Great, seems we are homing in to the real problem. With the rules
disabled, please boot. Now do

  sudo strace -vv -s 1024 -f  -o /tmp/cdrom_id.trace /lib/udev/cdrom_id
--debug --export /dev/sda

and copy&paste the output here and attach /var/log/kern.log and
/tmp/cdrom_id.trace.

Is mounting broken now? I. e. does above command trigger the problem for
you?

-- 
CD-ROMs not detected unless when booting with one inserted already
https://bugs.launchpad.net/bugs/439137
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