NMAP

TCP scan a single host (on LAN takes about 60 seconds, on fast VPN can take 5 minutes):

export target=10.10.10.10; nmap -n -Pn -sS --stats-every 3m --max-retries 1 --max-scan-delay 30 --defeat-rst-ratelimit -T4 -p1-65535 -oA ./$(echo $target)_TCP $target

UDP scan a single host (only top 200 ports, otherwise very slow!):

export target=10.10.10.10; nmap -n -Pn -sU --stats-every 3m --max-retries 1 --top-ports 200 -T3 -oA ./$(echo $target)_UDP $target

Run an intensive scan on the open ports. Scan TCP and UDP separately to speed up the scan:
Intensive TCP scan:

export target=10.10.10.10; nmap -nvv -Pn -sSV -T1 -p$(cat $(echo $target)_TCP.xml | grep portid | grep protocol=\"tcp\" | cut -d'"' -f4 | paste -sd "," -) --version-intensity 9 -A -oA ./$(echo $target)_TCP_DETAILED $target

Intensive UDP scan:

export target=10.10.10.10; nmap -nvv -Pn -sUV -T1 -p$(cat $(echo $target)_UDP.xml | grep open | grep portid | grep protocol=\"udp\" | cut -d'"' -f4 | paste -sd "," -) --version-intensity 9 -oA ./$(echo $target)_UDP_DETAILED $target