Here are 
zpool list -v:
NAME           SIZE  ALLOC   FREE  CKPOINT  EXPANDSZ   FRAG    CAP  DEDUP    
HEALTH  ALTROOT
sdb           1,81T  1,41T   415G        -         -     0%    77%  1.00x    
ONLINE  -
  sdb1_crypt   928G   722G   206G        -         -     0%  77,8%      -  
ONLINE  
  sdb2_crypt   928G   719G   209G        -         -     0%  77,4%      -  
ONLINE

and

cat /etc/crypttab:
vol-root_crypt UUID=$UUID1 none luks,discard
vol-swap_crypt /dev/mapper/nvme-swap /dev/urandom 
cipher=aes-xts-plain64,size=256,swap,discard
sdb1_crypt UUID=$UUID2 /root/sdb.key luks
sdb2_crypt UUID=$UUID3 /root/sdb.key luks

When I created the bug report I had the additional line
vol-tmp_crypt /dev/mapper/vol-tmp /dev/urandom 
cipher=aes-xts-plain64,size=256,tmp,discard
in my config, as reported in 
https://bugs.launchpad.net/ubuntu/+source/systemd/+bug/1891858

Lately I upgraded the CPU/Mainbord/Memory with more compute power. Instead of 
around 7200, I now have around 15000 CPUMark points. With the slower system, 
mounting did not work for weeks of daily booting. Since the upgrade the problem 
vanished.
May your system is to fast? Compare it with this 
https://www.cpubenchmark.net/cpu_lookup.php?cpu=Intel+Core+i7-4790+%40+3.60GHz&id=2226

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https://bugs.launchpad.net/bugs/1891867

Title:
  zfs not correctly imported at boot

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