vboxadd init script start function:

start()
{
    begin "Starting the VirtualBox Guest Additions ";
    uname -r | grep -q '^2\.6' 2>/dev/null &&
        ps -A -o comm | grep -q '/*udevd$' 2>/dev/null ||
        no_udev=1
    running_vboxguest || {
        rm -f $dev || {
            fail "Cannot remove $dev"
        }
        rm -f $userdev || {
            fail "Cannot remove $userdev"
        }
        $MODPROBE vboxguest>/dev/null 2>&1 || {
            fail "modprobe vboxguest failed"
        }
        case "$no_udev" in 1)
            sleep .5;;
        esac
    }
    case "$no_udev" in 1)
        do_vboxguest_non_udev;;
    esac

...

At line 287, grep -q '^2\.6' will return false on 3.x kernels and 
do_vboxguest_non_udev will always be executed, even when udevd is present.

grep -E -q '^2\.6|^3' should fix it and I think is portable enough.

--
Marcos                                    
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