Another finding I'd like to share that temporarily "solves" this
problem.

The Asus Z87 Maximus VI Formula board I have allows me to enable/disable
USB controllers from the BIOS. I disabled the Asmedia USB3 controller
and all the issues seem to go away:

1. laggy BIOS initialization
2. slow udev initialization
3. and USB devices not being available until after about 40-50 seconds after 
boot

Since the controller winds up "dead" on reboots or power cycles without
power cut, any device I connect to those USB ports don't work anyway.
There is no point for me to use them for any devices.

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https://bugs.launchpad.net/bugs/1437492

Title:
  boot stalls on USB detection errors

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