It looks as if someone has filed a similar bug for debian:
https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=997980

** Bug watch added: Debian Bug tracker #997980
   https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=997980

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https://bugs.launchpad.net/bugs/1969457

Title:
  /dev/zvol links not created for encrypted zvols, zfs-volume-wait Timed
  out waiting on zvol links

Status in zfs-linux package in Ubuntu:
  New

Bug description:
  Fresh installation of 20.04.4 with installer created zfs native encrypted root
  zfsutils-linux: 0.8.3-1ubuntu12.13

  On reboot, zvol /dev/zvol entries are not being created. This seems to
  effect different zvols each reboot.

  Example logs:
  ```
  -- A start job for unit zsys-gc.service has finished successfully.
  -- 
  -- The job identifier is 3139.
  Apr 19 06:43:49 monolith zvol_wait[74768]: cannot open 
'rpool/export/vault/block': dataset does not exist
  Apr 19 06:43:50 monolith zvol_wait[74786]: cannot open 
'rpool/export/vault/block': dataset does not exist
  Apr 19 06:43:51 monolith zvol_wait[74805]: cannot open 
'rpool/export/vault/block': dataset does not exist
  Apr 19 06:43:52 monolith zvol_wait[74823]: cannot open 
'rpool/export/vault/block': dataset does not exist
  Apr 19 06:43:53 monolith zvol_wait[74932]: cannot open 
'rpool/export/vault/block': dataset does not exist
  Apr 19 06:43:54 monolith zvol_wait[74950]: cannot open 
'rpool/export/vault/block': dataset does not exist
  Apr 19 06:43:55 monolith zvol_wait[74969]: cannot open 
'rpool/export/vault/block': dataset does not exist
  Apr 19 06:43:56 monolith zvol_wait[74987]: cannot open 
'rpool/export/vault/block': dataset does not exist
  Apr 19 06:43:57 monolith zvol_wait[75006]: cannot open 
'rpool/export/vault/block': dataset does not exist
  Apr 19 06:43:58 monolith zvol_wait[4440]: Still waiting on 1 zvol links ...
  Apr 19 06:43:58 monolith zvol_wait[4440]: No progress since last loop.
  Apr 19 06:43:58 monolith zvol_wait[4440]: Checking if any zvols were deleted.
  Apr 19 06:43:58 monolith zvol_wait[4440]: Remaining zvols:
  Apr 19 06:43:58 monolith zvol_wait[4440]: rpool/libvirt_zvols/kube-04-disk0
  Apr 19 06:43:58 monolith zvol_wait[4440]: Timed out waiting on zvol links
  Apr 19 06:43:58 monolith systemd[1]: zfs-volume-wait.service: Main process 
exited, code=exited, status=1/FAILURE
  -- Subject: Unit process exited
  -- Defined-By: systemd
  -- Support: http://www.ubuntu.com/support
  -- 
  -- An ExecStart= process belonging to unit zfs-volume-wait.service has exited.
  -- 
  -- The process' exit code is 'exited' and its exit status is 1.
  Apr 19 06:43:58 monolith systemd[1]: zfs-volume-wait.service: Failed with 
result 'exit-code'.
  -- Subject: Unit failed
  -- Defined-By: systemd
  -- Support: http://www.ubuntu.com/support
  -- 
  -- The unit zfs-volume-wait.service has entered the 'failed' state with 
result 'exit-code'.
  Apr 19 06:43:58 monolith systemd[1]: Failed to start Wait for ZFS Volume 
(zvol) links in /dev.
  -- Subject: A start job for unit zfs-volume-wait.service has failed
  -- Defined-By: systemd
  -- Support: http://www.ubuntu.com/support
  -- 
  -- A start job for unit zfs-volume-wait.service has finished with a failure.
  -- 
  -- The job identifier is 226 and the job result is failed.
  Apr 19 06:43:58 monolith systemd[1]: Dependency failed for ZFS volumes are 
ready.
  -- Subject: A start job for unit zfs-volumes.target has failed
  -- Defined-By: systemd
  -- Support: http://www.ubuntu.com/support
  -- 
  -- A start job for unit zfs-volumes.target has finished with a failure.
  ```
  I believe this is related to changes made here:
  https://bugs.launchpad.net/ubuntu/+source/zfs-linux/+bug/1888405

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