Can confirm that setting the NFS clients to dhcp does solve this issue
for me as well.
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karmic: nfs shares are not mounted at boot
https://bugs.launchpad.net/bugs/461133
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ubuntu-bugs
I have the same issue, nfs shares not mounted at boot.
Listing the /proc/filesystems does not show the nfs filesystem listed,
which might be the reason the nfs shares are not mounted?
After running sudo mount -a -t nfs the shares are mounted. And running
cat /proc/filesystems does now have nfs
