I connect to my default network almost instantly, and my phone continues to scan until it is convinced that it has found all the other networks in the vicinity. But this takes a few minutes at most.
If it hangs and continue to scan on a particular network, you can "forget" that network.
A few minutes of scanning won't cause a noticeable drain on the battery. Of all the impacts on a battery (Bluetooth, GPS, phone, data) WiFi is the most benign.
And as AngryHatter said, check what other apps are running that might cause a problem.
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