Our other tool is to decouple lookup (which objects to fetch) and population (what data to return for each object). You can mix and match, e.g. do a lookup against an inconsistent ES but still get consistent objects by populating from MySQL (or vice versa). As others have alluded to it depends entirely on the requirements for the result set.
So long as the source of truth (Master MySQL node) is up to date, it's okay.
For example, if we show a user how much money is in their account on every page, we can run query that on a replica, since it's fine if this is a few seconds delayed. However, immediately after an action changed their balance, on a confirmation screen, we'd want to show the value from Master.
It's entirely possible that any place elasticsearch is being used just don't need consistency.
Pgsql is a bit harder, but if I needed to start somewhere it would be with:
https://github.com/debezium/debezium
or https://github.com/confluentinc/bottledwater-pg
These are the start of pretty sophisticated solutions where you need super real-time elasticsearch indexes and can bring up infra like Kafka.
For many applications, queueing an update when something hits your ORM to update, with the hourly/daily refresh is pretty satisfactory.
If its not, you could tail the MySQL log and have a process making the same changes to elasticsearch. The elasticsearch may lag behind if there are problems.
but how do you make sure that multiple of your db systems are in sync (specifically interested in MySql and elasticsearch)?
Hope it's alright to ask you that.