I've got a 6.7 multi-node (primary and DB) install, and for our primary datacenter (which has 23 hosts and about 3000 VMs), each inventory cycle takes around 180 minutes.
That being said, the length of time hasn't caused us any actual issue so far - do you have specific concerns about the time?
Also to note, I believe the entire concept of Service Nodes was removed in 6.7 (I do see the same message you do about none being available, but all traces of service nodes were removed from the UI in the upgrade from 6.6 to 6.7).