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[root@krishnar1 nrpe-3.0.1]# /usr/local/nagios/libexec/check_nrpe -H localhost
CHECK_NRPE: Error - Could not connect to :6c6e:7556:0: Connection reset by peer
[root@krishnar1 nrpe-3.0.1]#
I'm wondering why check to localhost fails, but check to 127.0.0.1 works!
I would look at your /etc/hosts file for starters, looks like localhost may not be resolving properly. Could also be a misconfigured DNS I suppose, but this is far more likely.
though I could not find it referenced anywhere else. The article recommends disabling IPv6, though I am not sure why that specific IP would be used for localhost.