I have to withdraw my Comment #71. At that time I did not have yet the
new initial-ramdisk installed. Having it installed, gives me always an
read-only rootfs.

And I think, I have also found the reason. The scripts in the initial
ramdisk are executed with "set -e". In this case your pkill fails and
aborts the execution of init-bottom/udev. And in the "normal" case,
init-bottom/udev aborts because "udevadm control --exit" reports by
means of its return value that, after timeout (yes, udevadm has its own
timeout of 60s!), the exit failed.

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https://bugs.launchpad.net/bugs/818177

Title:
  boot failures because 'udevadm exit' does not kill udevd worker
  threads

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