K8s pod as jenkins node shell script hang : shell script finished all the commands, but will hang quite long, several minutes even more than one hour

Using Jenkins
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Jenkins setup:
Jenkins is setup in k8s, k8s pod as jenkins agent:
jenkins version 2.452.2
Kubernetes plugin version 4253.v7700d91739e5
Pipeline Utility Steps version 2.17.0

we only have 5 k8s nodes for build, when run long time job, for example building android, the build will take about one hour, the shell finished all steps, but would hang here quite long to go to next step(another shell or post step). Any idea about to how to fix this issue?

Sometime see the warning info in the log, jenkins is not restarted when job hang:
WARNING: Not blocking restart due to problem checking running steps in CpsFlowExecution
java.util.concurrent.TimeoutException: Waited 1 seconds (plus 88591 nanoseconds delay) for SettableFuture@3cea01b7[status=PENDING]

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Update: jenkins shell hang after big build, not only in k8s pod, also hang on nodes not from k8s