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On a fresh and up-to-date Ubuntu 20.04 amd64 installation I configured
two encrypted partitions on the same hdd. On these I created a stripped
zpool. After login I can import and mount the pool without problems, but
the at-boot import fails after the first partitions is available and
never tried again.

zpool version:
zfs-0.8.3-1ubuntu12.2
zfs-kmod-0.8.3-1ubuntu12.2
uname -a:
Linux hostname 5.4.0-40-generic #44-Ubuntu SMP Tue Jun 23 00:01:04 UTC 2020 
x86_64 x86_64 x86_64 GNU/Linux
systemd --version
systemd 245 (245.4-4ubuntu3.2)
+PAM +AUDIT +SELINUX +IMA +APPARMOR +SMACK +SYSVINIT +UTMP +LIBCRYPTSETUP 
+GCRYPT +GNUTLS +ACL +XZ +LZ4 +SECCOMP +BLKID +ELFUTILS +KMOD +IDN2 -IDN +PCRE2 
default-hierarchy=hybrid

Relevant logs:
Aug 17 07:12:25 hostname kernel: sd 1:0:0:0: [sdb] 3907029168 512-byte logical 
blocks: (2.00 TB/1.82 TiB)
Aug 17 07:12:25 hostname kernel: sd 1:0:0:0: [sdb] Write Protect is off
Aug 17 07:12:25 hostname kernel: sd 1:0:0:0: [sdb] Mode Sense: 00 3a 00 00
Aug 17 07:12:25 hostname kernel: sd 1:0:0:0: [sdb] Write cache: enabled, read 
cache: enabled, doesn't support DPO or FUA
Aug 17 07:12:25 hostname kernel:  sdb: sdb1 sdb2
Aug 17 07:12:25 hostname kernel: sd 1:0:0:0: [sdb] Attached SCSI disk
Aug 17 07:12:25 hostname systemd[1]: zfs-import-cache.service: Found ordering 
cycle on cryptsetup.target/start
Aug 17 07:12:25 hostname systemd[1]: zfs-import-cache.service: Found dependency 
on systemd-cryptsetup@vol\x2dswap_crypt.service/start
Aug 17 07:12:25 hostname systemd[1]: zfs-import-cache.service: Found dependency 
on systemd-random-seed.service/start
Aug 17 07:12:25 hostname systemd[1]: zfs-import-cache.service: Found dependency 
on zfs-mount.service/start
Aug 17 07:12:25 hostname systemd[1]: zfs-import-cache.service: Found dependency 
on zfs-import.target/start
Aug 17 07:12:25 hostname systemd[1]: zfs-import-cache.service: Found dependency 
on zfs-import-cache.service/start
Aug 17 07:12:25 hostname systemd[1]: zfs-import-cache.service: Job 
cryptsetup.target/start deleted to break ordering cycle starting with 
zfs-import-cache.service/start
Aug 17 07:12:25 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-mount.service/start
Aug 17 07:12:25 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-import.target/start
Aug 17 07:12:25 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-import-cache.service/start
Aug 17 07:12:25 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-mount.service/start
Aug 17 07:12:25 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-import.target/start
Aug 17 07:12:25 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-import-cache.service/start
Aug 17 07:12:26 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-mount.service/start
Aug 17 07:12:26 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-import.target/start
Aug 17 07:12:26 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-import-cache.service/start
Aug 17 07:12:26 hostname systemd[1]: Starting Cryptography Setup for 
sdb1_crypt...
Aug 17 07:12:26 hostname systemd[1]: Starting Cryptography Setup for 
sdb2_crypt...
Aug 17 07:12:26 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-mount.service/start
Aug 17 07:12:26 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-import.target/start
Aug 17 07:12:26 hostname systemd[1]: cryptsetup.target: Found dependency on 
zfs-import-cache.service/start
Aug 17 07:12:32 hostname systemd[1]: Finished Cryptography Setup for sdb2_crypt.
Aug 17 07:12:32 hostname systemd[1]: Reached target Block Device Preparation 
for /dev/mapper/sdb2_crypt.
Aug 17 07:12:32 hostname zpool[1887]: cannot import 'sdb': no such pool or 
dataset
Aug 17 07:12:32 hostname zpool[1887]:         Destroy and re-create the pool 
from
Aug 17 07:12:32 hostname zpool[1887]:         a backup source.
Aug 17 07:12:32 hostname systemd[1]: zfs-import-cache.service: Main process 
exited, code=exited, status=1/FAILURE
Aug 17 07:12:32 hostname systemd[1]: zfs-import-cache.service: Failed with 
result 'exit-code'.
Aug 17 07:12:34 hostname systemd[1]: Finished Cryptography Setup for sdb1_crypt.
Aug 17 07:12:34 hostname systemd[1]: Reached target Block Device Preparation 
for /dev/mapper/sdb1_crypt.

** Affects: zfs-linux (Ubuntu)
     Importance: Undecided
         Status: New

-- 
zfs not correctly imported at boot
https://bugs.launchpad.net/bugs/1891867
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