I think there are multiple issues here. If it's just multipath, that
issue should be resolved by adding After=multipathd.service to zfs-
import-{cache,scan}.service.

For other issues, I wonder if this is cache file related. I'd suggest
checking that the cache file exists (I expect it would), and then
looking at the cache file (e.g. strings /etc/zfs/zpool.cache | less). I
suspect the issue is that the cache file has only the rpool. I'm not
entirely sure why that is happening.

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https://bugs.launchpad.net/bugs/1850130

Title:
  zpools fail to import after reboot on fresh install of eoan

Status in zfs-linux package in Ubuntu:
  Confirmed

Bug description:
  Fresh installation of stock Ubuntu 19.10 Eoan with experimental root on ZFS.
  System has existing zpools with data.

  Installation is uneventful. First boot with no problems. Updates
  applied. No other changes from fresh installation. Reboot.

  External pool 'tank' imports with no errors. Reboot.

  External pool has failed to import on boot. In contrast bpool and
  rpool are ok. Manually re-import 'tank' with no issues. I can see both
  'tank' and its path in /dev/disk/by-id/ in /etc/zfs/zpool.cache.
  Reboot.

  'tank' has failed to import on boot. It is also missing from
  /etc/zfs/zpool.cache. Is it possible that the cache is being re-
  generated on reboot, and the newly imported pools are getting erased
  from it? I can re-import the pools again manually with no issues, but
  they don't persist between re-boots.

  Installing normally on ext4 this is not an issue and data pools import
  automatically on boot with no further effort.

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