diff --git a/ironic/drivers/modules/agent_base.py b/ironic/drivers/modules/agent_base.py
index 5fb8b0c1b6..f1a95912af 100644
--- a/ironic/drivers/modules/agent_base.py
+++ b/ironic/drivers/modules/agent_base.py
@@ -98,11 +98,9 @@ _HEARTBEAT_ALLOWED = (states.DEPLOYWAIT, states.CLEANWAIT, states.RESCUEWAIT,
                       states.SERVICEWAIT, states.SERVICEHOLD)
 HEARTBEAT_ALLOWED = frozenset(_HEARTBEAT_ALLOWED)
 
-_FASTTRACK_HEARTBEAT_ALLOWED = (states.DEPLOYWAIT, states.CLEANWAIT,
-                                states.RESCUEWAIT, states.ENROLL,
-                                states.MANAGEABLE, states.AVAILABLE,
-                                states.DEPLOYING, states.CLEANHOLD,
-                                states.DEPLOYHOLD, states.SERVICEHOLD)
+_FASTTRACK_HEARTBEAT_ALLOWED = _HEARTBEAT_ALLOWED + (states.MANAGEABLE,
+                                                     states.AVAILABLE,
+                                                     states.ENROLL)
 FASTTRACK_HEARTBEAT_ALLOWED = frozenset(_FASTTRACK_HEARTBEAT_ALLOWED)
 
 
diff --git a/releasenotes/notes/add-servicing-to-heartbeat-fasttrack-85863df34ece6401.yaml b/releasenotes/notes/add-servicing-to-heartbeat-fasttrack-85863df34ece6401.yaml
new file mode 100644
index 0000000000..6f74b96bd6
--- /dev/null
+++ b/releasenotes/notes/add-servicing-to-heartbeat-fasttrack-85863df34ece6401.yaml
@@ -0,0 +1,6 @@
+---
+fixes:
+  - |
+    Fixes the issue of service steps not starting due to servicing states
+    (states.SERVICING and states.SERVICEWAIT) missing from
+    _FASTTRACK_HEARTBEAT_ALLOWED constant.