There are certainly at least two different issues being discussed here.
There are those who get the udev-work - /dev/null error and boot
continues without error(possibly with a delay) and there are those who
see the error message and boot fails. There are those who see the error
on every boot, and those who only see the error part of the time.

Here is my observation regarding my part time, still boots, udev-work
error. I recreated my /dev/null as a static node similar to what's
described in #75 and it seems to have solved my issue. As for the
proposed mdadm fix I don't think it is a direct fix, but rather causes a
shift in boot processes that eliminates the race that causes /dev/null
to not be ready when requested. Bear with me as I explain...

The udev-work error happens early in the boot process. It is almost
surely a udev thread trying to access /dev/null before another udev
thread has created the node. Since it only happens sometimes it would
indicate that most of the time the threads are timed correctly and the
node is ready when requested. mdadm is a RAID array administration tool.
/dev/null is not a disk, and it is almost certainly not a RAID array!
Though by installing mdadm you have placed another process into the
early boot sequence and this can, and probably does affect the timing of
other early boot processes, allowing the udev processes to sync
correctly.

As for those who have recently upgraded and now cannot boot, it would
certainly appear to be a real issue, but though you do see a udev error
message, my guess is the issue goes deeper than udev.

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https://bugs.launchpad.net/bugs/575333

Title:
  On boot keeps trying to mount "UDEVD-WORK..../dev/null"

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