What fixed the issue for me is doing:

sudo systemctl edit --full nfs-config.service

then editing it to look like this:

[Unit]
Description=Preprocess NFS configuration
After=local-fs.target remote-fs.target NetworkManager.service
DefaultDependencies=no

[Service]
Type=oneshot
RemainAfterExit=yes
ExecStart=/usr/lib/systemd/scripts/nfs-utils_env.sh

Other suggestions on various forums dont work such as adding
dbus.service to wpa_supplicant.service

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https://bugs.launchpad.net/bugs/1594658

Title:
  diskless setup with nfs mounted home hangs on shutdown/reboot

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