These settings look good. I suggest you contact TAC to have them walk you through enabling CSDiscovery debugging and analyze the ngdiscovery.log to see where the time is being spent. Typically we see problems due to high timeouts or retries. That may still be a factor here, but your values are probably low enough to avoid huge delays.
As I said, I see no problems in your settings. You should open a TAC service request so additional debugging can be enabled, and Discovery can be analyzed as it runs. My initial thought on why it may be taking a long time is that you're using a sysObjectID filter. This means that Discovery must contact every device it finds with SNMP before it can apply any filtering. If the device is not SNMP reachable with the given community strings, you will encounter delays. If you want to try and rule that problem out, consider applying an IP address filter instead.
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