The ATAPI "IDENTIFY PACKET DEVICE" command (0xA1) is not implemented in qemu cdrom emulation code:
https://gitlab.com/qemu-project/qemu/-/blob/v10.0.0/hw/ide/atapi.c?#L1280 So basically, qemu returns an error, which udisks does not expect. This command should be implemented by qemu. But someone should write that piece of code. Thanks, /mjt

