Endeavour was deployed to East Timor as part of the Australian-led INTERFET peacekeeping taskforce from 21 to 24 September 1999, and from 28 January to 23 February 2000.

Endeavour was deployed at short notice on 20 September 2017 in an emergency effort to move diesel around New Zealand due to a ruptured fuel pipeline between Marsden Point and Auckland.

[4] Tender requirements for the replacement replenishment vessel included a propulsion system built around two diesel engines to provide a range of 6,400 nautical miles (11,900 km; 7,400 mi) at 16 knots (30 km/h; 18 mph), armament equivalent to two Mini Typhoon mounts and a Phalanx CIWS, facilities to operate a helicopter, and a container deck capacity of at least 12 TEU shipping containers.

[4] In September 2015, Daewoo Shipbuilding & Marine Engineering and Hyundai Heavy Industries were shortlisted for the final phase of the tender.

[5] On 18 July 2016 the Minister of Defence announced that Hyundai Heavy Industries will construct Endeavour's replacement, at a cost of NZ$493,000,000, with an estimated in service date of 2020.

[6] The new vessel will have enhanced capabilities in Antarctica,[7] the ability to carry and refuel helicopters, as well as replenish with both fuel and fresh water.