diff --git a/cmd/neofs-node/config/grpc/config.go b/cmd/neofs-node/config/grpc/config.go
index 900b428c..865ee07b 100644
--- a/cmd/neofs-node/config/grpc/config.go
+++ b/cmd/neofs-node/config/grpc/config.go
@@ -83,23 +83,29 @@ func (tls TLSConfig) UseInsecureCrypto() bool {
 	return config.BoolSafe(tls.cfg, "use_insecure_crypto")
 }
 
-// IterateEndpoints iterates over subsections ["0":"N") (N - "num" value)
-// of "grpc" section of c, wrap them into Config and passes to f.
+// IterateEndpoints iterates over subsections of "grpc" section of c,
+// wrap them into Config and passes to f.
+//
+// Section names are expected to be consecutive integer numbers, starting from 0.
 //
 // Panics if N is not a positive number.
 func IterateEndpoints(c *config.Config, f func(*Config)) {
 	c = c.Sub("grpc")
 
-	num := config.Uint(c, "num")
-	if num == 0 {
-		panic("no gRPC server configured")
-	}
-
-	for i := uint64(0); i < num; i++ {
+	i := uint64(0)
+	for ; ; i++ {
 		si := strconv.FormatUint(i, 10)
 
 		sc := (*Config)(c.Sub(si))
 
+		e := config.StringSafe((*config.Config)(sc), "endpoint")
+		if e == "" {
+			break
+		}
+
 		f(sc)
 	}
+	if i == 0 {
+		panic("no gRPC server configured")
+	}
 }
diff --git a/config/example/node.env b/config/example/node.env
index 4a89fdf0..70ba0d60 100644
--- a/config/example/node.env
+++ b/config/example/node.env
@@ -28,7 +28,6 @@ NEOFS_NODE_NOTIFICATION_KEY=/key/path
 NEOFS_NODE_NOTIFICATION_CA=/ca/path
 
 # gRPC section
-NEOFS_GRPC_NUM=2
 ## 0 server
 NEOFS_GRPC_0_ENDPOINT=s01.neofs.devenv:8080
 ### TLS config
diff --git a/config/example/node.json b/config/example/node.json
index de515fd9..6fee13f4 100644
--- a/config/example/node.json
+++ b/config/example/node.json
@@ -51,7 +51,6 @@
     }
   },
   "grpc": {
-    "num": 2,
     "0": {
       "endpoint": "s01.neofs.devenv:8080",
       "tls": {
diff --git a/config/example/node.yaml b/config/example/node.yaml
index 676dba95..22329086 100644
--- a/config/example/node.yaml
+++ b/config/example/node.yaml
@@ -43,7 +43,6 @@ node:
     ca: "/ca/path"  # path to optional CA certificate
 
 grpc:
-  num: 2  # total number of listener endpoints
   0:
     endpoint: s01.neofs.devenv:8080  # endpoint for gRPC server
     tls: