diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9eafd98da196..3ea873eb3244 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -39,6 +39,7 @@ Ref: https://keepachangelog.com/en/1.0.0/
 
 ### Features
 
+* [\#10997](https://github.com/cosmos/cosmos-sdk/pull/10997) Use gRPC for queries if `clientCtx.WithClientConn` is set.
 * [\#10710](https://github.com/cosmos/cosmos-sdk/pull/10710) Chain-id shouldn't be required for creating a transaction with both --generate-only and --offline flags.
 * [\#10703](https://github.com/cosmos/cosmos-sdk/pull/10703) Create a new grantee account, if the grantee of an authorization does not exist.
 * [\#10592](https://github.com/cosmos/cosmos-sdk/pull/10592) Add a `DecApproxEq` function that checks to see if `|d1 - d2| < tol` for some Dec `d1, d2, tol`.
@@ -60,6 +61,7 @@ Ref: https://keepachangelog.com/en/1.0.0/
 
 ### API Breaking Changes
 
+* [\#10997](https://github.com/cosmos/cosmos-sdk/pull/10997) Add `ctx` parameter to `ReadPersistentCommandFlags`
 * [\#10950](https://github.com/cosmos/cosmos-sdk/pull/10950) Add `envPrefix` parameter to `cmd.Execute`.
 * (x/mint) [\#10441](https://github.com/cosmos/cosmos-sdk/pull/10441) The `NewAppModule` function now accepts an inflation calculation function as an argument.
 * [\#10295](https://github.com/cosmos/cosmos-sdk/pull/10295) Remove store type aliases from /types
diff --git a/client/cmd.go b/client/cmd.go
index f1bf8d52084c..18dadd52188c 100644
--- a/client/cmd.go
+++ b/client/cmd.go
@@ -1,6 +1,7 @@
 package client
 
 import (
+	"context"
 	"fmt"
 	"strings"
 
@@ -8,6 +9,8 @@ import (
 	"github.com/spf13/cobra"
 	"github.com/spf13/pflag"
 	"github.com/tendermint/tendermint/libs/cli"
+	"google.golang.org/grpc"
+	"google.golang.org/grpc/keepalive"
 
 	"github.com/cosmos/cosmos-sdk/client/flags"
 	"github.com/cosmos/cosmos-sdk/crypto/keyring"
@@ -21,7 +24,7 @@ const ClientContextKey = sdk.ContextKey("client.context")
 // SetCmdClientContextHandler is to be used in a command pre-hook execution to
 // read flags that populate a Context and sets that to the command's Context.
 func SetCmdClientContextHandler(clientCtx Context, cmd *cobra.Command) (err error) {
-	clientCtx, err = ReadPersistentCommandFlags(clientCtx, cmd.Flags())
+	clientCtx, err = ReadPersistentCommandFlags(cmd.Context(), clientCtx, cmd.Flags())
 	if err != nil {
 		return err
 	}
@@ -87,7 +90,7 @@ func ValidateCmd(cmd *cobra.Command, args []string) error {
 // - client.Context field not pre-populated & flag set: uses set flag value
 // - client.Context field pre-populated & flag not set: uses pre-populated value
 // - client.Context field pre-populated & flag set: uses set flag value
-func ReadPersistentCommandFlags(clientCtx Context, flagSet *pflag.FlagSet) (Context, error) {
+func ReadPersistentCommandFlags(ctx context.Context, clientCtx Context, flagSet *pflag.FlagSet) (Context, error) {
 	if clientCtx.OutputFormat == "" || flagSet.Changed(cli.OutputFlag) {
 		output, _ := flagSet.GetString(cli.OutputFlag)
 		clientCtx = clientCtx.WithOutputFormat(output)
@@ -133,8 +136,8 @@ func ReadPersistentCommandFlags(clientCtx Context, flagSet *pflag.FlagSet) (Cont
 		}
 	}
 
+	rpcURI, _ := flagSet.GetString(flags.FlagNode)
 	if clientCtx.Client == nil || flagSet.Changed(flags.FlagNode) {
-		rpcURI, _ := flagSet.GetString(flags.FlagNode)
 		if rpcURI != "" {
 			clientCtx = clientCtx.WithNodeURI(rpcURI)
 
@@ -147,6 +150,23 @@ func ReadPersistentCommandFlags(clientCtx Context, flagSet *pflag.FlagSet) (Cont
 		}
 	}
 
+	if clientCtx.ClientConn == nil || flagSet.Changed(flags.FlagGRPCNode) {
+		grpcURI, _ := flagSet.GetString(flags.FlagGRPCNode)
+
+		if grpcURI != "" {
+			grpcKeepAlive, _ := flagSet.GetDuration(flags.FlagGRPCKeepAlive)
+			gcl, err := grpc.DialContext(ctx, grpcURI,
+				grpc.WithInsecure(),
+				grpc.WithKeepaliveParams(keepalive.ClientParameters{
+					Time: grpcKeepAlive,
+				}),
+			)
+			if err == nil {
+				clientCtx = clientCtx.WithClientConn(gcl)
+			}
+		}
+	}
+
 	return clientCtx, nil
 }
 
@@ -160,7 +180,7 @@ func ReadPersistentCommandFlags(clientCtx Context, flagSet *pflag.FlagSet) (Cont
 // - client.Context field not pre-populated & flag set: uses set flag value
 // - client.Context field pre-populated & flag not set: uses pre-populated value
 // - client.Context field pre-populated & flag set: uses set flag value
-func readQueryCommandFlags(clientCtx Context, flagSet *pflag.FlagSet) (Context, error) {
+func readQueryCommandFlags(ctx context.Context, clientCtx Context, flagSet *pflag.FlagSet) (Context, error) {
 	if clientCtx.Height == 0 || flagSet.Changed(flags.FlagHeight) {
 		height, _ := flagSet.GetInt64(flags.FlagHeight)
 		clientCtx = clientCtx.WithHeight(height)
@@ -171,7 +191,7 @@ func readQueryCommandFlags(clientCtx Context, flagSet *pflag.FlagSet) (Context,
 		clientCtx = clientCtx.WithUseLedger(useLedger)
 	}
 
-	return ReadPersistentCommandFlags(clientCtx, flagSet)
+	return ReadPersistentCommandFlags(ctx, clientCtx, flagSet)
 }
 
 // readTxCommandFlags returns an updated Context with fields set based on flags
@@ -184,8 +204,8 @@ func readQueryCommandFlags(clientCtx Context, flagSet *pflag.FlagSet) (Context,
 // - client.Context field not pre-populated & flag set: uses set flag value
 // - client.Context field pre-populated & flag not set: uses pre-populated value
 // - client.Context field pre-populated & flag set: uses set flag value
-func readTxCommandFlags(clientCtx Context, flagSet *pflag.FlagSet) (Context, error) {
-	clientCtx, err := ReadPersistentCommandFlags(clientCtx, flagSet)
+func readTxCommandFlags(ctx context.Context, clientCtx Context, flagSet *pflag.FlagSet) (Context, error) {
+	clientCtx, err := ReadPersistentCommandFlags(ctx, clientCtx, flagSet)
 	if err != nil {
 		return clientCtx, err
 	}
@@ -294,7 +314,7 @@ func readTxCommandFlags(clientCtx Context, flagSet *pflag.FlagSet) (Context, err
 // - client.Context field pre-populated & flag set: uses set flag value
 func GetClientQueryContext(cmd *cobra.Command) (Context, error) {
 	ctx := GetClientContextFromCmd(cmd)
-	return readQueryCommandFlags(ctx, cmd.Flags())
+	return readQueryCommandFlags(cmd.Context(), ctx, cmd.Flags())
 }
 
 // GetClientTxContext returns a Context from a command with fields set based on flags
@@ -306,7 +326,7 @@ func GetClientQueryContext(cmd *cobra.Command) (Context, error) {
 // - client.Context field pre-populated & flag set: uses set flag value
 func GetClientTxContext(cmd *cobra.Command) (Context, error) {
 	ctx := GetClientContextFromCmd(cmd)
-	return readTxCommandFlags(ctx, cmd.Flags())
+	return readTxCommandFlags(cmd.Context(), ctx, cmd.Flags())
 }
 
 // GetClientContextFromCmd returns a Context from a command or an empty Context
diff --git a/client/config/config_test.go b/client/config/config_test.go
index a7a7232cb8f7..02a55a88b315 100644
--- a/client/config/config_test.go
+++ b/client/config/config_test.go
@@ -12,7 +12,9 @@ import (
 	"github.com/cosmos/cosmos-sdk/client"
 	"github.com/cosmos/cosmos-sdk/client/config"
 	"github.com/cosmos/cosmos-sdk/client/flags"
+	"github.com/cosmos/cosmos-sdk/codec"
 	clitestutil "github.com/cosmos/cosmos-sdk/testutil/cli"
+	"github.com/cosmos/cosmos-sdk/testutil/testdata"
 	"github.com/cosmos/cosmos-sdk/x/staking/client/cli"
 )
 
@@ -25,9 +27,12 @@ const (
 // initClientContext initiates client Context for tests
 func initClientContext(t *testing.T, envVar string) (client.Context, func()) {
 	home := t.TempDir()
+	registry := testdata.NewTestInterfaceRegistry()
+
 	clientCtx := client.Context{}.
 		WithHomeDir(home).
-		WithViper("")
+		WithViper("").
+		WithCodec(codec.NewProtoCodec(registry))
 
 	clientCtx.Viper.BindEnv(nodeEnv)
 	if envVar != "" {
@@ -53,7 +58,7 @@ func TestConfigCmd(t *testing.T) {
 	_, err := clitestutil.ExecTestCLICmd(clientCtx, cmd, args)
 	require.NoError(t, err)
 
-	//./build/simd config node //http://localhost:1
+	// ./build/simd config node //http://localhost:1
 	b := bytes.NewBufferString("")
 	cmd.SetOut(b)
 	cmd.SetArgs([]string{"node"})
@@ -68,6 +73,8 @@ func TestConfigCmdEnvFlag(t *testing.T) {
 		defaultNode = "http://localhost:26657"
 	)
 
+	nogrpc := fmt.Sprintf("--%s=", flags.FlagGRPCNode)
+
 	tt := []struct {
 		name    string
 		envVar  string
@@ -75,9 +82,9 @@ func TestConfigCmdEnvFlag(t *testing.T) {
 		expNode string
 	}{
 		{"env var is set with no flag", testNode1, []string{"validators"}, testNode1},
-		{"env var is set with a flag", testNode1, []string{"validators", fmt.Sprintf("--%s=%s", flags.FlagNode, testNode2)}, testNode2},
-		{"env var is not set with no flag", "", []string{"validators"}, defaultNode},
-		{"env var is not set with a flag", "", []string{"validators", fmt.Sprintf("--%s=%s", flags.FlagNode, testNode2)}, testNode2},
+		{"env var is set with a flag", testNode1, []string{"validators", nogrpc, fmt.Sprintf("--%s=%s", flags.FlagNode, testNode2)}, testNode2},
+		{"env var is not set with no flag", "", []string{"validators", nogrpc}, defaultNode},
+		{"env var is not set with a flag", "", []string{"validators", nogrpc, fmt.Sprintf("--%s=%s", flags.FlagNode, testNode2)}, testNode2},
 	}
 
 	for _, tc := range tt {
diff --git a/client/context.go b/client/context.go
index 0357c25d68f4..5035eed10a19 100644
--- a/client/context.go
+++ b/client/context.go
@@ -6,6 +6,7 @@ import (
 	"os"
 
 	"github.com/spf13/viper"
+	"google.golang.org/grpc"
 
 	"sigs.k8s.io/yaml"
 
@@ -49,9 +50,10 @@ type Context struct {
 	FeePayer          sdk.AccAddress
 	FeeGranter        sdk.AccAddress
 	Viper             *viper.Viper
-	
+	ClientConn        grpc.ClientConnInterface
+
 	// IsAux is true when the signer is an auxiliary signer (e.g. the tipper).
-	IsAux             bool
+	IsAux bool
 
 	// TODO: Deprecated (remove).
 	LegacyAmino *codec.LegacyAmino
@@ -128,6 +130,14 @@ func (ctx Context) WithClient(client rpcclient.Client) Context {
 	return ctx
 }
 
+// WithClientConn returns a copy of the context with an updated gRPC client
+// instance. This is optional, if not set, then the client.Context will default
+// to using Tendermint's RPC `abci_query` for making queries.
+func (ctx Context) WithClientConn(rpc grpc.ClientConnInterface) Context {
+	ctx.ClientConn = rpc
+	return ctx
+}
+
 // WithUseLedger returns a copy of the context with an updated UseLedger flag.
 func (ctx Context) WithUseLedger(useLedger bool) Context {
 	ctx.UseLedger = useLedger
diff --git a/client/flags/flags.go b/client/flags/flags.go
index a76559074861..b8b320611c9e 100644
--- a/client/flags/flags.go
+++ b/client/flags/flags.go
@@ -3,6 +3,7 @@ package flags
 import (
 	"fmt"
 	"strconv"
+	"time"
 
 	"github.com/spf13/cobra"
 	tmcli "github.com/tendermint/tendermint/libs/cli"
@@ -46,6 +47,8 @@ const (
 	FlagUseLedger        = "ledger"
 	FlagChainID          = "chain-id"
 	FlagNode             = "node"
+	FlagGRPCNode         = "grpc-node"
+	FlagGRPCKeepAlive    = "grpc-keepalive"
 	FlagHeight           = "height"
 	FlagGasAdjustment    = "gas-adjustment"
 	FlagFrom             = "from"
@@ -91,6 +94,8 @@ var LineBreak = &cobra.Command{Run: func(*cobra.Command, []string) {}}
 // AddQueryFlagsToCmd adds common flags to a module query command.
 func AddQueryFlagsToCmd(cmd *cobra.Command) {
 	cmd.Flags().String(FlagNode, "tcp://localhost:26657", "<host>:<port> to Tendermint RPC interface for this chain")
+	cmd.Flags().String(FlagGRPCNode, "", "<host>:<port> to GRPC interface for this chain")
+	cmd.Flags().Duration(FlagGRPCKeepAlive, 20*time.Second, "set GRPC keepalive. defaults to 20s")
 	cmd.Flags().Int64(FlagHeight, 0, "Use a specific height to query state at (this can error if the node is pruning state)")
 	cmd.Flags().StringP(tmcli.OutputFlag, "o", "text", "Output format (text|json)")
 
@@ -108,6 +113,8 @@ func AddTxFlagsToCmd(cmd *cobra.Command) {
 	cmd.Flags().String(FlagFees, "", "Fees to pay along with transaction; eg: 10uatom")
 	cmd.Flags().String(FlagGasPrices, "", "Gas prices in decimal format to determine the transaction fee (e.g. 0.1uatom)")
 	cmd.Flags().String(FlagNode, "tcp://localhost:26657", "<host>:<port> to tendermint rpc interface for this chain")
+	cmd.Flags().String(FlagGRPCNode, "", "<host>:<port> to GRPC interface for this chain")
+	cmd.Flags().Duration(FlagGRPCKeepAlive, 20*time.Second, "set GRPC keepalive. defaults to 20s")
 	cmd.Flags().Bool(FlagUseLedger, false, "Use a connected Ledger device")
 	cmd.Flags().Float64(FlagGasAdjustment, DefaultGasAdjustment, "adjustment factor to be multiplied against the estimate returned by the tx simulation; if the gas limit is set manually this flag is ignored ")
 	cmd.Flags().StringP(FlagBroadcastMode, "b", BroadcastSync, "Transaction broadcasting mode (sync|async|block)")
diff --git a/client/grpc_query.go b/client/grpc_query.go
index 597b82985c22..77667141762a 100644
--- a/client/grpc_query.go
+++ b/client/grpc_query.go
@@ -51,10 +51,6 @@ func (ctx Context) Invoke(grpcCtx gocontext.Context, method string, req, reply i
 	}
 
 	// Case 2. Querying state.
-	reqBz, err := protoCodec.Marshal(req)
-	if err != nil {
-		return err
-	}
 
 	// parse height header
 	md, _ := metadata.FromOutgoingContext(grpcCtx)
@@ -72,35 +68,51 @@ func (ctx Context) Invoke(grpcCtx gocontext.Context, method string, req, reply i
 		ctx = ctx.WithHeight(height)
 	}
 
-	abciReq := abci.RequestQuery{
-		Path:   method,
-		Data:   reqBz,
-		Height: ctx.Height,
-	}
+	if ctx.ClientConn != nil {
+		if ctx.Height > 0 {
+			grpcCtx = metadata.AppendToOutgoingContext(grpcCtx, grpctypes.GRPCBlockHeightHeader, strconv.FormatUint(uint64(ctx.Height), 10))
+		}
 
-	res, err := ctx.QueryABCI(abciReq)
-	if err != nil {
-		return err
-	}
+		err = ctx.ClientConn.Invoke(grpcCtx, method, req, reply, opts...)
+		if err != nil {
+			return err
+		}
+	} else {
+		reqBz, err := protoCodec.Marshal(req)
+		if err != nil {
+			return err
+		}
 
-	err = protoCodec.Unmarshal(res.Value, reply)
-	if err != nil {
-		return err
-	}
+		abciReq := abci.RequestQuery{
+			Path:   method,
+			Data:   reqBz,
+			Height: ctx.Height,
+		}
 
-	// Create header metadata. For now the headers contain:
-	// - block height
-	// We then parse all the call options, if the call option is a
-	// HeaderCallOption, then we manually set the value of that header to the
-	// metadata.
-	md = metadata.Pairs(grpctypes.GRPCBlockHeightHeader, strconv.FormatInt(res.Height, 10))
-	for _, callOpt := range opts {
-		header, ok := callOpt.(grpc.HeaderCallOption)
-		if !ok {
-			continue
+		res, err := ctx.QueryABCI(abciReq)
+		if err != nil {
+			return err
 		}
 
-		*header.HeaderAddr = md
+		err = protoCodec.Unmarshal(res.Value, reply)
+		if err != nil {
+			return err
+		}
+
+		// Create header metadata. For now the headers contain:
+		// - block height
+		// We then parse all the call options, if the call option is a
+		// HeaderCallOption, then we manually set the value of that header to the
+		// metadata.
+		md = metadata.Pairs(grpctypes.GRPCBlockHeightHeader, strconv.FormatInt(res.Height, 10))
+		for _, callOpt := range opts {
+			header, ok := callOpt.(grpc.HeaderCallOption)
+			if !ok {
+				continue
+			}
+
+			*header.HeaderAddr = md
+		}
 	}
 
 	if ctx.InterfaceRegistry != nil {
diff --git a/client/grpc_query_test.go b/client/grpc_query_test.go
index b63937ac2337..faff1ad5dc64 100644
--- a/client/grpc_query_test.go
+++ b/client/grpc_query_test.go
@@ -1,3 +1,4 @@
+//go:build norace
 // +build norace
 
 package client_test
diff --git a/contrib/rosetta/configuration/send_funds.sh b/contrib/rosetta/configuration/send_funds.sh
index 3a897539d225..b90f26e47049 100644
--- a/contrib/rosetta/configuration/send_funds.sh
+++ b/contrib/rosetta/configuration/send_funds.sh
@@ -2,4 +2,4 @@
 
 set -e
 addr=$(simd keys show fd -a --keyring-backend=test)
-echo "12345678" | simd tx bank send "$addr" "$1" 100stake --chain-id="testing" --node tcp://cosmos:26657 --yes --keyring-backend=test
\ No newline at end of file
+echo "12345678" | simd tx bank send "$addr" "$1" 100stake --chain-id="testing" --node tcp://cosmos:26657 --yes --keyring-backend=test
diff --git a/contrib/rosetta/docker-compose.yaml b/contrib/rosetta/docker-compose.yaml
index 022427a5001e..fc97671baa65 100644
--- a/contrib/rosetta/docker-compose.yaml
+++ b/contrib/rosetta/docker-compose.yaml
@@ -29,7 +29,7 @@ services:
     working_dir: /rosetta
     command: ["python3", "faucet.py"]
     expose:
-      - 8080
+      - 8000
 
   test_rosetta:
     image: tendermintdev/rosetta-cli:v0.6.7
diff --git a/simapp/simd/cmd/root.go b/simapp/simd/cmd/root.go
index eee610d941c7..97f18a703f2f 100644
--- a/simapp/simd/cmd/root.go
+++ b/simapp/simd/cmd/root.go
@@ -56,7 +56,7 @@ func NewRootCmd() (*cobra.Command, params.EncodingConfig) {
 			cmd.SetOut(cmd.OutOrStdout())
 			cmd.SetErr(cmd.ErrOrStderr())
 
-			initClientCtx, err := client.ReadPersistentCommandFlags(initClientCtx, cmd.Flags())
+			initClientCtx, err := client.ReadPersistentCommandFlags(cmd.Context(), initClientCtx, cmd.Flags())
 			if err != nil {
 				return err
 			}
diff --git a/testutil/network/util.go b/testutil/network/util.go
index eeeb043003da..8f8956eed647 100644
--- a/testutil/network/util.go
+++ b/testutil/network/util.go
@@ -1,6 +1,7 @@
 package network
 
 import (
+	"context"
 	"encoding/json"
 	"io/ioutil"
 	"path/filepath"
@@ -12,6 +13,7 @@ import (
 	"github.com/tendermint/tendermint/node"
 	"github.com/tendermint/tendermint/rpc/client/local"
 	"github.com/tendermint/tendermint/types"
+	"google.golang.org/grpc"
 
 	"github.com/cosmos/cosmos-sdk/server/api"
 	servergrpc "github.com/cosmos/cosmos-sdk/server/grpc"
@@ -110,7 +112,15 @@ func startInProcess(cfg Config, val *Validator) error {
 				return err
 			}
 		}
+
+		gcl, err := grpc.DialContext(context.Background(), val.AppConfig.GRPC.Address, grpc.WithInsecure(), grpc.WithReturnConnectionError())
+		if err != nil {
+			return err
+		}
+
+		val.ClientCtx = val.ClientCtx.WithClientConn(gcl)
 	}
+
 	return nil
 }
 
diff --git a/x/group/client/testutil/query.go b/x/group/client/testutil/query.go
index 6a51177795a6..d2269b34fd31 100644
--- a/x/group/client/testutil/query.go
+++ b/x/group/client/testutil/query.go
@@ -28,7 +28,7 @@ func (s *IntegrationTestSuite) TestQueryGroupInfo() {
 			"group not found",
 			[]string{"12345", fmt.Sprintf("--%s=json", tmcli.OutputFlag)},
 			true,
-			"not found: invalid request",
+			"not found",
 			0,
 		},
 		{
@@ -295,7 +295,7 @@ func (s *IntegrationTestSuite) TestQueryGroupPolicyInfo() {
 			"group policy not found",
 			[]string{val.Address.String(), fmt.Sprintf("--%s=json", tmcli.OutputFlag)},
 			true,
-			"not found: invalid request",
+			"not found",
 			0,
 		},
 		{