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Well whatever it's set to now is too much of annoyance for those who don't see any need to expand the menu except in rare cases. Considering the old sub-menu behavior, I'd say that applies to the majority of users. In all the thousands of clicks I've had on those links over the years, intentional clicks to open the sub-menu accounted for <0.01% of them.

At the moment the sub-menu has gone beyond just increasing accessibility, to the point that it gets in the way, and is generally an eyesore.

Other options:

1) If 3 seconds is too long, try a 2 second hover delay.

2) Instead make the hover delay configurable in user settings

3) Remove the hover functionality and instead add drop arrows which actually need to be clicked once to show the sub-menu, along with short delay auto hiding when the mouse is moved away.

4) Return the old click & hold behavior as an option.

Overall, either 2) or 3) would probably be the best compromise between accessibility, discoverability, and unobtrusiveness.