What version of ansible are you on? IIRC there was a bug fixed in an older 
release that caused it to be really slow in a domain environment. It was 
fixed in 2.4, 2.5 https://github.com/ansible/ansible/pull/38646.

If that isn't it you can use gather subset to try and track down what 
subset is hanging like;

- hosts: windows
  gather_facts: no
  tasks:
  - setup:
      gather_subset:  # uncomment it one by one until it starts hanging
      - min
      #- hardware
      #- network
      #- external

You can get a full list of groups here 
https://github.com/ansible/ansible/blob/devel/lib/ansible/modules/windows/setup.ps1#L68.

Thanks

Jordan

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