When an AD account authentication occurs on some systems there is a delay of about 10 seconds. Once cached authentications are fast. This occurs with ssh, with sudo, and with our A/D application, but only on some systems. The only configuration difference between the systems that are having a delay and ones that aren't is the operating system.
The issue was caused by the "daemon" service account not existing on these particular systems. A query for that account was being attempted and this was resulting in a delay as the account couldn't be found.
Creating a daemon local account on the system resolved the issue.