During startup, vSphere Replication Server service, "hbrsrv" needs to try to connect to all hosts in the vCenter inventory. If customer has a large environment and a single hosts cannot connect to "hbrsrv", it will take long time to loop through them.
Network firewall may add unnecessary time to HBR service startup.
If an ESXi host is removed from the VC inventory while "hbrsrv" is offline that will also interfere with the startup of the service as "hbrsrv" still has an ESXi entry for that host in its database.
There may be other communication issues while communicating with ESXI hosts e.g. misconfiguration of ports in the dVSwitch of the target vCenter server, duplicate IPs, certificate related issues etc.
For vSphere Replication 8.7 and above, If ESXi hosts are unresponsive or there exists a network or a configuration issue, you can assign the com.vmware.vr.disallowedtag to the ESXi host or cluster to workaround the condition until the issue is resolved. For more information on how to assign a tag, please check Assign or Remove a Tag