Hi
Have you added the recommended registry keys from Kevin Holmans blog tpo each management server?
https://kevinholman.com/2017/03/08/recommended-registry-tweaks-for-scom-2016-management-servers/
See items 5 and 6. After a registry change; it probably needs a server reboot to pick up the changes. Certainly restart the SCOM services on the Management Servers.
I'm not sure if they will fix the specific error of "MaintenanceModeChange" - there is a fix listed here but it means running a SQL statement against the SQL servers which wouldn't be supported unless you raised a Microsoft case so if you did this without direction from Microsoft it would be at your own risk.
Are you seeing delays with servers going into \ coming out of maintenance mode.