chickenchickenlove opened a new pull request, #23712:
URL: https://github.com/apache/kafka/pull/23712

   `StreamsMembershipManager.isLeavingGroup()` returned `false` for dynamic 
members closing with `REMAIN_IN_GROUP`, even while they were in `LEAVING`. If 
the poll timer had expired, the heartbeat manager initiated another leave 
operation, triggering an invalid `LEAVING → PREPARE_LEAVING` transition and 
leaving the close future incomplete.
   
   This change makes `isLeavingGroup()` reflect the membership state 
independently of the leave heartbeat policy. Regression tests verify that 
closing completes without a leave heartbeat after poll timeout and that regular 
heartbeats remain possible during `PREPARE_LEAVING`.


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