Personally I think that the kernel boot time is the killer here and the work 
should go there and second on the rc system.
exactly what i wrote. rc.d subsystem is quick, and anyway in special cases just delete in and write all needed startup in /etc/rc

i assume it is embedded system - in which boot time is very important.

PS: nothing wrong in having an OS that boots faster, performs better is more 
stable than others :). This is something I would like
to see as an improvement. Wouldn't you ?
of course i do!

Do you have USB in that system?

Compile whole USB as module. put kldload statement in /etc/rc that way (example):

/sbin/kldload /boot/kernel/uhci.ko &

USB takes long in kernel, but now it will go in background while the rest initializes.
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