Another note to self post... since this bit me more than once.

ssh USER@SERVER  
...
packet_write_wait: Connection to IP_ADDRESS port 22: Broken pipe  

Most of the answers point to the ServerAliveInterval or ClientAliveInterval but if you are running the command from inside VMWare Workstation (broken for me in v14 and 15.0.0) chances are the setting you want is actually IPQoS:

# ~/.ssh/config
...
Host *  
IPQoS lowdelay  
...