I also tested this with killing udisks-daemon before, just to ensure
that it's not udisks which triggers additional change events. I still
get the CD recognized just fine.

Marjo, can you please try a couple of things on that affected system in
that situation?

  sudo /lib/udev/cdrom_id /dev/sr0

Does that have ID_CDROM_MEDIA*? Please copy&paste the entire output.

  sudo udevadm trigger --action=change --subsystem-match=block

Does that make the audio CD appear?

-- 
rhythmbox doesn't recognize USB CD drive
https://bugs.launchpad.net/bugs/546335
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