diff --git a/internal/provider/kubernetes/controller.go b/internal/provider/kubernetes/controller.go
index 40e1cf335c8..66b8b883c01 100644
--- a/internal/provider/kubernetes/controller.go
+++ b/internal/provider/kubernetes/controller.go
@@ -631,7 +631,7 @@ func (r *gatewayAPIReconciler) processSecretRef(
 			}
 		}
 	}
-	resourceMap.allAssociatedNamespaces.Insert(secretNS) // TODO Zhaohuabing do we need this line?
+	resourceMap.allAssociatedNamespaces.Insert(secretNS)
 	key := utils.NamespacedName(secret).String()
 	if !resourceMap.allAssociatedSecrets.Has(key) {
 		resourceMap.allAssociatedSecrets.Insert(key)
@@ -740,7 +740,7 @@ func (r *gatewayAPIReconciler) processConfigMapRef(
 			}
 		}
 	}
-	resourceMap.allAssociatedNamespaces.Insert(configMapNS) // TODO Zhaohuabing do we need this line?
+	resourceMap.allAssociatedNamespaces.Insert(configMapNS)
 	if !resourceMap.allAssociatedConfigMaps.Has(utils.NamespacedName(configMap).String()) {
 		resourceMap.allAssociatedConfigMaps.Insert(utils.NamespacedName(configMap).String())
 		resourceTree.ConfigMaps = append(resourceTree.ConfigMaps, configMap)
diff --git a/test/e2e/testdata/gateway-with-envoyproxy.yaml b/test/e2e/testdata/gateway-with-envoyproxy.yaml
new file mode 100644
index 00000000000..0d04562c13d
--- /dev/null
+++ b/test/e2e/testdata/gateway-with-envoyproxy.yaml
@@ -0,0 +1,49 @@
+apiVersion: gateway.networking.k8s.io/v1
+kind: Gateway
+metadata:
+  name: gateway-with-envoyproxy
+  namespace: gateway-conformance-infra
+spec:
+  gatewayClassName: "{GATEWAY_CLASS_NAME}"
+  infrastructure:
+    parametersRef:
+      group: gateway.envoyproxy.io
+      kind: EnvoyProxy
+      name: test
+  listeners:
+    - name: http
+      protocol: HTTP
+      port: 80
+      allowedRoutes:
+        namespaces:
+          from: All
+---
+apiVersion: gateway.envoyproxy.io/v1alpha1
+kind: EnvoyProxy
+metadata:
+  namespace: gateway-conformance-infra
+  name: test
+spec:
+  routingType: Service
+---
+apiVersion: gateway.networking.k8s.io/v1
+kind: HTTPRoute
+metadata:
+  name: http-route
+  namespace: gateway-conformance-infra
+spec:
+  parentRefs:
+    - name: gateway-with-envoyproxy
+  rules:
+    - matches:
+        - path:
+            value: /
+      backendRefs:
+        - name: infra-backend-v1
+          port: 8080
+      filters:
+        - type: ResponseHeaderModifier
+          responseHeaderModifier:
+            add:
+              - name: upstream-host
+                value: '%UPSTREAM_HOST%'
diff --git a/test/e2e/tests/gatewayt-with-envoyproxy.go b/test/e2e/tests/gatewayt-with-envoyproxy.go
new file mode 100644
index 00000000000..0ea33a52bd5
--- /dev/null
+++ b/test/e2e/tests/gatewayt-with-envoyproxy.go
@@ -0,0 +1,59 @@
+// Copyright Envoy Gateway Authors
+// SPDX-License-Identifier: Apache-2.0
+// The full text of the Apache license is available in the LICENSE file at
+// the root of the repo.
+
+//go:build e2e
+
+package tests
+
+import (
+	"context"
+	"testing"
+
+	"github.com/stretchr/testify/require"
+	corev1 "k8s.io/api/core/v1"
+	"k8s.io/apimachinery/pkg/types"
+	"sigs.k8s.io/gateway-api/conformance/utils/http"
+	"sigs.k8s.io/gateway-api/conformance/utils/kubernetes"
+	"sigs.k8s.io/gateway-api/conformance/utils/suite"
+)
+
+func init() {
+	ConformanceTests = append(ConformanceTests, GatewayWithEnvoyProxy)
+}
+
+var GatewayWithEnvoyProxy = suite.ConformanceTest{
+	ShortName:   "Gateway with EnvoyProxy",
+	Description: "Attach an EnvoyProxy to a Gateway",
+	Manifests:   []string{"testdata/gateway-with-envoyproxy.yaml"},
+	Test: func(t *testing.T, suite *suite.ConformanceTestSuite) {
+		t.Run("Attach an EnvoyProxy to a Gateway and set RoutingType to Service", func(t *testing.T) {
+			ns := "gateway-conformance-infra"
+			routeNN := types.NamespacedName{Name: "http-route", Namespace: ns}
+			gwNN := types.NamespacedName{Name: "gateway-with-envoyproxy", Namespace: ns}
+			gwAddr := kubernetes.GatewayAndHTTPRoutesMustBeAccepted(t, suite.Client, suite.TimeoutConfig, suite.ControllerName, kubernetes.NewGatewayRef(gwNN), routeNN)
+
+			backendNN := types.NamespacedName{Name: "infra-backend-v1", Namespace: ns}
+			svc := corev1.Service{}
+			require.NoError(t, suite.Client.Get(context.Background(), backendNN, &svc))
+
+			expectedResponse := http.ExpectedResponse{
+				Request: http.Request{
+					Path: "/basic-auth-1",
+				},
+				Response: http.Response{
+					StatusCode: 200,
+
+					// Verify that the RouteType is set to Service by the attached EnvoyProxy
+					Headers: map[string]string{
+						"upstream-host": svc.Spec.ClusterIP + ":8080",
+					},
+				},
+				Namespace: ns,
+			}
+
+			http.MakeRequestAndExpectEventuallyConsistentResponse(t, suite.RoundTripper, suite.TimeoutConfig, gwAddr, expectedResponse)
+		})
+	},
+}