The issue seems to be related to a change in ZFS 0.8 initramfs script.

The initramfs script for ZFS does a normal ZFS import.
ZFS import now forces to export a pool before importing it back again on a 
different system. This is a security feature to ensure the same pool isn't 
imported on two different systems on the same time.

I guess what happens is that the way you are installing the pool doesn't
export it before the reboot, then you reboot to the new installed system
(which has different ID), and so zfs import fails in the initramfs.

We were wondering if we should import -f in the initramfs to force importing, 
that's a question for Colin K. I think?
At least, we should ensure you find what didn't export the pool properly.

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https://bugs.launchpad.net/bugs/1838278

Title:
  zfs-initramfs wont mount rpool

Status in zfs-linux package in Ubuntu:
  New

Bug description:
  1. Eoan

  2. http://archive.ubuntu.com/ubuntu eoan/main amd64 zfs-initramfs
  amd64 0.8.1-1ubuntu7 [23.1 kB]

  3. ZFS rootfs rpool is mounted at boot

  4. Booting an image with a rootfs rpool:

  [    0.000000] Linux version 5.2.0-8-generic (buildd@lgw01-amd64-015) (gcc 
version 9.1.0 (Ubuntu 9.1.0-6ubuntu2)) #9-Ubuntu SMP Mon Jul 8 13:07:27 UTC 
2019 (Ubuntu 5.2.0-8.9-generic 5.2.0)
  [    0.000000] Command line: 
BOOT_IMAGE=/ROOT/zfsroot@/boot/vmlinuz-5.2.0-8-generic 
root=ZFS=rpool/ROOT/zfsroot ro console=ttyS0

  
  Command: /sbin/zpool import -N   'rpool'
  Message: cannot import 'rpool': pool was previously in use from another 
system.
  Last accessed by ubuntu (hostid=d24775ba) at Mon Jul 29 05:21:19 2019
  The pool can be imported, use 'zpool import -f' to import the pool.
  Error: 1

  Failed to import pool 'rpool'.
  Manually import the pool and exit.

  
  Note, this works fine under Disco, 

  http://archive.ubuntu.com/ubuntu disco/main amd64 zfs-initramfs amd64
  0.7.12-1ubuntu5 [22.2 kB]

  [    4.773077] spl: loading out-of-tree module taints kernel.              
  [    4.777256] SPL: Loaded module v0.7.12-1ubuntu3
  [    4.779433] znvpair: module license 'CDDL' taints kernel.
  [    4.780333] Disabling lock debugging due to kernel taint
  [    5.713830] ZFS: Loaded module v0.7.12-1ubuntu5, ZFS pool version 5000, 
ZFS filesystem version 5
  Begin: Sleeping for ... done.
  Begin: Importing ZFS root pool 'rpool' ... Begin: Importing pool 'rpool' 
using defaults ... done.
  Begin: Mounting 'rpool/ROOT/zfsroot' on '/root//' ... done.

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