I can reliably reproduce this:
1. Inside several aarch64 systemd-machined containers (with PrivateUsers=0 in 
nspawn conf) with focal and running Gnome Shell session (accessed via TigerVNC 
server). Hosts in NanoPC-T4.
2. On one bare metal NanoPC-T4 host with focal, running Gnome Shell Wayland 
session. No container/virtualization stuff, only bare metal.

Symptoms looks the same?

~$ sudo /usr/libexec/rtkit-daemon --stderr
rtkit-daemon[5786]: Successfully called chroot.
rtkit-daemon[5786]: Successfully dropped privileges.
rtkit-daemon[5786]: Successfully limited resources.
rtkit-daemon[5786]: pthread_create failed: Resource temporarily unavailable
rtkit-daemon[5786]: Demoting known real-time threads.
rtkit-daemon[5786]: Demoted 0 threads.

With --no-drop-privileges  it works:
~$ sudo /usr/libexec/rtkit-daemon --stderr --no-drop-privileges 
rtkit-daemon[5781]: Successfully called chroot.
rtkit-daemon[5781]: Successfully limited resources.
rtkit-daemon[5781]: Running.
rtkit-daemon[5781]: Canary thread running.
rtkit-daemon[5781]: Watchdog thread running.

However, in both cases I have to use Armbian kernel. 
For the record, on RPi3B running generic Ubuntu 20.04 aarch64 image (boot via 
UEFI) this issue is not reproducible.

I can help with further debug here, or my issue is different and I have
to go to Armbian forum? In the former case what exactly I need to de to
help debug this?

** Changed in: rtkit (Ubuntu)
       Status: Incomplete => Confirmed

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You received this bug notification because you are a member of Ubuntu
Touch seeded packages, which is subscribed to rtkit in Ubuntu.
https://bugs.launchpad.net/bugs/1871543

Title:
  rtkit fails to start in focal "pthread_create failed: Resource
  temporarily unavailable"

Status in rtkit package in Ubuntu:
  Confirmed

Bug description:
  I was debugging something else and found rtkit broken on my system.

  Apr 08 06:09:22 Keschdeichel rtkit-daemon[1726502]: Successfully called 
chroot.
  Apr 08 06:09:22 Keschdeichel rtkit-daemon[1726502]: Successfully dropped 
privileges.
  Apr 08 06:09:22 Keschdeichel rtkit-daemon[1726502]: Successfully limited 
resources.
  Apr 08 06:09:22 Keschdeichel rtkit-daemon[1726502]: pthread_create failed: 
Resource temporarily unavailable
  Apr 08 06:09:22 Keschdeichel rtkit-daemon[1726502]: Canary thread running.
  Apr 08 06:09:22 Keschdeichel rtkit-daemon[1726502]: Exiting canary thread.
  Apr 08 06:09:22 Keschdeichel rtkit-daemon[1726502]: Demoting known real-time 
threads.
  Apr 08 06:09:22 Keschdeichel rtkit-daemon[1726502]: Demoted 0 threads

  That state is reproducible through restarts.
  I haven't looked any further yet.

  ProblemType: Bug
  DistroRelease: Ubuntu 20.04
  Package: rtkit 0.12-4
  ProcVersionSignature: Ubuntu 5.3.0-45.37~18.04.1-generic 5.3.18
  Uname: Linux 5.3.0-45-generic x86_64
  NonfreeKernelModules: zfs zunicode zavl icp zcommon znvpair
  ApportVersion: 2.20.11-0ubuntu24
  Architecture: amd64
  CurrentDesktop: ubuntu:GNOME
  Date: Wed Apr  8 07:59:58 2020
  InstallationDate: Installed on 2018-10-12 (543 days ago)
  InstallationMedia: Ubuntu 18.04.1 LTS "Bionic Beaver" - Release amd64 
(20180725)
  SourcePackage: rtkit
  UpgradeStatus: Upgraded to focal on 2020-04-03 (4 days ago)

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