Thanks Rémi for following up.

It looks like the "grep" process is the one blocking/waiting and it
tends to wait 0-60 seconds, like there is a timeout of about one minute
in grep / I/O handling.

When suspending the command after closing vlc it looks like this:
% vlc --play-and-exit foo.avi 2>&1 | grep foo
^Z
[2]  + 17237 done       vlc --play-and-exit  2>&1 | 
       17238 suspended  grep foo

Should I now attach gdb to grep? This looks as follows, but I am missing the 
debug symbols for grep (where can those be found?):
(gdb) bt
#0  0xb77c9424 in __kernel_vsyscall ()
#1  0xb76d8153 in __read_nocancel () at ../sysdeps/unix/syscall-template.S:82
#2  0x0804cb3d in ?? ()
#3  0x0804e29b in ?? ()
#4  0x0804a88d in ?? ()
#5  0xb76174d3 in __libc_start_main (main=0x8049cf0, argc=2, ubp_av=0xbf9c0564, 
init=0x8066330, 
    fini=0x80663a0, rtld_fini=0xb77d9280 <_dl_fini>, stack_end=0xbf9c055c) at 
libc-start.c:226
#6  0x0804adf5 in ?? ()

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https://bugs.launchpad.net/bugs/897341

Title:
  vlc hangs after exiting when its stderr is redirected to stdout

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