I am seeing the same thing.  plymouthd doesn't hang around after every
boot, but it does so a reasonably large percentage of the time.
Additionally, when plymouthd continues to run after boot, machine
shutdown hangs for a long time before completing (presumably some kind
of systemd timeout).

Running strace against plymouthd when it's stuck causes it to exit
normally.

root@asp:~# ps axu |grep plymouth
root       320  0.0  0.2 164820 44100 ?        S    12:23   0:00 
@sbin/plymouthd --mode=boot --attach-to-session --pid-file=/run/plymouth/pid
root      1166  0.0  0.0  12936  1016 ?        Ss   12:23   0:00 /bin/plymouth 
--wait
root      1311  0.0  0.0  12936  1020 ?        S    12:23   0:00 /bin/plymouth 
quit
root      5398  0.0  0.0  12936  1024 pts/2    SN+  12:26   0:00 plymouth --ping
root      6023  0.0  0.0  12936  1020 ?        S    12:28   0:00 plymouth --ping
root      7537  0.0  0.0  14356  1060 pts/3    S+   12:58   0:00 grep 
--color=auto plymouth
root@asp:~# strace -p 320
strace: Process 320 attached
ioctl(10, PIO_CMAP, 0x559a2b77f178)     = 0
epoll_ctl(3, EPOLL_CTL_MOD, 10, {EPOLLERR|EPOLLHUP, {u32=730276688, 
u64=94120643601232}}) = 0
epoll_ctl(3, EPOLL_CTL_DEL, 10, NULL)   = 0
rt_sigaction(SIGWINCH, {sa_handler=SIG_DFL, sa_mask=[WINCH], 
sa_flags=SA_RESTORER|SA_RESTART, sa_restorer=0x7f0996fec140}, 
{sa_handler=0x7f09975b2820, sa_mask=[WINCH], sa_flags=SA_RESTORER|SA_RESTART, 
sa_restorer=0x7f0996fec140}, 8) = 0
ioctl(10, TIOCSLCKTRMIOS, {B0 -opost -isig -icanon -echo ...}) = 0
ioctl(10, TCGETS, {B38400 opost -isig -icanon -echo ...}) = 0
ioctl(10, TCGETS, {B38400 opost -isig -icanon -echo ...}) = 0
ioctl(10, SNDCTL_TMR_START or TCSETS, {B38400 opost isig icanon echo ...}) = 0
ioctl(10, TCGETS, {B38400 opost isig icanon echo ...}) = 0
close(10)                               = 0
close(7)                                = 0
unlink("/run/plymouth/pid")             = 0
sendto(8, "\6", 1, MSG_NOSIGNAL, NULL, 0) = 1
epoll_ctl(3, EPOLL_CTL_DEL, 4, NULL)    = 0
epoll_ctl(3, EPOLL_CTL_DEL, 6, NULL)    = 0
epoll_ctl(3, EPOLL_CTL_DEL, 7, NULL)    = -1 EBADF (Bad file descriptor)
epoll_ctl(3, EPOLL_CTL_DEL, 11, NULL)   = 0
epoll_ctl(3, EPOLL_CTL_DEL, 12, NULL)   = 0
epoll_ctl(3, EPOLL_CTL_DEL, 8, NULL)    = 0
close(11)                               = 0
close(12)                               = 0
close(8)                                = 0
close(2)                                = 0
exit_group(0)                           = ?
+++ exited with 0 +++
root@asp:~# ps axu |grep plymouth
root      5405  0.0  0.0  14356  1080 pts/3    S+   12:59   0:00 grep 
--color=auto plymouth

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https://bugs.launchpad.net/bugs/1705345

Title:
  Installing new kernel hangs on plymouth --ping

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