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Is there a way to load balance workflow execution between agents?

Assume I have multiple agents ( one per server) and I wish to direct execution based on server load )

You would need to use an agent that has load balancing built in e.g. a Kubernetes agent or ECS agent. Load balancing over e.g. local agents is not supported. <https://docs.prefect.io/orchestration/agents/local.html#multiple-local-agents-with-the-same-label|This page> explains it in more detail.