diff --git a/changelogs/fragments/simple-result-queue.yml b/changelogs/fragments/simple-result-queue.yml
new file mode 100644
index 00000000000..300e1495cb3
--- /dev/null
+++ b/changelogs/fragments/simple-result-queue.yml
@@ -0,0 +1,3 @@
+bugfixes:
+- Switch result queue from a ``multiprocessing.queues.Queue` to ``multiprocessing.queues.SimpleQueue``, primarily to allow properly handling
+  pickling errors, to prevent an infinite hang waiting for task results
diff --git a/lib/ansible/executor/process/worker.py b/lib/ansible/executor/process/worker.py
index 43bd292cf57..c043137c95f 100644
--- a/lib/ansible/executor/process/worker.py
+++ b/lib/ansible/executor/process/worker.py
@@ -194,12 +194,27 @@ class WorkerProcess(multiprocessing_context.Process):  # type: ignore[name-defin
 
             # put the result on the result queue
             display.debug("sending task result for task %s" % self._task._uuid)
-            self._final_q.send_task_result(
-                self._host.name,
-                self._task._uuid,
-                executor_result,
-                task_fields=self._task.dump_attrs(),
-            )
+            try:
+                self._final_q.send_task_result(
+                    self._host.name,
+                    self._task._uuid,
+                    executor_result,
+                    task_fields=self._task.dump_attrs(),
+                )
+            except Exception as e:
+                display.debug(f'failed to send task result ({e}), sending surrogate result')
+                self._final_q.send_task_result(
+                    self._host.name,
+                    self._task._uuid,
+                    # Overriding the task result, to represent the failure
+                    {
+                        'failed': True,
+                        'msg': f'{e}',
+                        'exception': traceback.format_exc(),
+                    },
+                    # The failure pickling may have been caused by the task attrs, omit for safety
+                    {},
+                )
             display.debug("done sending task result for task %s" % self._task._uuid)
 
         except AnsibleConnectionFailure:
diff --git a/lib/ansible/executor/task_queue_manager.py b/lib/ansible/executor/task_queue_manager.py
index 9af431de3de..eb3fd351602 100644
--- a/lib/ansible/executor/task_queue_manager.py
+++ b/lib/ansible/executor/task_queue_manager.py
@@ -76,15 +76,14 @@ class PromptSend:
     complete_input: t.Iterable[bytes] = None
 
 
-class FinalQueue(multiprocessing.queues.Queue):
+class FinalQueue(multiprocessing.queues.SimpleQueue):
     def __init__(self, *args, **kwargs):
         kwargs['ctx'] = multiprocessing_context
-        super(FinalQueue, self).__init__(*args, **kwargs)
+        super().__init__(*args, **kwargs)
 
     def send_callback(self, method_name, *args, **kwargs):
         self.put(
             CallbackSend(method_name, *args, **kwargs),
-            block=False
         )
 
     def send_task_result(self, *args, **kwargs):
@@ -94,19 +93,16 @@ class FinalQueue(multiprocessing.queues.Queue):
             tr = TaskResult(*args, **kwargs)
         self.put(
             tr,
-            block=False
         )
 
     def send_display(self, *args, **kwargs):
         self.put(
             DisplaySend(*args, **kwargs),
-            block=False
         )
 
     def send_prompt(self, **kwargs):
         self.put(
             PromptSend(**kwargs),
-            block=False
         )
 
 
diff --git a/test/integration/targets/fork_safe_stdio/aliases b/test/integration/targets/fork_safe_stdio/aliases
index e968db7203b..7761837eaab 100644
--- a/test/integration/targets/fork_safe_stdio/aliases
+++ b/test/integration/targets/fork_safe_stdio/aliases
@@ -1,3 +1,3 @@
 shippable/posix/group3
 context/controller
-skip/macos
+needs/target/test_utils
diff --git a/test/integration/targets/fork_safe_stdio/runme.sh b/test/integration/targets/fork_safe_stdio/runme.sh
index 4438c3fe90d..863582f3f25 100755
--- a/test/integration/targets/fork_safe_stdio/runme.sh
+++ b/test/integration/targets/fork_safe_stdio/runme.sh
@@ -7,7 +7,7 @@ echo "testing for stdio deadlock on forked workers (10s timeout)..."
 # Enable a callback that trips deadlocks on forked-child stdout, time out after 10s; forces running
 # in a pty, since that tends to be much slower than raw file I/O and thus more likely to trigger the deadlock.
 # Redirect stdout to /dev/null since it's full of non-printable garbage we don't want to display unless it failed
-ANSIBLE_CALLBACKS_ENABLED=spewstdio SPEWSTDIO_ENABLED=1 python run-with-pty.py timeout 10s ansible-playbook -i hosts -f 5 test.yml > stdout.txt && RC=$? || RC=$?
+ANSIBLE_CALLBACKS_ENABLED=spewstdio SPEWSTDIO_ENABLED=1 python run-with-pty.py ../test_utils/scripts/timeout.py -- 10 ansible-playbook -i hosts -f 5 test.yml > stdout.txt && RC=$? || RC=$?
 
 if [ $RC != 0 ]; then
   echo "failed; likely stdout deadlock. dumping raw output (may be very large)"
diff --git a/test/integration/targets/result_pickle_error/action_plugins/result_pickle_error.py b/test/integration/targets/result_pickle_error/action_plugins/result_pickle_error.py
new file mode 100644
index 00000000000..e8d712a337b
--- /dev/null
+++ b/test/integration/targets/result_pickle_error/action_plugins/result_pickle_error.py
@@ -0,0 +1,15 @@
+# -*- coding: utf-8 -*-
+# Copyright: Contributors to the Ansible project
+# GNU General Public License v3.0+ (see COPYING or https://www.gnu.org/licenses/gpl-3.0.txt)
+
+from __future__ import (absolute_import, division, print_function)
+__metaclass__ = type
+
+from ansible.plugins.action import ActionBase
+from jinja2 import Undefined
+
+
+class ActionModule(ActionBase):
+
+    def run(self, tmp=None, task_vars=None):
+        return {'obj': Undefined('obj')}
diff --git a/test/integration/targets/result_pickle_error/aliases b/test/integration/targets/result_pickle_error/aliases
new file mode 100644
index 00000000000..70fbe57e9b1
--- /dev/null
+++ b/test/integration/targets/result_pickle_error/aliases
@@ -0,0 +1,3 @@
+shippable/posix/group5
+context/controller
+needs/target/test_utils
diff --git a/test/integration/targets/result_pickle_error/runme.sh b/test/integration/targets/result_pickle_error/runme.sh
new file mode 100755
index 00000000000..e2ec37b8956
--- /dev/null
+++ b/test/integration/targets/result_pickle_error/runme.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+
+set -ux
+export ANSIBLE_ROLES_PATH=../
+
+is_timeout() {
+    rv=$?
+    if [ "$rv" == "124" ]; then
+        echo "***hang detected, this likely means the strategy never received a result for the task***"
+    fi
+    exit $rv
+}
+
+trap "is_timeout" EXIT
+
+../test_utils/scripts/timeout.py -- 10 ansible-playbook -i ../../inventory runme.yml -v "$@"
diff --git a/test/integration/targets/result_pickle_error/runme.yml b/test/integration/targets/result_pickle_error/runme.yml
new file mode 100644
index 00000000000..605084985f4
--- /dev/null
+++ b/test/integration/targets/result_pickle_error/runme.yml
@@ -0,0 +1,7 @@
+- hosts: all
+  gather_facts: false
+  tasks:
+    - include_role:
+        name: result_pickle_error
+      # Just for caution loop 3 times to ensure no issues
+      loop: '{{ range(3) }}'
diff --git a/test/integration/targets/result_pickle_error/tasks/main.yml b/test/integration/targets/result_pickle_error/tasks/main.yml
new file mode 100644
index 00000000000..895475dd09a
--- /dev/null
+++ b/test/integration/targets/result_pickle_error/tasks/main.yml
@@ -0,0 +1,14 @@
+- name: Ensure pickling error doesn't cause a hang
+  result_pickle_error:
+  ignore_errors: true
+  register: result
+
+- assert:
+    that:
+      - result.msg == expected_msg
+      - result is failed
+  vars:
+    expected_msg: "cannot pickle 'Undefined' object"
+
+- debug:
+    msg: Success, no hang
diff --git a/test/integration/targets/test_utils/aliases b/test/integration/targets/test_utils/aliases
new file mode 100644
index 00000000000..136c05e0d02
--- /dev/null
+++ b/test/integration/targets/test_utils/aliases
@@ -0,0 +1 @@
+hidden
diff --git a/test/integration/targets/test_utils/scripts/timeout.py b/test/integration/targets/test_utils/scripts/timeout.py
new file mode 100755
index 00000000000..f88f3e4e15c
--- /dev/null
+++ b/test/integration/targets/test_utils/scripts/timeout.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+
+import argparse
+import subprocess
+import sys
+
+parser = argparse.ArgumentParser()
+parser.add_argument('duration', type=int)
+parser.add_argument('command', nargs='+')
+args = parser.parse_args()
+
+try:
+    p = subprocess.run(
+        ' '.join(args.command),
+        shell=True,
+        timeout=args.duration,
+        check=False,
+    )
+    sys.exit(p.returncode)
+except subprocess.TimeoutExpired:
+    sys.exit(124)