This has been fixed upstream as
https://github.com/CanonicalLtd/netplan/commit/ffda192123b4de0c1f270767c3334d75ef2ebcc1

** Description changed:

+ [Impact]
+ Devices which depend on a wireless network connection at boot.
+ 
+ [Test case]
+ 1) Configure netplan with a single wireless network to be brought up:
+ 
+ network:
+   version: 2
+   renderer: networkd
+   wifis:
+     wlan0:
+       dhcp4: true
+       access-points:
+         home:
+           password: somepassword
+ 
+ 2) Reboot the device.
+ 3) Check how long the device takes to boot and come up to a login prompt.
+ 4) Check the output of 'systemd-analyze critical-chain' and 'systemd-analyze 
blame'. The time required for netplan-wpa@ and systemd-networkd-wait-online 
should be as low as possible.
+ 
+ [Regression potential]
+ As this changes timing and ordering for the boot-time services, pay 
particular attention to any issues that come up as delay at booting caused by 
systemd-networkd-wait-online with or without wifi devices, as these may be 
indicative of a regression caused by the changes to use DefaultDependencies=no 
in [email protected].
+ 
+ 
+ ---
+ 
  Especially on raspberry pis, the wpa service set up by netplan when wifi
  is configured is enabled far too late in the boot order, causing
  unnecessary delays.
  
  There's a visible delay of upwards to 2 minutes at booting a rpi3 with
  netplan.io 0.95 as it is in disco; testing with a patched version shows
  this delay can be completely eliminated by fixing the netplan-wpa
  service and setting DefaultDependencies=no.

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https://bugs.launchpad.net/bugs/1819014

Title:
  wpa starts too late causing delay at boot

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