Here's my theory of what happened in your test.
There were failures during the iteration: either a server was down or for some reason it stopped responding, maybe due to GC (it does not matter the reason).
When such failures occur, there is a retry with the segments that were not done, and since from the logs you were using the Hot Rod client version 8.1.0.Final, it was being affected by https://issues.jboss.org/browse/ISPN-6234, where after a failover it would retry with the wrong segments. Since the segments were wrong, the iteration would not be confined to the local server where it contacted, causing remote RPC to obtain the segments, ultimately provoking a cascade effect resulting on timeouts.
I believe the timeouts should not occur anymore (I was not able to reproduce), could you maybe test again with Infinispan 8.2.1.Final (both client and server) and the Spark connector 0.3?
Closing for now, will reopen if the issue occurs again.