> This "folding", as far as I know, is just a couple of symlinks, from /bin to
> /usr/bin and from /lib to /usr/lib.  Doing the same thing on a typical Linux

Specifically,  running  'ls -l'  in root,  you see

                bin -> usr/bin
                lib -> usr/lib

If memory serves,  you do NOT usually see  sbin -> usr/sbin.

> system would be problematic, since generally /bin and /lib are expected to
> be present on the root filesystem (mount, for example, is typically in
> /bin).

No.   Not a problem.   It DOES work.   I've done it.
What you do is have /usr populated with "bin" and "lib"
and minimal contents.   Those are available at boot time.
Later,  when /usr is mounted over this non-empty directory,
life continues without catastrophe and the "new" files are used
when next invoked.   (The "old" copies are hidden and can
no longer be referenced.  But no one misses them!)

It works.

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