Zookeeper connection timeout even after Solr trying to connect. Connection establishes after restarting the Solr service

Zookeeper connection timeout is experienced, with all 3 zookeeper. Apache Solr is removed from the live nodes once the connection timesout and connection re-establishes after restarting the Solr service. Same issue observed with different node where almost everyday a Solr node faces this connection timeout.

Solr version - 8.6.0

2023-05-03 09:28:19.743 WARN  (zkConnectionManagerCallback-15-thread-1-SendThread(<IPaddress>:2181)) [   ] o.a.z.ClientCnxn Client session timed out, have not heard from server in 20208ms for sessionid 0x10029c51d7d001d
2023-05-03 09:28:36.024 INFO  (qtp1164365897-2242) [   ] o.a.s.s.HttpSolrCall [admin] webapp=null path=/admin/cores params={action=STATUS&indexInfo=false&wt=json&version=2.2} status=0 QTime=0
2023-05-03 09:28:40.673 WARN  (zkConnectionManagerCallback-15-thread-1-SendThread(<IPaddress>:2181)) [   ] o.a.z.ClientCnxn Client session timed out, have not heard from server in 20830ms for sessionid 0x10029c51d7d001d
2023-05-03 09:29:02.355 WARN  (zkConnectionManagerCallback-15-thread-1-SendThread(<IPaddress>:2181)) [   ] o.a.z.ClientCnxn Client session timed out, have not heard from server in 21581ms for sessionid 0x10029c51d7d001d
2023-05-03 09:29:02.455 ERROR (OverseerCollectionConfigSetProcessor-72103520617955357-10.10.107.103:8983_solr-n_0000000525) [   ] o.a.s.c.OverseerTaskProcessor  => org.apache.zookeeper.KeeperException$ConnectionLossException: KeeperErrorCode = ConnectionLoss for /overseer_elect/leader
        at org.apache.zookeeper.KeeperException.create(KeeperException.java:102)
org.apache.zookeeper.KeeperException$ConnectionLossException: KeeperErrorCode = ConnectionLoss for /overseer_elect/leader