If a delay is all it takes, then you can probably add a line in the early
part of your /etc/rc.boot (before the fsck) like this:

ConsoleMessage "Pausing to let firewire drives settle"; sleep 300

The parameter to sleep is in seconds, so 300 will wait 5 minutes.

I don't know what rc.boot on Panther looks like, on Jaguar I'd put this
here:

        ConsoleMessage "If you want to make modifications to files,"
        ConsoleMessage "run '/sbin/fsck -y' first and then '/sbin/mount -uw /' "
    else
--->    ConsoleMessage "Pausing to let firewire drives settle"; sleep 300
        # We're neither single-user nor on a CD-ROM.
        # Erase the rom's old-style login panel
        ConsoleMessage "Checking disk"


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