I understand you can build your own kernel and include all the necessary
drivers and modules into the image. If you don't include everything in
the kernel image, making an initramfs with update-initramfs is not going
to work, it first issues a warning about the missing /lib/modules for
that home-built version of the kernel, and then depmod gives an error
that it can't open that directory, which is fatal. So there is no way to
use update-initramfs using that kernel.

Now update-grub doesn't care, it will use the initrd it can find with
the matching version if present.

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https://bugs.launchpad.net/bugs/1613260

Title:
  update-grub (grub-mkconfig) includes all kernels in boot, regardless
  whether version is in /lib/modules

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