diff --git a/lib/ansible/executor/task_executor.py b/lib/ansible/executor/task_executor.py
index 13b7d24bc9..4924461f94 100644
--- a/lib/ansible/executor/task_executor.py
+++ b/lib/ansible/executor/task_executor.py
@@ -471,9 +471,7 @@ class TaskExecutor:
             # loop error takes precedence
             if self._loop_eval_error is not None:
                 raise self._loop_eval_error  # pylint: disable=raising-bad-type
-            # skip conditional exception in the case of includes as the vars needed might not be available except in the included tasks or due to tags
-            if self._task.action not in ['include', 'include_tasks', 'include_role']:
-                raise
+            raise
 
         # Not skipping, if we had loop error raised earlier we need to raise it now to halt the execution of this task
         if self._loop_eval_error is not None:
diff --git a/test/integration/targets/include_import/runme.sh b/test/integration/targets/include_import/runme.sh
index 8c98951858..ef20bebc6d 100755
--- a/test/integration/targets/include_import/runme.sh
+++ b/test/integration/targets/include_import/runme.sh
@@ -59,3 +59,7 @@ rm -f tasks/hello/*.yml
 # Inlcuded tasks should inherit attrs from non-dynamic blocks in parent chain
 # https://github.com/ansible/ansible/pull/38827
 ANSIBLE_STRATEGY='linear' ansible-playbook test_grandparent_inheritance.yml -i ../../inventory "$@"
+
+# undefined_var
+ANSIBLE_STRATEGY='linear' ansible-playbook undefined_var/playbook.yml  -i ../../inventory "$@"
+ANSIBLE_STRATEGY='free' ansible-playbook undefined_var/playbook.yml  -i ../../inventory "$@"
diff --git a/test/integration/targets/include_import/undefined_var/include_tasks.yml b/test/integration/targets/include_import/undefined_var/include_tasks.yml
new file mode 100644
index 0000000000..56f06c97e2
--- /dev/null
+++ b/test/integration/targets/include_import/undefined_var/include_tasks.yml
@@ -0,0 +1,5 @@
+---
+
+- debug:
+    msg: "This message comes from an 'include_tasks'-task! :-)"
+  register: "_include_tasks_task_result"
diff --git a/test/integration/targets/include_import/undefined_var/include_that_defines_var.yml b/test/integration/targets/include_import/undefined_var/include_that_defines_var.yml
new file mode 100644
index 0000000000..7f24a435f0
--- /dev/null
+++ b/test/integration/targets/include_import/undefined_var/include_that_defines_var.yml
@@ -0,0 +1,5 @@
+- vars:
+    _undefined: 'yes'
+  block:
+    - set_fact:
+        _include_defined_result: 'good'
diff --git a/test/integration/targets/include_import/undefined_var/playbook.yml b/test/integration/targets/include_import/undefined_var/playbook.yml
new file mode 100644
index 0000000000..0584fa8a68
--- /dev/null
+++ b/test/integration/targets/include_import/undefined_var/playbook.yml
@@ -0,0 +1,36 @@
+---
+- hosts: testhost
+  gather_facts: false
+  tasks:
+    - include_tasks: "include_tasks.yml"
+      ignore_errors: True
+      register: "_include_tasks_result"
+      when:
+        - "_undefined == 'yes'"
+
+    - assert:
+        that:
+          - "_include_tasks_result is failed"
+          - "_include_tasks_task_result is not defined"
+        msg: "'include_tasks' did not evaluate it's attached condition and failed"
+
+    - include_role:
+        name: "no_log"
+      ignore_errors: True
+      register: "_include_role_result"
+      when:
+        - "_undefined == 'yes'"
+
+    - assert:
+        that:
+          - "_include_role_result is failed"
+        msg: "'include_role' did not evaluate it's attached condition and failed"
+
+    - include: include_that_defines_var.yml
+      static: yes
+      when:
+        - "_undefined == 'yes'"
+
+    - assert:
+        that:
+          - _include_defined_result == 'good'