This issue still seems to be a problem in 18.04.

If found a solution:
https://askubuntu.com/questions/1040539/how-do-i-get-ufw-to-start-on-boot/1040584

I edited /lib/systemd/system/ufw.service as follows:

$ diff -u ufw.service.orig ufw.service
--- ufw.service.orig    2018-05-26 13:45:48.696356561 +0100
+++ ufw.service 2018-05-26 14:17:22.030681670 +0100
@@ -2,7 +2,7 @@
 Description=Uncomplicated firewall
 Documentation=man:ufw(8)
 DefaultDependencies=no
-Before=network.target
+After=network-pre.target

 [Service]
 Type=oneshot

According to this page

https://www.freedesktop.org/wiki/Software/systemd/NetworkTarget/

the network-pre.target has this purpose:

"It's primary purpose is for usage with firewall services that want to
establish a firewall before any network interface is up"

Making the above change solves the problem so that ufw does seem to
start up after boot. Is it a bug that ufw.service is not setup this way
to start with?

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Touch seeded packages, which is subscribed to ufw in Ubuntu.
https://bugs.launchpad.net/bugs/1726856

Title:
  ufw does not start automatically at boot

Status in ufw package in Ubuntu:
  New

Bug description:
  Whenever I boot into 17.10 ufw is always inactive, even though
  /etc/ufw/ufw.conf has this:

  # Set to yes to start on boot. If setting this remotely, be sure to add a rule
  # to allow your remote connection before starting ufw. Eg: 'ufw allow 22/tcp'
  ENABLED=yes

  ProblemType: Bug
  DistroRelease: Ubuntu 17.10
  Package: ufw 0.35-5
  ProcVersionSignature: Ubuntu 4.13.0-16.19-generic 4.13.4
  Uname: Linux 4.13.0-16-generic x86_64
  ApportVersion: 2.20.7-0ubuntu3
  Architecture: amd64
  CurrentDesktop: ubuntu:GNOME
  Date: Tue Oct 24 13:56:40 2017
  InstallationDate: Installed on 2015-04-01 (936 days ago)
  InstallationMedia: Ubuntu 14.04.1 LTS "Trusty Tahr" - Release amd64 
(20140722.2)
  PackageArchitecture: all
  SourcePackage: ufw
  UpgradeStatus: Upgraded to artful on 2017-10-24 (0 days ago)
  mtime.conffile..etc.default.ufw: 2015-06-17T22:01:02.089170

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