It seems that this stable commit from 5.4.132 introduces the delay:
block: fix race between adding/removing rq qos and normal IO

I don't see much boot-time difference on an amd64 VM so need to check
why this has such a big impact on raspi.

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https://bugs.launchpad.net/bugs/1948807

Title:
  Boot time from snap in 20/stable increases boot time on 3.5 seconds

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