I would surely test a newer udev packages if it fixes this problem.
Using apt-get source to rebuild the debian package should be fairly
easy, but I guess ubuntu maintains a set of additionnal patches, and
merging them might be non-trivial. Is any of the ubuntu dev willing to
upload a test package somewhere ?

Reading the debian bug, I am not convinced it is the same problem, on my
system I have SOME devices created and other lagging behind, the debian
bug seems to be about devices not created at all.

If the newer udev does not fix this problem, is it doable to detect
"stalled" RAID array and to stop them ?

-- 
boot-time race condition initializing md
https://launchpad.net/bugs/75681

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