/home/lsunde/temp/ansible-dynamic-host/ansible.cfg:

[defaults]
timeout = 60

[ssh_connection] 
control_path = %(directory)s/%%C 

output:

$ ansible-playbook dynamic-host.yml -i hosts -vvvv
Using /home/lsunde/temp/ansible-dynamic-host/ansible.cfg as config file
...
TASK [setup] 
*******************************************************************
<10.0.0.1> ESTABLISH SSH CONNECTION FOR USER: None
<10.0.0.1> SSH: EXEC ssh -C -vvv -o ControlMaster=auto -o 
ControlPersist=60s -o KbdInteractiveAuthentication=no -o 
PreferredAuthentications=gssapi-with-mic,gssapi-keyex,hostbased,publickey 
-o PasswordAuthentication=no -o ConnectTimeout=10 -o 
ControlPath=/home/lsunde/.ansible/cp/%C -tt 10.0.0.1 '( umask 22 && mkdir 
-p "$( echo $HOME/.ansible/tmp/ansible-tmp-1486395620.34-123337012460348 )" 
&& echo "$( echo 
$HOME/.ansible/tmp/ansible-tmp-1486395620.34-123337012460348 )" )'
fatal: [remote]: UNREACHABLE! => {"changed": false, "msg": "ERROR! SSH 
encountered an unknown error. The output was:\nOpenSSH_7.2p2 
Ubuntu-4ubuntu2.1, OpenSSL 1.0.2g  1 Mar 2016\r\ndebug1: Reading 
configuration data /home/lsunde/.ssh/config\r\ndebug1: Reading 
configuration data /etc/ssh/ssh_config\r\ndebug1: /etc/ssh/ssh_config line 
19: Applying options for *\r\ndebug1: auto-mux: Trying existing 
master\r\ndebug1: Control socket 
\"/home/lsunde/.ansible/cp/c6f5791e0e44a3064cdd690f21bcbf0f354fc3a4\" does 
not exist\r\ndebug2: resolving \"10.0.0.1\" port 22\r\ndebug2: 
ssh_connect_direct: needpriv 0\r\ndebug1: Connecting to 10.0.0.1 [10.0.0.1] 
port 22.\r\ndebug2: fd 3 setting O_NONBLOCK\r\ndebug1: connect to address 
10.0.0.1 port 22: Connection timed out\r\nssh: connect to host 10.0.0.1 
port 22: Connection timed out\r\n", "unreachable": true}

PLAY RECAP 
*********************************************************************
localhost                  : ok=2    changed=1    unreachable=0    failed=0 
  
remote                     : ok=0    changed=0    unreachable=1    failed=0 
  

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