So my race condition doesn't seem to be because of autofs not signalling readiness itself, since my problem still occurs with systemd support enabled in autofs and, as I noticed, also well after boot.
Still, building autofs with systemd support would be nice to have in bookworm. It's time. :) Upstream also supplies a service file in their samples, so that can be used. In that case the init script is not installed, so as long as people want to have that, it needs to be added manually (in override_dh_auto_install I guess).
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