diff --git a/nomad/autopilot.go b/nomad/autopilot.go
index a74e3455826..1a54387c753 100644
--- a/nomad/autopilot.go
+++ b/nomad/autopilot.go
@@ -6,7 +6,6 @@ package nomad
 import (
 	"context"
 	"fmt"
-	"strconv"
 
 	metrics "github.com/hashicorp/go-metrics/compat"
 	"github.com/hashicorp/nomad/helper"
@@ -101,7 +100,7 @@ func (d *AutopilotDelegate) RemoveFailedServer(failedSrv *autopilot.Server) {
 // MinRaftProtocol returns the lowest supported Raft protocol among alive
 // servers
 func (s *Server) MinRaftProtocol() (int, error) {
-	return minRaftProtocol(s.serf.Members(), peers.IsNomadServer)
+	return minRaftProtocol(s.peersCache.RegionPeers(s.Region()))
 }
 
 // GetClusterHealth is used to get the current health of the servers, as known
@@ -172,32 +171,15 @@ func stringIDs(ids []raft.ServerID) []string {
 	return helper.ConvertSlice(ids, func(id raft.ServerID) string { return string(id) })
 }
 
-func minRaftProtocol(members []serf.Member, serverFunc func(serf.Member) (bool, *peers.Parts)) (int, error) {
+func minRaftProtocol(members []*peers.Parts) (int, error) {
 	minVersion := -1
 	for _, m := range members {
 		if m.Status != serf.StatusAlive {
 			continue
 		}
 
-		ok, server := serverFunc(m)
-		if !ok {
-			return -1, fmt.Errorf("not a Nomad server")
-		}
-		if server == nil {
-			continue
-		}
-
-		vsn, ok := m.Tags["raft_vsn"]
-		if !ok {
-			vsn = "1"
-		}
-		raftVsn, err := strconv.Atoi(vsn)
-		if err != nil {
-			return -1, err
-		}
-
-		if minVersion == -1 || raftVsn < minVersion {
-			minVersion = raftVsn
+		if minVersion == -1 || m.RaftVersion < minVersion {
+			minVersion = m.RaftVersion
 		}
 	}
 
@@ -209,37 +191,22 @@ func minRaftProtocol(members []serf.Member, serverFunc func(serf.Member) (bool,
 }
 
 func (s *Server) autopilotServers() map[raft.ServerID]*autopilot.Server {
-	servers := make(map[raft.ServerID]*autopilot.Server)
 
-	for _, member := range s.serf.Members() {
-		srv, err := s.autopilotServer(member)
-		if err != nil {
-			s.logger.Warn("Error parsing server info", "name", member.Name, "error", err)
-			continue
-		} else if srv == nil {
-			// this member was a client or in another region
-			continue
-		}
-
-		servers[srv.ID] = srv
-	}
+	// Get a list of the regional peers for our local region. We cannot use the
+	// LocalPeers function, as we need peers in all states.
+	localPeers := s.peersCache.RegionPeers(s.Region())
 
-	return servers
-}
+	servers := make(map[raft.ServerID]*autopilot.Server, len(localPeers))
 
-func (s *Server) autopilotServer(m serf.Member) (*autopilot.Server, error) {
-	ok, srv := peers.IsNomadServer(m)
-	if !ok {
-		return nil, nil
-	}
-	if srv.Region != s.Region() {
-		return nil, nil
+	for _, srv := range localPeers {
+		autopilotServer := s.autopilotServerFromMetadata(srv)
+		servers[autopilotServer.ID] = autopilotServer
 	}
 
-	return s.autopilotServerFromMetadata(srv)
+	return servers
 }
 
-func (s *Server) autopilotServerFromMetadata(srv *peers.Parts) (*autopilot.Server, error) {
+func (s *Server) autopilotServerFromMetadata(srv *peers.Parts) *autopilot.Server {
 	server := &autopilot.Server{
 		Name:        srv.Name,
 		ID:          raft.ServerID(srv.ID),
@@ -247,6 +214,7 @@ func (s *Server) autopilotServerFromMetadata(srv *peers.Parts) (*autopilot.Serve
 		Version:     srv.Build.String(),
 		RaftVersion: srv.RaftVersion,
 		Ext:         s.autopilotServerExt(srv),
+		Meta:        srv.Tags,
 	}
 
 	switch srv.Status {
@@ -262,13 +230,5 @@ func (s *Server) autopilotServerFromMetadata(srv *peers.Parts) (*autopilot.Serve
 		server.NodeStatus = autopilot.NodeUnknown
 	}
 
-	members := s.serf.Members()
-	for _, member := range members {
-		if member.Name == srv.Name {
-			server.Meta = member.Tags
-			break
-		}
-	}
-
-	return server, nil
+	return server
 }
diff --git a/nomad/peers/peers.go b/nomad/peers/peers.go
index 50e44857bc6..0675fb3b055 100644
--- a/nomad/peers/peers.go
+++ b/nomad/peers/peers.go
@@ -44,6 +44,11 @@ type Parts struct {
 	Status      serf.MemberStatus
 	NonVoter    bool
 
+	// Tags are the full Serf tags for the member. This duplicates some of the
+	// data which is also stored in other fields for convenience, so adds a
+	// little size overhead. It is included as Autopilot uses them.
+	Tags map[string]string
+
 	// Deprecated: Functionally unused but needs to always be set by 1 for
 	// compatibility with v1.2.x and earlier.
 	MajorVersion int
@@ -133,6 +138,7 @@ func IsNomadServer(m serf.Member) (bool, *Parts) {
 		RaftVersion:  raftVsn,
 		Status:       m.Status,
 		NonVoter:     nonVoter,
+		Tags:         m.Tags,
 		MajorVersion: deprecatedAPIMajorVersion,
 	}
 	return true, parts
diff --git a/nomad/peers/peers_test.go b/nomad/peers/peers_test.go
index dde40c05084..acb54dfbb83 100644
--- a/nomad/peers/peers_test.go
+++ b/nomad/peers/peers_test.go
@@ -94,6 +94,7 @@ func TestIsNomadServer(t *testing.T) {
 	must.Eq(t, 7, parts.Build.Segments()[1])
 	must.Eq(t, 0, parts.Build.Segments()[2])
 	must.True(t, parts.NonVoter)
+	must.MapEq(t, m.Tags, parts.Tags)
 
 	m.Tags["bootstrap"] = "1"
 	valid, parts = IsNomadServer(m)