SQL Server CPU Issues
Rather than focusing on the hardware first, or the availability group even, it would be good to get a handle on what this "query" (test case) is waiting on.

To do that, you could run Paul Randal's script for Capturing wait statistics for a period of time, or sp_BlitzFirst from the open source First Responder's Kit.  Or you could just poll sp_WhoIsActive periodically and see what the test query is waiting on in each sample.

Since I'm on 2016, I'm going to use sys.dm_exec_session_wait_stats because it's super easy to do, and it's 11:30 pm and I'm tired. 

I ran your test query in SSMS against one of my AG boxes (finished in less than 2 seconds), grabbed the session ID, and then ran this:

SELECT *
FROM sys.dm_exec_session_wait_stats
WHERE session_id = @spid;


The results came out like this:



I ran this from a jump box, so that explains the small amount of ASYNC_NETWORK_IO.  The other main wait there is SOS_SCHEDULER_YIELD, which makes sense - this was a CPU-bound task getting switched off the scheduler periodically (or maybe missing its quantum, this is a VM and there's other work going on as well including SSAS, AG stuff, production workload, scheduled jobs, etc).  And it was only 141 ms during a 2000-ish ms query.

I ran the same test on my local instance, which is barely doing anything other than writing this answer (query finished in 1 second):



There were no significant waits at all.

The wait stats for your benchmark should tell the story in your situation.



Any answer we could give would likely just be speculation without the wait info (maybe there's other CPU load you're not aware of on the "slow server," or the server is experiencing thread exhaustion due to the AG or other queries, or there are "poison waits" like THREADPOOL or RESOURCE_SEMAPHORE, etc).