The differences between the servers could be the amount of memory on the servers, the number and speed of the CPU, or just the load because resource contention on any of these will cause problems.

The only way I know to improve compile time on procedures is to reduce the complexity of the procedure. If you have a 20 second compile time, you probably have a fairly complex procedure. Break it down into smaller chunks, maybe make it a wrapper procedure with calls to secondary procedures. You have to reduce the complexity.