The multiprocessing.Pool() documentation  ( since ever, Py27 incl. ) is clear in intentionally blocking in processing the queue-of-calls as created by the iterator-generated set of the just -4- calls, produced sequentially from the above posted example.
The multiprocessing-module documentation says this about its Pool.map() method:
map(func, iterable[, chunksize])
      A parallel equivalent of the map() built-in function (it supports only one iterable argument though). It blocks until the result is ready.
This should be the observed behaviour, whereas different instantiation methods would accrue different add-on ( process copying-related ) overhead costs.
Anyway, the mp.cpu_count() need not be the number of CPU-cores any such dispatched .Pool()-instance workers' tasks  will get on to get executed, because of the O/S ( user/process-related restriction policies ) settings of affinity:
Your code will have to "obey" the sub-set of those CPU-cores, that are permitted to be harnessed by any such multiprocessing-requested sub-process, 
the number of which is not higher than: len( os.sched_getaffinity( 0 ) )
The Best Next Step : re-evaluate your whole code-execution eco-system
import multiprocessing as mp                                            # file: ~/p/StackOverflow_multiprocessing.py
import time, os, platform, inspect                                      # https://stackoverflow.com/questions/58738716/python-multiprocessing-pool-map-doesnt-work-parallel/58755642
def test_function( i = -1 ):
    pass;                                                                                                  thisframerecord = inspect.stack()[0] # 0 represents this line
    pass;                                                                                                callerframerecord = inspect.stack()[1] # 1 represents line at caller
    pass;                                                                 _INFO_ = inspect.getframeinfo(   thisframerecord[0] )
    pass;                                                               _CALLER_ = inspect.getframeinfo( callerframerecord[0] )
    print( "{0:_>30.10f} ::".format(              time.monotonic() ),
           "PID:{0:} with PPID:{1:} runs".format( os.getpid(), os.getppid() ),
           "{0:}( i = {2:} )-LINE[{1:_>4d}],".format(                     _INFO_.function,   _INFO_.lineno, i ),
           "invoked from {0:}()-LINE[{1:_>4d}]".format(                 _CALLER_.function, _CALLER_.lineno )
            )
    time.sleep( 10 )
    pass;                                                                                                  thisframerecord = inspect.stack()[0] # 0 represents this line
    pass;                                                                 _INFO_ = inspect.getframeinfo(   thisframerecord[0] )                 # 1 represents line at caller
    print( "{0:_>30.10f} ::".format(              time.monotonic() ),
           "PID:{0:} with PPID:{1:} ends".format( os.getpid(), os.getppid() ),
           "{0:}( i = {2:} )-LINE[{1:_>4d}],".format(                     _INFO_.function,   _INFO_.lineno, i )
            )
if __name__ == '__main__':
    print( "{0:} cores reported by {1:}".format( mp.cpu_count(), "mp.cpu_count()" ) )
    print( "{0:} cores permit'd by {1:}".format( os.sched_getaffinity(0), "os.sched_getaffinity(0)" ) )
    print( "O/S sub-process instantiation methods {0:} available".format( mp.get_all_start_methods() ) )
    print( "O/S will use this instantiation method {0:}".format( mp.get_start_method() ) )
    print( "{0:_>30.10f} :: will call .Pool()".format( time.monotonic() ) )
    #------mp.Pool()-----------------------------------------------------
    pool = mp.Pool( mp.cpu_count() )
    print( "{0:_>30.10f} :: pool.map() to be called".format( time.monotonic() ) )
    #---.map()--------------------------------------?
    #---.map(                                       ?
    pool.map( test_function, [i for i in range(4) ] )
    #---.map(                                       ?
    #---.map()--------------------------------------?
    print( "{0:_>30.10f} :: pool.map() call RETd".format( time.monotonic() ) )
    pool.close()
    #---.close()
    print( "{0:_>30.10f} :: pool.close()-d".format( time.monotonic() ) )
    pool.join()
    #---.join()
    print( "{0:_>30.10f} :: pool.join()-d".format( time.monotonic()          ) )
    print( "EXECUTED on {0:}".format(              platform.version()        ) )
    print( "USING: python-{0:}:".format(           platform.python_version() ) )
might look about something like this on linux-class O/S:
(py3) Fri Nov 08 14:26:40 :~$ python ~/p/StackOverflow_multiprocessing.py
8 cores reported by mp.cpu_count()
{0, 1, 2, 3} cores permit'd by os.sched_getaffinity(0)
O/S sub-process instantiation methods ['fork', 'spawn', 'forkserver'] available
O/S will use this instantiation method fork
____________1284931.1678911699 :: will call .Pool()
____________1284931.2063829789 :: pool.map() to be called
____________1284931.2383207241 :: PID:15848 with PPID:15847 runs test_function( i = 0 )-LINE[___7], invoked from mapstar()-LINE[__44]
____________1284931.2506985001 :: PID:15849 with PPID:15847 runs test_function( i = 1 )-LINE[___7], invoked from mapstar()-LINE[__44]
____________1284931.2614207701 :: PID:15851 with PPID:15847 runs test_function( i = 2 )-LINE[___7], invoked from mapstar()-LINE[__44]
____________1284931.2671745829 :: PID:15850 with PPID:15847 runs test_function( i = 3 )-LINE[___7], invoked from mapstar()-LINE[__44]
____________1284941.2504994699 :: PID:15848 with PPID:15847 ends test_function( i = 0 )-LINE[__16],
____________1284941.2550825749 :: PID:15849 with PPID:15847 ends test_function( i = 1 )-LINE[__16],
____________1284941.2698363690 :: PID:15851 with PPID:15847 ends test_function( i = 2 )-LINE[__16],
____________1284941.2776791099 :: PID:15850 with PPID:15847 ends test_function( i = 3 )-LINE[__16],
____________1284941.2780045229 :: pool.map() call RETd
____________1284941.2780527000 :: pool.close()-d
____________1284941.3343055181 :: pool.join()-d
EXECUTED on #1 SMP oSname M.m.n-o.p (YYYY-MM-DD)
USING: python-3.5.6:
Check the hidden detail - what your O/S uses for invoking the test_function() - the mapstar() ( not being a sure choice universally ) was the local SMP-linux-class O/S's choice for its default sub-process instantiation method, performed via 'fork'.