@Adam/@Serge: could you try the following to see if it solves / reduces
the occurrence of the problem. Also, can you report back if you see any
"interesting" processes as logged by the change below:

1) Change initramfs to bind mount /dev and dump devices and running
processes before udevd exits:

$ sudo sed -i.bak -e '/^udevadm control --exit/i echo "XXX: ps=`ps -ef`, 
\/dev=`ls -l \/dev`" > /dev/kmsg' -e 's!^mount -n -o move /dev!mount -n -o bind 
/dev!g' /usr/share/initramfs-tools/scripts/init-bottom/udev
$ sudo mkinitramfs -o /boot/initramfs.foo

2) Reboot setting "initrd /boot/initramfs.foo" in grub.

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https://bugs.launchpad.net/bugs/818177

Title:
  boot failures caused by udev race

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