It looks like you’re using Linux. Can you download the latest version of the tool from nRF Command Line Tools - Downloads - nordicsemi.com as a e.g. tar.gz file, extract it, and try to run the same nrfjprog --ids command? Does it also hang up?
After downloading the e.g. .tar.gz version and unpacking it (tar xfv <file>), you should find a nrf-command-line-tools\bin\nrjprog progrma, which you execute with the --ids argument. This can be done on a regular shell.
Good, there’s a programmer. Now try and execute the command that PlatformIO wanted to execute for the “burn-bootloader” command but with the newly downloaded program.