I have found the issue.
The problem was my testing procedure.
I simulated the http connection using telnet to http port but I did not generate any traffic(requests). I repeated the tests using GET requests and the nat session table was replicated almost instant.
I post the debug messages.
The NAT replication trigger is the next segment, request in the tcp session.
Debug messages
Telnet from client
telnet 10.31.73.12 3099
*Nov 7 03:52:17.071: TCBB2701B60 connected to 10.31.73.12.3099
GET / HTTP/1.0
GET / HTTP/1.0
GET / HTTP/1.0
New active
Becomes Active at 03:52:32,34
NATGW2#
*Nov 7 03:52:32.700: %HSRP-5-STATECHANGE: Ethernet0/2 Grp 100 state Standby -> Active
NATGW2#
*Nov 7 03:52:32.701: IP-ADDR: ipaddr_table_insert_w_tableid() 10.31.71.254, in global table on Ethernet0/2
NATGW2#
*Nov 7 03:52:34.657: %HSRP-5-STATECHANGE: Ethernet0/1 Grp 200 state Standby -> Active
new Active listens for ARP requests for the HSRP IP
*Nov 7 03:52:34.658: IP-ADDR: ipaddr_table_insert_w_tableid() 192.168.153.253, in global table on Ethernet0/1
The nat session is recreated on the new Active.
*Nov 7 03:52:34.745: NAT: API parameters passed: src_addr:10.31.71.3, src_port:0 dest_addr:10.31.73.12, dest_port:0, proto:6 if_input:Ethernet0/2 pak:B072F0A8 get_translated:1
*Nov 7 03:52:34.745: ipnat_api_translated_address_and_port_common, out->in want IL,OL
*Nov 7 03:52:34.745: NAT: API Translated-Info(1): (src-addr:10.31.71.3, src-port:0) (dest-addr:192.168.153.12, dest-port:0)
It's all about the timers. There's an advertise interval and a master down interval (hello and hold time in HSRP and GLBP). The master sends VRRP advertisements according to the advertise interval. This lets the backup know that the master is up. If the backup doesn't receive an advertisement within the master down interval, it will transition to master. The key to keeping connections alive is tuning your intervals down to sub-second failover.
When the backup router takes over, it sends a gratuitous ARP message telling everyone to use its MAC address for the virtual IP.
Best Answer
Cisco has many documents to explain such things. For example, Hot Standby Router Protocol (HSRP): Frequently Asked Questions: