diff --git a/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala b/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala
index 08ebf8b10fefc..64eeca64d827c 100644
--- a/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala
+++ b/sql/core/src/test/scala/org/apache/spark/sql/DatasetSuite.scala
@@ -18,19 +18,24 @@
 package org.apache.spark.sql
 
 import java.io.{Externalizable, ObjectInput, ObjectOutput}
+import java.net.{InetAddress, Socket}
 import java.sql.{Date, Timestamp}
 
-import org.apache.spark.SparkException
+import scala.io.Source
+
+import org.apache.spark.{SparkConf, SparkException}
+import org.apache.spark.security.SocketAuthHelper
 import org.apache.spark.sql.catalyst.encoders.{OuterScopes, RowEncoder}
 import org.apache.spark.sql.catalyst.plans.{LeftAnti, LeftSemi}
 import org.apache.spark.sql.catalyst.util.sideBySide
-import org.apache.spark.sql.execution.{LogicalRDD, RDDScanExec}
+import org.apache.spark.sql.execution.{LogicalRDD, QueryExecution, RDDScanExec}
 import org.apache.spark.sql.execution.exchange.{BroadcastExchangeExec, ShuffleExchangeExec}
 import org.apache.spark.sql.execution.streaming.MemoryStream
 import org.apache.spark.sql.functions._
 import org.apache.spark.sql.internal.SQLConf
 import org.apache.spark.sql.test.SharedSQLContext
 import org.apache.spark.sql.types._
+import org.apache.spark.sql.util.QueryExecutionListener
 
 case class TestDataPoint(x: Int, y: Double, s: String, t: TestDataPoint2)
 case class TestDataPoint2(x: Int, s: String)
@@ -1586,6 +1591,30 @@ class DatasetSuite extends QueryTest with SharedSQLContext {
       }
     }
   }
+
+  test("SPARK-34726: Fix collectToPython timeouts") {
+    val listener = new QueryExecutionListener {
+      override def onFailure(funcName: String, qe: QueryExecution, exception: Exception): Unit = {}
+
+      override def onSuccess(funcName: String, qe: QueryExecution, duration: Long): Unit = {
+        // Longer than 15s in `PythonServer.setupOneConnectionServer`
+        Thread.sleep(20 * 1000)
+      }
+    }
+    spark.listenerManager.register(listener)
+
+    val Array(port: Int, secretToPython: String) = spark.range(5).toDF().collectToPython()
+
+    // Mimic Python side
+    val socket = new Socket(InetAddress.getByAddress(Array(127, 0, 0, 1)), port)
+    val authHelper = new SocketAuthHelper(new SparkConf()) {
+      override val secret: String = secretToPython
+    }
+    authHelper.authToServer(socket)
+    Source.fromInputStream(socket.getInputStream)
+
+    spark.listenerManager.unregister(listener)
+  }
 }
 
 case class TestDataUnion(x: Int, y: Int, z: Int)