diff --git a/redis/asyncio/cluster.py b/redis/asyncio/cluster.py
index 4e82e5448f..492e36c85d 100644
--- a/redis/asyncio/cluster.py
+++ b/redis/asyncio/cluster.py
@@ -1070,12 +1070,13 @@ async def execute_pipeline(self, commands: List["PipelineCommand"]) -> bool:
         ret = False
         for cmd in commands:
             try:
-                cmd.result = await self.parse_response(
+                result = await self.parse_response(
                     connection, cmd.args[0], **cmd.kwargs
                 )
             except Exception as e:
-                cmd.result = e
+                result = e
                 ret = True
+            cmd.set_node_result(self.name, result)
 
         # Release connection
         self._free.append(connection)
@@ -1514,7 +1515,7 @@ async def _execute(
         allow_redirections: bool = True,
     ) -> List[Any]:
         todo = [
-            cmd for cmd in stack if not cmd.result or isinstance(cmd.result, Exception)
+            cmd for cmd in stack if not cmd.unwrap_result() or cmd.get_all_exceptions()
         ]
 
         nodes = {}
@@ -1530,12 +1531,11 @@ async def _execute(
                     raise RedisClusterException(
                         f"No targets were found to execute {cmd.args} command on"
                     )
-            if len(target_nodes) > 1:
-                raise RedisClusterException(f"Too many targets for command {cmd.args}")
-            node = target_nodes[0]
-            if node.name not in nodes:
-                nodes[node.name] = (node, [])
-            nodes[node.name][1].append(cmd)
+            cmd.target_nodes = target_nodes
+            for node in target_nodes:
+                if node.name not in nodes:
+                    nodes[node.name] = (node, [])
+                nodes[node.name][1].append(cmd)
 
         errors = await asyncio.gather(
             *(
@@ -1548,25 +1548,38 @@ async def _execute(
             if allow_redirections:
                 # send each errored command individually
                 for cmd in todo:
-                    if isinstance(cmd.result, (TryAgainError, MovedError, AskError)):
-                        try:
-                            cmd.result = await client.execute_command(
-                                *cmd.args, **cmd.kwargs
-                            )
-                        except Exception as e:
-                            cmd.result = e
+                    for name, exc in cmd.get_all_exceptions():
+                        if isinstance(exc, (TryAgainError, MovedError, AskError)):
+                            try:
+                                result = await client.execute_command(
+                                    *cmd.args, **cmd.kwargs
+                                )
+                            except Exception as e:
+                                result = e
+
+                            if isinstance(result, dict):
+                                cmd.result = result
+                            else:
+                                cmd.set_node_result(name, result)
+
+                            # We have already retried the command on all nodes.
+                            break
 
             if raise_on_error:
                 for cmd in todo:
-                    result = cmd.result
-                    if isinstance(result, Exception):
+                    name_exc = cmd.get_first_exception()
+                    if name_exc:
+                        name, exc = name_exc
                         command = " ".join(map(safe_str, cmd.args))
+                        # Note: this will only raise the first exception, but that is
+                        # consistent with RedisCluster.execute_command.
                         msg = (
                             f"Command # {cmd.position + 1} ({command}) of pipeline "
-                            f"caused error: {result.args}"
+                            f"caused error on node {name}: "
+                            f"{exc.args}"
                         )
-                        result.args = (msg,) + result.args[1:]
-                        raise result
+                        exc.args = (msg,) + exc.args[1:]
+                        raise exc
 
             default_node = nodes.get(client.get_default_node().name)
             if default_node is not None:
@@ -1574,14 +1587,19 @@ async def _execute(
                 # to replace it.
                 # Note: when the error is raised we'll reset the default node in the
                 # caller function.
+                has_exc = False
                 for cmd in default_node[1]:
                     # Check if it has a command that failed with a relevant
                     # exception
-                    if type(cmd.result) in self.__class__.ERRORS_ALLOW_RETRY:
-                        client.replace_default_node()
+                    for name, exc in cmd.get_all_exceptions():
+                        if type(exc) in self.__class__.ERRORS_ALLOW_RETRY:
+                            client.replace_default_node()
+                            has_exc = True
+                            break
+                    if has_exc:
                         break
 
-        return [cmd.result for cmd in stack]
+        return [cmd.unwrap_result() for cmd in stack]
 
     def _split_command_across_slots(
         self, command: str, *keys: KeyT
@@ -1620,7 +1638,28 @@ def __init__(self, position: int, *args: Any, **kwargs: Any) -> None:
         self.args = args
         self.kwargs = kwargs
         self.position = position
-        self.result: Union[Any, Exception] = None
+        self.result: Dict[str, Union[Any, Exception]] = {}
+        self.target_nodes = None
+
+    def set_node_result(self, node_name: str, result: Union[Any, Exception]):
+        self.result[node_name] = result
+
+    def unwrap_result(
+        self,
+    ) -> Optional[Union[Any, Exception, Dict[str, Union[Any, Exception]]]]:
+        if len(self.result) == 0:
+            return None
+        if len(self.result) == 1:
+            return next(iter(self.result.values()))
+        return self.result
+
+    def get_first_exception(self) -> Optional[Tuple[str, Exception]]:
+        return next(
+            ((n, r) for n, r in self.result.items() if isinstance(r, Exception)), None
+        )
+
+    def get_all_exceptions(self) -> List[Tuple[str, Exception]]:
+        return [(n, r) for n, r in self.result.items() if isinstance(r, Exception)]
 
     def __repr__(self) -> str:
         return f"[{self.position}] {self.args} ({self.kwargs})"