Here are 
zpool list -v:
NAME           SIZE  ALLOC   FREE  CKPOINT  EXPANDSZ   FRAG    CAP  DEDUP    
HEALTH  ALTROOT
sdb           1,81T  1,41T   415G        -         -     0%    77%  1.00x    
ONLINE  -
  sdb1_crypt   928G   722G   206G        -         -     0%  77,8%      -  
ONLINE  
  sdb2_crypt   928G   719G   209G        -         -     0%  77,4%      -  
ONLINE

and

cat /etc/crypttab:
vol-root_crypt UUID=$UUID1 none luks,discard
vol-swap_crypt /dev/mapper/nvme-swap /dev/urandom 
cipher=aes-xts-plain64,size=256,swap,discard
sdb1_crypt UUID=$UUID2 /root/sdb.key luks
sdb2_crypt UUID=$UUID3 /root/sdb.key luks

When I created the bug report I had the additional line
vol-tmp_crypt /dev/mapper/vol-tmp /dev/urandom 
cipher=aes-xts-plain64,size=256,tmp,discard
in my config, as reported in 
https://bugs.launchpad.net/ubuntu/+source/systemd/+bug/1891858

Lately I upgraded the CPU/Mainbord/Memory with more compute power. Instead of 
around 7200, I now have around 15000 CPUMark points. With the slower system, 
mounting did not work for weeks of daily booting. Since the upgrade the problem 
vanished.
May your system is to fast? Compare it with this 
https://www.cpubenchmark.net/cpu_lookup.php?cpu=Intel+Core+i7-4790+%40+3.60GHz&id=2226

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Packages, which is subscribed to zfs-linux in Ubuntu.
https://bugs.launchpad.net/bugs/1891867

Title:
  zfs not correctly imported at boot

Status in zfs-linux package in Ubuntu:
  New

Bug description:
  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.

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