I don't think the struct vcache lock is the source of this behavior; even if the tasks access different sets of files in the same directory, I still see the same thing.
I also notice that this extends to e.g. trying to run ls on the directory that the test is running in, trying to chdir through it, etc. All such tasks are blocked in D until the busy one stops.
That would appear to be the i_sem on the directory inode, which is held while linux's real_lookup calls the lookup op, and not anything that afs is doing. the afs part of the lookup codepath should not be holding any exclusive locks across rpc's other than the vcache rwlock on the object being stat'd.
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