Tested building autofs without --with-libtirpc and segfault went away.

 $ mkdir build
 $ cd build/
 $ sudo apt install flex bison build-essential autoconf debhelper
 $ sudo apt-get build-dep autofs
 $ apt-get source autofs
 $ cd autofs-5.1.2/
 $ dpkg-buildpackage -rfakeroot -b
 $ sed 's/--with-libtirpc//' debian/rules -i
 $ dpkg-buildpackage -rfakeroot -b
 $ mkdir INSTALL
 $ make DESTDIR=$PWD/INSTALL install
 $ mkdir ../system_lib/
 $ sudo mv /usr/lib/x86_64-linux-gnu/autofs/* ../system_lib/
 $ sudo mv INSTALL/usr/lib/x86_64-linux-gnu/autofs/* 
/usr/lib/x86_64-linux-gnu/autofs/

 $ sudo INSTALL/usr/sbin/automount --pid-file /var/run/autofs.pid -f -d
 $ ls /net/wanda  # Mounted and No crash

 $ sudo automount --pid-file /var/run/autofs.pid -f -d
 $ ls /net/wanda  # Mounted and No crash

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https://bugs.launchpad.net/bugs/1745817

Title:
  autofs 5.1.2-1ubuntu2 crashes on nfs mount

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