.CallWithCodec(codec, "ConfigEntry.Apply", &req, &out))
+	}
+}
+
 func registerIntentionUpstreamEntries(t *testing.T, codec rpc.ClientCodec, token string) {
 	t.Helper()
 
diff --git a/agent/consul/internal_endpoint_test.go b/agent/consul/internal_endpoint_test.go
index 5758aa89f7..14b39794dc 100644
--- a/agent/consul/internal_endpoint_test.go
+++ b/agent/consul/internal_endpoint_test.go
@@ -1902,6 +1902,58 @@ func TestInternal_ServiceTopology(t *testing.T) {
 	})
 }
 
+func TestInternal_ServiceTopology_RoutingConfig(t *testing.T) {
+	if testing.Short() {
+		t.Skip("too slow for testing.Short")
+	}
+
+	t.Parallel()
+	dir1, s1 := testServer(t)
+	defer os.RemoveAll(dir1)
+	defer s1.Shutdown()
+
+	testrpc.WaitForLeader(t, s1.RPC, "dc1")
+
+	codec := rpcClient(t, s1)
+	defer codec.Close()
+
+	// dashboard -> routing-config -> { counting, counting-v2 }
+	registerTestRoutingConfigTopologyEntries(t, codec)
+
+	t.Run("dashboard", func(t *testing.T) {
+		retry.Run(t, func(r *retry.R) {
+			args := structs.ServiceSpecificRequest{
+				Datacenter:  "dc1",
+				ServiceName: "dashboard",
+			}
+			var out structs.IndexedServiceTopology
+			require.NoError(r, msgpackrpc.CallWithCodec(codec, "Internal.ServiceTopology", &args, &out))
+			require.False(r, out.FilteredByACLs)
+			require.Equal(r, "http", out.ServiceTopology.MetricsProtocol)
+
+			require.Empty(r, out.ServiceTopology.Downstreams)
+			require.Empty(r, out.ServiceTopology.DownstreamDecisions)
+			require.Empty(r, out.ServiceTopology.DownstreamSources)
+
+			// routing-config will not appear as an Upstream service
+			// but will be present in UpstreamSources as a k-v pair.
+			require.Empty(r, out.ServiceTopology.Upstreams)
+
+			expectUp := map[string]structs.IntentionDecisionSummary{
+				"routing-config": {DefaultAllow: true, Allowed: true},
+			}
+			require.Equal(r, expectUp, out.ServiceTopology.UpstreamDecisions)
+
+			expectUpstreamSources := map[string]string{
+				"routing-config": structs.TopologySourceRoutingConfig,
+			}
+			require.Equal(r, expectUpstreamSources, out.ServiceTopology.UpstreamSources)
+
+			require.False(r, out.ServiceTopology.TransparentProxy)
+		})
+	})
+}
+
 func TestInternal_ServiceTopology_ACL(t *testing.T) {
 	if testing.Short() {
 		t.Skip("too slow for testing.Short")
diff --git a/agent/consul/state/catalog.go b/agent/consul/state/catalog.go
index 24319da1b4..927455c563 100644
--- a/agent/consul/state/catalog.go
+++ b/agent/consul/state/catalog.go
@@ -3092,44 +3092,67 @@ func (s *Store) ServiceTopology(
 		maxIdx = idx
 	}
 
-	var (
-		seenUpstreams   = make(map[string]struct{})
-		upstreamSources = make(map[string]string)
-	)
+	var upstreamSources = make(map[string]string)
 	for _, un := range upstreamNames {
-		if _, ok := seenUpstreams[un.String()]; !ok {
-			seenUpstreams[un.String()] = struct{}{}
-		}
 		upstreamSources[un.String()] = structs.TopologySourceRegistration
 	}
 
-	idx, intentionUpstreams, err := s.intentionTopologyTxn(tx, ws, sn, false, defaultAllow)
-	if err != nil {
-		return 0, nil, err
-	}
-	if idx > maxIdx {
-		maxIdx = idx
-	}
-
 	upstreamDecisions := make(map[string]structs.IntentionDecisionSummary)
-	for _, svc := range intentionUpstreams {
-		if _, ok := seenUpstreams[svc.Name.String()]; ok {
-			// Avoid duplicating entry
-			continue
-		}
-		upstreamDecisions[svc.Name.String()] = svc.Decision
-		upstreamNames = append(upstreamNames, svc.Name)
 
-		var source string
-		switch {
-		case svc.Decision.HasExact:
-			source = structs.TopologySourceSpecificIntention
-		case svc.Decision.DefaultAllow:
-			source = structs.TopologySourceDefaultAllow
-		default:
-			source = structs.TopologySourceWildcardIntention
+	// Only transparent proxies have upstreams from intentions
+	if hasTransparent {
+		idx, intentionUpstreams, err := s.intentionTopologyTxn(tx, ws, sn, false, defaultAllow)
+		if err != nil {
+			return 0, nil, err
 		}
-		upstreamSources[svc.Name.String()] = source
+		if idx > maxIdx {
+			maxIdx = idx
+		}
+
+		for _, svc := range intentionUpstreams {
+			if _, ok := upstreamSources[svc.Name.String()]; ok {
+				// Avoid duplicating entry
+				continue
+			}
+			upstreamDecisions[svc.Name.String()] = svc.Decision
+			upstreamNames = append(upstreamNames, svc.Name)
+
+			var source string
+			switch {
+			case svc.Decision.HasExact:
+				source = structs.TopologySourceSpecificIntention
+			case svc.Decision.DefaultAllow:
+				source = structs.TopologySourceDefaultAllow
+			default:
+				source = structs.TopologySourceWildcardIntention
+			}
+			upstreamSources[svc.Name.String()] = source
+		}
+	}
+
+	matchEntry := structs.IntentionMatchEntry{
+		Namespace: entMeta.NamespaceOrDefault(),
+		Name:      service,
+	}
+	_, srcIntentions, err := compatIntentionMatchOneTxn(
+		tx,
+		ws,
+		matchEntry,
+
+		// The given service is a source relative to its upstreams
+		structs.IntentionMatchSource,
+	)
+	if err != nil {
+		return 0, nil, fmt.Errorf("failed to query intentions for %s", sn.String())
+	}
+
+	for _, un := range upstreamNames {
+		decision, err := s.IntentionDecision(un.Name, un.NamespaceOrDefault(), srcIntentions, structs.IntentionMatchDestination, defaultAllow, false)
+		if err != nil {
+			return 0, nil, fmt.Errorf("failed to get intention decision from (%s) to (%s): %v",
+				sn.String(), un.String(), err)
+		}
+		upstreamDecisions[un.String()] = decision
 	}
 
 	idx, unfilteredUpstreams, err := s.combinedServiceNodesTxn(tx, ws, upstreamNames)
@@ -3154,28 +3177,29 @@ func (s *Store) ServiceTopology(
 		upstreams = append(upstreams, upstream)
 	}
 
-	matchEntry := structs.IntentionMatchEntry{
-		Namespace: entMeta.NamespaceOrDefault(),
-		Name:      service,
+	var foundUpstreams = make(map[structs.ServiceName]struct{})
+	for _, csn := range upstreams {
+		foundUpstreams[csn.Service.CompoundServiceName()] = struct{}{}
 	}
-	_, srcIntentions, err := compatIntentionMatchOneTxn(
-		tx,
-		ws,
-		matchEntry,
 
-		// The given service is a source relative to its upstreams
-		structs.IntentionMatchSource,
-	)
-	if err != nil {
-		return 0, nil, fmt.Errorf("failed to query intentions for %s", sn.String())
-	}
+	// Check upstream names that had no service instances to see if they are routing config.
 	for _, un := range upstreamNames {
-		decision, err := s.IntentionDecision(un.Name, un.NamespaceOrDefault(), srcIntentions, structs.IntentionMatchDestination, defaultAllow, false)
-		if err != nil {
-			return 0, nil, fmt.Errorf("failed to get intention decision from (%s) to (%s): %v",
-				sn.String(), un.String(), err)
+		if _, ok := foundUpstreams[un]; ok {
+			continue
+		}
+
+		for _, kind := range serviceGraphKinds {
+			idx, entry, err := configEntryTxn(tx, ws, kind, un.Name, &un.EnterpriseMeta)
+			if err != nil {
+				return 0, nil, err
+			}
+			if entry != nil {
+				upstreamSources[un.String()] = structs.TopologySourceRoutingConfig
+			}
+			if idx > maxIdx {
+				maxIdx = idx
+			}
 		}
-		upstreamDecisions[un.String()] = decision
 	}
 
 	idx, downstreamNames, err := s.downstreamsForServiceTxn(tx, ws, dc, sn)
@@ -3186,14 +3210,8 @@ func (s *Store) ServiceTopology(
 		maxIdx = idx
 	}
 
-	var (
-		seenDownstreams   = make(map[string]struct{})
-		downstreamSources = make(map[string]string)
-	)
+	var downstreamSources = make(map[string]string)
 	for _, dn := range downstreamNames {
-		if _, ok := seenDownstreams[dn.String()]; !ok {
-			seenDownstreams[dn.String()] = struct{}{}
-		}
 		downstreamSources[dn.String()] = structs.TopologySourceRegistration
 	}
 
@@ -3207,7 +3225,7 @@ func (s *Store) ServiceTopology(
 
 	downstreamDecisions := make(map[string]structs.IntentionDecisionSummary)
 	for _, svc := range intentionDownstreams {
-		if _, ok := seenDownstreams[svc.Name.String()]; ok {
+		if _, ok := downstreamSources[svc.Name.String()]; ok {
 			// Avoid duplicating entry
 			continue
 		}
@@ -3226,6 +3244,26 @@ func (s *Store) ServiceTopology(
 		downstreamSources[svc.Name.String()] = source
 	}
 
+	_, dstIntentions, err := compatIntentionMatchOneTxn(
+		tx,
+		ws,
+		matchEntry,
+
+		// The given service is a destination relative to its downstreams
+		structs.IntentionMatchDestination,
+	)
+	if err != nil {
+		return 0, nil, fmt.Errorf("failed to query intentions for %s", sn.String())
+	}
+	for _, dn := range downstreamNames {
+		decision, err := s.IntentionDecision(dn.Name, dn.NamespaceOrDefault(), dstIntentions, structs.IntentionMatchSource, defaultAllow, false)
+		if err != nil {
+			return 0, nil, fmt.Errorf("failed to get intention decision from (%s) to (%s): %v",
+				dn.String(), sn.String(), err)
+		}
+		downstreamDecisions[dn.String()] = decision
+	}
+
 	idx, unfilteredDownstreams, err := s.combinedServiceNodesTxn(tx, ws, downstreamNames)
 	if err != nil {
 		return 0, nil, fmt.Errorf("failed to get downstreams for %q: %v", sn.String(), err)
@@ -3251,31 +3289,14 @@ func (s *Store) ServiceTopology(
 			sn = structs.NewServiceName(downstream.Service.Proxy.DestinationServiceName, &downstream.Service.EnterpriseMeta)
 		}
 		if _, ok := tproxyMap[sn]; !ok && downstreamSources[sn.String()] != structs.TopologySourceRegistration {
+			// If downstream is not a transparent proxy, remove references
+			delete(downstreamSources, sn.String())
+			delete(downstreamDecisions, sn.String())
 			continue
 		}
 		downstreams = append(downstreams, downstream)
 	}
 
-	_, dstIntentions, err := compatIntentionMatchOneTxn(
-		tx,
-		ws,
-		matchEntry,
-
-		// The given service is a destination relative to its downstreams
-		structs.IntentionMatchDestination,
-	)
-	if err != nil {
-		return 0, nil, fmt.Errorf("failed to query intentions for %s", sn.String())
-	}
-	for _, dn := range downstreamNames {
-		decision, err := s.IntentionDecision(dn.Name, dn.NamespaceOrDefault(), dstIntentions, structs.IntentionMatchSource, defaultAllow, false)
-		if err != nil {
-			return 0, nil, fmt.Errorf("failed to get intention decision from (%s) to (%s): %v",
-				dn.String(), sn.String(), err)
-		}
-		downstreamDecisions[dn.String()] = decision
-	}
-
 	resp := &structs.ServiceTopology{
 		TransparentProxy:    fullyTransparent,
 		MetricsProtocol:     protocol,
diff --git a/agent/structs/connect_proxy_config.go b/agent/structs/connect_proxy_config.go
index d8ad467977..984adfb28b 100644
--- a/agent/structs/connect_proxy_config.go
+++ b/agent/structs/connect_proxy_config.go
@@ -39,17 +39,21 @@ const (
 const (
 	// TODO (freddy) Should we have a TopologySourceMixed when there is a mix of proxy reg and tproxy?
 	//				 Currently we label as proxy-registration if ANY instance has the explicit upstream definition.
-	// TopologySourceRegistration is used to label upstreams or downstreams from explicit upstream definitions
+	// TopologySourceRegistration is used to label upstreams or downstreams from explicit upstream definitions.
 	TopologySourceRegistration = "proxy-registration"
 
-	// TopologySourceSpecificIntention is used to label upstreams or downstreams from specific intentions
+	// TopologySourceSpecificIntention is used to label upstreams or downstreams from specific intentions.
 	TopologySourceSpecificIntention = "specific-intention"
 
-	// TopologySourceWildcardIntention is used to label upstreams or downstreams from wildcard intentions
+	// TopologySourceWildcardIntention is used to label upstreams or downstreams from wildcard intentions.
 	TopologySourceWildcardIntention = "wildcard-intention"
 
-	// TopologySourceDefaultAllow is used to label upstreams or downstreams from default allow ACL policy
+	// TopologySourceDefaultAllow is used to label upstreams or downstreams from default allow ACL policy.
 	TopologySourceDefaultAllow = "default-allow"
+
+	// TopologySourceRoutingConfig is used to label upstreams that are not backed by a service instance
+	// and are simply used for routing configurations.
+	TopologySourceRoutingConfig = "routing-config"
 )
 
 // MeshGatewayConfig controls how Mesh Gateways are configured and used
diff --git a/agent/ui_endpoint.go b/agent/ui_endpoint.go
index 0564dc0f7f..4bb9eab165 100644
--- a/agent/ui_endpoint.go
+++ b/agent/ui_endpoint.go
@@ -343,6 +343,21 @@ RPC:
 		}
 		upstreamResp = append(upstreamResp, &sum)
 	}
+	for k, v := range out.ServiceTopology.UpstreamSources {
+		if v == structs.TopologySourceRoutingConfig {
+			sn := structs.ServiceNameFromString(k)
+			sum := ServiceTopologySummary{
+				ServiceSummary: ServiceSummary{
+					Datacenter:     args.Datacenter,
+					Name:           sn.Name,
+					EnterpriseMeta: sn.EnterpriseMeta,
+				},
+				Intention: out.ServiceTopology.UpstreamDecisions[sn.String()],
+				Source:    out.ServiceTopology.UpstreamSources[sn.String()],
+			}
+			upstreamResp = append(upstreamResp, &sum)
+		}
+	}
 
 	sortedDownstreams := prepSummaryOutput(downstreams, true)
 	for _, svc := range sortedDownstreams {
diff --git a/agent/ui_endpoint_test.go b/agent/ui_endpoint_test.go
index b9ef3f0acf..1734e0340d 100644
--- a/agent/ui_endpoint_test.go
+++ b/agent/ui_endpoint_test.go
@@ -12,15 +12,16 @@ import (
 	"sync/atomic"
 	"testing"
 
+	cleanhttp "github.com/hashicorp/go-cleanhttp"
+	"github.com/stretchr/testify/assert"
+	"github.com/stretchr/testify/require"
+
 	"github.com/hashicorp/consul/agent/config"
 	"github.com/hashicorp/consul/agent/structs"
 	"github.com/hashicorp/consul/api"
 	"github.com/hashicorp/consul/sdk/testutil"
 	"github.com/hashicorp/consul/sdk/testutil/retry"
 	"github.com/hashicorp/consul/testrpc"
-	cleanhttp "github.com/hashicorp/go-cleanhttp"
-	"github.com/stretchr/testify/assert"
-	"github.com/stretchr/testify/require"
 )
 
 func TestUiIndex(t *testing.T) {
@@ -1397,34 +1398,59 @@ func TestUIServiceTopology(t *testing.T) {
 		}
 	}
 
-	t.Run("request without kind", func(t *testing.T) {
-		req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/ingress", nil)
-		resp := httptest.NewRecorder()
-		obj, err := a.srv.UIServiceTopology(resp, req)
-		require.Nil(t, err)
-		require.Nil(t, obj)
-		require.Equal(t, "Missing service kind", resp.Body.String())
-	})
+	type testCase struct {
+		name    string
+		httpReq *http.Request
+		want    *ServiceTopology
+		wantErr string
+	}
 
-	t.Run("request with unsupported kind", func(t *testing.T) {
-		req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/ingress?kind=not-a-kind", nil)
-		resp := httptest.NewRecorder()
-		obj, err := a.srv.UIServiceTopology(resp, req)
-		require.Nil(t, err)
-		require.Nil(t, obj)
-		require.Equal(t, `Unsupported service kind "not-a-kind"`, resp.Body.String())
-	})
-
-	t.Run("ingress", func(t *testing.T) {
+	run := func(t *testing.T, tc testCase) {
 		retry.Run(t, func(r *retry.R) {
-			// Request topology for ingress
-			req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/ingress?kind=ingress-gateway", nil)
 			resp := httptest.NewRecorder()
-			obj, err := a.srv.UIServiceTopology(resp, req)
+			obj, err := a.srv.UIServiceTopology(resp, tc.httpReq)
 			assert.Nil(r, err)
-			require.NoError(r, checkIndex(resp))
 
-			expect := ServiceTopology{
+			if tc.wantErr != "" {
+				assert.Nil(r, tc.want) // should not define a non-nil want
+				require.Equal(r, tc.wantErr, resp.Body.String())
+				require.Nil(r, obj)
+				return
+			}
+
+			require.NoError(r, checkIndex(resp))
+			require.NotNil(r, obj)
+			result := obj.(ServiceTopology)
+			clearUnexportedFields(result)
+
+			require.Equal(r, *tc.want, result)
+		})
+	}
+
+	tcs := []testCase{
+		{
+			name: "request without kind",
+			httpReq: func() *http.Request {
+				req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/ingress", nil)
+				return req
+			}(),
+			wantErr: "Missing service kind",
+		},
+		{
+			name: "request with unsupported kind",
+			httpReq: func() *http.Request {
+				req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/ingress?kind=not-a-kind", nil)
+				return req
+			}(),
+			wantErr: `Unsupported service kind "not-a-kind"`,
+		},
+		{
+			name: "ingress",
+			httpReq: func() *http.Request {
+				req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/ingress?kind=ingress-gateway", nil)
+				return req
+			}(),
+			want: &ServiceTopology{
 				Protocol:         "tcp",
 				TransparentProxy: false,
 				Upstreams: []*ServiceTopologySummary{
@@ -1449,29 +1475,15 @@ func TestUIServiceTopology(t *testing.T) {
 				},
 				Downstreams:    []*ServiceTopologySummary{},
 				FilteredByACLs: false,
-			}
-			result := obj.(ServiceTopology)
-
-			// Internal accounting that is not returned in JSON response
-			for _, u := range result.Upstreams {
-				u.externalSourceSet = nil
-				u.checks = nil
-				u.transparentProxySet = false
-			}
-			require.Equal(r, expect, result)
-		})
-	})
-
-	t.Run("api", func(t *testing.T) {
-		retry.Run(t, func(r *retry.R) {
-			// Request topology for api
-			req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/api?kind=", nil)
-			resp := httptest.NewRecorder()
-			obj, err := a.srv.UIServiceTopology(resp, req)
-			assert.Nil(r, err)
-			require.NoError(r, checkIndex(resp))
-
-			expect := ServiceTopology{
+			},
+		},
+		{
+			name: "api",
+			httpReq: func() *http.Request {
+				req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/api?kind=", nil)
+				return req
+			}(),
+			want: &ServiceTopology{
 				Protocol:         "tcp",
 				TransparentProxy: true,
 				Downstreams: []*ServiceTopologySummary{
@@ -1518,34 +1530,15 @@ func TestUIServiceTopology(t *testing.T) {
 					},
 				},
 				FilteredByACLs: false,
-			}
-			result := obj.(ServiceTopology)
-
-			// Internal accounting that is not returned in JSON response
-			for _, u := range result.Upstreams {
-				u.transparentProxySet = false
-				u.externalSourceSet = nil
-				u.checks = nil
-			}
-			for _, d := range result.Downstreams {
-				d.transparentProxySet = false
-				d.externalSourceSet = nil
-				d.checks = nil
-			}
-			require.Equal(r, expect, result)
-		})
-	})
-
-	t.Run("web", func(t *testing.T) {
-		retry.Run(t, func(r *retry.R) {
-			// Request topology for web
-			req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/web?kind=", nil)
-			resp := httptest.NewRecorder()
-			obj, err := a.srv.UIServiceTopology(resp, req)
-			assert.Nil(r, err)
-			require.NoError(r, checkIndex(resp))
-
-			expect := ServiceTopology{
+			},
+		},
+		{
+			name: "web",
+			httpReq: func() *http.Request {
+				req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/web?kind=", nil)
+				return req
+			}(),
+			want: &ServiceTopology{
 				Protocol:         "http",
 				TransparentProxy: false,
 				Upstreams: []*ServiceTopologySummary{
@@ -1590,36 +1583,18 @@ func TestUIServiceTopology(t *testing.T) {
 					},
 				},
 				FilteredByACLs: false,
-			}
-			result := obj.(ServiceTopology)
-
-			// Internal accounting that is not returned in JSON response
-			for _, u := range result.Upstreams {
-				u.transparentProxySet = false
-				u.externalSourceSet = nil
-				u.checks = nil
-			}
-			for _, d := range result.Downstreams {
-				d.transparentProxySet = false
-				d.externalSourceSet = nil
-				d.checks = nil
-			}
-			require.Equal(r, expect, result)
-		})
-	})
-
-	t.Run("redis", func(t *testing.T) {
-		retry.Run(t, func(r *retry.R) {
-			// Request topology for redis
-			req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/redis?kind=", nil)
-			resp := httptest.NewRecorder()
-			obj, err := a.srv.UIServiceTopology(resp, req)
-			assert.Nil(r, err)
-			require.NoError(r, checkIndex(resp))
-
-			expect := ServiceTopology{
-				Protocol:  "http",
-				Upstreams: []*ServiceTopologySummary{},
+			},
+		},
+		{
+			name: "redis",
+			httpReq: func() *http.Request {
+				req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/redis?kind=", nil)
+				return req
+			}(),
+			want: &ServiceTopology{
+				Protocol:         "http",
+				TransparentProxy: false,
+				Upstreams:        []*ServiceTopologySummary{},
 				Downstreams: []*ServiceTopologySummary{
 					{
 						ServiceSummary: ServiceSummary{
@@ -1642,18 +1617,327 @@ func TestUIServiceTopology(t *testing.T) {
 					},
 				},
 				FilteredByACLs: false,
-			}
-			result := obj.(ServiceTopology)
+			},
+		},
+	}
 
-			// Internal accounting that is not returned in JSON response
-			for _, d := range result.Downstreams {
-				d.transparentProxySet = false
-				d.externalSourceSet = nil
-				d.checks = nil
-			}
-			require.Equal(r, expect, result)
+	for _, tc := range tcs {
+		t.Run(tc.name, func(t *testing.T) {
+			run(t, tc)
 		})
-	})
+	}
+}
+
+// clearUnexportedFields sets unexported members of ServiceTopology to their
+// type defaults, since the fields are not marshalled in the JSON response.
+func clearUnexportedFields(result ServiceTopology) {
+	for _, u := range result.Upstreams {
+		u.transparentProxySet = false
+		u.externalSourceSet = nil
+		u.checks = nil
+	}
+	for _, d := range result.Downstreams {
+		d.transparentProxySet = false
+		d.externalSourceSet = nil
+		d.checks = nil
+	}
+}
+
+func TestUIServiceTopology_RoutingConfigs(t *testing.T) {
+	if testing.Short() {
+		t.Skip("too slow for testing.Short")
+	}
+
+	t.Parallel()
+
+	a := NewTestAgent(t, "")
+	defer a.Shutdown()
+
+	// Register dashboard -> routing-config -> { counting, counting-v2 }
+	{
+		registrations := map[string]*structs.RegisterRequest{
+			"Service dashboard": {
+				Datacenter:     "dc1",
+				Node:           "foo",
+				SkipNodeUpdate: true,
+				Service: &structs.NodeService{
+					Kind:    structs.ServiceKindTypical,
+					ID:      "dashboard",
+					Service: "dashboard",
+					Port:    9002,
+				},
+				Checks: structs.HealthChecks{
+					&structs.HealthCheck{
+						Node:        "foo",
+						CheckID:     "foo:dashboard",
+						Status:      api.HealthPassing,
+						ServiceID:   "dashboard",
+						ServiceName: "dashboard",
+					},
+				},
+			},
+			"Service dashboard-proxy": {
+				Datacenter:     "dc1",
+				Node:           "foo",
+				SkipNodeUpdate: true,
+				Service: &structs.NodeService{
+					Kind:    structs.ServiceKindConnectProxy,
+					ID:      "dashboard-sidecar-proxy",
+					Service: "dashboard-sidecar-proxy",
+					Port:    5000,
+					Address: "198.18.1.0",
+					Proxy: structs.ConnectProxyConfig{
+						DestinationServiceName: "dashboard",
+						DestinationServiceID:   "dashboard",
+						LocalServiceAddress:    "127.0.0.1",
+						LocalServicePort:       9002,
+						Upstreams: []structs.Upstream{
+							{
+								DestinationType: "service",
+								DestinationName: "routing-config",
+								LocalBindPort:   5000,
+							},
+						},
+					},
+					LocallyRegisteredAsSidecar: true,
+				},
+			},
+			"Service counting": {
+				Datacenter:     "dc1",
+				Node:           "foo",
+				SkipNodeUpdate: true,
+				Service: &structs.NodeService{
+					Kind:    structs.ServiceKindTypical,
+					ID:      "counting",
+					Service: "counting",
+					Port:    9003,
+					Address: "198.18.1.1",
+				},
+				Checks: structs.HealthChecks{
+					&structs.HealthCheck{
+						Node:        "foo",
+						CheckID:     "foo:api",
+						Status:      api.HealthPassing,
+						ServiceID:   "counting",
+						ServiceName: "counting",
+					},
+				},
+			},
+			"Service counting-proxy": {
+				Datacenter:     "dc1",
+				Node:           "foo",
+				SkipNodeUpdate: true,
+				Service: &structs.NodeService{
+					Kind:    structs.ServiceKindConnectProxy,
+					ID:      "counting-proxy",
+					Service: "counting-proxy",
+					Port:    5001,
+					Address: "198.18.1.1",
+					Proxy: structs.ConnectProxyConfig{
+						DestinationServiceName: "counting",
+					},
+					LocallyRegisteredAsSidecar: true,
+				},
+				Checks: structs.HealthChecks{
+					&structs.HealthCheck{
+						Node:        "foo",
+						CheckID:     "foo:counting-proxy",
+						Status:      api.HealthPassing,
+						ServiceID:   "counting-proxy",
+						ServiceName: "counting-proxy",
+					},
+				},
+			},
+			"Service counting-v2": {
+				Datacenter:     "dc1",
+				Node:           "foo",
+				SkipNodeUpdate: true,
+				Service: &structs.NodeService{
+					Kind:    structs.ServiceKindTypical,
+					ID:      "counting-v2",
+					Service: "counting-v2",
+					Port:    9004,
+					Address: "198.18.1.2",
+				},
+				Checks: structs.HealthChecks{
+					&structs.HealthCheck{
+						Node:        "foo",
+						CheckID:     "foo:api",
+						Status:      api.HealthPassing,
+						ServiceID:   "counting-v2",
+						ServiceName: "counting-v2",
+					},
+				},
+			},
+			"Service counting-v2-proxy": {
+				Datacenter:     "dc1",
+				Node:           "foo",
+				SkipNodeUpdate: true,
+				Service: &structs.NodeService{
+					Kind:    structs.ServiceKindConnectProxy,
+					ID:      "counting-v2-proxy",
+					Service: "counting-v2-proxy",
+					Port:    5002,
+					Address: "198.18.1.2",
+					Proxy: structs.ConnectProxyConfig{
+						DestinationServiceName: "counting-v2",
+					},
+					LocallyRegisteredAsSidecar: true,
+				},
+				Checks: structs.HealthChecks{
+					&structs.HealthCheck{
+						Node:        "foo",
+						CheckID:     "foo:counting-v2-proxy",
+						Status:      api.HealthPassing,
+						ServiceID:   "counting-v2-proxy",
+						ServiceName: "counting-v2-proxy",
+					},
+				},
+			},
+		}
+		for _, args := range registrations {
+			var out struct{}
+			require.NoError(t, a.RPC("Catalog.Register", args, &out))
+		}
+	}
+	{
+		entries := []structs.ConfigEntryRequest{
+			{
+				Datacenter: "dc1",
+				Entry: &structs.ProxyConfigEntry{
+					Kind: structs.ProxyDefaults,
+					Name: structs.ProxyConfigGlobal,
+					Config: map[string]interface{}{
+						"protocol": "http",
+					},
+				},
+			},
+			{
+				Datacenter: "dc1",
+				Entry: &structs.ServiceRouterConfigEntry{
+					Kind: structs.ServiceRouter,
+					Name: "routing-config",
+					Routes: []structs.ServiceRoute{
+						{
+							Match: &structs.ServiceRouteMatch{
+								HTTP: &structs.ServiceRouteHTTPMatch{
+									PathPrefix: "/v2",
+								},
+							},
+							Destination: &structs.ServiceRouteDestination{
+								Service: "counting-v2",
+							},
+						},
+						{
+							Match: &structs.ServiceRouteMatch{
+								HTTP: &structs.ServiceRouteHTTPMatch{
+									PathPrefix: "/",
+								},
+							},
+							Destination: &structs.ServiceRouteDestination{
+								Service: "counting",
+							},
+						},
+					},
+				},
+			},
+		}
+		for _, req := range entries {
+			out := false
+			require.NoError(t, a.RPC("ConfigEntry.Apply", &req, &out))
+		}
+	}
+
+	type testCase struct {
+		name    string
+		httpReq *http.Request
+		want    *ServiceTopology
+		wantErr string
+	}
+
+	run := func(t *testing.T, tc testCase) {
+		retry.Run(t, func(r *retry.R) {
+			resp := httptest.NewRecorder()
+			obj, err := a.srv.UIServiceTopology(resp, tc.httpReq)
+			assert.Nil(r, err)
+
+			if tc.wantErr != "" {
+				assert.Nil(r, tc.want) // should not define a non-nil want
+				require.Equal(r, tc.wantErr, resp.Body.String())
+				require.Nil(r, obj)
+				return
+			}
+
+			require.NoError(r, checkIndex(resp))
+			require.NotNil(r, obj)
+			result := obj.(ServiceTopology)
+			clearUnexportedFields(result)
+
+			require.Equal(r, *tc.want, result)
+		})
+	}
+
+	tcs := []testCase{
+		{
+			name: "dashboard has upstream routing-config",
+			httpReq: func() *http.Request {
+				req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/dashboard?kind=", nil)
+				return req
+			}(),
+			want: &ServiceTopology{
+				Protocol:    "http",
+				Downstreams: []*ServiceTopologySummary{},
+				Upstreams: []*ServiceTopologySummary{
+					{
+						ServiceSummary: ServiceSummary{
+							Name:             "routing-config",
+							Datacenter:       "dc1",
+							EnterpriseMeta:   *structs.DefaultEnterpriseMetaInDefaultPartition(),
+							TransparentProxy: false,
+						},
+						Intention: structs.IntentionDecisionSummary{
+							DefaultAllow: true,
+							Allowed:      true,
+						},
+						Source: structs.TopologySourceRoutingConfig,
+					},
+				},
+			},
+		},
+		{
+			name: "counting has downstream dashboard",
+			httpReq: func() *http.Request {
+				req, _ := http.NewRequest("GET", "/v1/internal/ui/service-topology/counting?kind=", nil)
+				return req
+			}(),
+			want: &ServiceTopology{
+				Protocol:  "http",
+				Upstreams: []*ServiceTopologySummary{},
+				Downstreams: []*ServiceTopologySummary{
+					{
+						ServiceSummary: ServiceSummary{
+							Name:          "dashboard",
+							Datacenter:    "dc1",
+							Nodes:         []string{"foo"},
+							InstanceCount: 1,
+							ChecksPassing: 1,
+						},
+						Source: "proxy-registration",
+						Intention: structs.IntentionDecisionSummary{
+							Allowed:      true,
+							DefaultAllow: true,
+						},
+					},
+				},
+			},
+		},
+	}
+
+	for _, tc := range tcs {
+		t.Run(tc.name, func(t *testing.T) {
+			run(t, tc)
+		})
+	}
 }
 
 func TestUIEndpoint_MetricsProxy(t *testing.T) {