I'm attaching a one-line modification to the /etc/init.d/umountfs script
that fixes the problem for us.  It causes umountfs to ingore
/proc/mounts entries where FSTYPE is 'autofs'.

I believe that this is a correct solution because these 'autofs' entries
are not the actual file systems mounted by autofs, but the mount points
or directories monitored by the automount daemon.  The actual autofs-
mounted file systems (if any) will not be skipped over because they will
appear as a separate entry in /proc/mounts and their FSTYPE is not going
to be 'autofs', but whatever it is in reality ('nfs' in our case, for
example).

** Patch added: "umountfs.diff"
   
https://bugs.launchpad.net/ubuntu/+source/sysvinit/+bug/988394/+attachment/3128124/+files/umountfs.diff

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https://bugs.launchpad.net/bugs/988394

Title:
  Reboot hangs because /etc/rc6.d/S40umountfs chokes on non-existent
  mounts

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