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+1 to this improvement.
I have found a workaround for this.
1. Change the /etc/ssh/ssh_config by appending the following line to the end of this file. This tells the ssh client to send nop command periodically to avoid the ssh connection being disconnected. The unit of 80 is seconds. You may tune this parameter based on your network condition.
2. In the Jenkins slave configuration page, change the Launch method to "Launch slave via execution of command on the Master". See the Jenkins built-in help for more details.