diff --git a/tools/testing/selftests/tc-testing/tc-tests/qdiscs/hfsc.json b/tools/testing/selftests/tc-testing/tc-tests/qdiscs/hfsc.json
index c98c339424d4..4f6bbb8b57f9 100644
--- a/tools/testing/selftests/tc-testing/tc-tests/qdiscs/hfsc.json
+++ b/tools/testing/selftests/tc-testing/tc-tests/qdiscs/hfsc.json
@@ -169,5 +169,39 @@
         "teardown": [
             "$TC qdisc del dev $DUMMY handle 1: root"
         ]
+    },
+    {
+        "id": "8c39",
+        "name": "HFSC classify walk still reaches leaf after lateral drift",
+        "category": [
+            "qdisc",
+            "hfsc"
+        ],
+        "plugins": {
+            "requires": "nsPlugin"
+        },
+        "setup": [
+            "ip link set lo up",
+            "$TC qdisc add dev lo handle 1: root hfsc default 30",
+            "$TC class add dev lo parent 1: classid 1:1 hfsc rt m2 100kbit",
+            "$TC class add dev lo parent 1:1 classid 1:10 hfsc rt m2 50kbit",
+            "$TC class add dev lo parent 1: classid 1:2 hfsc rt m2 100kbit",
+            "$TC filter add dev lo parent 1: protocol ip prio 1 u32 match u8 0 0 at 0 flowid 1:1",
+            "$TC filter add dev lo parent 1:1 protocol ip prio 1 u32 match u8 0 0 at 0 flowid 1:2",
+            "$TC class add dev lo parent 1:2 classid 1:20 hfsc rt m2 10kbit",
+            "$TC class add dev lo parent 1: classid 1:3 hfsc rt m2 100kbit",
+            "$TC filter add dev lo parent 1:2 protocol ip prio 1 u32 match u8 0 0 at 0 flowid 1:3",
+            "$TC class add dev lo parent 1:3 classid 1:30 hfsc rt m2 10kbit",
+            "$TC class add dev lo parent 1:3 classid 1:31 hfsc rt m2 100kbit",
+            "$TC filter add dev lo parent 1:3 protocol ip prio 1 u32 match u8 0 0 at 0 flowid 1:31"
+        ],
+        "cmdUnderTest": "ping -n -c 10 -W 1 127.0.0.1",
+        "expExitCode": "0",
+        "verifyCmd": "$TC -s class show dev lo",
+        "matchPattern": "class hfsc 1:31 parent 1:3 rt[^\\n]*\\n Sent [0-9]+ bytes [1-9][0-9]* pkt",
+        "matchCount": "1",
+        "teardown": [
+            "$TC qdisc del dev lo handle 1: root"
+        ]
     }
 ]