I found a workaround for this:

Make a new file in /etc/modprobe.d/ with a single line:

blacklist saa7134

That restores the boot time to normal, and allows the sound card to work
again.

saa7134 seems to be for the TV decoder card, which I've never had
working at all.

In kernels where I was having the problem, there are 2 copies of
saa7134.ko, and only 1 copy in the kernels which don't have the problem:

/lib/modules/2.6.24-14-generic/kernel/drivers/media/video/saa7134/saa7134.ko

/lib/modules/2.6.24-15-generic/kernel/drivers/media/video/saa7134/saa7134.ko
/lib/modules/2.6.24-15-generic/ubuntu/media/saa7134/saa7134.ko

/lib/modules/2.6.24-16-generic/kernel/drivers/media/video/saa7134/saa7134.ko
/lib/modules/2.6.24-16-generic/ubuntu/media/saa7134/saa7134.ko

-- 
linux-image-2.6.24-15-generic fails to boot - screenshots attached
https://bugs.launchpad.net/bugs/214474
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