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I think you are referring to the Nodejs SDK timeout. This can actually be configured using the httpConfig.timeout parameter in V2 and NodeHttpHandler options. You can find more information about using it in both versions here.
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In the documentation the maximum duration for Lambda runtime is stated as 900 seconds (15 minutes).
Version 2 and 3 of what?
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No, the invokeCommand timeout for version 2 is 120s, right? And for version 3, I haven't found the related documentation.
Are you referring to the JavaScript SDK? https://docs.aws.amazon.com/AWSJavaScriptSDK/v3/latest/client/lambda/command/InvokeCommand/
Yes, I have Lambda A calling InvokeCommand to Lambda B written in Node.js. Lambda B takes 250 seconds to complete, and Lambda A waits but reports a timeout after 120 seconds. This happens in version 2, but in version 3, it doesn't happen.