Techniques are described for centrally directed self-healing of networked devices. Large numbers of networked devices can be configured according to configuration data. A central management system (CMS) can group the devices into device swarms having identical nominal device configurations. The CMS can determine a swarm-agreed configuration state for each device swarm that corresponds to a determined “correct” configuration for devices in the device swarm. Over time, the devices send configuration fingerprints to the CMS to indicate their current configuration states, and the CMS can analyze the current configuration states against the swarm-agreed configurations to detect potential configuration issues. In response, the CMS can automatically direct remedying of the detected configuration issues in accordance with the swarm-agreed configurations.