Previously I created a script to make ubuntu iso images bootable from
f2fs partitions. After discovering this bug, I converted it into a
generic "make casper aware of fs X, add kernel modules Y to the initrd"
one.

You can get it here https://github.com/slowpeek/ubuntu-remaster-bbb and
make 20.04+ images bootable from exfat like this:

  ubuntu-remaster-exfat input.iso output.iso

or, without the exfat shortcut:

  ubuntu-remaster-bbb --fs exfat --module exfat input.iso output.iso

If using the docker image:

  ubuntu-remaster-bbb.docker --fs exfat --module exfat -- input.iso
output.iso


This way 18.04.5+ can boot from exfat as well, but only with the hwe kernel. 
Hence in case of live-server 18.04.5+, extra '--hwe-only' option is required.

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https://bugs.launchpad.net/bugs/2038694

Title:
  Now that exfat filesystem is in the kernel, allow using it for storing
  isos loopback booting and storing the persistence file

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