Thanks Vincent. I think I got some hints: I downloaded the package from
Jammy, I unpacked it and then ran a diff on the systemd unit file for
the udev service (since in the documentation of udev[1] it's written
that programs are executed in a sandbox) from the version in Focal:

==========
--- /lib/systemd/system/systemd-udevd.service   2022-04-21 15:54:39.000000000 
+0300
+++ lib/systemd/system/systemd-udevd.service    2022-04-07 22:28:15.000000000 
+0300
@@ -1,4 +1,4 @@
-#  SPDX-License-Identifier: LGPL-2.1+
+#  SPDX-License-Identifier: LGPL-2.1-or-later
 #
 #  This file is part of systemd.
 #
@@ -8,7 +8,7 @@
 #  (at your option) any later version.
 
 [Unit]
-Description=udev Kernel Device Manager
+Description=Rule-based Manager for Device Events and Files
 Documentation=man:systemd-udevd.service(8) man:udev(7)
 DefaultDependencies=no
 After=systemd-sysusers.service systemd-hwdb-update.service
@@ -16,8 +16,10 @@
 ConditionPathIsReadWrite=/sys
 
 [Service]
+DeviceAllow=block-* rwm
+DeviceAllow=char-* rwm
 Type=notify
-# Note that udev also adjusts the OOM score internally and will reset the 
value internally for its workers
+# Note that udev will reset the value internally for its workers
 OOMScoreAdjust=-1000
 Sockets=systemd-udevd-control.socket systemd-udevd-kernel.socket
 Restart=always
@@ -27,11 +29,14 @@
 KillMode=mixed
 TasksMax=infinity
 PrivateMounts=yes
+ProtectClock=yes
 ProtectHostname=yes
 MemoryDenyWriteExecute=yes
 RestrictAddressFamilies=AF_UNIX AF_NETLINK AF_INET AF_INET6
 RestrictRealtime=yes
 RestrictSUIDSGID=yes
+SystemCallFilter=@system-service @module @raw-io bpf
+SystemCallErrorNumber=EPERM
 LockPersonality=yes
 IPAddressDeny=any
 WatchdogSec=3min
==========

I need to double-check, but I suspect that the SystemCallFilterAddition
might be causing problems.

Vince, can you please make a backup copy of /lib/systemd/system/systemd-
udevd.service, then remove the two SystemCallFilter and
SystemCallErrorNumber lines, reboot and see if the errors are gone?

If they are, then please restore the original file, and try adding
"@process" to the SystemCallFilter list; then reboot and see if it
helped. Or you can have a look at the possible values here [2] and try
understanding which ones are necessary. Though if you don't have time,
don't worry too much with this: it's something that we should be able to
determine ourselves.

[1]: https://www.freedesktop.org/software/systemd/man/udev.html
[2]: 
https://www.freedesktop.org/software/systemd/man/systemd.exec.html#SystemCallFilter=

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https://bugs.launchpad.net/bugs/1971955

Title:
  systemd-udevd  call unshare process  when attaching nvme volume

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