diff --git a/cmd/admin-heal-ops.go b/cmd/admin-heal-ops.go
index eef0ee8f5..04f346cc4 100644
--- a/cmd/admin-heal-ops.go
+++ b/cmd/admin-heal-ops.go
@@ -91,8 +91,11 @@ type allHealState struct {
 	sync.RWMutex
 
 	// map of heal path to heal sequence
-	healSeqMap     map[string]*healSequence // Indexed by endpoint
-	healLocalDisks map[Endpoint]struct{}
+	healSeqMap map[string]*healSequence // Indexed by endpoint
+	// keep track of the healing status of disks in the memory
+	//   false: the disk needs to be healed but no healing routine is started
+	//    true: the disk is currently healing
+	healLocalDisks map[Endpoint]bool
 	healStatus     map[string]healingTracker // Indexed by disk ID
 }
 
@@ -100,7 +103,7 @@ type allHealState struct {
 func newHealState(cleanup bool) *allHealState {
 	hstate := &allHealState{
 		healSeqMap:     make(map[string]*healSequence),
-		healLocalDisks: map[Endpoint]struct{}{},
+		healLocalDisks: make(map[Endpoint]bool),
 		healStatus:     make(map[string]healingTracker),
 	}
 	if cleanup {
@@ -109,13 +112,6 @@ func newHealState(cleanup bool) *allHealState {
 	return hstate
 }
 
-func (ahs *allHealState) healDriveCount() int {
-	ahs.RLock()
-	defer ahs.RUnlock()
-
-	return len(ahs.healLocalDisks)
-}
-
 func (ahs *allHealState) popHealLocalDisks(healLocalDisks ...Endpoint) {
 	ahs.Lock()
 	defer ahs.Unlock()
@@ -165,23 +161,34 @@ func (ahs *allHealState) getLocalHealingDisks() map[string]madmin.HealingDisk {
 	return dst
 }
 
+// getHealLocalDiskEndpoints() returns the list of disks that need
+// to be healed but there is no healing routine in progress on them.
 func (ahs *allHealState) getHealLocalDiskEndpoints() Endpoints {
 	ahs.RLock()
 	defer ahs.RUnlock()
 
 	var endpoints Endpoints
-	for ep := range ahs.healLocalDisks {
-		endpoints = append(endpoints, ep)
+	for ep, healing := range ahs.healLocalDisks {
+		if !healing {
+			endpoints = append(endpoints, ep)
+		}
 	}
 	return endpoints
 }
 
+func (ahs *allHealState) markDiskForHealing(ep Endpoint) {
+	ahs.Lock()
+	defer ahs.Unlock()
+
+	ahs.healLocalDisks[ep] = true
+}
+
 func (ahs *allHealState) pushHealLocalDisks(healLocalDisks ...Endpoint) {
 	ahs.Lock()
 	defer ahs.Unlock()
 
 	for _, ep := range healLocalDisks {
-		ahs.healLocalDisks[ep] = struct{}{}
+		ahs.healLocalDisks[ep] = false
 	}
 }
 
@@ -804,16 +811,6 @@ func (h *healSequence) healMinioSysMeta(objAPI ObjectLayer, metaPrefix string) f
 	}
 }
 
-// healDiskFormat - heals format.json, return value indicates if a
-// failure error occurred.
-func (h *healSequence) healDiskFormat() error {
-	if h.isQuitting() {
-		return errHealStopSignalled
-	}
-
-	return h.queueHealTask(healSource{bucket: SlashSeparator}, madmin.HealItemMetadata)
-}
-
 // healBuckets - check for all buckets heal or just particular bucket.
 func (h *healSequence) healBuckets(objAPI ObjectLayer, bucketsOnly bool) error {
 	if h.isQuitting() {
diff --git a/cmd/background-newdisks-heal-ops.go b/cmd/background-newdisks-heal-ops.go
index 590bf3d75..4758c9727 100644
--- a/cmd/background-newdisks-heal-ops.go
+++ b/cmd/background-newdisks-heal-ops.go
@@ -26,15 +26,12 @@ import (
 	"os"
 	"sort"
 	"strings"
-	"sync"
 	"time"
 
 	"github.com/dustin/go-humanize"
 	"github.com/minio/madmin-go"
 	"github.com/minio/minio-go/v7/pkg/set"
-	"github.com/minio/minio/internal/color"
 	"github.com/minio/minio/internal/logger"
-	"github.com/minio/pkg/console"
 )
 
 const (
@@ -258,26 +255,9 @@ func initAutoHeal(ctx context.Context, objAPI ObjectLayer) {
 
 	initBackgroundHealing(ctx, objAPI) // start quick background healing
 
-	bgSeq := mustGetHealSequence(ctx)
-
 	globalBackgroundHealState.pushHealLocalDisks(getLocalDisksToHeal()...)
 
-	if drivesToHeal := globalBackgroundHealState.healDriveCount(); drivesToHeal > 0 {
-		logger.Info(fmt.Sprintf("Found drives to heal %d, waiting until %s to heal the content - use 'mc admin heal alias/ --verbose' to check the status",
-			drivesToHeal, defaultMonitorNewDiskInterval))
-
-		// Heal any disk format and metadata early, if possible.
-		// Start with format healing
-		if err := bgSeq.healDiskFormat(); err != nil {
-			if newObjectLayerFn() != nil {
-				// log only in situations, when object layer
-				// has fully initialized.
-				logger.LogIf(bgSeq.ctx, err)
-			}
-		}
-	}
-
-	go monitorLocalDisksAndHeal(ctx, z, bgSeq)
+	go monitorLocalDisksAndHeal(ctx, z)
 }
 
 func getLocalDisksToHeal() (disksToHeal Endpoints) {
@@ -299,10 +279,108 @@ func getLocalDisksToHeal() (disksToHeal Endpoints) {
 	return disksToHeal
 }
 
+var newDiskHealingTimeout = newDynamicTimeout(30*time.Second, 10*time.Second)
+
+func healFreshDisk(ctx context.Context, z *erasureServerPools, endpoint Endpoint) error {
+	logger.Info(fmt.Sprintf("Proceeding to heal '%s' - 'mc admin heal alias/ --verbose' to check the status.", endpoint))
+
+	disk, format, err := connectEndpoint(endpoint)
+	if err != nil {
+		return fmt.Errorf("Error: %w, %s", err, endpoint)
+	}
+
+	poolIdx := globalEndpoints.GetLocalPoolIdx(disk.Endpoint())
+	if poolIdx < 0 {
+		return fmt.Errorf("unexpected pool index (%d) found in %s", poolIdx, disk.Endpoint())
+	}
+
+	// Calculate the set index where the current endpoint belongs
+	z.serverPools[poolIdx].erasureDisksMu.RLock()
+	setIdx, _, err := findDiskIndex(z.serverPools[poolIdx].format, format)
+	z.serverPools[poolIdx].erasureDisksMu.RUnlock()
+	if err != nil {
+		return err
+	}
+	if setIdx < 0 {
+		return fmt.Errorf("unexpected set index (%d) found in %s", setIdx, disk.Endpoint())
+	}
+
+	// Prevent parallel erasure set healing
+	locker := z.NewNSLock(minioMetaBucket, fmt.Sprintf("new-disk-healing/%s/%d/%d", endpoint, poolIdx, setIdx))
+	lkctx, err := locker.GetLock(ctx, newDiskHealingTimeout)
+	if err != nil {
+		return err
+	}
+	ctx = lkctx.Context()
+	defer locker.Unlock(lkctx.Cancel)
+
+	buckets, _ := z.ListBuckets(ctx)
+
+	// Buckets data are dispersed in multiple zones/sets, make
+	// sure to heal all bucket metadata configuration.
+	buckets = append(buckets, BucketInfo{
+		Name: pathJoin(minioMetaBucket, minioConfigPrefix),
+	}, BucketInfo{
+		Name: pathJoin(minioMetaBucket, bucketMetaPrefix),
+	})
+
+	// Heal latest buckets first.
+	sort.Slice(buckets, func(i, j int) bool {
+		a, b := strings.HasPrefix(buckets[i].Name, minioMetaBucket), strings.HasPrefix(buckets[j].Name, minioMetaBucket)
+		if a != b {
+			return a
+		}
+		return buckets[i].Created.After(buckets[j].Created)
+	})
+
+	if serverDebugLog {
+		logger.Info("Healing disk '%v' on %s pool", disk, humanize.Ordinal(poolIdx+1))
+	}
+
+	// Load healing tracker in this disk
+	tracker, err := loadHealingTracker(ctx, disk)
+	if err != nil {
+		// So someone changed the drives underneath, healing tracker missing.
+		logger.LogIf(ctx, fmt.Errorf("Healing tracker missing on '%s', disk was swapped again on %s pool: %w",
+			disk, humanize.Ordinal(poolIdx+1), err))
+		tracker = newHealingTracker(disk)
+	}
+
+	// Load bucket totals
+	cache := dataUsageCache{}
+	if err := cache.load(ctx, z.serverPools[poolIdx].sets[setIdx], dataUsageCacheName); err == nil {
+		dataUsageInfo := cache.dui(dataUsageRoot, nil)
+		tracker.ObjectsTotalCount = dataUsageInfo.ObjectsTotalCount
+		tracker.ObjectsTotalSize = dataUsageInfo.ObjectsTotalSize
+	}
+
+	tracker.PoolIndex, tracker.SetIndex, tracker.DiskIndex = disk.GetDiskLoc()
+	tracker.setQueuedBuckets(buckets)
+	if err := tracker.save(ctx); err != nil {
+		return err
+	}
+
+	// Start or resume healing of this erasure set
+	err = z.serverPools[poolIdx].sets[setIdx].healErasureSet(ctx, tracker.QueuedBuckets, tracker)
+	if err != nil {
+		return err
+	}
+
+	logger.Info("Healing disk '%s' is complete (healed: %d, failed: %d).", disk, tracker.ItemsHealed, tracker.ItemsFailed)
+
+	if serverDebugLog {
+		tracker.printTo(os.Stdout)
+		logger.Info("\n")
+	}
+
+	logger.LogIf(ctx, tracker.delete(ctx))
+	return nil
+}
+
 // monitorLocalDisksAndHeal - ensures that detected new disks are healed
 //  1. Only the concerned erasure set will be listed and healed
 //  2. Only the node hosting the disk is responsible to perform the heal
-func monitorLocalDisksAndHeal(ctx context.Context, z *erasureServerPools, bgSeq *healSequence) {
+func monitorLocalDisksAndHeal(ctx context.Context, z *erasureServerPools) {
 	// Perform automatic disk healing when a disk is replaced locally.
 	diskCheckTimer := time.NewTimer(defaultMonitorNewDiskInterval)
 	defer diskCheckTimer.Stop()
@@ -312,139 +390,35 @@ func monitorLocalDisksAndHeal(ctx context.Context, z *erasureServerPools, bgSeq
 		case <-ctx.Done():
 			return
 		case <-diskCheckTimer.C:
-			var erasureSetInPoolDisksToHeal []map[int][]StorageAPI
 
 			healDisks := globalBackgroundHealState.getHealLocalDiskEndpoints()
-			if len(healDisks) > 0 {
-				// Reformat disks
-				bgSeq.queueHealTask(healSource{bucket: SlashSeparator}, madmin.HealItemMetadata)
-
-				// Ensure that reformatting disks is finished
-				bgSeq.queueHealTask(healSource{bucket: nopHeal}, madmin.HealItemMetadata)
-
-				logger.Info(fmt.Sprintf("Found drives to heal %d, proceeding to heal - 'mc admin heal alias/ --verbose' to check the status.",
-					len(healDisks)))
-
-				erasureSetInPoolDisksToHeal = make([]map[int][]StorageAPI, len(z.serverPools))
-				for i := range z.serverPools {
-					erasureSetInPoolDisksToHeal[i] = map[int][]StorageAPI{}
-				}
+			if len(healDisks) == 0 {
+				// Reset for next interval.
+				diskCheckTimer.Reset(defaultMonitorNewDiskInterval)
+				break
 			}
 
-			if serverDebugLog && len(healDisks) > 0 {
-				console.Debugf(color.Green("healDisk:")+" disk check timer fired, attempting to heal %d drives\n", len(healDisks))
+			// Reformat disks immediately
+			_, err := z.HealFormat(context.Background(), false)
+			if err != nil && !errors.Is(err, errNoHealRequired) {
+				logger.LogIf(ctx, err)
+				// Reset for next interval.
+				diskCheckTimer.Reset(defaultMonitorNewDiskInterval)
+				break
 			}
 
-			// heal only if new disks found.
-			for _, endpoint := range healDisks {
-				disk, format, err := connectEndpoint(endpoint)
-				if err != nil {
-					printEndpointError(endpoint, err, true)
-					continue
-				}
-
-				poolIdx := globalEndpoints.GetLocalPoolIdx(disk.Endpoint())
-				if poolIdx < 0 {
-					continue
-				}
-
-				// Calculate the set index where the current endpoint belongs
-				z.serverPools[poolIdx].erasureDisksMu.RLock()
-				// Protect reading reference format.
-				setIndex, _, err := findDiskIndex(z.serverPools[poolIdx].format, format)
-				z.serverPools[poolIdx].erasureDisksMu.RUnlock()
-				if err != nil {
-					printEndpointError(endpoint, err, false)
-					continue
-				}
-
-				erasureSetInPoolDisksToHeal[poolIdx][setIndex] = append(erasureSetInPoolDisksToHeal[poolIdx][setIndex], disk)
-			}
-
-			buckets, _ := z.ListBuckets(ctx)
-
-			// Buckets data are dispersed in multiple zones/sets, make
-			// sure to heal all bucket metadata configuration.
-			buckets = append(buckets, BucketInfo{
-				Name: pathJoin(minioMetaBucket, minioConfigPrefix),
-			}, BucketInfo{
-				Name: pathJoin(minioMetaBucket, bucketMetaPrefix),
-			})
-
-			// Heal latest buckets first.
-			sort.Slice(buckets, func(i, j int) bool {
-				a, b := strings.HasPrefix(buckets[i].Name, minioMetaBucket), strings.HasPrefix(buckets[j].Name, minioMetaBucket)
-				if a != b {
-					return a
-				}
-				return buckets[i].Created.After(buckets[j].Created)
-			})
-
-			// TODO(klauspost): This will block until all heals are done,
-			// in the future this should be able to start healing other sets at once.
-			var wg sync.WaitGroup
-			for i, setMap := range erasureSetInPoolDisksToHeal {
-				i := i
-				for setIndex, disks := range setMap {
-					if len(disks) == 0 {
-						continue
+			for _, disk := range healDisks {
+				go func(disk Endpoint) {
+					globalBackgroundHealState.markDiskForHealing(disk)
+					err := healFreshDisk(ctx, z, disk)
+					if err != nil {
+						printEndpointError(disk, err, false)
+						return
 					}
-					wg.Add(1)
-					go func(setIndex int, disks []StorageAPI) {
-						defer wg.Done()
-						for _, disk := range disks {
-							if serverDebugLog {
-								logger.Info("Healing disk '%v' on %s pool", disk, humanize.Ordinal(i+1))
-							}
-
-							// So someone changed the drives underneath, healing tracker missing.
-							tracker, err := loadHealingTracker(ctx, disk)
-							if err != nil {
-								logger.LogIf(ctx, fmt.Errorf("Healing tracker missing on '%s', disk was swapped again on %s pool: %w",
-									disk, humanize.Ordinal(i+1), err))
-								tracker = newHealingTracker(disk)
-							}
-
-							// Load bucket totals
-							cache := dataUsageCache{}
-							if err := cache.load(ctx, z.serverPools[i].sets[setIndex], dataUsageCacheName); err == nil {
-								dataUsageInfo := cache.dui(dataUsageRoot, nil)
-								tracker.ObjectsTotalCount = dataUsageInfo.ObjectsTotalCount
-								tracker.ObjectsTotalSize = dataUsageInfo.ObjectsTotalSize
-							}
-
-							tracker.PoolIndex, tracker.SetIndex, tracker.DiskIndex = disk.GetDiskLoc()
-							tracker.setQueuedBuckets(buckets)
-							if err := tracker.save(ctx); err != nil {
-								logger.LogIf(ctx, err)
-								// Unable to write healing tracker, permission denied or some
-								// other unexpected error occurred. Proceed to look for new
-								// disks to be healed again, we cannot proceed further.
-								return
-							}
-
-							err = z.serverPools[i].sets[setIndex].healErasureSet(ctx, tracker.QueuedBuckets, tracker)
-							if err != nil {
-								logger.LogIf(ctx, err)
-								continue
-							}
-
-							if serverDebugLog {
-								logger.Info("Healing disk '%s' on %s pool, %s set complete", disk,
-									humanize.Ordinal(i+1), humanize.Ordinal(setIndex+1))
-								logger.Info("Summary:\n")
-								tracker.printTo(os.Stdout)
-								logger.Info("\n")
-							}
-							logger.LogIf(ctx, tracker.delete(ctx))
-
-							// Only upon success pop the healed disk.
-							globalBackgroundHealState.popHealLocalDisks(disk.Endpoint())
-						}
-					}(setIndex, disks)
-				}
+					// Only upon success pop the healed disk.
+					globalBackgroundHealState.popHealLocalDisks(disk)
+				}(disk)
 			}
-			wg.Wait()
 
 			// Reset for next interval.
 			diskCheckTimer.Reset(defaultMonitorNewDiskInterval)
diff --git a/cmd/erasure-metadata-utils.go b/cmd/erasure-metadata-utils.go
index 47f7bb319..423ce19fc 100644
--- a/cmd/erasure-metadata-utils.go
+++ b/cmd/erasure-metadata-utils.go
@@ -151,6 +151,7 @@ func readAllFileInfo(ctx context.Context, disks []StorageAPI, bucket, object, ve
 			errVolumeNotFound,
 			errFileVersionNotFound,
 			errDiskNotFound,
+			errUnformattedDisk,
 		}...) {
 			logger.LogOnceIf(ctx, fmt.Errorf("Drive %s, path (%s/%s) returned an error (%w)",
 				disks[index], bucket, object, err),
diff --git a/cmd/global-heal.go b/cmd/global-heal.go
index 397b9af84..3da2f33cd 100644
--- a/cmd/global-heal.go
+++ b/cmd/global-heal.go
@@ -171,6 +171,16 @@ func (er *erasureObjects) healErasureSet(ctx context.Context, buckets []string,
 	healBuckets := make([]string, len(buckets))
 	copy(healBuckets, buckets)
 
+	// Heal all buckets first in this erasure set - this is useful
+	// for new objects upload in different buckets to be successful
+	for _, bucket := range healBuckets {
+		_, err := er.HealBucket(ctx, bucket, madmin.HealOpts{ScanMode: scanMode})
+		if err != nil {
+			// Log bucket healing error if any, we shall retry again.
+			logger.LogIf(ctx, err)
+		}
+	}
+
 	var retErr error
 	// Heal all buckets with all objects
 	for _, bucket := range healBuckets {
@@ -189,7 +199,8 @@ func (er *erasureObjects) healErasureSet(ctx context.Context, buckets []string,
 		}
 		tracker.Object = ""
 		tracker.Bucket = bucket
-		// Heal current bucket
+		// Heal current bucket again in case if it is failed
+		// in the  being of erasure set healing
 		if _, err := er.HealBucket(ctx, bucket, madmin.HealOpts{
 			ScanMode: scanMode,
 		}); err != nil {