diff --git a/sanic/worker/manager.py b/sanic/worker/manager.py
index ad77a138..bba4ecaf 100644
--- a/sanic/worker/manager.py
+++ b/sanic/worker/manager.py
@@ -18,6 +18,7 @@ else:
 
 class WorkerManager:
     THRESHOLD = 300  # == 30 seconds
+    MAIN_IDENT = "Sanic-Main"
 
     def __init__(
         self,
@@ -34,7 +35,7 @@ class WorkerManager:
         self.durable: List[Worker] = []
         self.monitor_publisher, self.monitor_subscriber = monitor_pubsub
         self.worker_state = worker_state
-        self.worker_state["Sanic-Main"] = {"pid": self.pid}
+        self.worker_state[self.MAIN_IDENT] = {"pid": self.pid}
         self.terminated = False
 
         if number == 0:
@@ -122,11 +123,18 @@ class WorkerManager:
                         process_names=process_names,
                         reloaded_files=reloaded_files,
                     )
+                self._sync_states()
             except InterruptedError:
                 if not OS_IS_WINDOWS:
                     raise
                 break
 
+    def _sync_states(self):
+        for process in self.processes:
+            state = self.worker_state[process.name]["state"]
+            if process.state.name != state:
+                process.set_state(ProcessState[state], True)
+
     def wait_for_ack(self):  # no cov
         misses = 0
         message = (
diff --git a/sanic/worker/process.py b/sanic/worker/process.py
index e6a4d484..d19e3cd4 100644
--- a/sanic/worker/process.py
+++ b/sanic/worker/process.py
@@ -4,6 +4,7 @@ from datetime import datetime, timezone
 from enum import IntEnum, auto
 from multiprocessing.context import BaseContext
 from signal import SIGINT
+from threading import Thread
 from typing import Any, Dict, Set
 
 from sanic.log import Colors, logger
@@ -16,6 +17,8 @@ def get_now():
 
 class ProcessState(IntEnum):
     IDLE = auto()
+    RESTARTING = auto()
+    STARTING = auto()
     STARTED = auto()
     ACKED = auto()
     JOINED = auto()
@@ -54,8 +57,9 @@ class WorkerProcess:
             f"{Colors.SANIC}%s{Colors.END}",
             self.name,
         )
+        self.set_state(ProcessState.STARTING)
+        self._current_process.start()
         self.set_state(ProcessState.STARTED)
-        self._process.start()
         if not self.worker_state[self.name].get("starts"):
             self.worker_state[self.name] = {
                 **self.worker_state[self.name],
@@ -67,7 +71,7 @@ class WorkerProcess:
 
     def join(self):
         self.set_state(ProcessState.JOINED)
-        self._process.join()
+        self._current_process.join()
 
     def terminate(self):
         if self.state is not ProcessState.TERMINATED:
@@ -80,7 +84,6 @@ class WorkerProcess:
             )
             self.set_state(ProcessState.TERMINATED, force=True)
             try:
-                # self._process.terminate()
                 os.kill(self.pid, SIGINT)
                 del self.worker_state[self.name]
             except (KeyError, AttributeError, ProcessLookupError):
@@ -93,8 +96,8 @@ class WorkerProcess:
             self.name,
             self.pid,
         )
-        self._process.terminate()
-        self.set_state(ProcessState.IDLE, force=True)
+        self._old_process = self._current_process
+        self.set_state(ProcessState.RESTARTING, force=True)
         self.kwargs.update(
             {"config": {k.upper(): v for k, v in kwargs.items()}}
         )
@@ -104,6 +107,9 @@ class WorkerProcess:
         except AttributeError:
             raise RuntimeError("Restart failed")
 
+        termination_thread = Thread(target=self.wait_to_terminate)
+        termination_thread.start()
+
         self.worker_state[self.name] = {
             **self.worker_state[self.name],
             "pid": self.pid,
@@ -111,16 +117,31 @@ class WorkerProcess:
             "restart_at": get_now(),
         }
 
+    def wait_to_terminate(self):
+        # TODO: Add a timeout
+        while self.state is not ProcessState.ACKED:
+            ...
+        else:
+            logger.debug(
+                f"{Colors.BLUE}Process acked. Terminating: "
+                f"{Colors.BOLD}{Colors.SANIC}"
+                f"%s {Colors.BLUE}[%s]{Colors.END}",
+                self.name,
+                self._old_process.pid,
+            )
+            self._old_process.terminate()
+        delattr(self, "_old_process")
+
     def is_alive(self):
         try:
-            return self._process.is_alive()
+            return self._current_process.is_alive()
         except AssertionError:
             return False
 
     def spawn(self):
-        if self.state is not ProcessState.IDLE:
+        if self.state not in (ProcessState.IDLE, ProcessState.RESTARTING):
             raise Exception("Cannot spawn a worker process until it is idle.")
-        self._process = self.factory(
+        self._current_process = self.factory(
             name=self.name,
             target=self.target,
             kwargs=self.kwargs,
@@ -129,10 +150,12 @@ class WorkerProcess:
 
     @property
     def pid(self):
-        return self._process.pid
+        return self._current_process.pid
 
 
 class Worker:
+    WORKER_PREFIX = "SANIC-"
+
     def __init__(
         self,
         ident: str,
@@ -141,7 +164,7 @@ class Worker:
         context: BaseContext,
         worker_state: Dict[str, Any],
     ):
-        self.ident = ident
+        self.ident = f"{self.WORKER_PREFIX}{ident}"
         self.context = context
         self.serve = serve
         self.server_settings = server_settings
@@ -152,7 +175,7 @@ class Worker:
     def create_process(self) -> WorkerProcess:
         process = WorkerProcess(
             factory=self.context.Process,
-            name=f"Sanic-{self.ident}-{len(self.processes)}",
+            name=f"{self.ident}-{len(self.processes)}",
             target=self.serve,
             kwargs={**self.server_settings},
             worker_state=self.worker_state,