My assessment of the reason appears to be wrong, USB storage at boot
time isn't working for me under 5.13, but the modules seem like they're
present.

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https://bugs.launchpad.net/bugs/1881623

Title:
  USB support missing in initrd makes booting core with writable on USB
  impossible

Status in linux-raspi package in Ubuntu:
  New
Status in linux-raspi2 package in Ubuntu:
  Confirmed
Status in linux-raspi2 source package in Xenial:
  New
Status in linux-raspi2 source package in Bionic:
  Invalid
Status in linux-raspi source package in Focal:
  New

Bug description:
  when using a gadget.yaml like:

  volumes:
    pi4-system-boot:
      schema: mbr
      bootloader: u-boot
      structure:
        - type: 0C
          filesystem: vfat
          filesystem-label: system-boot
          size: 512M
          content:
            - source: boot-assets/
              target: /
    pi4-usb-writable:
      schema: mbr
      structure:
        - name: writable
          type: 83
          filesystem: ext4
          filesystem-label: writable
          size: 650M
          role: system-data

  this creates two separate img files for a Pi image ... one for SD to
  hold the boot files, one for USB that carries the rootfs ...

  sadly our kernel will then not find the writable partition because it
  lacks support for usb disks (usb-storage seems to be there but not
  sufficient)

  adding the following to a re-built kernel snap makes everything work
  (verified with USB 3.1 SSD on a pi4 as well as various USB 3.0 keys)

        - CONFIG_ENCLOSURE_SERVICES=y
        - CONFIG_SCSI_SAS_ATTRS=y
        - CONFIG_USB_STORAGE=y
        - CONFIG_USB_UAS=y

  can we please have these either built into the kernel or added to the
  core initrd as modules ?

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