I've been through Total Warfare (p. 259-260, "Hidden Units"), TacOps: AR (p. 166, "Improved Positions"), TacOps: AUE (p. 152-153, "Specialized Infantry"), and the OG StratOps (p. 320, "Hidden Units") and can't find any reference as to how long it takes to "hide" a unit. TW, TO:AR and SO all only say "at the beginning of a scenario", and TO:AUE says three turns for creating a "fortified hex", but the effect of that is somewhat beyond what "hidden" provides (i.e., it provides the "hidden" option (at the beginning of a scenario, per TO:AR p. 166) AND defensive bonuses on top of that).
For context, my "scenario" is this: a jeep is running from pirates toward friendly forces ~300 km away (and is being pursued, of course). How much time do the friendly forces need to set up hidden positions to ambush the pursuit force?