I also managed to get rid of this problem, though it wasn't trivial.

After updating to 2.6.28-15, I edited /etc/mdadm/mdadm.conf with ARRAY
statements listing all my arrays (including the array for my root file
system).  Then, I did "dpkg-reconfigure initramfs-tools" to recreate the
RAM disk image with the new mdadm.conf.  After doing all this, I was
able to boot straight into my root RAID array, without requiring
rootdelay=, and without having to type any busybox shell commands.

The "dpkg-reconfigure initramfs-tools" was the non-obvious step for me.
Until I did this, my changes to the mdadm.conf file would not show up in
anything I did in the busybox shell.

-- 
boot failure with raid1 array on jaunty
https://bugs.launchpad.net/bugs/367934
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